/**
* コンストラクタから呼び出す関数です。
* @param i_ref_param
* @param i_ref_code
* @param i_marker_width
* @param i_input_raster_type
* @param i_profile_id
* @throws NyARException
*/
protected void initialize(
NyARParam i_ref_param,
NyARCode i_ref_code,
double i_marker_width,
int i_input_raster_type,
int i_profile_id)
{
NyARRasterFilter_ARToolkitThreshold th = new NyARRasterFilter_ARToolkitThreshold(100, i_input_raster_type);
INyARColorPatt patt_inst;
NyARSquareContourDetector sqdetect_inst;
INyARTransMat transmat_inst;
switch (i_profile_id)
{
case PF_ARTOOLKIT_COMPATIBLE:
patt_inst = new NyARColorPatt_O3(i_ref_code.getWidth(), i_ref_code.getHeight());
sqdetect_inst = new NyARSquareContourDetector_ARToolKit(i_ref_param.getScreenSize());
transmat_inst = new NyARTransMat_ARToolKit(i_ref_param);
break;
case PF_NYARTOOLKIT_ARTOOLKIT_FITTING:
patt_inst = new NyARColorPatt_Perspective_O2(i_ref_code.getWidth(), i_ref_code.getHeight(), 4, 25);
sqdetect_inst = new NyARSquareContourDetector_Rle(i_ref_param.getScreenSize());
transmat_inst = new NyARTransMat_ARToolKit(i_ref_param);
break;
case PF_NYARTOOLKIT://default
patt_inst = new NyARColorPatt_Perspective_O2(i_ref_code.getWidth(), i_ref_code.getHeight(), 4, 25);
sqdetect_inst = new NyARSquareContourDetector_Rle(i_ref_param.getScreenSize());
transmat_inst = new NyARTransMat(i_ref_param);
break;
default:
throw new NyARException();
}
base.initInstance(patt_inst, sqdetect_inst, transmat_inst,th, i_ref_param, i_ref_code, i_marker_width);
return;
}
public FreakKeypointMatching(NyARParam i_ref_cparam)
{
NyARIntSize size = i_ref_cparam.getScreenSize();
this._ref_cparam = i_ref_cparam;
this.mFeatureExtractor = new FREAKExtractor();
int octerves = BinomialPyramid32f.octavesFromMinimumCoarsestSize(size.w, size.h, kMinCoarseSize);
this._pyramid = new BinomialPyramid32f(size.w, size.h, octerves, 3);
this._dog_detector = new DoGScaleInvariantDetector(size.w, size.h, octerves, 3, kLaplacianThreshold, kEdgeThreshold, kMaxNumFeatures);
this.mMinNumInliers = kMinNumInliers;
//
this._tmp_pair_stack[0] = new FeaturePairStack(kMaxNumFeatures);
this._tmp_pair_stack[1] = new FeaturePairStack(kMaxNumFeatures);
this._find_inliner = new FindInliers_O1(kHomographyInlierThreshold);
double dx = size.w + (size.w * 0.2f);
double dy = size.h + (size.h * 0.2f);
this.mHoughSimilarityVoting = new HoughSimilarityVoting_O3(-dx, dx, -dy, dy, 12, 10);
this._matcher = new BinaryHirerarchialClusteringMatcher();
}
/**
* コンストラクタです。カメラパラメータにサンプル値(../Data/camera_para.dat)をロードして、コンフィギュレーションを生成します。
* @param i_width
* @param i_height
* @
*/
public NyARMarkerSystemConfig(NyARParam i_param, int i_transmat_algo_type)
{
Debug.Assert(1 <= i_transmat_algo_type && i_transmat_algo_type <= 3);
this._param = i_param;
this._transmat_algo_type = i_transmat_algo_type;
return;
}
public D3dManager(Form i_main_window, NyARParam i_nyparam, int i_profile_id)
{
PresentParameters pp = new PresentParameters();
// ウインドウモードなら true、フルスクリーンモードなら false を指定
pp.Windowed = true;
// スワップとりあえずDiscardを指定。
pp.SwapEffect = SwapEffect.Discard;
pp.EnableAutoDepthStencil = true;
pp.AutoDepthStencilFormat = DepthFormat.D16;
pp.BackBufferCount = 0;
pp.BackBufferFormat = Format.R5G6B5;
this._d3d_device = new Device(0, DeviceType.Default, i_main_window.Handle, CreateFlags.None, pp);
//ビューポートを指定
float scale = setupView(i_nyparam,i_main_window.ClientSize);
this._scale = scale;
// ライトを無効
this._d3d_device.RenderState.Lighting = false;
//カメラ画像の転写矩形を作成
Viewport vp=this._d3d_device.Viewport;
this._view_rect = new Rectangle(vp.X, vp.Y, vp.Width, vp.Height);
NyARIntSize cap_size = i_nyparam.getScreenSize();
