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()
{
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 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 NyARMarkerSystemConfig(StreamReader i_ar_param_stream, int i_width, int i_height)
: this(NyARParam.createFromARParamFile(i_ar_param_stream))
{
this._param.changeScreenSize(i_width, i_height);
}
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);
}
