private void UpdateARObjectTransform_2(Mat rvec, Mat tvec)
{
// Convert to unity pose data.
double[] rvecArr = new double[3];
rvec.get(0, 0, rvecArr);
double[] tvecArr = new double[3];
tvec.get(0, 0, tvecArr);
PoseData poseData = ARUtils.ConvertRvecTvecToPoseData(rvecArr, tvecArr);
// Changes in pos/rot below these thresholds are ignored.
if (enableLowPassFilter)
{
ARUtils.LowpassPoseData(ref oldPoseData, ref poseData, positionLowPass, rotationLowPass);
}
oldPoseData = poseData;
// Convert to transform matrix.
ARM = ARUtils.ConvertPoseDataToMatrix(ref poseData, true, true);
//if (shouldMoveARCamera) {
// ARM = arGameObject.transform.localToWorldMatrix * ARM.inverse;
// ARUtils.SetTransformFromMatrix(arCamera.transform, ref ARM);
//} else {
ARM = arCamera.transform.localToWorldMatrix * ARM;
ARUtils.SetTransformFromMatrix(arGameObject.transform, ref ARM);
//}
}
private void UpdateARObjectTransform(Mat rvec, Mat tvec, int id)
{
// Find the object of this id
if (idDict.ContainsKey(id))
{
arGameObject = GameObject.Find(idDict[id]);
}
// Convert to unity pose data.
double[] rvecArr = new double[3];
rvec.get(0, 0, rvecArr);
double[] tvecArr = new double[3];
tvec.get(0, 0, tvecArr);
PoseData poseData = ARUtils.ConvertRvecTvecToPoseData(rvecArr, tvecArr);
// Changes in pos/rot below these thresholds are ignored.
if (enableLowPassFilter)
{
ARUtils.LowpassPoseData(ref oldPoseData, ref poseData, positionLowPass, rotationLowPass);
}
oldPoseData = poseData;
// Convert to transform matrix.
ARM = ARUtils.ConvertPoseDataToMatrix(ref poseData, true, true);
ARM = arCamera.transform.localToWorldMatrix * ARM;
ARUtils.SetTransformFromMatrix(arGameObject.transform, ref ARM);
//Only move and do not rotate
Vector3 rawRotation = arGameObject.transform.rotation.eulerAngles;
arGameObject.transform.rotation = Quaternion.Euler(new Vector3(0, adjustRotation(rawRotation[1]), 0));
}
