// Updates arVisible, arPosition, arRotation based on linked marker state.
private void UpdateTracking()
{
// Note the current time
timeLastUpdate = Time.realtimeSinceStartup;
// First, ensure we have a base marker. If none, then no markers are currently in view.
ARMarker marker = GetMarker();
if (marker == null)
{
markerInsight = false;
if (arVisible)
{
// Marker was visible but now is hidden.
timeTrackingLost = timeLastUpdate;
arVisible = false;
}
}
else
{
markerInsight = true;
if (marker.Visible)
{
Matrix4x4 pose;
if (Optical && opticalSetupOK)
{
pose = (opticalViewMatrix * marker.TransformationMatrix).inverse;
}
else
{
pose = marker.TransformationMatrix.inverse;
}
arPosition = ARUtilityFunctions.PositionFromMatrix(pose);
// 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.
arRotation = ARUtilityFunctions.QuaternionFromMatrix(pose);
if (!arVisible)
{
// Marker was hidden but now is visible.
arVisible = true;
}
}
else
{
if (arVisible)
{
// Marker was visible but now is hidden.
timeTrackingLost = timeLastUpdate;
arVisible = false;
}
}
}
}
public override void Start()
{
base.Start();
Matrix4x4 targetInWorldFrame = targetObject.transform.localToWorldMatrix;
Matrix4x4 targetInCameraFrame = this.gameObject.GetComponent <Camera>().transform.parent.worldToLocalMatrix *targetInWorldFrame;
vrTargetPosition = ARUtilityFunctions.PositionFromMatrix(targetInCameraFrame);
vrTargetRotation = ARUtilityFunctions.QuaternionFromMatrix(targetInCameraFrame);
vrObserverAzimuth = vrObserverElevation = 0.0f; // VR mode starts pointing in direction specified by the axes of the target.
vrObserverOffset = Vector3.zero;
}
List <Vector4> getMeanPos()
{
List <Vector4> p = new List <Vector4>();
int ct = 0;
Vector3 tpos = new Vector3(0.0f, 0.0f, 0.0f);
Vector4 trot = new Vector4(0.0f, 0.0f, 0.0f, 0.0f);
int i = 0;
for (i = 0; i < markers.Length; i++)
{
if (!markers[i].Visible)
{
continue;
}
ct++;
Matrix4x4 pose = markers[i].TransformationMatrix;
Vector3 position = ARUtilityFunctions.PositionFromMatrix(pose);
Quaternion orientation = ARUtilityFunctions.QuaternionFromMatrix(pose);
Vector4 ori = new Vector4(orientation [0], orientation [1], orientation [2], orientation[3]);
tpos += position;
trot += ori;
}
if (ct == 0)
{
return(p);
}
Debug.Log(ct);
tpos /= ct;
trot /= ct;
p.Add(new Vector4(tpos[0], tpos[1], tpos[2], 0.0f));
p.Add(trot);
return(p);
}
// Use LateUpdate to be sure the ARMarker has updated before we try and use the transformation.
void LateUpdate()
{
// Local scale is always 1 for now
transform.localScale = Vector3.one;
// Update tracking if we are running in the Player.
if (Application.isPlaying)
{
// Sanity check, make sure we have an AROrigin in parent hierachy.
AROrigin origin = GetOrigin();
if (origin == null)
{
ARController.Log(LogTag + "No Origin");
//visible = visibleOrRemain = false;
}
else
{
// Sanity check, make sure we have an ARMarker assigned.
ARMarker marker = GetMarker();
if (marker == null)
{
ARController.Log(LogTag + "No ARMarker");
//visible = visibleOrRemain = false;
}
else
{
// Note the current time
float timeNow = Time.realtimeSinceStartup;
ARMarker baseMarker = origin.GetBaseMarker();
if (baseMarker != null && marker.Visible)
{
if (!visible)
{
// Marker was hidden but now is visible.
