public MainWindow()
{
InitializeComponent();
CaptureDeviceList cl = new CaptureDeviceList();
m_cap = cl[0];
m_cap.SetCaptureListener(this);
m_cap.PrepareCapture(cameraResX, cameraResY, 30); // 800x600 resolution, 30 fps
NyARParam ap = new NyARParam();
ap.loadARParamFromFile(AR_CAMERA_FILE);
ap.changeScreenSize(cameraResX, cameraResY);
this.m_raster = new NyARRgbRaster(m_cap.video_width, m_cap.video_height, NyARBufferType.BYTE1D_R8G8B8_24,
false);
NyARCode code = new NyARCode(16, 16); // 16 pixels to detect within black box
code.loadARPattFromFile(AR_CODE_FILE);
this.m_ar = new NyARDetectMarker(ap, new NyARCode[] { code }, new double[] { 80.0 }, 1,
NyARBufferType.BYTE1D_B8G8R8_24);
this.m_ar.setContinueMode(false);
this.Loaded += MainWindow_Loaded;
}
/// <summary>
/// Initializes the detector for single marker detection.
/// </summary>
/// <param name="width">The width of the buffer that will be used for detection.</param>
/// <param name="height">The height of the buffer that will be used for detection.</param>
/// <param name="nearPlane">The near view plane of the frustum.</param>
/// <param name="farPlane">The far view plane of the frustum.</param>
/// <param name="markers">A list of markers that should be detected.</param>
/// <param name="bufferType">The type of the buffer.</param>
/// <param name="adaptive">Performs an adaptive bitmap thresholding if set to true. Default = false.</param>
protected void Initialize(int width, int height, double nearPlane, double farPlane, IList <Marker> markers, int bufferType, bool adaptive = false)
{
// Check arguments
if (markers == null || !markers.Any())
{
throw new ArgumentNullException("markers");
}
// Member init
this.bufferWidth = width;
this.bufferHeight = height;
this.isAdaptive = adaptive;
// Init pattern matchers with markers and check segment size, whcih has to be equal for all markers
int segmentX = markers[0].SegmentsX;
int segmentY = markers[0].SegmentsY;
var patternMatchers = new List <PatternMatcher>(markers.Count);
foreach (var marker in markers)
{
if (marker.SegmentsX != segmentX || marker.SegmentsY != segmentY)
{
throw new ArgumentException("The Segment size has to be equal for all markers. Don't mix 16x16 and 32x32 markers for example.", "markers");
}
patternMatchers.Add(new PatternMatcher(marker));
}
// Load deafult camera calibration data
var asmName = new System.Reflection.AssemblyName(System.Reflection.Assembly.GetExecutingAssembly().FullName).Name;
var streamResInfoCam = Application.GetResourceStream(new Uri(asmName + ";component/data/Camera_Calibration_Default.dat", UriKind.Relative));
var cameraParameters = new NyARParam();
using (var cameraCalibrationDataStream = streamResInfoCam.Stream)
{
cameraParameters.loadARParam(cameraCalibrationDataStream);
cameraParameters.changeScreenSize(width, height);
}
// Get projection matrix from camera calibration data
this.Projection = cameraParameters.GetCameraFrustumRH(nearPlane, farPlane);
// Init detector and necessary data
var colorPattern = new NyARColorPatt_Perspective_O2(segmentX, segmentY, 4, 25);
var patternMatchDeviationData = new NyARMatchPattDeviationColorData(segmentX, segmentY);
