void MainPage_Loaded(object sender, RoutedEventArgs e)
{
captureSource = new CaptureSource
{
VideoCaptureDevice = CaptureDeviceConfiguration.GetDefaultVideoCaptureDevice()
};
var videoBrush = new VideoBrush();
videoBrush.SetSource(captureSource);
Viewport.Fill = videoBrush;
markerDetector = new CaptureSourceMarkerDetector();
var marker = Marker.LoadFromResource("Bola.pat", 64, 64, 80);
markerDetector.Initialize(captureSource, 1d, 4000d, marker);
markerDetector.MarkersDetected += (obj, args) =>
{
Dispatcher.BeginInvoke(() =>
{
var results = args.DetectionResults;
if (results.HasResults)
{
var centerAtOrigin =
Matrix3DFactory.
CreateTranslation(
-Imagem.ActualWidth *
0.5,
-Imagem.
ActualHeight *
0.5, 0);
var scale =
Matrix3DFactory.CreateScale
(0.5, -0.5, 0.5);
var world = centerAtOrigin *
scale *
results[0].
Transformation;
var vp =
Matrix3DFactory.
CreateViewportTransformation
(Viewport.ActualWidth,
Viewport.ActualHeight);
var m =
Matrix3DFactory.
CreateViewportProjection
(world,
Matrix3D.Identity,
markerDetector.
Projection, vp);
Imagem.Projection =
new Matrix3DProjection
{
ProjectionMatrix = m
};
}
});
};
}
private void Transform(AstroObject astroObject, Matrix3D baseTransformation, FrameworkElement txt)
{
// Transform Model
if (astroObject == null)
{
return;
}
var m = Matrix.Identity;
m *= Matrix.CreateTranslation(0, 60, 0);
m *= Matrix.CreateRotationX(Microsoft.Xna.Framework.MathHelper.ToRadians(90));
m *= baseTransformation.ToXnaMatrix();
astroObject.Transform = m;
astroObject.IsVisible = true;
// Transform FrameworkElement
// Center at origin of the TextBlock
var centerAtOrigin = Matrix3DFactory.CreateTranslation(-txt.ActualWidth * 0.5, -txt.ActualHeight * 0.5, 0);
// Swap the y-axis
var scale = Matrix3DFactory.CreateScale(1, -1, 1);
// Move a bit away from the center
var translation = Matrix3DFactory.CreateTranslation(0, 50, 0);
// Calculate the complete transformation matrix based on the first detection result
var world = centerAtOrigin * translation * scale * baseTransformation;
// Calculate the final transformation matrix by using the camera projection matrix
var vp = Matrix3DFactory.CreateViewportTransformation(Viewport.ActualWidth, Viewport.ActualHeight);
var mp = Matrix3DFactory.CreateViewportProjection(world, Matrix3D.Identity, arDetector.Projection, vp);
// Apply the final transformation matrix to the TextBox
txt.Projection = new Matrix3DProjection {
ProjectionMatrix = mp
};
txt.Visibility = Visibility.Visible;
}
private async Task InitializeDetector()
{
// Initialize the Detector
arDetector = new CaptureSourceMarkerDetector();
// Load the marker pattern. It has 16x16 segments and a width of 80 millimeters
var marker = await Marker.LoadFromResource("ms-appx:///Marker_SLAR_16x16segments_80width.pat", 16, 16, 80);
// The perspective projection has the near plane at 1 and the far plane at 4000
await arDetector.Initialize(1, 4000, new List <Marker> {
marker
},
Windows.Devices.Enumeration.Panel.Back,
640,
480,
30,
adaptive.IsChecked.Value);
// Attach the AR detection event handler
// The event is fired if at least one marker was detected
arDetector.MarkersDetected += async(s, me) =>
{
// Change to UI thread in order to manipulate the text control's projection
await Dispatcher.RunAsync(
CoreDispatcherPriority.Normal,
() =>
{
WriteableBitmap bm = new WriteableBitmap(640, 480);
me.Buffer.AsBuffer().CopyTo(bm.PixelBuffer);
Viewport.Source = bm;
// Calculate the projection matrix
var dr = me.DetectionResults;
if (dr.HasResults)
{
// Center at origin of the TextBlock
var centerAtOrigin = Matrix3DFactory.CreateTranslation(-Txt.ActualWidth * 0.5, -Txt.ActualHeight * 0.5, 0);
// Swap the y-axis and scale down by half
var scale = Matrix3DFactory.CreateScale(0.5, -0.5, 0.5);
// Calculate the complete transformation matrix based on the first detection result
var world = centerAtOrigin *scale *dr[0].Transformation;
