/// <summary>
/// Update orientation readings event and update UI
/// </summary>
/// <param name="sender">Event sender.</param>
/// <param name="e">The <see cref="object"/> instance containing the event data.</param>
private void UpdateOrientation(object sender, EventArgs e)
{
try
{
OrientationSensor orientation = OrientationSensor.GetDefault();
if (orientation != null)
{
SensorQuaternion quaternion = orientation.GetCurrentReading().Quaternion;
XLabel.Text = LocRM.GetString("XAxis") + ": " + String.Format("{0,8:0.00000}", quaternion.X);
YLabel.Text = LocRM.GetString("YAxis") + ": " + String.Format("{0,8:0.00000}", quaternion.Y);
ZLabel.Text = LocRM.GetString("ZAxis") + ": " + String.Format("{0,8:0.00000}", quaternion.Z);
WLabel.Text = LocRM.GetString("WAxis") + ": " + String.Format("{0,8:0.00000}", quaternion.W);
}
else
{
XLabel.Text = LocRM.GetString("NotFound");
_timer.Stop();
}
}
catch (Exception ex)
{
Log.LogError(ex.ToString());
_timer.Stop();
}
}
private void PreviewControl_Tapped(object sender, TappedRoutedEventArgs e)
{
Pointer po = new Pointer();
if (pos != null)
{
i++;
po.lat = pos.Coordinate.Latitude;
po.lon = pos.Coordinate.Longitude;
po.Yaw = c.GetCurrentReading().HeadingMagneticNorth;
OrientationSensorReading reading2 = or.GetCurrentReading();
SensorQuaternion q = reading2.Quaternion;
// get a reference to the object to avoid re-creating it for each access
double y = reading2.Quaternion.Y;
if (y < 0)
{
y = y + 2;
}
po.Pitch = y;
li.Add(po);
Tags.Text = i.ToString() + " Point(s) Tagged";
}
}
/// <summary>
/// Invoked when a user clicks on the GetDataButton
/// </summary>
/// <param name="sender"></param>
/// <param name="args"></param>
private void GetData(object sender, object args)
{
OrientationSensorReading reading = Sensor.GetCurrentReading();
if (reading != null)
{
// Quaternion values
SensorQuaternion quaternion = reading.Quaternion; // get a reference to the object to avoid re-creating it for each access
ScenarioOutput_X.Text = String.Format("{0,8:0.00000}", quaternion.X);
ScenarioOutput_Y.Text = String.Format("{0,8:0.00000}", quaternion.Y);
ScenarioOutput_Z.Text = String.Format("{0,8:0.00000}", quaternion.Z);
ScenarioOutput_W.Text = String.Format("{0,8:0.00000}", quaternion.W);
// Rotation Matrix values
SensorRotationMatrix rotationMatrix = reading.RotationMatrix;
ScenarioOutput_M11.Text = String.Format("{0,8:0.00000}", rotationMatrix.M11);
ScenarioOutput_M12.Text = String.Format("{0,8:0.00000}", rotationMatrix.M12);
ScenarioOutput_M13.Text = String.Format("{0,8:0.00000}", rotationMatrix.M13);
ScenarioOutput_M21.Text = String.Format("{0,8:0.00000}", rotationMatrix.M21);
ScenarioOutput_M22.Text = String.Format("{0,8:0.00000}", rotationMatrix.M22);
ScenarioOutput_M23.Text = String.Format("{0,8:0.00000}", rotationMatrix.M23);
ScenarioOutput_M31.Text = String.Format("{0,8:0.00000}", rotationMatrix.M31);
ScenarioOutput_M32.Text = String.Format("{0,8:0.00000}", rotationMatrix.M32);
ScenarioOutput_M33.Text = String.Format("{0,8:0.00000}", rotationMatrix.M33);
}
}
// For more information on using orientation sensors, see the OrientationSensor sample.
void GetOrientationReport()
{
OrientationSensor sensor;
// If there is a version of GetDefault that lets us specify the optimization goal,
// then use it. Otherwise, use the regular version.