this.squareDetector = new NyARSquareContourDetector_Rle(cameraParameters.getScreenSize());
this.squareDetectionListener = new SquareDetectionListener(patternMatchers, cameraParameters, colorPattern, patternMatchDeviationData);
// Init buffer members
this.filteredBuffer = new NyARBinRaster(width, height);
if (adaptive)
{
this.bufferFilter = new NyARRasterFilter_AdaptiveThreshold(bufferType);
}
else
{
this.bufferFilter = new NyARRasterFilter_ARToolkitThreshold(this.Threshold, bufferType);
}
}
public void Test()
{
//AR用カメラパラメタファイルをロード
NyARParam ap = NyARParam.createFromARParamFile(new StreamReader(camera_file));
ap.changeScreenSize(320, 240);
//試験イメージの読み出し(320x240 RGBのRAWデータ)
StreamReader sr = new StreamReader(data_file);
BinaryReader bs = new BinaryReader(sr.BaseStream);
byte[] raw = bs.ReadBytes(320 * 240 * 3);
NyARRgbRaster ra = new NyARRgbRaster(320, 240, NyARBufferType.BYTE1D_R8G8B8_24, false);
ra.wrapBuffer(raw);
MarkerProcessor pr = new MarkerProcessor(ap, ra.getBufferType());
pr.detectMarker(ra);
Console.WriteLine(pr.transmat.m00 + "," + pr.transmat.m01 + "," + pr.transmat.m02 + "," + pr.transmat.m03);
Console.WriteLine(pr.transmat.m10 + "," + pr.transmat.m11 + "," + pr.transmat.m12 + "," + pr.transmat.m13);
Console.WriteLine(pr.transmat.m20 + "," + pr.transmat.m21 + "," + pr.transmat.m22 + "," + pr.transmat.m23);
Console.WriteLine(pr.transmat.m30 + "," + pr.transmat.m31 + "," + pr.transmat.m32 + "," + pr.transmat.m33);
Console.WriteLine(pr.current_id);
return;
}
public Form1()
{
InitializeComponent();
//ARの設定
//AR用カメラパラメタファイルをロード
NyARParam ap = NyARParam.createFromARParamFile(new StreamReader(AR_CAMERA_FILE));
ap.changeScreenSize(320, 240);
//AR用のパターンコードを読み出し
NyARCode code = NyARCode.createFromARPattFile(new StreamReader(AR_CODE_FILE), 16, 16);
NyARDoubleMatrix44 result_mat = new NyARDoubleMatrix44();
//計算モードの設定
//キャプチャを作る
/**************************************************
* このコードは、0番目（一番初めに見つかったキャプチャデバイス）
* を使用するようにされています。
* 複数のキャプチャデバイスを持つシステムの場合、うまく動作しないかもしれません。
* n番目のデバイスを使いたいときには、CaptureDevice cap=cl[0];←ここの0を変えてください。
* 手動で選択させる方法は、SimpleLiteDirect3Dを参考にしてください。
**************************************************/
CaptureDeviceList cl = new CaptureDeviceList();
CaptureDevice cap = cl[0];
cap.SetCaptureListener(this);
cap.PrepareCapture(320, 240, 30);
this.m_cap = cap;
//ラスタを作る。
this.m_raster = new DsRgbRaster(cap.video_width, cap.video_height, NyARBufferType.OBJECT_CS_Bitmap);
//１パターンのみを追跡するクラスを作成
this.m_ar = NyARSingleDetectMarker.createInstance(ap, code, 80.0);
this.m_ar.setContinueMode(false);
}
public bool InitializeApplication(Form1 topLevelForm, CaptureDevice i_cap_device)
{
topLevelForm.ClientSize = new Size(SCREEN_WIDTH, SCREEN_HEIGHT);
//キャプチャを作る(QVGAでフレームレートは30)
i_cap_device.SetCaptureListener(this);
i_cap_device.PrepareCapture(SCREEN_WIDTH, SCREEN_HEIGHT, 30);
this._cap = i_cap_device;
//AR用カメラパラメタファイルをロードして設定
NyARParam ap = NyARParam.createFromARParamFile(new StreamReader(AR_CAMERA_FILE));
ap.changeScreenSize(SCREEN_WIDTH, SCREEN_HEIGHT);
//マーカライブラリ(NyId)の構築
this._mklib = new RawbitSerialIdTable(10);
