/// <summary>
/// <para xml:lang="en">Calculate and set <see cref="Target"/> transform using <see cref="Target"/> <paramref name="pose"/>, to express the relation of <see cref="Camera"/> and <see cref="Target"/> in 3D space which is known in <see cref="Target"/> <paramref name="pose"/>.</para>
/// <para xml:lang="zh">已知<see cref="Camera"/>与<see cref="Target"/>的相对关系，通过<see cref="Target"/>的<paramref name="pose"/>计算并设置<see cref="Target"/>的Transform，以便在三维空间中将这个关系表达出来。</para>
/// </summary>
public static void SetTargetPoseOnTarget(Transform camera, TargetController controller, Matrix44F pose, Matrix4x4 displayCompensation, bool manualHorizontalFlip = false)
{
SetPoseOnTransform(controller.transform, camera.transform, pose, displayCompensation, false, false, manualHorizontalFlip);
}
private void OnFrameUpdate(OutputFrame outputFrame, InputFrame inputFrame, Matrix4x4 displayCompensation)
{
// world root
if (Assembly.RequireWorldCenter && !WorldRootController)
{
Debug.Log("WorldRoot not found, create from " + typeof(ARSession));
var gameObject = new GameObject("WorldRoot");
WorldRootController = gameObject.AddComponent <WorldRootController>();
if (WorldRootChanged != null)
{
WorldRootChanged(WorldRootController);
}
previousWorldRootController = WorldRootController;
}
if (!Assembly.RequireWorldCenter && CenterMode == ARCenterMode.WorldRoot)
{
Debug.LogWarning("ARCenterMode.WorldRoot not available for target only tracking");
CenterMode = ARCenterMode.FirstTarget;
}
// horizontal flip
var hflip = HorizontalFlipNormal;
using (var cameraParameters = inputFrame.cameraParameters())
{
if (cameraParameters.cameraDeviceType() == CameraDeviceType.Front)
{
hflip = HorizontalFlipFront;
}
}
var worldHFlip = false;
var targetHFlip = false;
switch (hflip)
{
case ARHorizontalFlipMode.World:
worldHFlip = true;
targetHFlip = false;
break;
case ARHorizontalFlipMode.Target:
worldHFlip = false;
targetHFlip = true;
break;
default:
break;
}
foreach (var renderCamera in Assembly.RenderCameras)
{
renderCamera.SetProjectHFlip(worldHFlip);
renderCamera.SetRenderImageHFilp(worldHFlip || targetHFlip);
}
foreach (var filter in Assembly.FrameFilters)
{
filter.SetHFlip(targetHFlip);
}
// dispatch results
var results = outputFrame.results();
var motionTrackingStatus = Optional <MotionTrackingStatus> .CreateNone();
if (inputFrame.hasSpatialInformation())
{
motionTrackingStatus = inputFrame.trackingStatus();
}
var resultControllers = DispatchResults(results, motionTrackingStatus);
// get camera pose if available
var cameraPose = Optional <Matrix44F> .Empty;
if (Assembly.RequireWorldCenter)
{
if (motionTrackingStatus.OnSome)
{
if (motionTrackingStatus.Value != MotionTrackingStatus.NotTracking)
{
cameraPose = inputFrame.cameraTransform();
}
}
else
{
foreach (var result in resultControllers)
{
if (result.Key.OnNone)
{
cameraPose = result.Value;
break;
}
}
}
}
// get center target pose if available
var centerTargetPose = Optional <Matrix44F> .Empty;
if (CenterMode == ARCenterMode.FirstTarget || CenterMode == ARCenterMode.SpecificTarget)
{
foreach (var result in resultControllers)
{
if (!CenterTarget)
{
break;
}
if (result.Key.OnNone)
{
continue;
}
if (result.Key == CenterTarget)
{
centerTargetPose = result.Value;
break;
}
}
if (CenterMode == ARCenterMode.FirstTarget && centerTargetPose.OnNone)
{
foreach (var result in resultControllers)
{
if (result.Key.OnNone)
{
continue;
}
CenterTarget = result.Key.Value;
centerTargetPose = result.Value;
break;
}
}
}
else
{
CenterTarget = null;
}
// set camera transform first
if (CenterMode == ARCenterMode.FirstTarget || CenterMode == ARCenterMode.SpecificTarget)
{
if (CenterTarget && centerTargetPose.OnSome)
{
TransformUtil.SetTargetPoseOnCamera(Assembly.CameraRoot, CenterTarget, centerTargetPose.Value, displayCompensation, targetHFlip);
}
}
else if (CenterMode == ARCenterMode.WorldRoot)
{
if (WorldRootController && cameraPose.OnSome)
{
TransformUtil.SetCameraPoseOnCamera(Assembly.CameraRoot, WorldRootController, cameraPose.Value, displayCompensation, targetHFlip);
}
}
// set target and world root transform
if (CenterMode == ARCenterMode.Camera)
{
foreach (var result in resultControllers)
{
if (result.Key.OnSome)
{
TransformUtil.SetTargetPoseOnTarget(Assembly.CameraRoot, result.Key.Value, result.Value, displayCompensation, targetHFlip);
}
}
if (WorldRootController && cameraPose.OnSome)
{
TransformUtil.SetCameraPoseOnWorldRoot(Assembly.CameraRoot, WorldRootController, cameraPose.Value, displayCompensation, targetHFlip);
}
}
else if (CenterMode == ARCenterMode.WorldRoot)
{
foreach (var result in resultControllers)
{
if (result.Key.OnSome)
{
TransformUtil.SetTargetPoseOnTarget(Assembly.CameraRoot, result.Key.Value, result.Value, displayCompensation, targetHFlip);
}
}
}
else if (CenterMode == ARCenterMode.FirstTarget || CenterMode == ARCenterMode.SpecificTarget)
{
foreach (var result in resultControllers)
{
if (result.Key.OnSome && result.Key.Value != CenterTarget)
{
TransformUtil.SetTargetPoseOnTarget(Assembly.CameraRoot, result.Key.Value, result.Value, displayCompensation, targetHFlip);
}
}
if (WorldRootController && cameraPose.OnSome)
{
TransformUtil.SetCameraPoseOnWorldRoot(Assembly.CameraRoot, WorldRootController, cameraPose.Value, displayCompensation, targetHFlip);
}
}
else if (CenterMode == ARCenterMode.ExternalControl)
{
foreach (var result in resultControllers)
{
if (result.Key.OnSome)
{
TransformUtil.SetTargetPoseOnTarget(Assembly.CameraRoot, result.Key.Value, result.Value, displayCompensation, targetHFlip);
}
}
}
// dispose results
foreach (var result in results)
{
if (result.OnSome)
{
result.Value.Dispose();
}
}
}
