/// <summary>
/// Creates a marker bundle node.
/// </summary>
/// <param name="name">Name of this marker bundle node</param>
/// <param name="tracker">A marker tracker used to track this fiducial marker</param>
/// <param name="supportingMarkerNodes">A list of marker nodes that will supplement
/// the base marker array</param>
/// <param name="markerConfigs">A list of configs that specify the fiducial marker
/// (can be either an array or a single marker) to look for</param>
public MarkerBundleNode(String name, IMarkerTracker tracker,
List <MarkerNode> supportingMarkerNodes, params object[] markerConfigs)
: base(name, tracker, markerConfigs)
{
supportingMarkers = new List <RelativeMarker>();
foreach (MarkerNode markerNode in supportingMarkerNodes)
{
RelativeMarker marker = new RelativeMarker(markerNode);
supportingMarkers.Add(marker);
}
autoReconfigure = false;
}
/// <summary>
/// Creates a marker bundle node.
/// </summary>
/// <param name="name">Name of this marker bundle node</param>
/// <param name="tracker">A marker tracker used to track this fiducial marker</param>
/// <param name="supportingMarkerNodes">A list of marker nodes that will supplement
/// the base marker array</param>
/// <param name="markerConfigs">A list of configs that specify the fiducial marker
/// (can be either an array or a single marker) to look for</param>
public MarkerBundleNode(String name, IMarkerTracker tracker,
List<MarkerNode> supportingMarkerNodes, params object[] markerConfigs)
: base(name, tracker, markerConfigs)
{
supportingMarkers = new List<RelativeMarker>();
foreach (MarkerNode markerNode in supportingMarkerNodes)
{
RelativeMarker marker = new RelativeMarker(markerNode);
supportingMarkers.Add(marker);
}
autoReconfigure = false;
}
private void SetupMarkerTracking()
{
IVideoCapture captureDevice = null;
if (useStaticImage)
{
captureDevice = new NullCapture();
captureDevice.InitVideoCapture(1, FrameRate._30Hz, Resolution._800x600,
ImageFormat.R8G8B8_24, false);
((NullCapture)captureDevice).StaticImageFile = "MarkerImage";
}
else
{
// Create our video capture device that uses DirectShow library. Note that
// the combinations of resolution and frame rate that are allowed depend on
// the particular video capture device. Thus, setting incorrect resolution
// and frame rate values may cause exceptions or simply be ignored, depending
// on the device driver. The values set here will work for a Microsoft VX 6000,
// and many other webcams.
captureDevice = new DirectShowCapture2();
captureDevice.InitVideoCapture(0, FrameRate._30Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
}
// Add this video capture device to the scene so that it can be used for
// the marker tracker
scene.AddVideoCaptureDevice(captureDevice);
IMarkerTracker tracker = null;
// Create an optical marker tracker that uses ALVAR library
tracker = new ALVARMarkerTracker();
((ALVARMarkerTracker)tracker).MaxMarkerError = 0.02f;
tracker.InitTracker(captureDevice.Width, captureDevice.Height, "calib.xml", 9.0);
// Set the marker tracker to use for our scene
scene.MarkerTracker = tracker;
// Display the camera image in the background. Note that this parameter should
// be set after adding at least one video capture device to the Scene class.
scene.ShowCameraImage = true;
}
/// <summary>
/// Creates a node that is tracked by fiducial marker (can be either an array or
/// a single marker) and updated automatically.
/// </summary>
/// <param name="name">Name of this marker node</param>
/// <param name="tracker">A marker tracker used to track this fiducial marker</param>
/// <param name="markerConfigs">A list of configs that specify the fiducial marker
/// (can be either an array or a single marker) to look for</param>
public MarkerNode(String name, IMarkerTracker tracker, params Object[] markerConfigs)
: base(name)
{
this.tracker = tracker;
if (tracker != null)
{
markerID = tracker.AssociateMarker(markerConfigs);
this.markerConfigs = markerConfigs;
}
found = false;
maxDropouts = 5;
prevMatrix = Matrix.Identity;
dropout = 0;
optimize = false;
smoother = null;
predictor = null;
smooth = false;
predict = false;
predictionTime = 0;
inverseCameraView = Matrix.Identity;
}
/// <summary>
/// Creates a marker bundle node.
/// </summary>
/// <param name="tracker">A marker tracker used to track this fiducial marker</param>
/// <param name="supportingMarkerNodes">A list of marker nodes that will supplement
/// the base marker array</param>
/// <param name="markerConfigs">A list of configs that specify the fiducial marker
/// (can be either an array or a single marker) to look for</param>
public MarkerBundleNode(IMarkerTracker tracker, List <MarkerNode> supportingMarkerNodes,
params object[] markerConfigs)
: this("", tracker, supportingMarkerNodes, markerConfigs)
{
}
/// <summary>
/// Creates a marker bundle node.