//マーカサイズテーブルの作成(とりあえず全部8cm)
this._mklib.addAnyItem("any id", 80);
//Realityの準備
this._reality = new NyARRealityD3d(ap, 10, 10000, 2, 10);
this._reality_source = new NyARRealitySource_DShow(SCREEN_WIDTH, SCREEN_HEIGHT, null, 2, 100);
//3dデバイスを準備する
this._device = PrepareD3dDevice(topLevelForm);
this._device.RenderState.ZBufferEnable = true;
this._device.RenderState.Lighting = false;
//カメラProjectionの設定
Matrix tmp = new Matrix();
this._reality.getD3dCameraFrustum(ref tmp);
this._device.Transform.Projection = tmp;
// ビュー変換の設定(左手座標系ビュー行列で設定する)
// 0,0,0から、Z+方向を向いて、上方向がY軸
this._device.Transform.View = Matrix.LookAtLH(
new Vector3(0.0f, 0.0f, 0.0f), new Vector3(0.0f, 0.0f, 1.0f), new Vector3(0.0f, 1.0f, 0.0f));
Viewport vp = new Viewport();
vp.Y = 0;
vp.Height = ap.getScreenSize().h;
vp.Width = ap.getScreenSize().w;
vp.MaxZ = 1.0f;
//ビューポート設定
this._device.Viewport = vp;
//カラーキューブの描画インスタンス
this._cube = new ColorCube(this._device, 40);
//背景サーフェイスを作成
this._surface = new NyARD3dSurface(this._device, SCREEN_WIDTH, SCREEN_HEIGHT);
return(true);
}
public void Test()
{
//AR用カメラパラメタファイルをロード
NyARParam ap = NyARParam.createFromARParamFile(new StreamReader(camera_file));
ap.changeScreenSize(320, 240);
//AR用のパターンコードを読み出し
NyARCode code = NyARCode.createFromARPattFile(new StreamReader(code_file), 16, 16);
//試験イメージの読み出し(320x240 BGRAのRAWデータ)
StreamReader sr = new StreamReader(data_file);
BinaryReader bs = new BinaryReader(sr.BaseStream);
byte[] raw = bs.ReadBytes(320 * 240 * 4);
// NyARBitmapRaster ra = new NyARBitmapRaster(320, 240);
// Graphics g = Graphics.FromImage(ra.getBitmap());
// g.DrawImage(new Bitmap("../../../../../data/320x240ABGR.png"), 0, 0);
NyARRgbRaster ra = new NyARRgbRaster(320, 240, NyARBufferType.BYTE1D_B8G8R8X8_32, false);
ra.wrapBuffer(raw);
//１パターンのみを追跡するクラスを作成
NyARSingleDetectMarker ar = NyARSingleDetectMarker.createInstance(ap, code, 80.0, NyARSingleDetectMarker.PF_NYARTOOLKIT);
NyARDoubleMatrix44 result_mat = new NyARDoubleMatrix44();
ar.setContinueMode(false);
ar.detectMarkerLite(ra, 100);
ar.getTransmationMatrix(result_mat);
//マーカーを検出
Stopwatch sw = new Stopwatch();
sw.Start();
for (int i = 0; i < 1000; i++)
{
//変換行列を取得
ar.detectMarkerLite(ra, 100);
ar.getTransmationMatrix(result_mat);
}
Console.WriteLine(result_mat.m00 + "," + result_mat.m01 + "," + result_mat.m02 + "," + result_mat.m03);
Console.WriteLine(result_mat.m10 + "," + result_mat.m11 + "," + result_mat.m12 + "," + result_mat.m13);
Console.WriteLine(result_mat.m20 + "," + result_mat.m21 + "," + result_mat.m22 + "," + result_mat.m23);
Console.WriteLine(result_mat.m30 + "," + result_mat.m31 + "," + result_mat.m32 + "," + result_mat.m33);
sw.Stop();
Console.WriteLine(sw.ElapsedMilliseconds + "[ms]");
return;
}
public void Test_arDetectMarkerLite()
{
Assembly assembly = Assembly.GetExecutingAssembly();
//AR用カメラパラメタファイルをロード
NyARParam ap = new NyARParam();
ap.loadARParam(assembly.GetManifestResourceStream(RES_CAMERA));
ap.changeScreenSize(320, 240);
//AR用のパターンコードを読み出し
NyARCode code = new NyARCode(16, 16);
Stream sr1 = assembly.GetManifestResourceStream(RES_PATT);
