public bool LocationToView(Location location, out PointF point)
{
// Move location to 3D earth
var pos3d = new Vector4d (location.Position, 1);
// Camera model
var m = Matrix4d.Mult (modelViewMatrix, projectionMatrix);
// Project into homogeneous 2D point
var pos2h = Vector4d.Transform (pos3d, m);
// Perform the perspective divide
var pos2 = pos2h / pos2h.W;
// Ignore points behind us
if (pos2h.W < 0) {
point = PointF.Empty;
return false;
}
// Console.WriteLine ("{0} = {1}", "W", pos2h.W);
// Stretch into our view
var fr = videoCameraView.Frame;
point = new PointF (
fr.X + (float)((pos2.X + 1) * 0.5) * fr.Width,
fr.Y + (float)((-pos2.Y + 1) * 0.5) * fr.Height
);
return true;
}
public void Start ()
{
if (CLLocationManager.LocationServicesEnabled) {
lman = new CLLocationManager {
DesiredAccuracy = CLLocation.AccuracyBest,
};
lman.RequestWhenInUseAuthorization ();
lman.LocationsUpdated += (sender, e) => {
var loc = e.Locations [0];
Timestamp = loc.Timestamp;
Location = new Location (loc.Coordinate.Latitude, loc.Coordinate.Longitude, loc.Altitude);
// Console.WriteLine (Location);
HorizontalAccuracy = loc.HorizontalAccuracy;
VerticalAccuracy = loc.VerticalAccuracy;
LocationReceived (this, EventArgs.Empty);
};
lman.UpdatedHeading += (sender, e) => {
Heading = e.NewHeading.TrueHeading;
// Console.WriteLine ("Heading: {0}", Heading);
};
lman.StartUpdatingLocation ();
lman.StartUpdatingHeading ();
}
}
public void AddAnnotation(string title, Location location)
{
var a = new Annotation {
Location = location,
};
a.Text = title;
annos.Add (a);
if (IsViewLoaded) {
View.AddSubview (a);
}
}
public static Matrix4d GetModelView(Location location, Matrix4d orientation)
{
// 1. Calculate position in 3D cartesian world
// 2. Find "up"
// 3. Orient to face the north pole
// 4. Apply the device orientation
//
// 1. Calculate position in 3D cartesian world
//
var pos = location.Position;
//
// 2. Find "up"
//
var up = location.OffsetAltitude (100).Position - pos;
up.Normalize ();
//
// 3. Orient to face the north pole
//
var northPos = new Location (location.Latitude + 0.1, location.Longitude, location.Altitude).Position;
var northZAxis = (pos - northPos);
northZAxis.Normalize ();
var northYAxis = up;
var northXAxis = Vector3d.Cross (northYAxis, northZAxis);
northXAxis.Normalize ();
northZAxis = Vector3d.Cross (northXAxis, northYAxis);
northZAxis.Normalize ();
northYAxis = Vector3d.Cross (northZAxis, northXAxis);
northYAxis.Normalize ();
var lookNorthI = new Matrix4d (
new Vector4d(northXAxis),
new Vector4d(northYAxis),
new Vector4d(northZAxis),
Vector4d.UnitW);
// var lookTest = Matrix4d.LookAt (pos, new Location (47.656680, -122.365480).Position, up);
//
// 4. Apply the device orientation
//
var newOrient = new Matrix4d (
-orientation.Column1,
orientation.Column2,
-orientation.Column0,
Vector4d.UnitW);
var newOrientI = newOrient;
newOrientI.Transpose ();
var modelViewI = (newOrientI * lookNorthI);
modelViewI.Row3 = new Vector4d (pos.X, pos.Y, pos.Z, 1);
var modelView = modelViewI;
try {
modelView.Invert ();
return modelView;
}
catch (InvalidOperationException) {
var lookNorth = lookNorthI;
lookNorth.Invert ();
return lookNorth;
}
}
