public Vector3 CameraPosition(int eyeType)
{
Vector3 arPosition = ARUtilityFunctions.PositionFromMatrix(eyeType == 0 ? cameraPoseMatLeft : cameraPoseMatRight);
return(arPosition);
}
// Update is called once per frame
void Update()
{
if (nibiruService != null && nibiruService.IsMarkerRecognizeRunning)
{
float[] leftEyeArray = nibiruService.GetMarkerViewMatrix(0);
float[] rightEyeArray = nibiruService.GetMarkerViewMatrix(1);
if (leftEyeArray != null && rightEyeArray != null)
{
leftEyeArray[12] *= 0.001f * PositonScaleFactor;
leftEyeArray[13] *= 0.001f * PositonScaleFactor;
leftEyeArray[14] *= 0.001f * PositonScaleFactor;
rightEyeArray[12] *= 0.001f * PositonScaleFactor;
rightEyeArray[13] *= 0.001f * PositonScaleFactor;
rightEyeArray[14] *= 0.001f * PositonScaleFactor;
Matrix4x4 matrixRawLeft = ARUtilityFunctions.MatrixFromFloatArray(leftEyeArray);
Matrix4x4 matrixRawRight = ARUtilityFunctions.MatrixFromFloatArray(rightEyeArray);
Matrix4x4 transformationMatrixLeft = ARUtilityFunctions.LHMatrixFromRHMatrix(matrixRawLeft);
Matrix4x4 transformationMatrixRight = ARUtilityFunctions.LHMatrixFromRHMatrix(matrixRawRight);
cameraPoseMatLeft = transformationMatrixLeft.inverse;
cameraPoseMatRight = transformationMatrixRight.inverse;
}
float[] array = nibiruService.GetMarkerViewMatrix();
if (array != null)
{
if (!visible)
{
if (OnMarkerFoundHandler != null)
{
OnMarkerFoundHandler();
}
visible = true;
NxrGlobal.isMarkerVisible = true;
for (int i = 0; i < mTransform.childCount; i++)
{
mTransform.GetChild(i).gameObject.SetActive(true);
Debug.Log("MARKER VISBILE " + mTransform.GetChild(i).gameObject.name);
}
if (origin != null)
{
Matrix4x4 pose;
// If this marker is the base, no need to take base inverse etc.
pose = origin.transform.localToWorldMatrix;
transform.position = ARUtilityFunctions.PositionFromMatrix(pose);
transform.rotation = ARUtilityFunctions.QuaternionFromMatrix(pose);
}
}
// Filter data
array = FilterData(array);
// Scale the position from ARToolKit units (mm) into Unity units (m).
array[12] *= 0.001f * PositonScaleFactor;
array[13] *= 0.001f * PositonScaleFactor;
array[14] *= 0.001f * PositonScaleFactor;
Matrix4x4 matrixRaw = ARUtilityFunctions.MatrixFromFloatArray(array);
// Debug.Log("MarkerViewMatrix>>>>" + matrixRaw.ToString());
Matrix4x4 transformationMatrix = ARUtilityFunctions.LHMatrixFromRHMatrix(matrixRaw);
cameraPoseMat = transformationMatrix.inverse;
//Debug.Log("transformationMatrix>>>>" + transformationMatrix.ToString());
//Quaternion quaternion = ARUtilityFunctions.QuaternionFromMatrix(transformationMatrix);
//Vector3 eulerAngles = quaternion.eulerAngles;
// z轴朝上，转换成z轴朝里，符合unity
//mTransform.rotation = Quaternion.Euler(eulerAngles.x - 90, eulerAngles.y, eulerAngles.z);
//mTransform.position = ARUtilityFunctions.PositionFromMatrix(transformationMatrix);
}
else if (array == null)
{
if (visible)
{
Debug.Log("MARKER VISIBLE -> NOT VISBILE");
}
else
{
Debug.Log("MARKER INIT NOT VISBILE");
}
if (OnMarkerLostHandler != null)
{
OnMarkerLostHandler();
}
NxrGlobal.isMarkerVisible = false;
visible = false;
for (int i = 0; i < mTransform.childCount; i++)
{
mTransform.GetChild(i).gameObject.SetActive(false);
}
}
}
}
// Update is called once per frame
void Update()
{
if (nibiruService != null && nibiruService.IsMarkerRecognizeRunning && (nibiruMarker != null && nibiruMarker.IsVisible()) && updateProjMat < 10)
{
float[] array = nibiruService.GetMarkerProjectionMatrix();
if (array != null)
{
// Marker识别到才进行更新Projection
// Debug.Log(" >>>>>>>>>>>>>>>>>>>>>>>>>>cam.projectionMatrix : " + cam.projectionMatrix.ToString());
Matrix4x4 projectionMatrix = ARUtilityFunctions.MatrixFromFloatArray(nibiruService.GetMarkerProjectionMatrix());
cam.projectionMatrix = projectionMatrix;
NxrEye[] eyes = NxrViewer.Instance.eyes;
if (eyes != null)
{
eyes[0].cam.projectionMatrix = projectionMatrix;
eyes[1].cam.projectionMatrix = projectionMatrix;
// 4:3=>12:9 || 16:9, 2/16
//eyes[0].cam.rect = new Rect(0.0625f, 0, 0.375f, 1);
//eyes[1].cam.rect = new Rect(0.5625f, 0, 0.375f, 1);
}
updateProjMat++;
}
}
if (nibiruMarker != null && nibiruMarker.IsVisible())
{
Matrix4x4 cameraPose = nibiruMarker.CameraPose();
Vector3 arPosition = ARUtilityFunctions.PositionFromMatrix(cameraPose);
// Camera orientation: In ARToolKit, zero rotation of the camera corresponds to looking vertically down on a marker
// lying flat on the ground. In Unity however, if we still treat markers as being flat on the ground, we clash with Unity's
// camera "rotation", because an unrotated Unity camera is looking horizontally.