code.loadARPatt(new StreamReader(sr1));
//試験イメージの読み出し(320x240 BGRAのRAWデータ)
StreamReader sr = new StreamReader(assembly.GetManifestResourceStream(RES_DATA));
BinaryReader bs = new BinaryReader(sr.BaseStream);
byte[] raw = bs.ReadBytes(320 * 240 * 4);
NyARRgbRaster_BGRA ra = new NyARRgbRaster_BGRA(320, 240, false);
ra.wrapBuffer(raw);
// Blank_Raster ra=new Blank_Raster(320, 240);
//１パターンのみを追跡するクラスを作成
// NyARSingleDetectMarker_Quad ar = new NyARSingleDetectMarker_Quad(ap, code, 80.0);
NyARSingleDetectMarker ar = new NyARSingleDetectMarker(ap, code, 80.0, ra.getBufferType());
NyARTransMatResult result_mat = new NyARTransMatResult();
ar.setContinueMode(false);
ar.detectMarkerLite(ra, 100);
ar.getTransmationMatrix(result_mat);
//マーカーを検出
for (int i3 = 0; i3 < 10; i3++)
{
Stopwatch sw = new Stopwatch();
sw.Start();
for (int i = 0; i < 10; i++)
{
//変換行列を取得
ar.detectMarkerLite(ra, 100);
ar.getTransmationMatrix(result_mat);
}
sw.Stop();
Debug.WriteLine(sw.ElapsedMilliseconds + "[ms]");
}
return;
}
public void Test()
{
try {
NyARParam param = NyARParam.createFromARParamFile(new StreamReader(PARAM_FILE));
param.changeScreenSize(320, 240);
NyARReality reality = new NyARReality(param.getScreenSize(), 10, 1000, param.getPerspectiveProjectionMatrix(), null, 10, 10);
NyARRealitySource reality_in = new NyARRealitySource_Reference(320, 240, null, 2, 100, NyARBufferType.BYTE1D_B8G8R8X8_32);
//試験イメージの読み出し(320x240 BGRAのRAWデータ)
StreamReader sr = new StreamReader(DATA_FILE);
BinaryReader bs = new BinaryReader(sr.BaseStream);
byte[] raw = bs.ReadBytes(320 * 240 * 4);
Array.Copy(raw, (byte[])reality_in.refRgbSource().getBuffer(), raw.Length);
Stopwatch sw = new Stopwatch();
sw.Start();
for (int i = 0; i < 1000; i++)
{
reality.progress(reality_in);
}
sw.Stop();
Console.WriteLine(sw.ElapsedMilliseconds + "[ms]");
Console.WriteLine(reality.getNumberOfKnown());
Console.WriteLine(reality.getNumberOfUnknown());
Console.WriteLine(reality.getNumberOfDead());
NyARRealityTarget[] rt = new NyARRealityTarget[10];
reality.selectUnKnownTargets(rt);
reality.changeTargetToKnown(rt[0], 2, 80);
Console.WriteLine(rt[0]._transform_matrix.m00 + "," + rt[0]._transform_matrix.m01 + "," + rt[0]._transform_matrix.m02 + "," + rt[0]._transform_matrix.m03);
Console.WriteLine(rt[0]._transform_matrix.m10 + "," + rt[0]._transform_matrix.m11 + "," + rt[0]._transform_matrix.m12 + "," + rt[0]._transform_matrix.m13);
Console.WriteLine(rt[0]._transform_matrix.m20 + "," + rt[0]._transform_matrix.m21 + "," + rt[0]._transform_matrix.m22 + "," + rt[0]._transform_matrix.m23);
Console.WriteLine(rt[0]._transform_matrix.m30 + "," + rt[0]._transform_matrix.m31 + "," + rt[0]._transform_matrix.m32 + "," + rt[0]._transform_matrix.m33);
} catch (Exception e) {
Console.WriteLine(e.StackTrace);
}
return;
}
public NyARWordsBingoCore(Label lbl, Game currentGame, PictureBox pbx)
{
//Instanciando o PictureBox com o recebido do Form
pbxNyAR = pbx;
lbNyAR = lbl;
gmNyAR = currentGame;
//Parâmetros da RA
NyARParam ap = new NyARParam();
ap.loadARParamFromFile(AR_CAMERA_FILE); //Lendo arquivo .dat
ap.changeScreenSize(640, 480); //Setando tamanho da câmera.
