ARCamera.cs

ARCamera.cs

		protected override void OnUpdate(float timeStep)
		{
			var frame = arSession?.CurrentFrame;
			if (frame == null)
			    return;
      
			var arcamera = frame.Camera;

			var transform = arcamera.Transform;
			var projection = arcamera.ProjectionMatrix;

			float near = projection.M43 / projection.M33;
			float far = projection.M43 / (projection.M33 + 1);
			//float aspect = projection.M22 / projection.M11; 
			float aspect = projection.M11 / projection.M22;
			float fovH = 360f * (float)Math.Atan(1f / projection.M11) / MathHelper.Pi;
			float fovV = 360f * (float)Math.Atan(1f / projection.M22) / MathHelper.Pi;
			float projectOffsetX = -projection.M31 / 2f;
			float projectOffsetY = -projection.M32 / 2f;

			Camera.Skew = projection.M21;
			Camera.ProjectionOffset = new Vector2(projectOffsetX, projectOffsetY);
			Camera.AspectRatio = aspect;
			Camera.Fov = fovV; //TODO: Add FovVertical/FovHorizontal API to urho3d
			Camera.NearClip = near;
			Camera.FarClip = far;

			// Rotation (ARFrame has EulerAngles property)
			var ea = arcamera.EulerAngles;
			var tod = 180f / MathHelper.Pi;
			CameraNode.Rotation = new Quaternion(-ea.X * tod, -ea.Y * tod, ea.Z * tod + 90); //RHD->LHD coordinates

			// Position
			var row = arcamera.Transform.Row3;
			CameraNode.Position = new Vector3(row.X, row.Y, -row.Z);

			arSession.CurrentFrame.Dispose();
			arcamera.Dispose();
    }