/// </summary>
/// <param name="tracker">A marker tracker used to track this fiducial marker</param>
/// <param name="supportingMarkerNodes">A list of marker nodes that will supplement
/// the base marker array</param>
/// <param name="markerConfigs">A list of configs that specify the fiducial marker
/// (can be either an array or a single marker) to look for</param>
public MarkerBundleNode(IMarkerTracker tracker, List<MarkerNode> supportingMarkerNodes,
params object[] markerConfigs)
: this("", tracker, supportingMarkerNodes, markerConfigs)
{
}
/// <summary>
/// Updates the current matrix of this marker node
/// </summary>
/// <param name="elapsedTime">Elapsed time from last update in milliseconds</param>
public virtual void Update(float elapsedTime)
{
if (tracker == null && scene.MarkerTracker != null)
{
tracker = scene.MarkerTracker;
markerID = tracker.AssociateMarker(markerConfigs);
}
if (tracker != null && tracker.FindMarker(markerID))
{
Vector3 p = new Vector3();
Quaternion q = Quaternion.Identity;
Matrix rawMat = tracker.GetMarkerTransform();
if (smooth || predict)
{
Vector3 scale;
rawMat.Decompose(out scale, out q, out p);
}
if (smooth)
{
smoother.FilterMatrix(ref p, ref q, out worldTransformation);
}
else
{
worldTransformation = rawMat;
}
if (isInverseViewSet)
{
Matrix.Multiply(ref worldTransformation, ref inverseCameraView, out worldTransformation);
}
if (predict)
{
predictionTime = 0;
predictor.UpdatePredictor(ref p, ref q);
}
prevMatrix = worldTransformation;
dropout = 0;
found = true;
}
else
{
if (maxDropouts < 0)
{
worldTransformation = prevMatrix;
found = false;
}
else
{
if (dropout < maxDropouts)
{
dropout++;
if (predict)
{
predictionTime += elapsedTime;
predictor.GetPrediction(predictionTime, out worldTransformation);
}
else
{
worldTransformation = prevMatrix;
}
}
else
{
found = false;
worldTransformation = MatrixHelper.Empty;
}
}
if (smooth)
{
smoother.ResetHistory();
}
}
}
/// <summary>
/// Creates a node that is tracked by fiducial marker (can be either an array or a single
/// marker) and updated automatically.
/// </summary>
/// <param name="tracker">A marker tracker used to track this fiducial marker</param>
/// <param name="markerConfigs">A list of configs that specify the fiducial marker
/// (can be either an array or a single marker) to look for</param>
public MarkerNode(IMarkerTracker tracker, params Object[] markerConfigs)
:
this("", tracker, markerConfigs)
{
}
/// <summary>
/// Creates a node that is tracked by fiducial marker (can be either an array or
/// a single marker) and updated automatically.
/// </summary>
/// <param name="name">Name of this marker node</param>
/// <param name="tracker">A marker tracker used to track this fiducial marker</param>
/// <param name="markerConfigs">A list of configs that specify the fiducial marker
/// (can be either an array or a single marker) to look for</param>
public MarkerNode(String name, IMarkerTracker tracker, params Object[] markerConfigs)
: base(name)
{
this.tracker = tracker;
if (tracker != null)
{
markerID = tracker.AssociateMarker(markerConfigs);
this.markerConfigs = markerConfigs;
}
found = false;
maxDropouts = 5;
prevMatrix = Matrix.Identity;
dropout = 0;
optimize = false;
smoother = null;
predictor = null;
smooth = false;
predict = false;
predictionTime = 0;
inverseCameraView = Matrix.Identity;
}
/// <summary>
/// Updates the current matrix of this marker node
/// </summary>
/// <param name="elapsedTime">Elapsed time from last update in milliseconds</param>
public virtual void Update(float elapsedTime)
{
if (tracker == null && scene.MarkerTracker != null)
{
tracker = scene.MarkerTracker;
markerID = tracker.AssociateMarker(markerConfigs);
}
if (tracker != null && tracker.FindMarker(markerID))
{
Vector3 p = new Vector3();
Quaternion q = Quaternion.Identity;
Matrix rawMat = tracker.GetMarkerTransform();
if (smooth || predict)
{
Vector3 scale;
rawMat.Decompose(out scale, out q, out p);
}
if (smooth)
smoother.FilterMatrix(ref p, ref q, out worldTransformation);
else
worldTransformation = rawMat;
if (isInverseViewSet)
Matrix.Multiply(ref worldTransformation, ref inverseCameraView, out worldTransformation);
if (predict)
{
predictionTime = 0;
predictor.UpdatePredictor(ref p, ref q);
}
prevMatrix = worldTransformation;
dropout = 0;
found = true;
}
else
{
if (maxDropouts < 0)
{
worldTransformation = prevMatrix;
found = false;
}
else
{
if (dropout < maxDropouts)
{
dropout++;
if (predict)
{
predictionTime += elapsedTime;
predictor.GetPrediction(predictionTime, out worldTransformation);
}
else
worldTransformation = prevMatrix;
}
else
{
found = false;
worldTransformation = MatrixHelper.Empty;
}
}
if (smooth)
smoother.ResetHistory();
}
}
/// <summary>
/// Creates a node that is tracked by fiducial marker (can be either an array or a single
/// marker) and updated automatically.
/// </summary>
/// <param name="tracker">A marker tracker used to track this fiducial marker</param>
/// <param name="markerConfigs">A list of configs that specify the fiducial marker
/// (can be either an array or a single marker) to look for</param>
public MarkerNode(IMarkerTracker tracker, params Object[] markerConfigs)
:
this("", tracker, markerConfigs) { }