if (hasOrientationWithOptimizationGoal)
{
sensor = OrientationSensor.GetDefault(SensorReadingType.Absolute, SensorOptimizationGoal.PowerEfficiency);
}
else
{
sensor = OrientationSensor.GetDefault();
}
if (sensor != null)
{
OrientationSensorReading reading = sensor.GetCurrentReading();
SensorQuaternion quaternion = reading.Quaternion;
rootPage.NotifyUser($"X: {quaternion.X}, Y: {quaternion.Y}, Z: {quaternion.Z}, W: {quaternion.W}", NotifyType.StatusMessage);
// Restore the default report interval to release resources while the sensor is not in use.
sensor.ReportInterval = 0;
}
else
{
rootPage.NotifyUser("Sorry, no sensor found", NotifyType.ErrorMessage);
}
}
/// <summary>
/// This is the event handler for ReadingChanged events.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
//<SnippetReadingChangedCS>
async private void ReadingChanged(object sender, OrientationSensorReadingChangedEventArgs e)
{
await Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
OrientationSensorReading reading = e.Reading;
// Quaternion values
SensorQuaternion quaternion = reading.Quaternion; // get a reference to the object to avoid re-creating it for each access
ScenarioOutput_X.Text = String.Format("{0,8:0.00000}", quaternion.X);
ScenarioOutput_Y.Text = String.Format("{0,8:0.00000}", quaternion.Y);
ScenarioOutput_Z.Text = String.Format("{0,8:0.00000}", quaternion.Z);
ScenarioOutput_W.Text = String.Format("{0,8:0.00000}", quaternion.W);
// Rotation Matrix values
SensorRotationMatrix rotationMatrix = reading.RotationMatrix;
ScenarioOutput_M11.Text = String.Format("{0,8:0.00000}", rotationMatrix.M11);
ScenarioOutput_M12.Text = String.Format("{0,8:0.00000}", rotationMatrix.M12);
ScenarioOutput_M13.Text = String.Format("{0,8:0.00000}", rotationMatrix.M13);
ScenarioOutput_M21.Text = String.Format("{0,8:0.00000}", rotationMatrix.M21);
ScenarioOutput_M22.Text = String.Format("{0,8:0.00000}", rotationMatrix.M22);
ScenarioOutput_M23.Text = String.Format("{0,8:0.00000}", rotationMatrix.M23);
ScenarioOutput_M31.Text = String.Format("{0,8:0.00000}", rotationMatrix.M31);
ScenarioOutput_M32.Text = String.Format("{0,8:0.00000}", rotationMatrix.M32);
ScenarioOutput_M33.Text = String.Format("{0,8:0.00000}", rotationMatrix.M33);
});
}
public void onConfirmLookDirection()
{
// playDing();
SensorQuaternion currentQ = _wearableControl.LastSensorFrame.rotation;
float diff = currentQ.value.eulerAngles.y - userCenter.value.eulerAngles.y;
// float DotResult = Vector3.Dot(Vector3.forward, currentQ.value.eulerAngles);
// Debug.Log(diff);
// transform.InverseTransformPoint(otherTransform.position)
// if(diff < 30f && diff > 300f) {
// Debug.Log("Center"+ Time.time + " " + diff);
// play
// }
// else
if (diff > 0 && diff < 180f)
{
Debug.Log("Right" + Time.time + " " + diff);
playLeftAudio();
}
else
{
Debug.Log("Left" + Time.time + " " + diff);
playRightAudio();
}
}
private void ReadOrientationRotation(ref Quaternion quaternion)
{
#if WINDOWS_STORE_APP
_sQuaternion = _sensor.GetCurrentReading().Quaternion;
_quaternion.Set(_sQuaternion.X, _sQuaternion.Y, _sQuaternion.Z, _sQuaternion.W);
_rotation = _quaternion.eulerAngles;
#endif
quaternion = _quaternion;
}
private void ReadOrientationRotation2(ref Quaternion quaternion)
{
#if WINDOWS_STORE_APP
_sQuaternion = _sensor.GetCurrentReading().Quaternion;
_quaternion.Set(_sQuaternion.X, _sQuaternion.Y, _sQuaternion.Z, _sQuaternion.W);
_rotation = _quaternion.eulerAngles;
var alpha = _rotation.z;
var beta = _rotation.y - 180.0f;
var gamma = (_rotation.x / 2.0f) - 90.0f;
// a: Z (0/360)
// b: Y: (-180/180)
// g: X: (-90/90)
var degtorad = Mathf.PI / 180.0f;
var z = alpha * degtorad / 2.0f;
var x = beta * degtorad / 2.0f;
var y = gamma * degtorad / 2.0f;
var cX = Mathf.Cos(x);
var cY = Mathf.Cos(y);
var cZ = Mathf.Cos(z);
var sX = Mathf.Sin(x);
var sY = Mathf.Sin(y);
var sZ = Mathf.Sin(z);
// ZXY quaternion construction.