// Calculate the final transformation matrix by using the camera projection matrix
var vp = Matrix3DFactory.CreateViewportTransformation(Viewport.ActualWidth, Viewport.ActualHeight);
var m = Matrix3DFactory.CreateViewportProjection(world, Matrix3D.Identity, arDetector.Projection, vp);
// Apply the final transformation matrix to the TextBox
Txt.Projection = new Matrix3DProjection {
ProjectionMatrix = m
};
}
});
};
}
private void RunUpdate()
{
doAR = false;
CompositionTarget.Rendering += (s, ea) =>
{
if (!doAR)
{
// Rotate other AR object
var trans = Matrix3DFactory.CreateRotationZ(timedRotation);
trans = trans * Matrix3DFactory.CreateTranslation(0, 0, -400);
ApplyTransformation(ImgLogo, trans);
}
timedRotation += 0.01f;
};
}
private void Initialize()
{
try
{
// Init variables
timedRotation = 0;
Scale = 0.4;
Rotate = 0;
// Init capture source
captureSource = new CaptureSource();
captureSource.VideoCaptureDevice = CaptureDeviceConfiguration.GetDefaultVideoCaptureDevice();
// Desired format is 320 x 240 (good tracking results and performance)
captureSource.VideoCaptureDevice.DesiredFormat = new VideoFormat(PixelFormatType.Unknown, 320, 240, 30);
// Init AR
markerSlar = Marker.LoadFromResource("data/Marker_SLAR_16x16segments_80width.pat", 16, 16, 80.0, "SLAR");
markerL = Marker.LoadFromResource("data/Marker_L_16x16segments_80width.pat", 16, 16, 80.0, "L");
ArDetector = new CaptureSourceMarkerDetector(captureSource, 1, 4000, new List <Marker> {
markerSlar, markerL
});
AttachAREvent();
// Init Rest
projectionMatrix = Matrix3DFactory.CreatePerspectiveFieldOfViewRH(0.7, ViewportContainer.Width / ViewportContainer.Height, 1, 4000);
this.DataContext = this;
// Start all
SetARObject();
RunUpdate();
}
catch (Exception ex)
{
var builder = new StringBuilder();
foreach (var sf in captureSource.VideoCaptureDevice.SupportedFormats)
{
builder.AppendFormat("{0}: {1} x {2} @ {3} fps. Stride: {4}\r\n", sf.PixelFormat, sf.PixelWidth, sf.PixelHeight, sf.FramesPerSecond, sf.Stride);
}
MessageBox.Show("Error during initialization. Please make sure a default webcam was set.\r\nSupported formats:\r\n" + builder.ToString() + "\r\n\r\n" + ex.ToString(), "Error during init.", MessageBoxButton.OK);
throw;
}
}
private void InitializeDetector()
{
// Initialize the Detector
arDetector = new CaptureSourceMarkerDetector();
// Load the marker pattern. It has 16x16 segments and a width of 80 millimeters
var marker = Marker.LoadFromResource("Marker_SLAR_16x16segments_80width.pat", 16, 16, 80);
// The perspective projection has the near plane at 1 and the far plane at 4000
arDetector.Initialize(captureSource, 1, 4000, new List <Marker> {
marker
}, adaptive.IsChecked.Value);
// Attach the AR detection event handler
// The event is fired if at least one marker was detected
arDetector.MarkersDetected += (s, me) =>
{
// Change to UI thread in order to manipulate the text control's projection
Dispatcher.BeginInvoke(() =>
{
// Calculate the projection matrix
var dr = me.DetectionResults;
if (dr.HasResults)
{
// Center at origin of the TextBlock
var centerAtOrigin = Matrix3DFactory.CreateTranslation(-Txt.ActualWidth * 0.5, -Txt.ActualHeight * 0.5, 0);
// Swap the y-axis and scale down by half
var scale = Matrix3DFactory.CreateScale(0.5, -0.5, 0.5);
// Calculate the complete transformation matrix based on the first detection result
var world = centerAtOrigin * scale * dr[0].Transformation;
// Calculate the final transformation matrix by using the camera projection matrix
var vp = Matrix3DFactory.CreateViewportTransformation(Viewport.ActualWidth, Viewport.ActualHeight);
var m = Matrix3DFactory.CreateViewportProjection(world, Matrix3D.Identity, arDetector.Projection, vp);
// Apply the final transformation matrix to the TextBox
Txt.Projection = new Matrix3DProjection {
ProjectionMatrix = m
};
}
});
};
}
private void ApplyTransformation(FrameworkElement element, Matrix3D baseTransformation)
