public void EnableTracking(MotionControllerModel mc)
{
if (mc.Design)
{
return;
}
if (_camera.Handle == IntPtr.Zero)
{
StartTracker(PSMoveTrackerExposure.Low);
}
ConsoleService.Write(string.Format("[Tracker, {0}] Calibrating Motion Controller ({1}).", _camera.GUID, mc.Serial));
byte r = (byte)((mc.Color.r * 255) + 0.5f);
byte g = (byte)((mc.Color.g * 255) + 0.5f);
byte b = (byte)((mc.Color.b * 255) + 0.5f);
mc.TrackerStatus[_camera] = PsMoveApi.psmove_tracker_enable_with_color(_camera.Handle, mc.Handle, r, g, b);
if (mc.TrackerStatus[_camera] == PSMoveTrackerStatus.Tracking ||
mc.TrackerStatus[_camera] == PSMoveTrackerStatus.Calibrated)
{
PsMoveApi.psmove_tracker_update_image(_camera.Handle);
PsMoveApi.psmove_tracker_update(_camera.Handle, mc.Handle);
mc.TrackerStatus[_camera] = PsMoveApi.psmove_tracker_get_status(_camera.Handle, mc.Handle);
PsMoveApi.psmove_enable_orientation(mc.Handle, PSMoveBool.True);
PsMoveApi.psmove_reset_orientation(mc.Handle);
}
//Matrix4x4 proj = new Matrix4x4();
//for (int row = 0; row < 4; row++)
//{
// for (int col = 0; col < 4; col++)
// {
// proj[row, col] = PsMoveApi.PSMoveMatrix4x4_at(PsMoveApi.psmove_fusion_get_projection_matrix(_camera.Fusion), row * 4 + col);
// }
//}
//mc.ProjectionMatrix[_camera] = proj;
ConsoleService.Write(string.Format("[Tracker, {0}] Tracker Status of {1} = {2}",
_camera.GUID, mc.Name, Enum.GetName(typeof(PSMoveTrackerStatus), mc.TrackerStatus[_camera])));
}
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