I'm using XNA to simulate a robot in a 3D world and then do image analysis on what
the camera sees.
I have my camera looking down in front of
the direction that
the robot is going, and I have
the robot detecting white pixels. I'm trying to take
the white pixels that it finds and project them back into
the 3D world so that I can see if it is actually detecting
the correct pixels.
I almost have it working, but there is an offset between where
the white is in in
the World and were I put my orange triangles (which represent what
the robot things is white).
/// <summary>
/// Takes a bool map of and makes vertex positions based on
the map.
/// </summary>
/// <param name="c">
The bool map</param>
private void ProjectBoolMapOnGroundAnthony2(bool[,] c)
{
float triangleSize = 0.04f;
// Point of interest in World W cordinate system.
Vector3 pointOfInterest_W = Vector3.Zero;
// Point of interest in Robot Cordinate system R
Vector3 pointOfInterest_R = Vector3.Zero;
// alpha is
the angle from
the robot camera to where it is looking in
the center.
//double alpha = Math.Atan(1.8f / 1);
/// Matrix representation of
the view determined by
the position, target, and updirection.
Matrix View = ((SimulationMain)Game).mainRobot.robotCameraView.View;
/// Matrix representation of
the view determined by
the angle of
the field of view (Pi/4), aspectRatio, nearest plane visible (1), and farthest plane visible (1200)
Matrix Projection = ((SimulationMain)Game).mainRobot.robotCameraView.Projection;
/// Matrix representing how
the real world cordinates differ from that of
the rendering by
the camera.
Matrix World = ((SimulationMain)Game).mainRobot.robotCameraView.World;
Plane groundPlan = new Plane(Vector3.UnitZ, 0.0f);
for (int x = 0; x < this.screenWidth; x++)
{
for (int y = 0; y < this.screenHeight; )
{
if (c[x, y] == true && this.count1D < 62000)
{
int j = 1;
Vector3 nearPlanePoint = Game.GraphicsDevice.Viewport.Unproject(new Vector3(x, y, 0), Projection, View, World);
Vector3 farPlanePoint = Game.GraphicsDevice.Viewport.Unproject(new Vector3(x, y, 1), Projection, View, World);
//Vector3 pointOfInterest_W = Vector3.in
Ray ray = new Ray(nearPlanePoint, farPlanePoint);
pointOfInterest_W = ray.
Position + ray.Direction * (float) ray.Intersects(groundPlan);
this.vertexArray2[this.count1D + 0].
Position.X = pointOfInterest_W.X - triangleSize;
this.vertexArray2[this.count1D + 0].
Position.Y = pointOfInterest_W.Y - triangleSize * j;
this.vertexArray2[this.count1D + 0].
Position.Z = pointOfInterest_W.Z;
this.vertexArray2[this.count1D + 0].Color = Color.DarkOrange;
// Put another vertex a
the position but +1 in
the X direction triangleSize
//this.vertexArray2[this.count1D + 1].
Position.X = pointOnGroud.X + 3;
//this.vertexArray2[this.count1D + 1].
Position.Y = pointOnGroud.Y + j;
this.vertexArray2[this.count1D + 1].
Position.X = pointOfInterest_W.X;
this.vertexArray2[this.count1D + 1].
Position.Y = pointOfInterest_W.Y + triangleSize * j;
this.vertexArray2[this.count1D + 1].
Position.Z = pointOfInterest_W.Z;
this.vertexArray2[this.count1D + 1].Color = Color.Red;
// Put another vertex a
the position but +1 in
the X direction
//this.vertexArray2[this.count1D + 0].
Position.X = pointOnGroud.X;
//this.vertexArray2[this.count1D + 0].
Position.Y = pointOnGroud.Y + 3 + j;
this.vertexArray2[this.count1D + 2].
Position.X = pointOfInterest_W.X + triangleSize;
this.vertexArray2[this.count1D + 2].
Position.Y = pointOfInterest_W.Y - triangleSize * j;
this.vertexArray2[this.count1D + 2].
Position.Z = pointOfInterest_W.Z;
this.vertexArray2[this.count1D + 2].Color = Color.Orange;
this.count1D += 3;
y += j;
}
else
{
y++;
}
}
}
}
The world is a grass texture with lines on it.
The world plane is normal at (0,0,1).
Any ideas on why there is an offset?
Any Ideas?
Thanks for
the help,
Anthony G.