{
// Create additional transformations
var centerImageAtOrigin = Matrix3DFactory.CreateTranslation(-element.ActualWidth * 0.5, -element.ActualHeight * 0.5, 0);
var invertYAxis = Matrix3DFactory.CreateScale(1, -1, 1);
var viewport = Matrix3DFactory.CreateViewportTransformation(ViewportContainer.ActualWidth, ViewportContainer.ActualHeight);
var rotate = Matrix3DFactory.CreateRotationZ(MathHelper.ToRadians(Rotate));
var scale = Matrix3DFactory.CreateScale(Scale);
// Compose transform
var m = Matrix3D.Identity;
m = m * centerImageAtOrigin;
m = m * invertYAxis;
m = m * rotate;
m = m * scale;
m = m * baseTransformation;
m = Matrix3DFactory.CreateViewportProjection(m, Matrix3D.Identity, projectionMatrix, viewport);
// Apply transform
element.Projection = new Matrix3DProjection {
ProjectionMatrix = m
};
}
void Update()
{
if (_arWrapper != null && _isRunning)
{
// Update
if (_arWrapper.arwCapture())
{
// We need to change the threshold and debug mode here, otherwise a concurrent op can happen and UpdateAr will crash
if (_arWrapperViewModel != null)
{
if (_arWrapper.arwGetVideoThresholdMode() != _arWrapperViewModel.SelectedThresholdMode.Mode)
{
_arWrapper.arwSetVideoThresholdMode(_arWrapperViewModel.SelectedThresholdMode.Mode);
}
if (_arWrapper.arwGetVideoDebugMode() != _arWrapperViewModel.UseDebugMode)
{
_arWrapper.arwSetVideoDebugMode(_arWrapperViewModel.UseDebugMode);
}
}
// Update
_arWrapper.arwUpdateAR();
if (!_wasStarted)
{
// Get video params
int width, height, pixelSize;
string pixelFormat;
if (!_arWrapper.arwGetVideoParams(out width, out height, out pixelSize, out pixelFormat))
{
throw new InvalidOperationException("ARToolkit arwGetVideoParams failed.");
}
Helper.Log("Video Params: {0} x {1}. Pixels size: {2} Format: {3}", width, height, pixelSize, pixelFormat);
// Initialize buffer
var bufferLen = width * height;
const int bytesPerPixel = 4;
if (_bufferAr == null || _bufferAr.Length != bufferLen)
{
_bufferAr = new uint[bufferLen];
}
if (_bufferWb == null || _bufferWb.Length != bufferLen)
{
_bufferWb = new byte[bufferLen * bytesPerPixel];
Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
_writeableBitmap = new WriteableBitmap(width, height);
PreviewElement.Source = _writeableBitmap;
});
}
_wasStarted = true;
}
// Get projection matrix
_arWrapper.arwGetProjectionMatrix(_projectionMatrix);
// Get marker modelView matrix and other properties
_isMarkerVisisble = false;
var confidence = -1f;
if (!_isMarkerVisisble)
{
_isMarkerVisisble = _arWrapper.arwQueryMarkerVisibility(_markerId);
_arWrapper.arwQueryMarkerTransformation(_markerId, _markerModelViewMatrix);
confidence = _arWrapper.arwGetMarkerOptionFloat(_markerId, ArMarkerOption.SquareConfidence);
}
#if DEBUG
if (_isMarkerVisisble)
{
Dispatcher.RunAsync(CoreDispatcherPriority.Low, () =>
{
DbgTxt.Text = string.Format("Marker: {0} Confidence: {1:f02}\r\n" +
"{2,7:f02} {3,7:f02} {4,7:f02} {5,7:f02}\r\n" +
"{6,7:f02} {7,7:f02} {8,7:f02} {9,7:f02}\r\n" +
"{10,7:f02} {11,7:f02} {12,7:f02} {13,7:f02}\r\n" +
"{14,7:f02} {15,7:f02} {16,7:f02} {17,7:f02}\r\n",
_markerId, confidence,
_markerModelViewMatrix[00], _markerModelViewMatrix[04], _markerModelViewMatrix[08], _markerModelViewMatrix[12],
_markerModelViewMatrix[01], _markerModelViewMatrix[05], _markerModelViewMatrix[09], _markerModelViewMatrix[13],
_markerModelViewMatrix[02], _markerModelViewMatrix[06], _markerModelViewMatrix[10], _markerModelViewMatrix[14],
_markerModelViewMatrix[03], _markerModelViewMatrix[07], _markerModelViewMatrix[11], _markerModelViewMatrix[15]);
});
}
#endif
// Update video frame and render
if (_writeableBitmap != null && UpdateVideoTexture())
{
unsafe
{
fixed(uint *srcPtr = _bufferAr)
{
var b = 0;
var len = _bufferWb.Length / 4;
for (var i = 0; i < len; i++, b += 4)
{
// On a little-endian system, R occupies the lowest 8 bits, then G, then B, then A the highest 8 bits.
