// Job execution method
public void Execute(int i)
{
var info = new Interop.DetectionInfo(ref _input[i].Ref, _tagSize,
_focalLength, _focalLength, _focalCenter.x, _focalCenter.y);
using var pose = new Interop.Pose(ref info);
var pos = pose.t.AsFloat3() * math.float3(1, -1, 1);
var rot = math.quaternion(pose.R.AsFloat3x3());
rot = rot.value * math.float4(-1, 1, -1, 1);
_output[i] = new TagPose(_input[i].Ref.ID, pos, rot);
}
static extern double _Estimate(ref DetectionInfo info, ref Pose pose);
public Pose(ref DetectionInfo info)
{
matd_r = matd_t = IntPtr.Zero;
_Estimate(ref info, ref this);
}
