protected override void OnUpdate(float timeStep)
{
if (paused)
{
return;
}
if (Camera == null)
{
throw new Exception("ARCore.Camera property was not set");
}
try
{
var frame = Session.Update();
if (paused) //in case if Config.UpdateMode.LatestCameraImage is not used
{
return;
}
var camera = frame.Camera;
if (camera.TrackingState != TrackableTrackingState.Tracking)
{
return;
}
var far = 100f;
var near = 0.01f;
float[] projmx = new float[16];
camera.GetProjectionMatrix(projmx, 0, near, far);
var prj = new Urho.Matrix4(
projmx[0], projmx[4], projmx[8], projmx[12],
projmx[1], projmx[5], projmx[9], projmx[13],
projmx[2], projmx[6], projmx[10], projmx[14],
projmx[3], projmx[7], projmx[11], projmx[15]
);
//some OGL -> DX conversion (Urho accepts DX format on all platforms)
prj.M34 /= 2f;
prj.M33 = far / (far - near);
prj.M43 *= -1;
//prj.M13 = 0; //center of projection
//prj.M23 = 0;
Camera.SetProjection(prj);
float[] viewmx = new float[16];
camera.GetViewMatrix(viewmx, 0);
var view = new Urho.Matrix4(
viewmx[0], viewmx[4], viewmx[8], viewmx[12],
viewmx[1], viewmx[5], viewmx[9], viewmx[13],
viewmx[2], viewmx[6], viewmx[10], viewmx[14],
viewmx[3], viewmx[7], viewmx[11], viewmx[15]);
// some magic:
view.Invert();
view.Transpose();
var rot = view.Rotation;
rot.Z *= -1;
var cameraNode = Camera.Node;
cameraNode.Position = new Vector3(view.Row3.X, view.Row3.Y, -view.Row3.Z);
cameraNode.Rotation = rot;
ARFrameUpdated?.Invoke(frame);
}
catch (Exception exc)
{
Log.Write(LogLevel.Warning, "ARCore error: " + exc);
}
}
protected override void OnUpdate(float timeStep)
{
if (paused)
{
return;
}
if (Camera == null)
{
throw new Exception("ARCore.Camera property was not set");
}
try
{
if (Session == null)
{
return;
}
var frame = Session.Update();
if (paused) //in case if Config.UpdateMode.LatestCameraImage is not used
{
return;
}
var camera = frame.Camera;
if (camera.TrackingState != TrackingState.Tracking)
{
return;
}
var far = 100f;
var near = 0.01f;
float[] projmx = new float[16];
camera.GetProjectionMatrix(projmx, 0, near, far);
var prj = new Urho.Matrix4(
projmx[0], projmx[4], projmx[8], projmx[12],
projmx[1], projmx[5], projmx[9], projmx[13],
projmx[2], projmx[6], projmx[10], projmx[14],
projmx[3], projmx[7], projmx[11], projmx[15]
);
//some OGL -> DX conversion (Urho accepts DX format on all platforms)
prj.M34 /= 2f;
prj.M33 = far / (far - near);
prj.M43 *= -1;
//prj.M13 = 0; //center of projection
//prj.M23 = 0;
Camera.SetProjection(prj);
TransformByPose(Camera.Node, camera.DisplayOrientedPose);
ARFrameUpdated?.Invoke(frame);
}
catch (Exception exc)
{
Log.Write(LogLevel.Warning, "ARCore error: " + exc);
}
}
