public async void GetMarkerPosition(CameraParameters cameraParams, string image, bool autoCalibrate = false, bool force = false, bool showNotification = false)
{
try {
// receive cameraPose from server
IO.Swagger.Model.EstimatedPose markerEstimatedPose = await WebsocketManager.Instance.GetCameraPose(cameraParams, image, inverse : true);
if ((float)markerEstimatedPose.Quality > anchorQuality || force)
{
anchorQuality = (float)markerEstimatedPose.Quality;
//Notifications.Instance.ShowNotification("Marker quality", markerEstimatedPose.Quality.ToString());
IO.Swagger.Model.Pose markerPose = markerEstimatedPose.Pose;
Vector3 markerPositionReceived = new Vector3((float)markerPose.Position.X, (float)markerPose.Position.Y, (float)markerPose.Position.Z);
Quaternion markerRotationReceived = new Quaternion((float)markerPose.Orientation.X, (float)markerPose.Orientation.Y,
(float)markerPose.Orientation.Z, (float)markerPose.Orientation.W);
Matrix4x4 markerMatrix = AdjustMatrixByScreenOrientation(Matrix4x4.TRS(markerPositionReceived, markerRotationReceived, Vector3.one));
Vector3 markerPosition = TransformConvertor.OpenCVToUnity(TransformConvertor.GetPositionFromMatrix(markerMatrix));
Quaternion markerRotation = TransformConvertor.OpenCVToUnity(TransformConvertor.GetQuaternionFromMatrix(markerMatrix));
// Marker Position
GameObject marker = Instantiate(MarkerPositionGameObject);
marker.transform.localPosition = ARCameraTransformMatrix.MultiplyPoint3x4(markerPosition); //ARCamera.TransformPoint(markerPosition);
marker.transform.localRotation = TransformConvertor.GetQuaternionFromMatrix(ARCameraTransformMatrix) * markerRotation; //ARCamera.transform.rotation * markerRotation;
marker.transform.localScale = new Vector3(1f, 1f, 1f);
CreateLocalAnchor(marker);
//System.IO.File.WriteAllBytes(Application.persistentDataPath + "/image" + imageNum + ".jpg", m_Texture.EncodeToJPG());
//imageNum++;
// Transformation Inversion to get Camera Position
//markerMatrix = Matrix4x4.TRS(markerPosition, markerRotation, Vector3.one); // create translation, rotation and scaling matrix
//Matrix4x4 cameraMatrix = markerMatrix.inverse; // inverse to get marker rotation matrix
//cameraMatrix.SetColumn(3, Vector4.zero); // set translation column to zeros
//Vector3 cameraPos = cameraMatrix.MultiplyPoint3x4(markerPosition); // transform cameraPosition by marker matrix
//cameraPos = -1 * cameraPos;
//if (WorldAnchorLocal != null) {
// // Camera Position
// GameObject camera = Instantiate(MarkerPositionGameObject, WorldAnchorLocal.transform);
// camera.transform.localPosition = cameraPos;
// camera.transform.localRotation = Quaternion.LookRotation(cameraMatrix.GetColumn(2), cameraMatrix.GetColumn(1));
// camera.transform.localScale = new Vector3(0.05f, 0.05f, 0.05f);
//}
//Notifications.Instance.ShowNotification("Marker position", "GetCameraPose inverse true");
markerDetectionState = MarkerDetectionState.Success;
if (showNotification)
{
Notifications.Instance.ShowNotification("Calibration successful", "");
}
}
else
{
markerDetectionState = MarkerDetectionState.Failure;
if (showNotification)
{
Notifications.Instance.ShowNotification("No markers visible", "Find some markers and try again.");
}
}
} catch (RequestFailedException ex) {
markerDetectionState = MarkerDetectionState.Failure;
Debug.Log("No markers visible");
if (showNotification)
{
Notifications.Instance.ShowNotification("No markers visible", "Find some markers and try again.");
}
}
}
private IEnumerator AutoCalibrate()
{
// Do nothing while in the MainScreen (just track feature points, planes, etc. as user moves unintentionally with the device)
yield return(new WaitUntil(() => GameManager.Instance.GetGameState() == GameManager.GameStateEnum.SceneEditor ||
GameManager.Instance.GetGameState() == GameManager.GameStateEnum.ProjectEditor ||
GameManager.Instance.GetGameState() == GameManager.GameStateEnum.PackageRunning));
if (!Calibrated)
{
Notifications.Instance.ShowNotification("Calibrating", "Move the device around your workspace");
TrackingLostAnimation.PlayVideo();
//yield return new WaitForSeconds(10f);
// Check how many features and planes the tracking has detected
yield return(new WaitUntil(() => TrackingManager.Instance.GetTrackingQuality() == TrackingManager.TrackingQuality.GOOD_QUALITY));
TrackingLostAnimation.StopVideo();
Calibrated = false;
OnARCalibrated?.Invoke(this, new CalibrationEventArgs(false, null));
Notifications.Instance.ShowNotification("Locate as much markers as possible", "Calibration will be done automatically");
}
while (!Calibrated)
{
markerDetectionState = MarkerDetectionState.Processing;
bool calibrated = false;
yield return(CalibrateUsingServerAsync(success => {
calibrated = success;
markerDetectionState = success ? MarkerDetectionState.Success : MarkerDetectionState.Failure;
}, inverse: true, force: true));
Calibrated = calibrated;
yield return(new WaitForSeconds(0.5f));
}
OnARCalibrated?.Invoke(this, new CalibrationEventArgs(true, WorldAnchorLocal.gameObject));
// Main autocalibration loop
while (Application.isFocused)
{
// Do nothing while in the MainScreen (just track feature points, planes, etc. as user moves unintentionally with the device)
yield return(new WaitUntil(() => (GameManager.Instance.GetGameState() == GameManager.GameStateEnum.SceneEditor ||
GameManager.Instance.GetGameState() == GameManager.GameStateEnum.ProjectEditor ||
GameManager.Instance.GetGameState() == GameManager.GameStateEnum.PackageRunning) &&
TrackingManager.Instance.IsDeviceTracking()));
if (AutoRecalibration)
{
markerDetectionState = MarkerDetectionState.Processing;
yield return(CalibrateUsingServerAsync(success => {
if (success)
{
markerDetectionState = MarkerDetectionState.Success;
recalibrateTime = 2f;
}
else
{
markerDetectionState = MarkerDetectionState.Failure;
if (anchorQuality > 0)
{
anchorQuality -= 0.05f;
}
//if (recalibrateTime > 1f) {
// recalibrateTime -= 10f;
//}
}
}, inverse: true, autoCalibrate: true));
//Debug.Log("Current quality: " + anchorQuality);
}
yield return(new WaitForSeconds(AutoRecalibrateTime));
}
}
