private void SetupMarkerTracking() { DirectShowCapture captureDevice = new DirectShowCapture(); captureDevice.InitVideoCapture(0, FrameRate._60Hz, Resolution._640x480, ImageFormat.R8G8B8_24, false); scene.AddVideoCaptureDevice(captureDevice); // Use ALVAR marker tracker ALVARMarkerTracker tracker = new ALVARMarkerTracker(); tracker.MaxMarkerError = 0.02f; tracker.ZNearPlane = arCameraNode.Camera.ZNearPlane; tracker.ZFarPlane = arCameraNode.Camera.ZFarPlane; tracker.InitTracker(captureDevice.Width, captureDevice.Height, "default_calib.xml", 32.4f); // 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; // Create a marker node to track a ground marker array. groundMarkerNode = new MarkerNode(scene.MarkerTracker, "ALVARGroundArray.xml"); scene.RootNode.AddChild(groundMarkerNode); }
private void SetupCalibration() { leftCaptureDevice = new DirectShowCapture2(); leftCaptureDevice.InitVideoCapture(leftDeviceID, FrameRate._30Hz, Resolution._640x480, ImageFormat.R8G8B8_24, false); // Add left video capture device to the scene for rendering left eye image scene.AddVideoCaptureDevice(leftCaptureDevice); rightCaptureDevice = new DirectShowCapture2(); rightCaptureDevice.InitVideoCapture(rightDeviceID, FrameRate._30Hz, Resolution._640x480, ImageFormat.R8G8B8_24, false); // Add right video capture device to the scene for rendering right eye image scene.AddVideoCaptureDevice(rightCaptureDevice); // Create holders for retrieving the captured video images leftImagePtr = Marshal.AllocHGlobal(leftCaptureDevice.Width * leftCaptureDevice.Height * 3); rightImagePtr = Marshal.AllocHGlobal(rightCaptureDevice.Width * rightCaptureDevice.Height * 3); // Associate each video devices to each eye scene.LeftEyeVideoID = 0; scene.RightEyeVideoID = 1; scene.ShowCameraImage = true; float markerSize = 32.4f; // Initialize a marker tracker for tracking an marker array used for calibration markerTracker = new ALVARMarkerTracker(); markerTracker.MaxMarkerError = 0.02f; markerTracker.ZNearPlane = 0.1f; markerTracker.ZFarPlane = 1000; markerTracker.InitTracker(leftCaptureDevice.Width, leftCaptureDevice.Height, LEFT_CALIB, markerSize); ((StereoCamera)scene.CameraNode.Camera).LeftProjection = markerTracker.CameraProjection; // Add another marker detector for tracking right video capture device ALVARDllBridge.alvar_add_marker_detector(markerSize, 5, 2); ALVARDllBridge.alvar_add_camera(RIGHT_CALIB, rightCaptureDevice.Width, rightCaptureDevice.Height); double[] projMat = new double[16]; double cameraFovX = 0, cameraFovY = 0; ALVARDllBridge.alvar_get_camera_params(1, projMat, ref cameraFovX, ref cameraFovY, 1000, 0.1f); ((StereoCamera)scene.CameraNode.Camera).RightProjection = new Matrix( (float)projMat[0], (float)projMat[1], (float)projMat[2], (float)projMat[3], (float)projMat[4], (float)projMat[5], (float)projMat[6], (float)projMat[7], (float)projMat[8], (float)projMat[9], (float)projMat[10], (float)projMat[11], (float)projMat[12], (float)projMat[13], (float)projMat[14], (float)projMat[15]); // Add a marker array to be tracked markerID = markerTracker.AssociateMarker("ALVARGroundArray.xml"); relativeTransforms = new List <Matrix>(); }
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; }
private void SetupMarkerTracking() { DirectShowCapture captureDevice = new DirectShowCapture(); 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); // if we're using Wrap920AR, then we need to add another capture device for // processing stereo camera DirectShowCapture captureDevice2 = null; if (iTracker.ProductID == iWearDllBridge.IWRProductID.IWR_PROD_WRAP920) { captureDevice2 = new DirectShowCapture(); captureDevice2.InitVideoCapture(1, FrameRate._30Hz, Resolution._640x480, ImageFormat.R8G8B8_24, false); scene.AddVideoCaptureDevice(captureDevice2); // Calculate the right projection matrix using the camera intrinsic parameters for the // right camera ((StereoCamera)scene.CameraNode.Camera).RightProjection = ALVARDllBridge.GetCameraProjection("Wrap920_Right.xml", captureDevice2.Width, captureDevice2.Height, 0.1f, 1000); } // Create an optical marker tracker that uses ALVAR library ALVARMarkerTracker tracker = new ALVARMarkerTracker(); tracker.MaxMarkerError = 0.02f; tracker.ZNearPlane = 0.1f; tracker.ZFarPlane = 1000; tracker.InitTracker(captureDevice.Width, captureDevice.Height, "Wrap920_Left.xml", markerSize); ((StereoCamera)scene.CameraNode.Camera).LeftProjection = tracker.CameraProjection; scene.MarkerTracker = tracker; if (iTracker.ProductID == iWearDllBridge.IWRProductID.IWR_PROD_WRAP920) { scene.LeftEyeVideoID = 0; scene.RightEyeVideoID = 1; scene.TrackerVideoID = 0; } else { scene.LeftEyeVideoID = 0; scene.RightEyeVideoID = 0; scene.TrackerVideoID = 0; } // Create a marker node to track a ground marker array. groundMarkerNode = new MarkerNode(scene.MarkerTracker, "ALVARGroundArray.xml"); // Add a transform node to tranlate the objects to be centered around the // marker board. TransformNode transNode = new TransformNode(); scene.RootNode.AddChild(groundMarkerNode); scene.ShowCameraImage = true; }