this._background_size = new Size(cap_size.w, cap_size.h);
return;
}
public MarkerProcessor(NyARParam i_cparam, int i_raster_format)
{
initInstance(i_cparam, new NyIdMarkerDataEncoder_RawBit(), 100);
//アプリケーションフレームワークの初期化
return;
}
public DetectSquareCB(INyARColorPatt i_inst_patt, NyARCode i_ref_code, NyARParam i_param)
{
this._inst_patt = i_inst_patt;
this._deviation_data = new NyARMatchPattDeviationColorData(i_ref_code.getWidth(), i_ref_code.getHeight());
this._coordline = new Coord2Linear(i_param.getScreenSize(), i_param.getDistortionFactor());
this._match_patt = new NyARMatchPatt_Color_WITHOUT_PCA(i_ref_code);
return;
}
public DetectSquareCB(NyARParam i_param, INyIdMarkerDataEncoder i_encoder)
{
this._coordline = new Coord2Linear(i_param.getScreenSize(), i_param.getDistortionFactor());
this._data_temp = i_encoder.createDataInstance();
this._current_data = i_encoder.createDataInstance();
this._encoder = i_encoder;
return;
}
public RleDetector(NyARParam i_param, INyIdMarkerDataEncoder i_encoder, NyIdMarkerPickup i_id_pickup): base(i_param.getScreenSize())
{
this._coordline = new NyARCoord2Linear(i_param.getScreenSize(), i_param.getDistortionFactor());
this._data_temp = i_encoder.createDataInstance();
this._current_data = i_encoder.createDataInstance();
this._encoder = i_encoder;
this._id_pickup = i_id_pickup;
return;
}
public NyARTransMat(NyARParam i_param)
{
NyARCameraDistortionFactor dist = i_param.getDistortionFactor();
NyARPerspectiveProjectionMatrix pmat = i_param.getPerspectiveProjectionMatrix();
this._transsolver = new NyARTransportVectorSolver(pmat, 4);
//互換性が重要な時は、NyARRotMatrix_ARToolKitを使うこと。
//理屈はNyARRotMatrix_NyARToolKitもNyARRotMatrix_ARToolKitも同じだけど、少しだけ値がずれる。
this._rotmatrix = new NyARRotMatrix(pmat);
this._mat_optimize = new NyARPartialDifferentiationOptimize(pmat);
this._ref_dist_factor = dist;
this._projection_mat_ref = pmat;
}
/// <summary>
/// Initialize a new SquareDetectionListener.
/// </summary>
/// <param name="patternMatchers">The pattern matchers with the marker data.</param>
/// <param name="cameraParameters">The camera calibration data.</param>
/// <param name="colorPattern">The used color pattern.</param>
/// <param name="patternMatchDeviationData">The pattern match deviation data.</param>
public SquareDetectionListener(List<PatternMatcher> patternMatchers, NyARParam cameraParameters, INyARColorPatt colorPattern, NyARMatchPattDeviationColorData patternMatchDeviationData)
{
this.patternMatchers = patternMatchers;
this.colorPattern = colorPattern;
this.patternMatchDeviationData = patternMatchDeviationData;
this.coordinationMapper = new Coord2Linear(cameraParameters.getScreenSize(), cameraParameters.getDistortionFactor());
this.matrixCalculator = new NyARTransMat(cameraParameters);
this.points = NyARIntPoint2d.createArray(4);
this.evaluationResult = new NyARMatchPattResult();
Reset();
}
public NyARTransMat(NyARParam i_param)
{
NyARCameraDistortionFactor dist = i_param.getDistortionFactor();
NyARPerspectiveProjectionMatrix pmat = i_param.getPerspectiveProjectionMatrix();
this._transsolver = new NyARTransportVectorSolver(pmat, 4);
//互換性が重要な時は、NyARRotMatrix_ARToolKitを使うこと。
//理屈はNyARRotMatrix_NyARToolKitもNyARRotMatrix_ARToolKitも同じだけど、少しだけ値がずれる。
this._rotmatrix = new NyARRotMatrix(pmat);
this._mat_optimize = new NyARPartialDifferentiationOptimize(pmat);
this._ref_dist_factor = dist;
this._projection_mat_ref = pmat;
}
public NyARSurfaceTracker(NyARParam i_param_ref, int i_max_search_feature_num, double i_sim_thresh)
{
this._candidate = new NyARSurfaceFeatures(NyARSurfaceFeatures.AR2_TRACKING_CANDIDATE_MAX + 1);