ARController.Log(LogTag + "Marker was hidden but now is visible.");
visible = visibleOrRemain = true;
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnMarkerFound", marker, SendMessageOptions.DontRequireReceiver);
}
for (int i = 0; i < this.transform.childCount; i++)
{
this.transform.GetChild(i).gameObject.SetActive(true);
}
}
else
{
// ARController.Log (LogTag + "Marker stayed visible");
}
Matrix4x4 pose;
if (marker == baseMarker)
{
// If this marker is the base, no need to take base inverse etc.
pose = origin.transform.localToWorldMatrix;
}
else
{
pose = (origin.transform.localToWorldMatrix * baseMarker.TransformationMatrix.inverse * marker.TransformationMatrix);
}
transform.position = ARUtilityFunctions.PositionFromMatrix(pose);
transform.rotation = ARUtilityFunctions.QuaternionFromMatrix(pose);
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnMarkerTracked", marker, SendMessageOptions.DontRequireReceiver);
}
}
else
{
if (visible)
{
// Marker was visible but now is hidden.
ARController.Log(LogTag + "Marker was visible but now is hidden. (after " + secondsToRemainVisible + "s)");
visible = false;
timeTrackingLost = timeNow;
}
else
{
// ARControllertroller.Log (LogTag + "Marker stayed hidden.");
}
if (visibleOrRemain && (timeNow - timeTrackingLost >= secondsToRemainVisible))
{
visibleOrRemain = false;
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnMarkerLost", marker, SendMessageOptions.DontRequireReceiver);
}
for (int i = 0; i < this.transform.childCount; i++)
{
this.transform.GetChild(i).gameObject.SetActive(false);
}
}
}
} // marker
} // origin
} // Application.isPlaying
else
{
ARController.Log(LogTag + "Applicaiton Not Playing");
}
}
// Use LateUpdate to be sure the ARTrackable has updated before we try and use the transformation.
void LateUpdate()
{
// Local scale is always 1 for now
transform.localScale = Vector3.one;
// Update tracking if we are running in the Player.
if (Application.isPlaying)
{
// Sanity check, make sure we have an AROrigin in parent hierachy.
AROrigin origin = GetOrigin();
if (origin == null)
{
//visible = visibleOrRemain = false;
}
else
{
// Sanity check, make sure we have an ARTrackable assigned.
ARTrackable trackable = GetTrackable();
if (trackable == null)
{
//visible = visibleOrRemain = false;
}
else
{
// Note the current time
float timeNow = Time.realtimeSinceStartup;
ARTrackable baseTrackable = origin.GetBaseTrackable();
if (baseTrackable != null && trackable.Visible)
{
if (!visible)
{
// Trackable was hidden but now is visible.
visible = visibleOrRemain = true;
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnTrackableFound", trackable, SendMessageOptions.DontRequireReceiver);
}
for (int i = 0; i < this.transform.childCount; i++)
{
this.transform.GetChild(i).gameObject.SetActive(true);
}
}
Matrix4x4 pose;
if (trackable == baseTrackable)
{
// If this marker is the base, no need to take base inverse etc.
pose = origin.transform.localToWorldMatrix;
}
else
{
pose = (origin.transform.localToWorldMatrix * baseTrackable.TransformationMatrix.inverse * trackable.TransformationMatrix);
}
transform.position = ARUtilityFunctions.PositionFromMatrix(pose);
transform.rotation = ARUtilityFunctions.QuaternionFromMatrix(pose);
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnTrackableTracked", trackable, SendMessageOptions.DontRequireReceiver);
}
}
else
{
if (visible)
{
// Trackable was visible but now is hidden.
visible = false;
timeTrackingLost = timeNow;
}
if (visibleOrRemain && (timeNow - timeTrackingLost >= secondsToRemainVisible))
{
visibleOrRemain = false;
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnTrackableLost", trackable, SendMessageOptions.DontRequireReceiver);
}
for (int i = 0; i < this.transform.childCount; i++)
{
this.transform.GetChild(i).gameObject.SetActive(false);
}
}
}
} // marker
} // origin
} // Application.isPlaying
}
// Display the rotaion and position part to scene
void showText(Matrix4x4 curPose) // Newly added
{
Rotation.text = "Rotation: " + ARUtilityFunctions.QuaternionFromMatrix(curPose).ToString();
Position.text = "Position: " + ARUtilityFunctions.PositionFromMatrix(curPose).ToString();
Transformation.text = curPose.ToString();
}
// Updates arVisible, arPosition, arRotation based on linked marker state.
private void UpdateTracking(Boolean write)
{
// Note the current time
timeLastUpdate = Time.realtimeSinceStartup;
// First, ensure we have a base marker. If none, then no markers are currently in view.
