// save all marker frames into a file
// useful for saving marker frames created in the editor
private void saveMarkerFrames(string filename)
{
StringBuilder sb = new StringBuilder();
string delimiter = ",";
string[] output = new string[3];
int length = animationFrames.Count;
for (int i = 0; i < length; i++)
{
if (animationFrames [i].GetType() != typeof(MarkerFrame))
{
continue;
}
MarkerFrame mFrame = (MarkerFrame)animationFrames [i];
output [0] = string.Format("{0}", mFrame.timestamp);
output [1] = string.Format("{0:0.00}", mFrame.coords.x - .15f);
output [2] = string.Format("{0:0.00}", mFrame.coords.y + .15f);
sb.AppendLine(string.Join(delimiter, output));
}
string filePath = Application.dataPath + "/Resources/" + filename;
StreamWriter outStream = System.IO.File.CreateText(filePath);
outStream.WriteLine(sb.ToString());
outStream.Close();
}
public void UpdateMeasurements(MarkerFrame markerFrame)
{
measurements = markerFrame.DetectedMarkers.Select(marker =>
{
var markerTransform = marker.GetGLModelViewMatrix();
var markerPosition = new DenseVector(new[] { -markerTransform[14], markerTransform[12] });
var bearing = -Math.Atan2(markerPosition[1], markerPosition[0]);
var range = markerPosition.Norm(2);
//System.Diagnostics.Trace.WriteLine(string.Format("mx: {0} my: {1} bearing:{2} range:{3}", markerPosition[0], markerPosition[1], bearing, range));
if (!landmarkIndices.Contains(marker.Id))
{
var nextIndex = landmarkIndices.Count;
landmarkIndices.Add(new LandmarkMapping {
MarkerId = marker.Id, LandmarkIndex = nextIndex
});
}
var landmarkIndex = landmarkIndices[marker.Id].LandmarkIndex;
return(new LandmarkMeasurement(landmarkIndex, new DenseVector(new[] { range, bearing })));
}).ToList();
}