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;
}
public async void NewQuan(OrientationSensor sender, OrientationSensorReadingChangedEventArgs args)
{
var reading = args == null?sender?.GetCurrentReading() : args.Reading;
await this.dispatcher.RunAsync(
CoreDispatcherPriority.Normal,
() =>
{
this[QUANTIZATION] = reading == null
? this[QUANTIZATION].New(0, 0, 0, 0)
: this[QUANTIZATION].New(
reading.Quaternion.X,
reading.Quaternion.Y,
reading.Quaternion.Z,
reading.Quaternion.W);
if (this[QUANTIZATION].IsChanged)
{
this.OnPropertyChanged(new PropertyChangedEventArgs("ItemsList"));
this.OnSensorUpdated?.Invoke(this[QUANTIZATION]);
}
});
if (this.SensorSwitches.Q.HasValue && (this.SensorSwitches.Q.Value == 1 || this.SensorSwitches.Q.Value == 3))
{
this.SensorSwitches.Q = 0;
}
}
/// <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);
}
}
/// <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 OnGetOrientation(object sender, RoutedEventArgs e)
{
OrientationSensor orientation = OrientationSensor.GetDefault();
OrientationSensorReading reading = orientation.GetCurrentReading();
this.DefaultViewModel["OrientationSensorResult"] = GetOrientationSensorResult(reading);
}
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>
/// 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)
{
MainPage.SetReadingText(ScenarioOutput, reading);
}
}
public Vector3 GetOrientation()
{
if (OrientationSensor != null)
{
OrientationSensorReading orientation = OrientationSensor.GetCurrentReading();
Matrix m = new Matrix();
m.M11 = orientation.RotationMatrix.M11;
m.M12 = orientation.RotationMatrix.M12;
m.M13 = orientation.RotationMatrix.M13;
m.M21 = orientation.RotationMatrix.M21;
m.M22 = orientation.RotationMatrix.M22;
m.M23 = orientation.RotationMatrix.M23;
m.M31 = orientation.RotationMatrix.M31;
m.M32 = orientation.RotationMatrix.M32;
m.M33 = orientation.RotationMatrix.M33;
return(Vector3.Transform(Vector3.UnitY, m));
}
else if (SimpleOrientationSensor != null)
{
SimpleOrientation orientation = SimpleOrientationSensor.GetCurrentOrientation();
switch (orientation)
{
case SimpleOrientation.Facedown:
case SimpleOrientation.Faceup:
return(LastSimpleOrientation);
case SimpleOrientation.NotRotated:
LastSimpleOrientation = Vector3.UnitY;
return(LastSimpleOrientation);
case SimpleOrientation.Rotated180DegreesCounterclockwise:
LastSimpleOrientation = -Vector3.UnitY;
return(LastSimpleOrientation);
case SimpleOrientation.Rotated270DegreesCounterclockwise:
LastSimpleOrientation = -Vector3.UnitX;
return(LastSimpleOrientation);
case SimpleOrientation.Rotated90DegreesCounterclockwise:
LastSimpleOrientation = Vector3.UnitX;
return(LastSimpleOrientation);
default:
throw new Exception("Unrecognised Orientation");
}
}
else
{
throw new Exception("Couldn't determine orientation");
}
}
/// <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;
}
}
}
public void OnGetOrientation()
{
OrientationSensor sensor = OrientationSensor.GetDefault();
if (sensor != null)
{
OrientationSensorReading reading = sensor.GetCurrentReading();
OrientationInfo = $"Quaternion: {reading.Quaternion.Output()} Rotation: {reading.RotationMatrix.Ouput()} Yaw accuracy: {reading.YawAccuracy}";
}
else
{
OrientationInfo = "Compass not found";
}
}
protected override void OnNavigatedTo(NavigationEventArgs e)
{
base.OnNavigatedTo(e);
sIncline = Inclinometer.GetDefault(SensorReadingType.Absolute);
sDisplay = DisplayInformation.GetForCurrentView();
sOrient = OrientationSensor.GetDefault(SensorReadingType.Absolute);
sOrient.ReadingChanged += SOrient_ReadingChanged;
sDisplay.OrientationChanged += SDisplay_OrientationChanged;
sIncline.ReadingChanged += SIncline_ReadingChanged;
LastDisplayOrient = sDisplay.CurrentOrientation;
LastIncline = sIncline.GetCurrentReading();
LastOrient = sOrient.GetCurrentReading();
timer.Start();
}
public OrientationSensorReading GetOrientationSensorReading()
{
if (_orientationSensor == null)
{
throw new InvalidOperationException("The orientation sensor is either not present or has not been initialized");
}
var reading = _orientationSensor.GetCurrentReading();
return(reading);
// Available reading values include:
// reading.Quaternion
// reading.RotationMatrix
// reading.YawAccuracy
// reading.Timestamp
}
void ReadOrientationData()
{
if (orientationSensor != null)
{
OrientationSensorReading reading = orientationSensor.GetCurrentReading();
if (reading != null)
{
SensorRotationMatrix srm = reading.RotationMatrix;
Matrix3D rotationMatrix = new Matrix3D(
srm.M11, srm.M12, srm.M13, 0,
srm.M21, srm.M22, srm.M23, 0,
srm.M31, srm.M32, srm.M33, 0,
0, 0, 0, 0);
Matrix3D bodySpaceMatrix = pointMatrix * rotationMatrix;
point.Text = string.Format("Transform of (0.0, 10.0, 0.0) = ({0:F1}, {1:F1}, {2:F1})",
bodySpaceMatrix.OffsetX, bodySpaceMatrix.OffsetY, bodySpaceMatrix.OffsetZ);
}
}
}
void OnBitmapImageOpened(object sender, RoutedEventArgs args)
{
progressBar.Visibility = Visibility.Collapsed;
statusText.Visibility = Visibility.Collapsed;
// Save image dimensions
imageWidth = bitmapImage.PixelWidth;
imageHeight = bitmapImage.PixelHeight;
titleText.Text = String.Format("{0} ({1}\x00D7{2})", title, imageWidth, imageHeight);
// Initialize image transforms
zoomInScale = Math.Min(pageWidth / imageWidth, pageHeight / imageHeight);
// Start OrientationSensor going
if (orientationSensor != null)
{
ProcessNewOrientationReading(orientationSensor.GetCurrentReading());
orientationSensor.ReportInterval = orientationSensor.MinimumReportInterval;
orientationSensor.ReadingChanged += OnOrientationSensorReadingChanged;
}
}
async void OnMainPageLoaded(object sender, RoutedEventArgs args)
{
if (inclinometer == null)
{
await new MessageDialog("Inclinometer is not available").ShowAsync();
}
else
{
// Start the Inclinometer events
ShowYawPitchRoll(inclinometer.GetCurrentReading());
inclinometer.ReadingChanged += OnInclinometerReadingChanged;
}
if (orientationSensor == null)
{
await new MessageDialog("OrientationSensor is not available").ShowAsync();
}
else
{
// Start the OrientationSensor events
ShowOrientation(orientationSensor.GetCurrentReading());
orientationSensor.ReadingChanged += OrientationSensorChanged;
}
}