//Lendo padrão do marcador
NyARCode codeKanji = new NyARCode(16, 16);
NyARCode codeA = new NyARCode(16, 16);
NyARCode codeB = new NyARCode(16, 16);
NyARCode codeC = new NyARCode(16, 16);
NyARCode codeD = new NyARCode(16, 16);
NyARCode codeE = new NyARCode(16, 16);
NyARCode codeF = new NyARCode(16, 16);
NyARCode codeG = new NyARCode(16, 16);
NyARCode codeH = new NyARCode(16, 16);
NyARCode codeI = new NyARCode(16, 16);
NyARCode codeJ = new NyARCode(16, 16);
NyARCode codeK = new NyARCode(16, 16);
NyARCode codeL = new NyARCode(16, 16);
NyARCode codeM = new NyARCode(16, 16);
NyARCode codeN = new NyARCode(16, 16);
NyARCode codeO = new NyARCode(16, 16);
NyARCode codeP = new NyARCode(16, 16);
NyARCode codeQ = new NyARCode(16, 16);
NyARCode codeR = new NyARCode(16, 16);
NyARCode codeS = new NyARCode(16, 16);
NyARCode codeT = new NyARCode(16, 16);
NyARCode codeU = new NyARCode(16, 16);
NyARCode codeV = new NyARCode(16, 16);
NyARCode codeW = new NyARCode(16, 16);
NyARCode codeX = new NyARCode(16, 16);
NyARCode codeY = new NyARCode(16, 16);
NyARCode codeZ = new NyARCode(16, 16);
NyARCode codeBall = new NyARCode(16, 16);
NyARCode codeSword = new NyARCode(16, 16);
NyARCode codeCar = new NyARCode(16, 16);
NyARCode codeBrigadier = new NyARCode(16, 16);
NyARCode codeFork = new NyARCode(16, 16);
NyARCode codePen = new NyARCode(16, 16);
NyARCode codeFish = new NyARCode(16, 16);
//Carregando os arquivos dos marcadores no NyARCode
codeKanji.loadARPattFromFile(AR_CODE_FILE_KANJI);
codeA.loadARPattFromFile(AR_CODE_FILE_A);
codeB.loadARPattFromFile(AR_CODE_FILE_B);
codeC.loadARPattFromFile(AR_CODE_FILE_C);
codeD.loadARPattFromFile(AR_CODE_FILE_D);
codeE.loadARPattFromFile(AR_CODE_FILE_E);
codeF.loadARPattFromFile(AR_CODE_FILE_F);
codeG.loadARPattFromFile(AR_CODE_FILE_G);
codeH.loadARPattFromFile(AR_CODE_FILE_H);
codeI.loadARPattFromFile(AR_CODE_FILE_I);
codeJ.loadARPattFromFile(AR_CODE_FILE_J);
codeK.loadARPattFromFile(AR_CODE_FILE_K);
codeL.loadARPattFromFile(AR_CODE_FILE_L);
codeM.loadARPattFromFile(AR_CODE_FILE_M);
codeN.loadARPattFromFile(AR_CODE_FILE_N);
codeO.loadARPattFromFile(AR_CODE_FILE_O);
codeP.loadARPattFromFile(AR_CODE_FILE_P);
codeQ.loadARPattFromFile(AR_CODE_FILE_Q);
codeR.loadARPattFromFile(AR_CODE_FILE_R);
codeS.loadARPattFromFile(AR_CODE_FILE_S);
codeT.loadARPattFromFile(AR_CODE_FILE_T);
codeU.loadARPattFromFile(AR_CODE_FILE_U);
codeV.loadARPattFromFile(AR_CODE_FILE_V);
codeW.loadARPattFromFile(AR_CODE_FILE_W);
codeX.loadARPattFromFile(AR_CODE_FILE_X);
codeY.loadARPattFromFile(AR_CODE_FILE_Y);
codeZ.loadARPattFromFile(AR_CODE_FILE_Z);
codeBall.loadARPattFromFile(AR_CODE_FILE_BALL);
codeSword.loadARPattFromFile(AR_CODE_FILE_SWORD);
codeCar.loadARPattFromFile(AR_CODE_FILE_CAR);
codeBrigadier.loadARPattFromFile(AR_CODE_FILE_BRIGADIER);
codeFork.loadARPattFromFile(AR_CODE_FILE_FORK);
codePen.loadARPattFromFile(AR_CODE_FILE_PEN);
codeFish.loadARPattFromFile(AR_CODE_FILE_FISH);
double[] WidthArray = { 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0,
80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0,
80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0 };
NyARCode[] arrayCodes = { codeKanji, codeA, codeB, codeC, codeD, codeE, codeF, codeG, codeH, codeI,
