/// <summary>
/// Callback from the EasyAR component whic renders the foreground nodes.
/// </summary>
/// <param name="oFrame"></param>
/// <param name="cameraParameters"></param>
/// <param name="aspectRatio"></param>
/// <param name="rotation"></param>
protected void OnARFrameUpdated(OutputFrame oFrame, CameraParameters cameraParameters, float aspectRatio, int rotation)
{
var far = 100f;
var near = 0.01f;
Matrix44F sp = cameraParameters.projection(near, far, aspectRatio, rotation, true, false);
foreach (Optional <FrameFilterResult> unTypedResult in oFrame.results())
{
if (unTypedResult.OnSome)
{
if (unTypedResult.Some is ImageTrackerResult result)
{
int targetIndex = 0;
List <TargetInstance> targetInstances = result.targetInstances();
foreach (TargetInstance targetInstance in targetInstances)
{
TargetStatus status = targetInstance.status();
if (status == TargetStatus.Tracked)
{
Optional <Target> optionalTarget = targetInstance.target();
if (optionalTarget.OnSome)
{
Target target = optionalTarget.Some;
if (target is ImageTarget imageTarget)
{
List <Image> images = imageTarget.images();
Image targetImage = images[0];
Matrix4 prj = sp.ToUrhoMatrix();
prj.M34 /= 2f;
prj.M33 = far / (far - near);
prj.M43 *= -1;
fgCamera.SetProjection(prj);
Matrix4 convertedPoseMatrix = targetInstance.pose().ToUrhoMatrix();
Vector3 scale = new Vector3(imageTarget.scale(), imageTarget.scale() * targetImage.height() / targetImage.width(), 1);
UpdateArScene(targetIndex, convertedPoseMatrix, scale);
foreach (Image targetImageToRelease in images)
{
targetImageToRelease.Dispose();
}
}
target.Dispose();
}
}
targetInstance.Dispose();
targetIndex++;
}
// Remove any targets that can no longer be located
while (targetNodes.Count > targetIndex)
{
Node node = targetNodes[targetIndex];
targetNodes.RemoveAt(targetIndex);
node.Remove();
}
}
unTypedResult.Some.Dispose();
}
}
}
/// <summary>
/// Detects new output frames and updates the camera, then passes the output frame through an event to update the foreground
/// </summary>
/// <param name="timeStep"></param>
protected override void OnUpdate(float timeStep)
{
if (paused)
{
return;
}
Optional <OutputFrame> optionalOframe = OutputFrameBuffer.peek();
if (optionalOframe.OnSome)
{
OutputFrame oframe = optionalOframe.Some;
Optional <InputFrame> optionalIframe = oframe.inputFrame();
if (optionalIframe.OnSome)
{
InputFrame iframe = optionalIframe.Some;
CameraParameters cameraParameters = iframe.cameraParameters();
if (cameraParameters != null)
{
Image image = iframe.image();
float aspectRatio = (float)(DeviceDisplay.MainDisplayInfo.Width / DeviceDisplay.MainDisplayInfo.Height);
int rotation = 0;
switch (DeviceDisplay.MainDisplayInfo.Rotation)
{
case DisplayRotation.Rotation90:
rotation = 90;
break;
case DisplayRotation.Rotation180:
rotation = 180;
break;
case DisplayRotation.Rotation270:
rotation = 270;
break;
}
if (iframe.index() != previousInputFrameIndex)
{
Matrix44F ip = cameraParameters.imageProjection(aspectRatio, rotation, true, false);
Matrix4 iprj = ip.ToUrhoMatrix();
bgCamera.SetProjection(iprj);
EasyAR.Buffer buffer = image.buffer();
try
{
backgroundUpdater.UpdateTexture(Application, image.format(), image.width(), image.height(), buffer);
}
finally
{
buffer.Dispose();
}
previousInputFrameIndex = iframe.index();
}
ARFrameUpdated?.Invoke(oframe, cameraParameters, aspectRatio, rotation);
image.Dispose();
cameraParameters.Dispose();
}
iframe.Dispose();
}
oframe.Dispose();
}
base.OnUpdate(timeStep);
}