ARMarker marker = GetMarker();
if (marker == null)
{
if (arVisible)
{
// Marker was visible but now is hidden.
timeTrackingLost = timeLastUpdate;
arVisible = false;
}
}
else
{
if (marker.Visible)
{
Matrix4x4 pose;
//Matrix4x4 myPose;
if (Optical && opticalSetupOK)
{
pose = (opticalViewMatrix * marker.TransformationMatrix).inverse;
// myPose is the transformation from marker to camera
myPose = (opticalViewMatrix * marker.TransformationMatrix);
}
else
{
pose = marker.TransformationMatrix.inverse;
// myPose is the transformation from marker to camera
myPose = marker.TransformationMatrix;
}
// 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.
arPosition = ARUtilityFunctions.PositionFromMatrix(pose);
arRotation = ARUtilityFunctions.QuaternionFromMatrix(pose);
// Show the pose to Text
showText(myPose);
// Write the pose to txt
if (write)
{
writeText(myPose);
}
// read pivot calibration from txt file
string path = "C:/Users/zhaoz/Desktop/JohnsHopkins/Spring2017/CISII/F200/Pivot Calibration/pointTipNeedle.txt";
Vector4 tipMarker;
tipMarker = readPivotCalibration(path);
// transform the tip position from wrt marker to wrt camera
tipCamera = myPose * tipMarker;
// convert Vector4 tipMarker to 3D
renderEndMarker.x = tipMarker.x;
renderEndMarker.y = tipMarker.y;
renderEndMarker.z = tipMarker.z;
tipPositionCamera.text = "Tip Position: " + tipCamera.ToString();
if (!arVisible)
{
// Marker was hidden but still show the augmentation as it was there
arVisible = true;
}
}
else
{
if (arVisible)
{
// Marker was hidden but still show the augmentation as it was there
timeTrackingLost = timeLastUpdate;
arVisible = false;
}
}
}
}
// Use LateUpdate to be sure the ARMarker has updated before we try and use the transformation.
void LateUpdate()
{
// Local scale is always 1 for now
transform.localScale = Vector3.one;
// Update tracking if we are running in the Player.
if (Application.isPlaying)
{
// Sanity check, make sure we have an AROrigin in parent hierachy.
AROrigin origin = GetOrigin();
if (origin == null)
{
//visible = visibleOrRemain = false;
return;
}
// Sanity check, make sure we have an ARMarker assigned.
ARMarker marker = GetMarker();
if (marker == null)
{
//visible = visibleOrRemain = false;
return;
}
// Note the current time
timeNowSeconds = Time.realtimeSinceStartup;
ARMarker baseMarker = origin.GetBaseMarker();
if (baseMarker != null && marker.Visible)
{
if (!visible)
{
// Marker was hidden but now is visible.
visible = visibleOrRemain = true;
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnMarkerFound", marker, SendMessageOptions.DontRequireReceiver);
}
for (int i = 0; i < this.transform.childCount; i++)
{
this.transform.GetChild(i).gameObject.SetActive(true);
}
}
Matrix4x4 pose;
if (marker == baseMarker)
{
// If this marker is the base, no need to take base inverse etc.
pose = origin.transform.localToWorldMatrix;
}
else
{
pose = (origin.transform.localToWorldMatrix * baseMarker.TransformationMatrix.inverse * marker.TransformationMatrix);
}
transform.position = ARUtilityFunctions.PositionFromMatrix(pose);
transform.rotation = ARUtilityFunctions.QuaternionFromMatrix(pose);
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnMarkerTracked", marker, SendMessageOptions.DontRequireReceiver);
}
OnMarkerMadeVisible(marker);
}
else
{
OnMarkerLost(marker);
}
} // Application.isPlaying
}
