//Calculates the target pose for the camera in order to appear in front of the marker.
private Pose GetTargetPose(MarkerBehaviour marker)
{
Matrix4x4 m = marker.GetMatrix();
Matrix4x4 inverseMat = m.inverse;
Pose p = new Pose();
p.rotation = ARucoUnityHelper.GetQuaternion(inverseMat);
p.position = marker.transform.position;
p.position += ARucoUnityHelper.GetPosition(inverseMat);
return(p);
}
//Updates Marker pose data by transforming the "transform matrix" received from open cv.
//additional rotation can be passed so that the whole world matrix is rotated accordingly.
//that is useful for AR-Foundation since there the camera view is on landscape mode and needs to be rotated properly
private void UpdateMarkerPose(Matrix4x4 transformMatrix, Nullable <Vector3> additionalRotation = null)
{
//convert from open cv space to unity space
Matrix4x4 matrixY = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
Matrix4x4 matrixZ = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
Matrix4x4 matrixX = Matrix4x4.TRS(Vector3.zero, Quaternion.Euler(-90, 0, 0), new Vector3(1, 1, 1));
currentTransformationMatrix = (matrixY * transformMatrix * matrixZ) * matrixX;
//apply additional rotation if needed
Matrix4x4 r = Matrix4x4.Rotate(Quaternion.Euler(additionalRotation.GetValueOrDefault(Vector3.zero)));
currentTransformationMatrix = r * currentTransformationMatrix;
//update the current marker pose position,rotation and scale
currentMarkerPose.position = ARucoUnityHelper.GetPosition(currentTransformationMatrix);
currentMarkerPose.rotation = ARucoUnityHelper.GetQuaternion(currentTransformationMatrix);
currentMarkerPose.scale = ARucoUnityHelper.GetScale(currentTransformationMatrix);
}