philipp.kramer/zed-ar-headfree-passthrough
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add keypress for recentering (doesnt work)

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Philipp Kramer 2020-01-13 10:17:47 +01:00
parent 113ea1b349
commit fb2c379ccf
1 changed files with 20 additions and 9 deletions
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29
Assets/ZED/SDK/Helpers/Scripts/ZEDManager.cs
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@ -224,6 +224,10 @@ public class ZEDManager : MonoBehaviour
[HideInInspector] [HideInInspector]
public bool estimateInitialPosition = true; public bool estimateInitialPosition = true;
//public bool headfree = false;
public bool zLockZED = false;
public bool ZLockCam = false;
///////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////
@ -1856,6 +1860,7 @@ public class ZEDManager : MonoBehaviour
if (UnityEngine.XR.XRDevice.isPresent && isStereoRig) //AR pass-through mode. if (UnityEngine.XR.XRDevice.isPresent && isStereoRig) //AR pass-through mode.
{ {
if (calibrationHasChanged) //If the HMD offset calibration file changed during runtime. if (calibrationHasChanged) //If the HMD offset calibration file changed during runtime.
{ {
AdjustZEDRigCameraPosition(); //Re-apply the ZED's offset from the VR headset. AdjustZEDRigCameraPosition(); //Re-apply the ZED's offset from the VR headset.
@ -1877,10 +1882,9 @@ public class ZEDManager : MonoBehaviour
//Rotate Image plane with zed rotation //Rotate Image plane with zed rotation
r = zedOrientation; r = zedOrientation;
zedRigDisplayer.transform.localRotation = r; //(Mod) zedRigDisplayer should move/rotate the image plane zedRigDisplayer.transform.localRotation = r; //(Mod) zedRigDisplayer should move/rotate the image plane
//zedRigDisplayer.transform.localEulerAngles = new Vector3(r.x,r.y,0); //zedRigDisplayer.transform.localEulerAngles = new Vector3(r.x,r.y,0);
//TODO: rotation von hmd soll zedRigDisplayer weiterhin beeinflussen (r.z nicht übernehmen evtl?)
@ -1939,18 +1943,25 @@ public class ZEDManager : MonoBehaviour
// # Versuch Z Rotation der ZED transformiert auf Rotation des camRig uebertragen # // # Versuch Z Rotation der ZED transformiert auf Rotation des camRig uebertragen #
//rotationTransformhelper.transform.rotation = zedRigDisplayer.transform.localRotation; //rotationTransformhelper.transform.rotation = zedRigDisplayer.transform.localRotation;
//rotationTransformhelper.transform.localEulerAngles = new Vector3(-zedRigDisplayer.transform.eulerAngles.x, -zedRigDisplayer.transform.eulerAngles.y, 0); //rotationTransformhelper.transform.localEulerAngles = new Vector3(-zedRigDisplayer.transform.eulerAngles.x, -zedRigDisplayer.transform.eulerAngles.y, 0);
bool enableZLockZED = true;
bool enableZLockCam = false;
camRigDisplayer.transform.localRotation = Quaternion.identity; camRigDisplayer.transform.localRotation = Quaternion.identity;
if (enableZLockZED) if (Input.GetKeyDown("space"))
{ //Restoring position does currently not work
Debug.Log("fix");
//camRigDisplayer.transform.localRotation = zedRigDisplayer.transform.rotation; //moves camera image to origin (not view point)
camRigDisplayer.transform.localRotation = zedRigDisplayer.transform.rotation;
camRigDisplayer.transform.Rotate(-camLeft.transform.rotation.eulerAngles);
}
if (zLockZED)
{ {
Vector3 zedDirection = new Vector3(0, 0, 1); //Create Vector towars Z+ Vector3 zedDirection = new Vector3(0, 0, 1); //Create Vector towars Z+
zedDirection = zedRigDisplayer.transform.rotation * zedDirection; //rotate vector by zedRigRotation (vector should point towards +Z of zedRigDisplayer) zedDirection = zedRigDisplayer.transform.rotation * zedDirection; //rotate vector by zedRigRotation (vector should point towards +Z of zedRigDisplayer)
camRigDisplayer.transform.localRotation = Quaternion.AngleAxis(zedRigDisplayer.transform.localEulerAngles.z, zedDirection); //rotate only around zedDirection.z with respect to original coordinate system camRigDisplayer.transform.localRotation = Quaternion.AngleAxis(zedRigDisplayer.transform.localEulerAngles.z, zedDirection); //rotate only around zedDirection.z with respect to original coordinate system
} }
if (enableZLockCam) if (ZLockCam)
{ {
//same for camera Z rotation compensation //same for camera Z rotation compensation
Vector3 hmdDirection = new Vector3(0, 0, 1); //Create Vector towars Z+ Vector3 hmdDirection = new Vector3(0, 0, 1); //Create Vector towars Z+
@ -1993,7 +2004,7 @@ public class ZEDManager : MonoBehaviour
arRig.CollectPose(); //Save headset pose with current timestamp. arRig.CollectPose(); //Save headset pose with current timestamp.
} }
Vector3 rotatePointAroundAxis(Vector3 point, float angle, Vector3 axis) Vector3 RotatePointAroundAxis(Vector3 point, float angle, Vector3 axis)
{ {
Quaternion q = Quaternion.AngleAxis(angle, axis); Quaternion q = Quaternion.AngleAxis(angle, axis);
return q * point; //Note: q must be first (point * q wouldn't compile) return q * point; //Note: q must be first (point * q wouldn't compile)