/// <summary>
/// Update the gameObject's transform of an ArUco object.
/// </summary>
/// <param name="arucoObject">The ArUco object to place.</param>
/// <param name="rvec">The estimated rotation vector of the ArUco object.</param>
/// <param name="tvec">The estimated translation vector of the ArUco object.</param>
/// <param name="cameraId">The id of the camera to use. The gameObject is placed and oriented relative to this camera.</param>
/// <param name="positionFactor">Factor on the position vector.</param>
protected void PlaceArucoObject(ArucoObject arucoObject, Cv.Vec3d rvec, Cv.Vec3d tvec, int cameraId, float positionFactor = 1f)
{
GameObject arucoGameObject = arucoObject.gameObject;
arucoGameObject.transform.SetParent(arucoTracker.ArucoCamera.ImageCameras[cameraId].transform);
arucoGameObject.transform.localPosition = tvec.ToPosition() * positionFactor;
arucoGameObject.transform.localRotation = rvec.ToRotation();
arucoGameObject.SetActive(true);
}
/// <summary>
/// Update the gameObject's transform of an ArUco object.
/// </summary>
/// <param name="arucoObject">The ArUco object to place.</param>
/// <param name="rvec">The estimated rotation vector of the ArUco object.</param>
/// <param name="tvec">The estimated translation vector of the ArUco object.</param>
/// <param name="cameraId">The id of the camera to use. The gameObject is placed and oriented relative to this camera.</param>
/// <param name="positionFactor">Factor on the position vector.</param>
protected void PlaceArucoObject(ArucoObject arucoObject, Cv.Vec3d rvec, Cv.Vec3d tvec, int cameraId, float positionFactor = 1f)
{
GameObject arucoGameObject = arucoObject.gameObject;
arucoGameObject.transform.SetParent(arucoTracker.ArucoCamera.ImageCameras[cameraId].transform);
arucoGameObject.transform.localPosition = tvec.ToPosition() * positionFactor
+ arucoGameObject.transform.up * arucoGameObject.transform.localScale.y / 2; // Move up the object to coincide with the marker;
arucoGameObject.transform.localRotation = rvec.ToRotation();
arucoGameObject.SetActive(true);
}