codeJ, codeK, codeL, codeM, codeN, codeO, codeP, codeQ, codeR, codeS,
codeT, codeU, codeV, codeW, codeX, codeY, codeZ };
double[] WidthArrayImages = { 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0 };
NyARCode[] arrayCodesImage = { codeBall, codeSword, codeCar, codeBrigadier, codeFork, codePen, codeFish };
//Seta propriedades da câmera
try
{
Core.cap.SetCaptureListener(this);
}
catch (Exception e)
{
MessageBox.Show("Ocorreu um erro no estabelecimento da conexão com a câmera. Verifique se ela está instalada corretamente. Favor, reinicie a aplicação.", "Erro!");
Environment.Exit(0);
}
Core.cap.PrepareCapture(640, 480, 30);
//Create a cluster - Instanciando o Raster, passando os parâmetros do vídeo encontrado no CaptureDevice
Core.raster = Core.InstanceRaster(Core.cap.video_width, Core.cap.video_height);
//Instanciando os detectores únicos
this.ballMarkerDetector = new NyARSingleDetectMarker(ap, codeBall, 80.0, Core.raster.getBufferType());
this.ballMarkerDetector.setContinueMode(true);
this.brigadierlMarkerDetector = new NyARSingleDetectMarker(ap, codeBrigadier, 80.0, Core.raster.getBufferType());
this.brigadierlMarkerDetector.setContinueMode(true);
this.carMarkerDetector = new NyARSingleDetectMarker(ap, codeCar, 80.0, Core.raster.getBufferType());
this.carMarkerDetector.setContinueMode(true);
this.forkMarkerDetector = new NyARSingleDetectMarker(ap, codeFork, 80.0, Core.raster.getBufferType());
this.forkMarkerDetector.setContinueMode(true);
this.penMarkerDetector = new NyARSingleDetectMarker(ap, codePen, 80.0, Core.raster.getBufferType());
this.penMarkerDetector.setContinueMode(true);
this.swordMarkerDetector = new NyARSingleDetectMarker(ap, codeSword, 80.0, Core.raster.getBufferType());
this.swordMarkerDetector.setContinueMode(true);
this.fishMarkerDetector = new NyARSingleDetectMarker(ap, codeFish, 80.0, Core.raster.getBufferType());
this.fishMarkerDetector.setContinueMode(true);
//Instanciando o detector de todas as letras
this.markerDetectorLetters = new NyARDetectMarker(ap, arrayCodes, WidthArray, 27, Core.raster.getBufferType());
this.markerDetectorLetters.setContinueMode(true);
//Instanciando o detector das imagens que representam a palavra na cartela
this.markerDetectorImages = new NyARDetectMarker(ap, arrayCodesImage, WidthArrayImages, 7, Core.raster.getBufferType());
this.markerDetectorImages.setContinueMode(true);
//Inicia a captura
//Inicia a captura
try
{
Core.cap.StartCapture();
}
catch (Exception e)
{
MessageBox.Show("Ocorreu um erro no estabelecimento da conexão com a câmera. Verifique se ela está instalada corretamente.");
Environment.Exit(0);
}
//Abaixo, são as funções que preparam todo o dispositivo e cenário para renderização 3D
//Necessário descobrir mais detalhes do funcionamento.
//Preparing the 3D device
this._device = Core.PrepareD3dDevice(pbx); //Prepara o dispositivo em cima do PictureBox
this._device.RenderState.ZBufferEnable = true;
this._device.RenderState.Lighting = false;
//Projection Camera Settings
Matrix tmp = new Matrix();
NyARD3dUtil.toCameraFrustumRH(ap.getPerspectiveProjectionMatrix(), ap.getScreenSize(), 1, 10, 10000, ref tmp);
this._device.Transform.Projection = tmp;
// View conversion settings (set in the left-handed view matrix).
