private void InitializeUpdateMethod()
{
doAR = false;
DateTime startTime = DateTime.Now;
int framesCount = 0;
CompositionTarget.Rendering += (s, ea) =>
{
if (doAR)
{
// Take webcam snapshot.
// CaptureImageAsync calls the event CaptureImageCompleted += (s, e) => DetectMarkers(e.Result);
captureSource.CaptureImageAsync();
}
else
{
var trans = Matrix.CreateTranslation(new Vector(0, 0, -400));
timedRotation += 2;
trans = Matrix.CreateRotationZ(timedRotation) * trans;
ApplyFinalTransformation(trans);
}
// Update FPS text and reset counter every 30 frames
if (++framesCount >= 30)
{
TimeSpan elapsed = DateTime.Now - startTime;
Txt.Text = String.Format("{0:###0.00} fps", framesCount / elapsed.TotalSeconds);
startTime = DateTime.Now;
framesCount = 0;
}
};
}
private void ApplyFinalTransformation(Matrix baseTransformation)
{
// Transform the mesh and change coordinate system
Matrix swapAxis = Matrix.CreateRotationX(90);
Matrix scale = Matrix.CreateScale(50f);
var trans = swapAxis * scale * baseTransformation;
this.ActiveMesh.World = trans;
}
public void Update()
{
var pos = collisionSkin.NewPosition.ToBalder();
var orient = PhysicsBody.CollisionSkin.GetPrimitiveLocal(0).Transform.Orientation *PhysicsBody.Orientation;
var orientation = orient.ToBalder();
World = orientation * Matrix.CreateTranslation(pos);
if (Transformation != null)
{
World *= Transformation;
}
f += 0.05f;
//World = Balder.Math.Matrix.CreateScale((float)Math.Sin(f) + 1);
}
private void ApplyFinalTransformation(Matrix baseTransformation)
{
// Transform the mesh and change coordinate system
Matrix swapAxis = Matrix.CreateRotationX(90);
Matrix scale = Matrix.CreateScale(50f);
var trans = swapAxis * scale * baseTransformation;
this.ActiveMesh.World = trans;
}
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);
}
}
}
