public override void PreparePose()
{
var poses = ArMarkers.GetAll().Where(m => IsArMarkerValid(m));
bool hadPose = _hasPose;
_hasPose = poses.Count() > 0;
if (!_hasPose)
{
return;
}
// weighted average - by marker confidence
float x = 0, y = 0, z = 0;
float qx = 0, qy = 0, qz = 0, qw = 0;
float totalConfidence = 0;
foreach (var pose in poses)
{
var conf = pose.Confidence;
x += conf * pose.DetectedCameraPosition.x;
y += conf * pose.DetectedCameraPosition.y;
z += conf * pose.DetectedCameraPosition.z;
qx += pose.DetectedCameraRotation.x;
qy += pose.DetectedCameraRotation.y;
qz += pose.DetectedCameraRotation.z;
qw += pose.DetectedCameraRotation.w;
totalConfidence += conf;
}
float k = 1.0f / Mathf.Sqrt(qx * qx + qy * qy + qz * qz + qw * qw);
var rot = new Quaternion(qx * k, qy * k, qz * k, qw * k);
var pos = new Vector3(x, y, z) / totalConfidence;
if (UseAverages && hadPose)
{
_rotation = Quaternion.Slerp(_rotation, rot, AverageWeight);
_position = AverageWeight * _position + (1 - AverageWeight) * pos;
}
else
{
_position = pos;
_rotation = rot;
}
}
private Vector3 GetMarkerWorldPosition(int id)
{
var marker = ArMarkers.Get(id);
//var marker = _markers.FirstOrDefault((m) => m.id == id);
//var surface = SurfaceManager.Instance.Get(SurfaceName);
if (marker == null)
{
// should never happen, in theory
Debug.Log("Unable to find marker " + id);
return(Vector3.zero);
}
return(marker.transform.position);
//var worldOffsetFromTopLeft = marker.GetUnityPosition(surface);
//var localOffsetFromTopLeft = surface.Rotation * worldOffsetFromTopLeft;
//return surface.GetCornerPosition(Corner.TopLeft) + localOffsetFromTopLeft;
}
