private void DetectMarkers(WriteableBitmap bmp)
{
// Init. here because the captureSource.VideoCaptureDevice.DesiredFormat getter is not reliable and throws an Exception
if (!isInit)
{
// Init AR
arDetector.Initialize(bmp.PixelWidth, bmp.PixelHeight, Game.Camera.Near, Game.Camera.Far, new List <Marker> {
slarMarker
});
isInit = true;
}
// Detect
var dr = arDetector.DetectAllMarkers(bmp);
// Reused for marker highlighting
bmp.Clear();
ViewportOverlay.Source = bmp;
if (dr.HasResults)
{
var transformation = Balder.Math.Matrix.CreateTranslation(0, -5, 0) * Balder.Math.Matrix.CreateRotationX(90) * dr[0].Transformation.ToBalder();
Game.SetWorldMatrix(transformation);
// Highlight detected markers
var txt = String.Empty;
foreach (var r in dr)
{
bmp.DrawQuad((int)r.Square.P1.X, (int)r.Square.P1.Y, (int)r.Square.P2.X, (int)r.Square.P2.Y, (int)r.Square.P3.X, (int)r.Square.P3.Y, (int)r.Square.P4.X, (int)r.Square.P4.Y, Colors.Red);
txt += String.Format("{0}.Confidence = {1:0.00} ", r.Marker.Name, r.Confidence);
}
}
}
private void DetectMarkers(WriteableBitmap bmp)
{
// Init. here because the captureSource.VideoCaptureDevice.DesiredFormat getter is not reliable and throws an Exception
if (!isInit)
{
InitializeDetector(bmp.PixelWidth, bmp.PixelHeight);
isInit = true;
}
// Detect
var dr = arDetector.DetectAllMarkers(bmp);
// Reused for marker highlighting
bmp.Clear();
ViewportOverlay.Source = bmp;
if (dr.HasResults)
{
// Set camera
camera.ProjectionTransform = arDetector.Projection.ToXnaMatrix();
// Transform Sun
var sunResult = dr.FirstOrDefault(d => d.Marker == lMarker);
if (sunResult != null && sunResult.Confidence > MinConfidence)
{
Transform(Sun, sunResult.Transformation, TxtSun);
}
else
{
TxtSun.Visibility = Visibility.Collapsed;
Sun.IsVisible = false;
}
// Transform Earth
var earthResult = dr.FirstOrDefault(d => d.Marker == slarMarker);
if (sunResult == null && earthResult == null)
{
earthResult = dr[0];
}
if (earthResult != null && earthResult.Confidence > MinConfidence)
{
Transform(Earth, earthResult.Transformation, TxtEarth);
}
else
{
TxtEarth.Visibility = Visibility.Collapsed;
Earth.IsVisible = false;
}
//// Highlight detected markers
//var txt = String.Empty;
//foreach (var r in dr)
//{
// bmp.DrawQuad((int)r.Square.P1.X, (int)r.Square.P1.Y, (int)r.Square.P2.X, (int)r.Square.P2.Y, (int)r.Square.P3.X, (int)r.Square.P3.Y, (int)r.Square.P4.X, (int)r.Square.P4.Y, Colors.Red);
// txt += String.Format("{0}.Confidence = {1:0.00} ", r.Marker.Name, r.Confidence);
//}
//Txt.Text = txt;
}
}
private void GrabFrame()
{
if (camera != null)
{
WriteableBitmap wb = new WriteableBitmap(640, 480);
camera.GetCurrentFrame(wb);
wb.Invalidate();
var sw = new Stopwatch();
sw.Start();
var results = bmdList.DetectAllMarkers(wb);
if (results.HasResults)
{
string direction = displayAR(results);
if (direction == "Left")
{
rightarrow.Visibility = Visibility.Collapsed;
okay.Visibility = Visibility.Collapsed;
wrong.Visibility = Visibility.Collapsed;
leftarrow.Visibility = Visibility.Visible;
}
else if (direction == "Right")
{
leftarrow.Visibility = Visibility.Collapsed;
okay.Visibility = Visibility.Collapsed;
wrong.Visibility = Visibility.Collapsed;
rightarrow.Visibility = Visibility.Visible;
}
else if (direction == "Okay")
{
rightarrow.Visibility = Visibility.Collapsed;
leftarrow.Visibility = Visibility.Collapsed;
wrong.Visibility = Visibility.Collapsed;
okay.Visibility = Visibility.Visible;
}
else if (direction == "Wrong")
{
rightarrow.Visibility = Visibility.Collapsed;
leftarrow.Visibility = Visibility.Collapsed;
okay.Visibility = Visibility.Collapsed;
wrong.Visibility = Visibility.Visible;
}
}
else
{
rightarrow.Visibility = Visibility.Collapsed;
leftarrow.Visibility = Visibility.Collapsed;
okay.Visibility = Visibility.Collapsed;
wrong.Visibility = Visibility.Collapsed;
}
sw.Stop();
}
Dispatcher.BeginInvoke(() => { GrabFrame(); });
}
private void DetectMarkers(WriteableBitmap bmp)
{
// Init. here because the captureSource.VideoCaptureDevice.DesiredFormat getter is not reliable and throws an Exception
if (arDetector == null)
{
InitializeDetector(bmp.PixelWidth, bmp.PixelHeight);
}
// Detect
var detectedResults = arDetector.DetectAllMarkers(bmp);
// Reused for marker highlighting
bmp.Clear();
ViewportOverlay.Source = bmp;
if (detectedResults.HasResults)
{
var trans = detectedResults[0].Transformation.ToBalderMatrix();
if (detectedResults.Count > 1)
{
// Calculate distance vector
wayInterpol += (3f * sign);
var trans2 = detectedResults[1].Transformation.ToBalderMatrix();
var p1 = new Vector(trans[3, 0], trans[3, 1], trans[3, 2]);
var p2 = new Vector(trans2[3, 0], trans2[3, 1], trans2[3, 2]);
var d = p1 - p2;
var dn = Vector.Normalize(d);
var p = dn * -wayInterpol;
// Turning point ?
if (p.LengthSquared() > d.LengthSquared())
{
sign = -1;
}
else if (wayInterpol < 0)
{
sign = 1;
}
var translate = Matrix.CreateTranslation(p);
// Calculate Yaw and align the mesh to it
var dot = Vector.Dot(Vector.UnitY, dn);
var rotRad = Math.Acos(dot);
var rotDeg = MathHelper.ToDegrees((float)rotRad);
var yaw = Matrix.CreateRotationZ(150 + rotDeg + (sign > 0 ? 0 : 180));
// Combine matrix
trans = yaw * trans * translate;
}
else
{
// If no 2nd marker was found only rotate around z axis
timedRotation += 2;
trans = Matrix.CreateRotationZ(timedRotation) * trans;
}
// Transform the mesh and change coordinate system
ApplyFinalTransformation(trans);
// Highlight detected markers using the WriteableBitmapEx
foreach (var r in detectedResults)
{
bmp.DrawQuad((int)r.Square.P1.X, (int)r.Square.P1.Y,
(int)r.Square.P2.X, (int)r.Square.P2.Y,
(int)r.Square.P3.X, (int)r.Square.P3.Y,
(int)r.Square.P4.X, (int)r.Square.P4.Y, Colors.Red);
}
}
}
