/// <summary>
/// Position a Trackable relative to the Camera.
/// </summary>
protected void PositionTrackable(TrackableBehaviour trackableBehaviour,
Camera arCamera,
QCARManagerImpl.PoseData camToTargetPose)
{
trackableBehaviour.transform.position =
arCamera.transform.TransformPoint(camToTargetPose.position);
trackableBehaviour.transform.rotation =
arCamera.transform.rotation *
camToTargetPose.orientation *
Quaternion.AngleAxis(270, Vector3.left);
}
/// <summary>
/// Position the camera relative to a Trackable.
/// </summary>
protected void PositionCamera(TrackableBehaviour trackableBehaviour,
Camera arCamera,
QCARManagerImpl.PoseData camToTargetPose)
{
arCamera.transform.localPosition =
trackableBehaviour.transform.rotation *
Quaternion.AngleAxis(90, Vector3.left) *
Quaternion.Inverse(camToTargetPose.orientation) *
(-camToTargetPose.position) +
trackableBehaviour.transform.position;
arCamera.transform.rotation =
trackableBehaviour.transform.rotation *
Quaternion.AngleAxis(90, Vector3.left) *
Quaternion.Inverse(camToTargetPose.orientation);
}
// Method used to update poses of all active Image Targets
// in the scene
public void UpdateTrackablePoses(Camera arCamera,
QCARManagerImpl.TrackableResultData[] trackableResultDataArray,
int originTrackableID)
{
Dictionary<int, QCARManagerImpl.TrackableResultData> trackableResults = new Dictionary<int, QCARManagerImpl.TrackableResultData>();
foreach (QCARManagerImpl.TrackableResultData trackableData in trackableResultDataArray)
{
// create a dictionary of all trackableResults
trackableResults.Add(trackableData.id, trackableData);
// For each Trackable data struct from native
TrackableBehaviour trackableBehaviourBehaviour;
if (mTrackableBehaviours.TryGetValue(trackableData.id, out trackableBehaviourBehaviour))
{
// If this is the world center skip it, we never move the
// world center Trackable in the scene
if (trackableData.id == originTrackableID)
{
continue;
}
if ((trackableData.status ==
TrackableBehaviour.Status.DETECTED
|| trackableData.status ==
TrackableBehaviour.Status.TRACKED) &&
trackableBehaviourBehaviour.enabled)
{
// The Trackable object is visible and enabled,
// move it into position in relation to the camera
// (which we moved earlier)
PositionTrackable(trackableBehaviourBehaviour, arCamera,
trackableData.pose);
}
}
}
// Update each Trackable
// Do this once all Trackables have been moved into place
mActiveTrackableBehaviours.Clear();
foreach (TrackableBehaviour trackableBehaviour in mTrackableBehaviours.Values)
{
if (trackableBehaviour.enabled)
{
QCARManagerImpl.TrackableResultData trackableData;
if (trackableResults.TryGetValue(trackableBehaviour.Trackable.ID, out trackableData))
{
trackableBehaviour.OnTrackerUpdate(trackableData.status);
}
else
{
trackableBehaviour.OnTrackerUpdate(TrackableBehaviour.Status.NOT_FOUND);
}
if (trackableBehaviour.CurrentStatus == TrackableBehaviour.Status.TRACKED ||
trackableBehaviour.CurrentStatus == TrackableBehaviour.Status.DETECTED)
{
mActiveTrackableBehaviours.Add(trackableBehaviour);
}
}
}
}
// method used to update the camera pose in the scene
public void UpdateCameraPose(Camera arCamera,
QCARManagerImpl.TrackableResultData[] trackableResultDataArray,
int originTrackableID)
{
// If there is a World Center Trackable use it to position the camera.
if (originTrackableID >= 0)
{
foreach (QCARManagerImpl.TrackableResultData trackableData in trackableResultDataArray)
{
if (trackableData.id == originTrackableID)
{
if (trackableData.status ==
TrackableBehaviour.Status.DETECTED
|| trackableData.status ==
TrackableBehaviour.Status.TRACKED)
{
TrackableBehaviour trackableBehaviour;
if (mTrackableBehaviours.TryGetValue(originTrackableID, out trackableBehaviour))
{
if (trackableBehaviour.enabled)
{
PositionCamera(trackableBehaviour, arCamera,
trackableData.pose);
}
}
}
break;
}
}
}
}
/// <summary>
/// Update currently tracked words
/// </summary>
/// <param name="arCamera">Word trackables will be positioned relative to this camera</param>
/// <param name="newWordData">words that have been newly detected in the last frame</param>
/// <param name="wordResults">all words that are currently tracked</param>
public void UpdateWords(Camera arCamera, QCARManagerImpl.WordData[] newWordData, QCARManagerImpl.WordResultData[] wordResults)
{
UpdateWords(newWordData, wordResults);
UpdateWordResultPoses(arCamera, wordResults);
}
public void UpdateWords(Camera arCamera, QCARManagerImpl.WordData[] wordData, QCARManagerImpl.WordResultData[] wordResultData)
{
mWordManager.UpdateWords(arCamera, wordData, wordResultData);
}
private static void SetImageValues(QCARManagerImpl.ImageHeaderData imageHeader, ImageImpl image)
{
image.Width = imageHeader.width;
image.Height = imageHeader.height;
image.Stride = imageHeader.stride;
image.BufferWidth = imageHeader.bufferWidth;
image.BufferHeight = imageHeader.bufferHeight;
image.PixelFormat = (Image.PIXEL_FORMAT)imageHeader.format;
}
