private static Vector3 GetZDir(ObjectAnnotation objectAnnotation, bool isXReversed, bool isYReversed, bool isInverted)
{
var points = objectAnnotation.Keypoints;
var v1 = GetDirection(points[2].Point3D, points[1].Point3D, isXReversed, isYReversed, isInverted).normalized;
var v2 = GetDirection(points[4].Point3D, points[3].Point3D, isXReversed, isYReversed, isInverted).normalized;
var v3 = GetDirection(points[6].Point3D, points[5].Point3D, isXReversed, isYReversed, isInverted).normalized;
var v4 = GetDirection(points[8].Point3D, points[7].Point3D, isXReversed, isYReversed, isInverted).normalized;
return((v1 + v2 + v3 + v4) / 4);
}
public static Quaternion GetApproximateQuaternion(ObjectAnnotation objectAnnotation, RotationAngle imageRotation = RotationAngle.Rotation0, bool isMirrored = false)
{
var isInverted = IsInverted(imageRotation);
var isXReversed = IsXReversed(imageRotation, isMirrored);
var isYReversed = IsYReversed(imageRotation, isMirrored);
var forward = GetZDir(objectAnnotation, isXReversed, isYReversed, isInverted);
var upward = GetYDir(objectAnnotation, isXReversed, isYReversed, isInverted);
return(Quaternion.LookRotation(forward, upward));
}
public static (Vector3, Vector3, Vector3) GetDirections(ObjectAnnotation objectAnnotation, RotationAngle imageRotation = RotationAngle.Rotation0, bool isMirrored = false)
{
var isInverted = IsInverted(imageRotation);
var isXReversed = IsXReversed(imageRotation, isMirrored);
var isYReversed = IsYReversed(imageRotation, isMirrored);
var scale = objectAnnotation.Scale;
var xDir = scale[0] * GetXDir(objectAnnotation, isXReversed, isYReversed, isInverted);
var yDir = scale[1] * GetYDir(objectAnnotation, isXReversed, isYReversed, isInverted);
var zDir = scale[2] * GetZDir(objectAnnotation, isXReversed, isYReversed, isInverted);
return(xDir, yDir, zDir);
}
public void Draw(ObjectAnnotation target, Vector3 position, float arrowLengthScale = 1.0f, bool visualizeZ = true)
{
origin = position;
var isInverted = CameraCoordinate.IsInverted(rotationAngle);
var(xScale, yScale) = isInverted ? (target.Scale[1], target.Scale[0]) : (target.Scale[0], target.Scale[1]);
var zScale = target.Scale[2];
// convert from right-handed to left-handed
var isXReversed = CameraCoordinate.IsXReversed(rotationAngle, isMirrored);
var isYReversed = CameraCoordinate.IsYReversed(rotationAngle, isMirrored);
var rotation = target.Rotation;
var xDir = GetDirection(rotation[0], rotation[3], rotation[6], isXReversed, isYReversed, isInverted);
var yDir = GetDirection(rotation[1], rotation[4], rotation[7], isXReversed, isYReversed, isInverted);
var zDir = GetDirection(rotation[2], rotation[5], rotation[8], isXReversed, isYReversed, isInverted);
DrawArrow(xArrow, xDir, (isMirrored ? -1 : 1) * arrowLengthScale * xScale, visualizeZ);
DrawArrow(yArrow, yDir, arrowLengthScale * yScale, visualizeZ);
DrawArrow(zArrow, zDir, -arrowLengthScale * zScale, visualizeZ);
}
