//called when data for any output pin is requested
public void Evaluate(int SpreadMax)
{
FPinOutOutput.SliceCount = FPinInInput.SliceCount;
if (FPinInIntrinsics[0] == null || FPinInExtrinsics[0] == null)
{
return;
}
MCvPoint3D32f[] o = new MCvPoint3D32f[1];
PointF[] im = new PointF[1];
for (int i = 0; i < FPinInInput.SliceCount; i++)
{
o[0].x = (float)FPinInInput[i].x;
o[0].y = (float)FPinInInput[i].y;
o[0].z = (float)FPinInInput[i].z;
im = CameraCalibration.ProjectPoints(o, FPinInExtrinsics[0], FPinInIntrinsics[0]);
FPinOutOutput[i] = new Vector2D((double)im[0].X, (double)im[0].Y);
}
}
public void ProcessData(MotionControllerModel mc)
{
if (_camera.Handle != IntPtr.Zero)
{
Vector3 rawPosition = Vector3.zero;
Vector3 fusionPosition = Vector3.zero;
PSMoveTrackerStatus trackerStatus = mc.TrackerStatus[_camera];
if (!mc.Design)
{
trackerStatus = PsMoveApi.psmove_tracker_get_status(_camera.Handle, mc.Handle);
}
if (trackerStatus == PSMoveTrackerStatus.Tracking)
{
float rx, ry, rrad;
float fx, fy, fz;
PsMoveApi.psmove_tracker_get_position(_camera.Handle, mc.Handle, out rx, out ry, out rrad);
PsMoveApi.psmove_fusion_get_position(_camera.Fusion, mc.Handle, out fx, out fy, out fz);
rx = (int)(rx + 0.5);
ry = (int)(ry + 0.5);
rawPosition = new Vector3(rx, ry, rrad);
fusionPosition = new Vector3(fx, fy, fz);
}
else if (mc.Design)
{
switch (_camera.Calibration.Index)
{
case 0:
rawPosition = new Vector3(129, 280, 8.970074f);
break;
case 1:
rawPosition = new Vector3(180, 293, 11.9714022f);
break;
case 2:
rawPosition = new Vector3(528, 286, 9.038924f);
break;
case 3:
rawPosition = new Vector3(389, 275, 6.530668f);
break;
}
}
mc.TrackerStatus[_camera] = trackerStatus;
mc.RawPosition[_camera] = rawPosition;
mc.FusionPosition[_camera] = fusionPosition;
if (trackerStatus == PSMoveTrackerStatus.Tracking || mc.Design)
{
// controller position -> rectangle in surrounding the sphere in image coordinates
PointF[] imgPts = CvHelper.GetImagePointsF(mc.RawPosition[_camera]);
ExtrinsicCameraParameters ex = CameraCalibration.FindExtrinsicCameraParams2(
_camera.Calibration.ObjectPoints2D,
imgPts,
_camera.Calibration.IntrinsicParameters);
Matrix <double> coordinatesInCameraSpace_homo = new Matrix <double>(new double[]
{
ex.TranslationVector[0, 0],
ex.TranslationVector[1, 0],
ex.TranslationVector[2, 0],
1
});
mc.CameraPosition[_camera] = new Vector3(
(float)coordinatesInCameraSpace_homo[0, 0],
(float)coordinatesInCameraSpace_homo[1, 0],
(float)coordinatesInCameraSpace_homo[2, 0]);
ex.RotationVector[0, 0] += (Math.PI / 180) * (_camera.Calibration.RotX + _camera.Calibration.XAngle);
ex.RotationVector[1, 0] += (Math.PI / 180) * (_camera.Calibration.RotY + _camera.Calibration.YAngle);
ex.RotationVector[2, 0] += (Math.PI / 180) * (_camera.Calibration.RotZ + _camera.Calibration.ZAngle);
_camera.Calibration.ExtrinsicParameters[mc.Id] = ex;
Matrix <double> minusRotation = new Matrix <double>(3, 3);
minusRotation = CvHelper.Rotate(
-_camera.Calibration.RotX - _camera.Calibration.XAngle,
-_camera.Calibration.RotY - _camera.Calibration.YAngle,
-_camera.Calibration.RotZ - _camera.Calibration.ZAngle);
Matrix <double> R3x3_cameraToWorld = new Matrix <double>(3, 3);
R3x3_cameraToWorld = CvHelper.Rotate(
_camera.Calibration.RotX,
_camera.Calibration.RotY + _camera.Calibration.YAngle,
_camera.Calibration.RotZ);
Matrix <double> rotInv = new Matrix <double>(3, 3);
CvInvoke.cvInvert(ex.RotationVector.RotationMatrix.Ptr, rotInv, SOLVE_METHOD.CV_LU);
Matrix <double> test = CvHelper.ConvertToHomogenous(-1 * R3x3_cameraToWorld);
_camera.Calibration.ObjectPointsProjected = CameraCalibration.ProjectPoints(
_camera.Calibration.ObjectPoints3D,
_camera.Calibration.ExtrinsicParameters[mc.Id],
_camera.Calibration.IntrinsicParameters);
Matrix <double> cameraPositionInWorldSpace4x4 = new Matrix <double>(new double[, ]
{
{ 1, 0, 0, _camera.Calibration.TranslationToWorld[0, 0] },
{ 0, 1, 0, _camera.Calibration.TranslationToWorld[1, 0] },
{ 0, 0, 1, _camera.Calibration.TranslationToWorld[2, 0] },
{ 0, 0, 0, 1 },
});
Matrix <double> Rt_homo = CvHelper.ConvertToHomogenous(R3x3_cameraToWorld);
Matrix <double> x_world_homo = CvHelper.ConvertToHomogenous(minusRotation) * coordinatesInCameraSpace_homo;
Rt_homo[0, 3] = x_world_homo[0, 0];
Rt_homo[1, 3] = x_world_homo[1, 0];
Rt_homo[2, 3] = x_world_homo[2, 0];
x_world_homo = cameraPositionInWorldSpace4x4 * x_world_homo;
Vector3 v3world = new Vector3((float)x_world_homo[0, 0], (float)x_world_homo[1, 0],
(float)x_world_homo[2, 0]);
mc.WorldPosition[_camera] = v3world;
for (int i = mc.PositionHistory[_camera].Length - 1; i > 0; --i)
{
mc.PositionHistory[_camera][i] = mc.PositionHistory[_camera][i - 1];
}
mc.PositionHistory[_camera][0] = v3world;
}
}
} // ProcessData