// RGBA -> BGRA
var p = srcPtr[i];
_bufferWb[b + 0] = (byte)((p >> 16) & 0xff); // R
_bufferWb[b + 1] = (byte)((p >> 8) & 0xff); // G
_bufferWb[b + 2] = (byte)((p >> 0) & 0xff); // B
_bufferWb[b + 3] = (byte)((p >> 24) & 0xff); // A
}
}
}
// Update needs to run on the UI thread
Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
// Show video buffer
using (var stream = _writeableBitmap.PixelBuffer.AsStream())
{
stream.Write(_bufferWb, 0, _bufferWb.Length);
}
_writeableBitmap.Invalidate();
// Compute XAML tranformation matrix
if (_isMarkerVisisble)
{
// Center at origin of the controls
var centerAtOrigin = Matrix3DFactory.CreateTranslation(-ControlPanel.ActualWidth * 0.5, -ControlPanel.ActualHeight * 0.5, 0);
// Swap the y-axis and scale down by half
var scale = Matrix3DFactory.CreateScale(0.5, -0.5, 0.5);
// Rotate around z
var rotate = _shouldRotate ? Matrix3DFactory.CreateRotationZ(rotValue += 0.05) : Matrix3D.Identity;
// Viewport transformation
var viewport = Matrix3DFactory.CreateViewportTransformation(ContentPanel.ActualWidth, ContentPanel.ActualHeight);
// Calculate the final transformation matrix by using the marker model view and camera projection matrix
var m = Matrix3DFactory.CreateViewportProjection(
centerAtOrigin * rotate * scale,
_markerModelViewMatrix.ToMatrix3D(),
_projectionMatrix.ToMatrix3D(),
viewport);
// Apply the matrix to the UI control
ControlPanel.Projection = new Matrix3DProjection {
ProjectionMatrix = m
};
ControlPanel.Visibility = Visibility.Visible;
}
else
{
ControlPanel.Visibility = Visibility.Collapsed;
}
});
}
}
}
}
private void Update()
{
// Animation
if (ChkAnimated.IsChecked != null && ChkAnimated.IsChecked.Value)
{
CameraZ = -Math.Abs(Math.Sin(_f)) * (FarPlane - NearPlane) * 1.5;
CameraY = Math.Sin(_f * 10) * 1000;
_f += 0.008;
}
// Create global transformations
var vw = Viewport.ActualWidth;
var vh = Viewport.ActualHeight;
var invertYAxis = Matrix3DFactory.CreateScale(1, -1, 1);
var translate = Matrix3DFactory.CreateTranslation(TranslateX, TranslateY, TranslateZ);
var rotateX = Matrix3DFactory.CreateRotationX(MathHelper.ToRadians(RotateX));
var rotateY = Matrix3DFactory.CreateRotationY(MathHelper.ToRadians(RotateY));
var rotateZ = Matrix3DFactory.CreateRotationZ(MathHelper.ToRadians(RotateZ));
var scale = Matrix3DFactory.CreateScale(ScaleX, ScaleY, ScaleZ);
var lookAt = Matrix3DFactory.CreateLookAtLH(CameraX, CameraY, CameraZ, CameraLookAtX, CameraLookAtY, CameraLookAtZ);
var viewport = Matrix3DFactory.CreateViewportTransformation(vw, vh);
Matrix3D projectionMatrix;
projectionMatrix = ChkPerspective.IsChecked != null && ChkPerspective.IsChecked.Value ? Matrix3DFactory.CreatePerspectiveFieldOfViewLH(MathHelper.ToRadians(FieldOfView), vw / vh, NearPlane, FarPlane) : Matrix3DFactory.CreateOrthographicLH(vw, vh, NearPlane, FarPlane);
// Transform all elements
var selectedMatrix = Matrix3D.Identity;
foreach (var elem in _elements)
{
// The UIElement
var e = elem.Element;
// Create basic transformation matrices