// So we choose to treat an unrotated marker as standing vertically, and apply a transform to the scene to
// to get it to lie flat on the ground.
Quaternion arRotation = ARUtilityFunctions.QuaternionFromMatrix(cameraPose);
Vector3 leftCameraPosDiff = nibiruMarker.CameraPosition(0) - arPosition;
Vector3 rightCameraPosDiff = nibiruMarker.CameraPosition(1) - arPosition;
leftCameraPosDiff.y = 0;
leftCameraPosDiff.z = 0;
rightCameraPosDiff.y = 0;
rightCameraPosDiff.z = 0;
//DefaultPosition=(-0.1, -0.2, -0.3), Left=(-0.2, -0.3, -0.2), Right=(-0.1, -0.3, -0.3)
//Debug.Log("DefaultPosition=" + arPosition.ToString("f4") + ", Left=" + nibiruMarker.CameraPosition(0).ToString("f4")
// + ", Right=" + nibiruMarker.CameraPosition(1).ToString("f4") + ", Left Diff=" + leftCameraPosDiff.ToString("f4")
// + ", Right Diff=" + rightCameraPosDiff.ToString("f4"));
bool dtrMode = NxrGlobal.supportDtr && NxrGlobal.distortionEnabled;
if (cacheTransform.localPosition.x == 0 && cacheTransform.localPosition.y == 0 && cacheTransform.localPosition.z == 0 &&
(arPosition.x != 0 || arPosition.y != 0 || arPosition.z != 0))
{
Debug.Log("Move from (0,0,0) to " + arPosition.ToString());
firstFoundPosition = arPosition;
}
if ((firstFoundPosition.x != 0 || firstFoundPosition.y != 0 || firstFoundPosition.z != 0) && lerpTime <= 1.0f)
{
// 插值移动到初始位置
lerpTime += Time.deltaTime;
cacheTransform.localPosition = Vector3.Lerp(cacheTransform.localPosition, firstFoundPosition, lerpTime);
// Debug.Log("====>" + cacheTransform.localPosition.ToString());
}
else
{
cacheTransform.localPosition = arPosition;
}
cacheTransform.localRotation = arRotation;
NxrGlobal.markerZDistance = Mathf.Abs(arPosition.z);
// print
// Debug.Log("POS = " + arPosition.ToString());
// Debug.Log("ROT = " + arRotation.ToString());
// print
// 平滑处理
// cacheTransform.localRotation = SmoothMove(cacheTransform.localRotation, arRotation);
NxrEye[] eyes = NxrViewer.Instance.eyes;
if (eyes != null)
{
for (int i = 0; i < 2; i++)
{
// 非DTR取消左右眼偏移
if (!dtrMode && !NxrGlobal.offaxisDistortionEnabled)
{
// NED+
eyes[i].cacheTransform.localPosition = new Vector3(0, 0, 0);
}
else if (!dtrMode && NxrGlobal.offaxisDistortionEnabled)
{
// Polaroid
float offAxisCameraOffset = i == 0 ?
-0.029f + leftCameraPosDiff.x + NxrGlobal.leftMarkerCameraOffSet :
0.029f + rightCameraPosDiff.x + NxrGlobal.rightMarkerCameraOffset;
eyes[i].cacheTransform.localPosition = new Vector3(offAxisCameraOffset, 0, 0);
// Debug.Log(i + "-------> " + eyes[i].cacheTransform.localPosition.ToString("f4") + ",leftCameraPosDiff="+ leftCameraPosDiff.x
//+ ",rightCameraPosDiff="+ rightCameraPosDiff.x);
}
else
{
eyes[i].cacheTransform.localPosition = new Vector3(i == 0 ? -0.032f : 0.032f, 0, 0) + (i == 0 ? leftCameraPosDiff : rightCameraPosDiff);
// Debug.Log(i + "-------> " + eyes[i].cacheTransform.localPosition.ToString("f4"));
}
}
}
// Debug.Log("camera pose->" + transform.localPosition.ToString() + "," + transform.localRotation.eulerAngles.ToString());
}
}
