void UpdateCameraTransform()
{
// Update points.
for (int p = 0; p < pointCount; p++)
{
Vector2 posImage = _userPointRects[p].anchorMin;
posImage.Scale(new Vector2(_cameraTexture.width, _cameraTexture.height));
_anchorPointsImage[p].set(new double[] { posImage.x, posImage.y });
Vector3 posWorld = _anchorTransform.TransformPoint(defaultPointPositions[p] - Vector2.one * 0.5f);
_anchorPointsWorld[p].set(new double[] { posWorld.x, posWorld.y, posWorld.z });
}
_anchorPointsImageMat.fromArray(_anchorPointsImage);
_anchorPointsWorldMat.fromArray(_anchorPointsWorld);
// Compute
bool success = Calib3d.solvePnP(_anchorPointsWorldMat, _anchorPointsImageMat, _cameraMatrix, _noDistCoeffs, _rVec, _tVec);
if (!success)
{
return;
}
// Convert.
bool inverse = true;
TrackingToolsHelper.ApplyPose(_rVec, _tVec, _targetCameraTransform, inverse);
/*
* Vector3 translation = TrackingToolsHelper.TranslationMatVectorToVector3( _tVec );
* Quaternion rotation = TrackingToolsHelper.RotationMatVectorToQuaternion( _rVec );
* translation = rotation * translation;
*
* // Apply.
* _targetCameraTransform.SetPositionAndRotation( translation, rotation );
*/
// Save.
SaveCircleAnchorPoints();
}