var centerAtOrigin = Matrix3DFactory.CreateTranslation(-e.ActualWidth * 0.5, -e.ActualHeight * 0.5, 0);
var baseTranslate = Matrix3DFactory.CreateTranslation(elem.PositionX, elem.PositionY, elem.PositionZ);
// Combine the transformation matrices
var m = Matrix3D.Identity;
m = m * centerAtOrigin;
m = m * invertYAxis;
// Apply the world transformation to the selected element
if (elem == _selectedElement)
{
m = m * scale;
m = m * rotateX * rotateY * rotateZ;
m = m * translate;
// Should the camera target be fixed at the selected element?
if (ChkLookAtSelected.IsChecked != null && ChkLookAtSelected.IsChecked.Value)
{
lookAt = Matrix3DFactory.CreateLookAtLH(CameraX, CameraY, CameraZ, elem.PositionX, elem.PositionY, elem.PositionZ);
}
}
// Calculate the final view projection matrix
m = m * baseTranslate;
m = Matrix3DFactory.CreateViewportProjection(m, lookAt, projectionMatrix, viewport);
if (elem == _selectedElement)
{
selectedMatrix = m;
}
// Apply the transformation to the UIElement
e.Projection = new Matrix3DProjection {
ProjectionMatrix = m
};
}
// Trace
TxtTrace1.Text = String.Format("{0} Elements. Matrix:\r\n{1}", _elements.Count, selectedMatrix.Dump());
}
private void Detect()
{
if (isDetecting || !isInitialized)
{
return;
}
isDetecting = true;
var stopwatch = Stopwatch.StartNew();
try
{
// Update buffer size
var pixelWidth = (int)photoCamera.PreviewResolution.Width;
var pixelHeight = (int)photoCamera.PreviewResolution.Height;
if (buffer == null || buffer.Length != pixelWidth * pixelHeight)
{
buffer = new byte[pixelWidth * pixelHeight];
// Create constant transformations instances
// Center at origin of the 256x256 controls
centerAtOrigin = Matrix3DFactory.CreateTranslation(-128, -128, 0);
// Swap the y-axis and scale down by half
scale = Matrix3DFactory.CreateScale(0.5, -0.5, 0.5);
// Viewport transformation
viewport = Matrix3DFactory.CreateViewportTransformation(pixelWidth, pixelHeight);
matrix3DProjection = new Matrix3DProjection();
Txt.Projection = matrix3DProjection;
Img.Projection = matrix3DProjection;
}
// Grab snapshot
photoCamera.GetPreviewBufferY(buffer);
// Detect
var dr = arDetector.DetectAllMarkers(buffer, pixelWidth, pixelHeight);
// Draw the detected squares
//bitmap.Clear();
//ViewportOverlay.Source = bitmap;
// Calculate the projection matrix
if (dr.HasResults)
{
// Calculate the complete transformation matrix based on the first detection result
var world = centerAtOrigin * scale * dr[0].Transformation;
// Calculate the final transformation matrix by using the camera projection matrix
var m = Matrix3DFactory.CreateViewportProjection(world, Matrix3D.Identity, arDetector.Projection, viewport);
// Apply the final transformation matrix to the TextBox
matrix3DProjection.ProjectionMatrix = m;
//// Draw the detected squares
//foreach (var r in dr)
//{
// bitmap.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);
//}
}
}
finally
{
isDetecting = false;
stopwatch.Stop();
TxtDiag.Text = string.Format("{0} ms", stopwatch.ElapsedMilliseconds);
}
}