var w = cX * cY * cZ - sX * sY * sZ;
x = sX * cY * cZ - cX * sY * sZ;
y = cX * sY * cZ + sX * cY * sZ;
z = cX * cY * sZ + sX * sY * cZ;
quaternion.Set(x, y, z, w);
//var deviceQuaternion = new Quaternion(x, y, z, w);
// Correct for the screen orientation.
/*var screenOrientation = (GetOrientation() * degtorad) / 2.0f;
* var screenTransform = new Quaternion(0.0f, 0.0f, -Mathf.Sin(screenOrientation), Mathf.Cos(screenOrientation));
*
* var deviceRotation = deviceQuaternion * screenTransform;
* var r22 = Mathf.Sqrt(0.5f);
* deviceRotation = new Quaternion(-r22, 0.0f, 0.0f, r22) * deviceRotation;
*
* var rot = deviceQuaternion.eulerAngles;
* var temp = rot.x;
* rot.z = 0;
* rot.x = 0;
* rot.y = rot.x;
* deviceQuaternion = Quaternion.Euler(rot);
*
* quaternion = deviceRotation;*/
#endif
}
private async void Or_ReadingChanged(OrientationSensor sender, OrientationSensorReadingChangedEventArgs args)
{
if (myBool)
{
OrientationSensorReading reading = args.Reading;
// Quaternion values
SensorQuaternion q = reading.Quaternion;
double y = args.Reading.Quaternion.Y;
if (y < 0)
{
y = y + 2;
}
double pitch = y;
// pitch = pitch * 180 / Math.PI;
if (yaw < 0)
{
yaw += 360;
}
await Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
for (; lol.Children.Count > 1;)
{
lol.Children.RemoveAt(1);
}
foreach (PointerViewAR n in li2)
{
Image img = new Image();
img.Name = n.Id;
img.Width = 250;
img.Height = 250;
img.Source = n.Media;
TranslateTransform t = new TranslateTransform();
t.X = angleDiff(n.Yaw, yaw) * stepW * 2;
t.Y = (n.Pitch - pitch) * stepH * 2;
Debug.WriteLine((n.Yaw - yaw).ToString() + ",");
img.RenderTransform = t;
img.IsTapEnabled = true;
img.Tapped += Img_Tapped;
lol.Children.Add(img);
}
});
}
}
/// <summary>
/// This is the event handler for ReadingChanged events.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
async private void ReadingChanged(object sender, OrientationSensorReadingChangedEventArgs e)
{
await Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
OrientationSensorReading reading = e.Reading;
// Quaternion values
SensorQuaternion quaternion = reading.Quaternion; // get a reference to the object to avoid re-creating it for each access
ScenarioOutput_X.Text = String.Format("{0,8:0.00000}", quaternion.X);
ScenarioOutput_Y.Text = String.Format("{0,8:0.00000}", quaternion.Y);
ScenarioOutput_Z.Text = String.Format("{0,8:0.00000}", quaternion.Z);
ScenarioOutput_W.Text = String.Format("{0,8:0.00000}", quaternion.W);
// Rotation Matrix values
SensorRotationMatrix rotationMatrix = reading.RotationMatrix;
ScenarioOutput_M11.Text = String.Format("{0,8:0.00000}", rotationMatrix.M11);
ScenarioOutput_M12.Text = String.Format("{0,8:0.00000}", rotationMatrix.M12);
ScenarioOutput_M13.Text = String.Format("{0,8:0.00000}", rotationMatrix.M13);
ScenarioOutput_M21.Text = String.Format("{0,8:0.00000}", rotationMatrix.M21);
ScenarioOutput_M22.Text = String.Format("{0,8:0.00000}", rotationMatrix.M22);
ScenarioOutput_M23.Text = String.Format("{0,8:0.00000}", rotationMatrix.M23);