//From 0,0,0, and facing Z +, Y-axis direction on
this._device.Transform.View = Matrix.LookAtLH(
new Vector3(0.0f, 0.0f, 0.0f), new Vector3(0.0f, 0.0f, 1.0f), new Vector3(0.0f, 1.0f, 0.0f));
Viewport vp = new Viewport();
vp.X = 0;
vp.Y = 0;
vp.Height = ap.getScreenSize().h;
vp.Width = ap.getScreenSize().w;
vp.MaxZ = 1.0f;
//Set viewport
this._device.Viewport = vp;
//Draw a color cube instance - Instância de um cubo colorido, padrão da biblioteca NyAR
this._cube = new ColorCube(this._device, 40);
//Create a background surface
this._surface = new NyARSurface_XRGB32(this._device, 640, 480);
//Carregando os meshs (objetos 3D)
LoadMeshes();
}
public void AR_Initialization(Control topLevelForm)
{
//Camera parameters
NyARParam ap = NyARParam.createFromARParamFile(new StreamReader(AR_CAMERA_FILE));
ap.changeScreenSize(SCREEN_WIDTH, SCREEN_HEIGHT);
//List of patterns
ar_code = new NyARCode[Constante.PATT_MAX];
//Pattern files
AR_CODE_FILES = new String[Constante.PATT_MAX];
//Pattern index list
ar_code_index = new int[Constante.PATT_MAX];
AR_CODE_FILES[0] = "data/patt_U.dat";
AR_CODE_FILES[1] = "data/patt_S.dat";
AR_CODE_FILES[2] = "data/patt_T.dat";
AR_CODE_FILES[3] = "data/patt_H.dat";
AR_CODE_FILES[4] = "data/patt_B.dat";
for (int count = 0; count < Constante.PATT_MAX; count++)
{
ar_code[count] = NyARCode.createFromARPattFile(new StreamReader(AR_CODE_FILES[count]), 16, 16);
}
marker_width = new double[Constante.PATT_MAX];
for (int count = 0; count < Constante.PATT_MAX; count++)
{
marker_width[count] = 80.0f;
}
this._ar = new NyARDetectMarker(ap, ar_code, marker_width, Constante.PATT_MAX);
this._ar.setContinueMode(true);
Matrix tmp = new Matrix();
NyARD3dUtil.toCameraFrustumRH(ap, 1, 2000, ref tmp);
m_Device.Transform.Projection = tmp;
// View Matrix:
Vector3 camera_position = new Vector3(0, 0, -500);
camera_position.Normalize();
//camera_position.Multiply(m_Range);
m_Device.Transform.View = Matrix.LookAtLH(
camera_position, new Vector3(0.0f, 0.0f, 0.0f), new Vector3(0.0f, 1.0f, 0.0f));
//m_Device.Transform.Projection = Matrix.PerspectiveFovLH((float)Math.PI / 4, SCREEN_WIDTH / SCREEN_HEIGHT, 1, 2000);
Viewport vp = new Viewport();
vp.X = 0;
vp.Y = 0;
//vp.Height = ap.getScreenSize().h;
//vp.Width = ap.getScreenSize().w;
vp.Height = SCREEN_HEIGHT;
vp.Width = SCREEN_WIDTH;
vp.MaxZ = 1.0f;
m_Device.Viewport = vp;
this._surface = new NyARD3dSurface(m_Device, SCREEN_WIDTH, SCREEN_HEIGHT);
NyARDoubleMatrix44 nyar_transmat = this.__OnBuffer_nyar_transmat;
int nb_marker_detected = 0;
nb_marker_detected = this._ar.detectMarkerLite(this._raster, Constante.binarisation);
if (nb_marker_detected > 0)
{
bestConfidence = 0;
bestMarker = 0;
//if the number of detected markers is bigger than the max number available we set it back to MAX number
if (nb_marker_detected > Constante.MARK_MAX)
{
nb_marker_detected = Constante.MARK_MAX;
}
//get the best confidence from the detected markers
for (int count = 0; count < nb_marker_detected; count++)
{
ar_code_index[count] = this._ar.getARCodeIndex(count);
if (this._ar.getConfidence(count) > bestConfidence)
{
bestConfidence = this._ar.getConfidence(count);
bestMarker = count;
}
//textBox1.Text += "bestConfidence: " + bestConfidence + " bestMarker: " + bestMarker+"\n";
}
//textBox1.Text += "finally:\nbestConfidence: " + bestConfidence + " bestMarker: " + bestMarker+"\n\n";
