void OnNewPose(MarkerPose pose)
{
if (pose.Id == TrackedId)
{
if (Invert)
{
Matrix4x4 marker = Matrix4x4.TRS(pose.Position, pose.Rotation, Vector3.one);
Matrix4x4 cam = marker.inverse;
transform.localPosition = cam.GetPosition();
transform.localRotation = cam.GetRotation();
}
else
{
//transform.localPosition = pose.Position;
//transform.localRotation = pose.Rotation;
var camPos = (relativeTo == null) ? SceneCameraTracker.Instance.transform.position : relativeTo.position;
var camRot = (relativeTo == null) ? SceneCameraTracker.Instance.transform.rotation : relativeTo.rotation;
if (ApplyYOffset)
{
transform.position = camPos + camRot * pose.Position + new Vector3(0, transform.localScale.y, 0) / 2f;
}
else
{
transform.position = camPos + camRot * pose.Position;
}
transform.rotation = camRot * pose.Rotation;
}
}
}
void OnNewPose(MarkerPose pose)
{
if (pose.Id == TrackedId)
{
if (Invert)
{
Matrix4x4 marker = Matrix4x4.TRS(pose.Position, pose.Rotation, Vector3.one);
Matrix4x4 cam = marker.inverse;
transform.localPosition = cam.GetPosition();
transform.localRotation = cam.GetRotation();
}
else
{
//transform.localPosition = pose.Position;
//transform.localRotation = pose.Rotation;
var camPos = (relativeTo == null) ? SceneCameraTracker.Instance.transform.position : relativeTo.position;
var camRot = (relativeTo == null) ? SceneCameraTracker.Instance.transform.rotation : relativeTo.rotation;
if (ApplyYOffset)
transform.position = camPos + camRot * pose.Position + new Vector3(0, transform.localScale.y, 0) / 2f;
else
transform.position = camPos + camRot * pose.Position;
transform.rotation = camRot * pose.Rotation;
}
}
}
void OnNewPose(MarkerPose pose)
{
if (pose.Id == TrackedMarkerId)
{
transform.position = pose.Position;
transform.rotation = pose.Rotation;
}
}
void OnNewPose(MarkerPose pose)
{
if (pose.Name == TrackedMarkerName)
{
transform.position = pose.Position;
transform.rotation = pose.Rotation;
}
}
protected void OnNewPoseDetected(MarkerPose pose)
{
DetectedPoses[pose.Id] = pose;
if (NewPoseDetected != null)
{
NewPoseDetected(pose);
}
}
void OnArucoPose(MarkerPose pose)
{
if (pose.Id == MarkerId)
{
// pose is marker's pose -> inverted we get camera pose
var markerMatrix = Matrix4x4.TRS(pose.Position, pose.Rotation, Vector3.one);
var cameraMatrix = markerMatrix.inverse;
var cameraLocalPos = cameraMatrix.GetPosition();
var cameraWorldPos = transform.TransformPoint(cameraLocalPos);
var camPose = new TimedPose
{
DetectionTime = DateTime.Now,
CameraPose = cameraWorldPos
};
_savedPoses.Add(camPose);
}
}
private void OnArucoPose(MarkerPose pose)
{
var sceneCamTransform = SceneCameraTracker.Instance.transform;
int index = -1;
if (pose.Id == TopLeftId)
index = TOPLEFT;
else if (pose.Id == BottomRightId)
index = BOTTOMRIGHT;
else if (pose.Id == TopRightId)
index = TOPRIGHT;
else if (pose.Id == BottomLeftId)
index = BOTTOMLEFT;
else
return;
var worldPos = sceneCamTransform.TransformPoint(pose.Position);
var worldRot = sceneCamTransform.rotation * pose.Rotation;
_poses[index].AddSample(worldPos, worldRot);
}
private void OnArucoPose(MarkerPose pose)
{
var markerOffset = CalibrationOffsets[pose.Id];
if (markerOffset == null)
{
markerOffset = new MarkerOffset
{
ArMarkerId = pose.Id
};
CalibrationOffsets[pose.Id] = markerOffset;
}
// pose is marker's pose -> inverted we get camera pose
var markerMatrix = Matrix4x4.TRS(pose.Position, pose.Rotation, Vector3.one);
var cameraMatrix = markerMatrix.inverse;
markerOffset.HasArPose = true;
markerOffset.ArPoseDetectionTime = Time.unscaledTime;
markerOffset.ArMarkerPosition = pose.Position;
markerOffset.ArMarkerRotation = pose.Rotation;
markerOffset.ArCameraPosition = cameraMatrix.GetPosition();
markerOffset.ArCameraRotation = cameraMatrix.GetRotation();
}
private void OnArucoPose(MarkerPose pose)
{
foreach (var cMarker in _markerSetupScript.CalibratedMarkers)
{
if (cMarker.Id == pose.Id)
{
// pose is marker's pose -> inverted we get camera pose
var markerMatrix = Matrix4x4.TRS(pose.Position, pose.Rotation, Vector3.one);
var cameraMatrix = markerMatrix.inverse;
var cameraLocalPos = cameraMatrix.GetPosition();
var cameraWorldPos = cMarker.Marker.transform.TransformPoint(cameraLocalPos);
var cameraLocalRot = cameraMatrix.GetRotation();
var cameraWorldForward = cMarker.Marker.transform.TransformDirection(cameraLocalRot * Vector3.forward);
var cameraWorldUp = cMarker.Marker.transform.TransformDirection(cameraLocalRot * Vector3.up);
var cameraWorldRot = Quaternion.LookRotation(cameraWorldForward, cameraWorldUp);
var calibratedPose = new Pose
{
Id = pose.Id,
Position = cameraWorldPos,
Rotation = cameraWorldRot
};
if (_calibratedArucoPoses.ContainsKey(pose.Id))
{
_calibratedArucoPoses[pose.Id] = calibratedPose;
}
else
{
_calibratedArucoPoses.Add(pose.Id, calibratedPose);
}
// TODO thresholding etc
HasSteadyArucoPose = true;
break;
}
}
}
private void OnArucoPose(MarkerPose pose)
{
if (pose.Id == ArucoCalibrationId)
{
// we're interested in camera's position relative to marker, not markerposition
// -> we can get camera position by inverting marker transformation matrix
var transformMatrix = Matrix4x4.TRS(pose.Position, pose.Rotation, Vector3.one);
var invMatrix = transformMatrix.inverse;
var prevPos = _arucoPos;
var prevRot = _arucoRot;
_arucoPos = invMatrix.GetPosition();
_arucoRot = invMatrix.GetRotation();
var hasSteadyPos = (_arucoPos - prevPos).sqrMagnitude < SteadyPosThreshold;
var hasSteadyRot = Quaternion.Angle(prevRot, _arucoRot) < SteadyAngleThreshold;
HasSteadyArucoPose = hasSteadyPos && hasSteadyRot;
}
}
private void OnArtkPose(MarkerPose pose)
{
if (pose.Name == ArtkCalibrationName)
{
// we're interested in camera's position relative to marker, not markerposition
// -> we can get camera position by inverting marker transformation matrix
var invertedPose = pose.Inverse();
var prevPos = _artkPos;
var prevRot = _artkRot;
_artkPos = invertedPose.Position;
_artkRot = invertedPose.Rotation;
var hasSteadyPos = (_artkPos - prevPos).sqrMagnitude < SteadyPosThreshold;
var hasSteadyRot = Quaternion.Angle(prevRot, _artkRot) < SteadyAngleThreshold;
HasSteadyArtkPose = hasSteadyPos && hasSteadyRot;
}
}