ScenarioOutput_M31.Text = String.Format("{0,8:0.00000}", rotationMatrix.M31);
ScenarioOutput_M32.Text = String.Format("{0,8:0.00000}", rotationMatrix.M32);
ScenarioOutput_M33.Text = String.Format("{0,8:0.00000}", rotationMatrix.M33);
// Yaw accuracy
switch (reading.YawAccuracy)
{
case MagnetometerAccuracy.Unknown:
ScenarioOutput_YawAccuracy.Text = "Unknown";
break;
case MagnetometerAccuracy.Unreliable:
ScenarioOutput_YawAccuracy.Text = "Unreliable";
break;
case MagnetometerAccuracy.Approximate:
ScenarioOutput_YawAccuracy.Text = "Approximate";
break;
case MagnetometerAccuracy.High:
ScenarioOutput_YawAccuracy.Text = "High";
break;
default:
ScenarioOutput_YawAccuracy.Text = "No data";
break;
}
});
}
/// <summary>
/// This is the dispatcher callback.
/// </summary>
/// <param name="sender"></param>
/// <param name="args"></param>
private void DisplayCurrentReading(object sender, object args)
{
OrientationSensorReading reading = _sensor.GetCurrentReading();
if (reading != null)
{
// Quaternion values
SensorQuaternion quaternion = reading.Quaternion; // get a reference to the object to avoid re-creating it for each access
ScenarioOutput_X.Text = String.Format("{0,8:0.00000}", quaternion.X);
ScenarioOutput_Y.Text = String.Format("{0,8:0.00000}", quaternion.Y);
ScenarioOutput_Z.Text = String.Format("{0,8:0.00000}", quaternion.Z);
ScenarioOutput_W.Text = String.Format("{0,8:0.00000}", quaternion.W);
// Rotation Matrix values
SensorRotationMatrix rotationMatrix = reading.RotationMatrix;
ScenarioOutput_M11.Text = String.Format("{0,8:0.00000}", rotationMatrix.M11);
ScenarioOutput_M12.Text = String.Format("{0,8:0.00000}", rotationMatrix.M12);
ScenarioOutput_M13.Text = String.Format("{0,8:0.00000}", rotationMatrix.M13);
ScenarioOutput_M21.Text = String.Format("{0,8:0.00000}", rotationMatrix.M21);
ScenarioOutput_M22.Text = String.Format("{0,8:0.00000}", rotationMatrix.M22);
ScenarioOutput_M23.Text = String.Format("{0,8:0.00000}", rotationMatrix.M23);
ScenarioOutput_M31.Text = String.Format("{0,8:0.00000}", rotationMatrix.M31);
ScenarioOutput_M32.Text = String.Format("{0,8:0.00000}", rotationMatrix.M32);
ScenarioOutput_M33.Text = String.Format("{0,8:0.00000}", rotationMatrix.M33);
// Yaw accuracy
switch (reading.YawAccuracy)
{
case MagnetometerAccuracy.Unknown:
ScenarioOutput_YawAccuracy.Text = "Unknown";
break;
case MagnetometerAccuracy.Unreliable:
ScenarioOutput_YawAccuracy.Text = "Unreliable";
break;
case MagnetometerAccuracy.Approximate:
ScenarioOutput_YawAccuracy.Text = "Approximate";
break;
case MagnetometerAccuracy.High:
ScenarioOutput_YawAccuracy.Text = "High";
break;
default:
ScenarioOutput_YawAccuracy.Text = "No data";
break;
}
}
}
private async void Or_ReadingChanged(OrientationSensor sender, OrientationSensorReadingChangedEventArgs args)
{
if (myBool)
{
OrientationSensorReading reading = args.Reading;
// Quaternion values
SensorQuaternion q = reading.Quaternion;
double y = args.Reading.Quaternion.Y;
if (y < 0)
{
y = y + 2;
}
pitch = y;
// pitch = pitch * 180 / Math.PI;
await Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