try
{
//MessageBox.Show("bestMarker: " + bestMarker, "RenderForm.AR_Initialization");
this._ar.getTransmationMatrix(bestMarker, nyar_transmat);
}
catch (Exception x)
{ //MessageBox.Show(x.ToString(), "RenderForm.AR_Initialize");
}
NyARD3dUtil.toD3dCameraView(nyar_transmat, 1f, ref this._trans_mat);
}
this._nb_marker_detected = nb_marker_detected;
{
try
{
this._surface.setRaster(this._raster);
}
catch (Exception x)
{
//MessageBox.Show(x.ToString(), "RenderForm.AR_Initialization");
}
}
}
public void InitTracker(params object[] configs)
{
if (!(configs.Length == 3 || configs.Length == 5))
{
throw new MarkerException("Problem in InitTracker in NewNyAR");
}
int imgWidth = 0;
int imgHeight = 0;
try
{
imgWidth = (int)configs[0];
imgHeight = (int)configs[1];
configFilename = (String)configs[2];
if (configs.Length == 5)
{
threshold = (int)configs[3];
continuousMode = (bool)configs[4];
}
else
{
threshold = 100;
continuousMode = false;
}
}
catch (Exception)
{
throw new MarkerException("Problem in InitTracker in NewNyAR");
}
nyARIntSize = new NyARIntSize(imgWidth, imgHeight);
param = new NyARParam();
param.loadARParam(TitleContainer.OpenStream(configFilename));
param.changeScreenSize(nyARIntSize.w, nyARIntSize.h);
camProjMat = GetProjectionMatrix(param, zNearPlane, zFarPlane);
INyARMarkerSystemConfig arMarkerSystemConfig = new NyARMarkerSystemConfig(param);
markerSystem = new NyARMarkerSystem(arMarkerSystemConfig);
initialized = true;
}
public bool InitializeApplication(Form1 topLevelForm, CaptureDevice i_cap_device)
{
topLevelForm.ClientSize = new Size(SCREEN_WIDTH, SCREEN_HEIGHT);
i_cap_device.SetCaptureListener(this);
i_cap_device.PrepareCapture(SCREEN_WIDTH, SCREEN_HEIGHT, 30);
this._cap = i_cap_device;
//this._raster = new DsRgbRaster(i_cap_device.video_width, i_cap_device.video_height,NyARBufferType.BYTE1D_B8G8R8X8_32);
#region my code
try
{
byte[] bimg = service.getb();
//if(bimg != null)
{
Image img = byteToImage(bimg);
if (img != null)
{
//frm.textBox1.Text = img.ToString();
this._raster = new NyARBitmapRaster((Bitmap)img);
}
}
//else
}
catch (Exception x)
{
//MessageBox.Show(x.ToString());
}
#endregion
NyARParam ap = NyARParam.createFromARParamFile(new StreamReader(AR_CAMERA_FILE));
ap.changeScreenSize(SCREEN_WIDTH, SCREEN_HEIGHT);
NyARCode code = NyARCode.createFromARPattFile(new StreamReader(AR_CODE_FILE), 16, 16);
this._ar = NyARSingleDetectMarker.createInstance(ap, code, 80.0, NyARSingleDetectMarker.PF_NYARTOOLKIT);
this._ar.setContinueMode(true);
this._device = PrepareD3dDevice(topLevelForm);
this._device.RenderState.ZBufferEnable = true;
this._device.RenderState.Lighting = false;
Matrix tmp = new Matrix();
NyARD3dUtil.toCameraFrustumRH(ap.getPerspectiveProjectionMatrix(), ap.getScreenSize(), 1, 10, 10000, ref tmp);
this._device.Transform.Projection = tmp;
this._device.Transform.View = Matrix.LookAtLH(
new Vector3(0.0f, 0.0f, 0.0f), new Vector3(0.0f, 0.0f, 1.0f), new Vector3(0.0f, 1.0f, 0.0f));
Viewport vp = new Viewport();
vp.X = 0;
vp.Y = 0;
vp.Height = ap.getScreenSize().h;
vp.Width = ap.getScreenSize().w;
vp.MaxZ = 1.0f;
this._device.Viewport = vp;
this._cube = new ColorCube(this._device, 40);
this._surface = new NyARD3dSurface(this._device, SCREEN_WIDTH, SCREEN_HEIGHT);
this._is_marker_enable = false;
return(true);
}