for (; lol.Children.Count > 6;)
{
lol.Children.RemoveAt(6);
}
foreach (PointerViewAR n in li2)
{
Image img = new Image();
img.Name = n.Id;
img.Width = 250;
img.Height = 250;
img.Source = n.Media;// img.Stretch = Stretch.UniformToFill;
TranslateTransform t = new TranslateTransform();
double dis = getDistance(n.lat, n.lon, pos.Coordinate.Latitude, pos.Coordinate.Longitude);
if (dis < 50)
//TODO: in prod write distance<20
{
// double ang = getangle(n.lat, n.lon, pos.Coordinate.Latitude, pos.Coordinate.Longitude);
t.X = angleDiff(n.Yaw, yaw) * stepW * 2;
t.Y = (n.Pitch - pitch) * stepH * 2;
img.RenderTransform = t;
img.IsTapEnabled = true;
img.Tapped += Img_Tapped;
lol.Children.Add(img);
Grid.SetRow(img, 1);
}
}
});
}
}
public static void SetReadingText(TextBlock textBlock, OrientationSensorReading reading)
{
SensorQuaternion quaternion = reading.Quaternion; // get a reference to the object to avoid re-creating it for each access
string quaternionReport = string.Format("W: {0,5:0.00}, X: {1,5:0.00}, Y: {2,5:0.00}, Z: {3,5:0.00}",
quaternion.W, quaternion.X, quaternion.Y, quaternion.Z);
SensorRotationMatrix rotationMatrix = reading.RotationMatrix;
string rotationMatrixReport = string.Format(
"M11: {0,5:0.00}, M12: {1,5:0.00}, M13: {2,5:0.00}\n" +
"M21: {3,5:0.00}, M22: {4,5:0.00}, M23: {5,5:0.00}\n" +
"M31: {6,5:0.00}, M32: {7,5:0.00}, M33: {8,5:0.00}",
rotationMatrix.M11, rotationMatrix.M12, rotationMatrix.M13,
rotationMatrix.M21, rotationMatrix.M22, rotationMatrix.M23,
rotationMatrix.M31, rotationMatrix.M32, rotationMatrix.M33);
string yawAccuracyReport;
switch (reading.YawAccuracy)
{
case MagnetometerAccuracy.Unknown:
yawAccuracyReport = "unknown";
break;
case MagnetometerAccuracy.Unreliable:
yawAccuracyReport = "unreliable";
break;
case MagnetometerAccuracy.Approximate:
yawAccuracyReport = "approximate";
break;
case MagnetometerAccuracy.High:
yawAccuracyReport = "high";
break;
default:
yawAccuracyReport = "other";
break;
}
textBlock.Text = "Quaternion:\n" + quaternionReport + "\n\n" +
"Rotation Matrix:\n" + rotationMatrixReport + "\n\n" +
"Yaw Accuracy:\n" + yawAccuracyReport;
}
void Update()
{
// sample current orientation of frame
SensorQuaternion q = _wearableControl.LastSensorFrame.rotation;
samples.AddFirst(new Sample(Time.time, q));
// max of 60 samples
if (samples.Count >= 60)
{
samples.RemoveLast();
}
if (waitTime > 0)
{
waitTime -= Time.deltaTime;
}
else
{
DetectNod();
DetectHeadshake();
}
}
public static Quaternion ToQuaternion(this SensorQuaternion q) => new Quaternion(q.X, q.Y, q.Z, q.W);
public static string Output(this SensorQuaternion q) =>
$"x {q.X} y {q.Y} z {q.Z} w {q.W}";
private void OnReadingChange(OrientationSensor sender, OrientationSensorReadingChangedEventArgs args)
{
SensorQuaternion quaternion = args.Reading.Quaternion;
Ball.SetAccelaration(quaternion.X, quaternion.Y);
}
/// <summary>
/// Sets center view axis for orienting across spotlights
/// </summary>
protected void setRelativeDirection()
{
userCenter = _wearableControl.LastSensorFrame.rotation;
}