this._candidate2 = new NyARSurfaceFeatures(NyARSurfaceFeatures.AR2_TRACKING_CANDIDATE_MAX + 1);
this._feature_selector = new NyARVisibleFeatureExtractor(i_param_ref.getScreenSize(), i_param_ref.getDistortionFactor());
this.__pcpoints = new PatchImagePositions(i_param_ref.getDistortionFactor());
this._ref_cparam = i_param_ref;
this.searchFeatureNum = i_max_search_feature_num;
this.simThresh = i_sim_thresh;
this._ctrans_log = new NyARSurfaceTransMatrixSetFifo(3);
this._prev_selected_features = new NyARFeatureCoordPtrList(this.searchFeatureNum);
this.__selected_features = new NyARSurfaceFeaturesPtr(this.searchFeatureNum);
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;
}
private static bool kpmUtilGetPose_binary(NyARParam i_cparam, FeaturePairStack matchData, NyARDoubleMatrix44 i_transmat, NyARTransMatResultParam i_resultparam)
{
NyARDoubleMatrix44 initMatXw2Xc = new NyARDoubleMatrix44();
// ARdouble err;
int i;
if (matchData.getLength() < 4)
{
return(false);
}
NyARDoublePoint2d[] sCoord = NyARDoublePoint2d.createArray(matchData.getLength());
NyARDoublePoint3d[] wCoord = NyARDoublePoint3d.createArray(matchData.getLength());
for (i = 0; i < matchData.getLength(); i++)
{
sCoord[i].x = matchData.getItem(i).query.x;
sCoord[i].y = matchData.getItem(i).query.y;
wCoord[i].x = matchData.getItem(i).ref_.pos3d.x;
wCoord[i].y = matchData.getItem(i).ref_.pos3d.y;
wCoord[i].z = 0.0;
}
NyARIcpPlane icp_planer = new NyARIcpPlane(i_cparam.getPerspectiveProjectionMatrix());
if (!icp_planer.icpGetInitXw2Xc_from_PlanarData(sCoord, wCoord, matchData.getLength(), initMatXw2Xc))
{
return(false);
}
/*
* printf("--- Init pose ---\n"); for( int j = 0; j < 3; j++ ) { for( i = 0; i < 4; i++ ) printf(" %8.3f",
* initMatXw2Xc[j][i]); printf("\n"); }
*/
NyARIcpPoint icp_point = new NyARIcpPoint(i_cparam.getPerspectiveProjectionMatrix());
icp_point.icpPoint(sCoord, wCoord, matchData.getLength(), initMatXw2Xc, i_transmat, i_resultparam);
if (i_resultparam.last_error > 10.0f)
{
return(false);
}
return(true);
}
private void buttonBookDemo_Click(object sender, EventArgs e)
{
if (bookDemo == false)
{
StopOtherApps(this, e);
bookDemo = true;
labelDemoName.Text = "Book";
buttonBookDemo.Text = "Stop Book";
labelDemoInstructions.Enabled = true;
labelDemoInstructions.Text = "Book Demo Instructions:\n\n"
+ "Book \n";
//pictureBoxAlbum.Show();
lblResult.Hide();
//NYAR
//initialize nyar components.
NyARParam ap = new NyARParam();
ap.loadARParamFromFile(AR_CAMERA_FILE);
ap.changeScreenSize(SCREEN_WIDTH, SCREEN_HEIGHT);
_raster = new DsBGRX32Raster(SCREEN_WIDTH, SCREEN_HEIGHT, SCREEN_WIDTH * 32 / 8);
_utils = new NyARD3dUtil();
// For each pattern
NyARCode code1 = new NyARCode(16, 16);
code1.loadARPattFromFile(AR_CODE_FILE1);
_ar1 = new NyARSingleDetectMarker(ap, code1, 80.0);
_ar1.setContinueMode(false);
NyARCode code2 = new NyARCode(16, 16);
code2.loadARPattFromFile(AR_CODE_FILE2);
_ar2 = new NyARSingleDetectMarker(ap, code2, 80.0);
_ar2.setContinueMode(false);
NyARCode code3 = new NyARCode(16, 16);
code3.loadARPattFromFile(AR_CODE_FILE3);
_ar3 = new NyARSingleDetectMarker(ap, code3, 80.0);
_ar3.setContinueMode(false);
NyARCode code4 = new NyARCode(16, 16);
code4.loadARPattFromFile(AR_CODE_FILE4);
_ar4 = new NyARSingleDetectMarker(ap, code4, 80.0);
_ar4.setContinueMode(false);
}
else
{
bookDemo = false;
labelDemoName.Text = "WUW";
buttonBookDemo.Text = "Book";
Cursor = Cursors.Arrow;
labelDemoInstructions.Enabled = false;
labelDemoInstructions.Text = "";
ResetEnvironment();
//pictureBoxAlbum.Hide();
lblResult.Show();
}
}
public static void toCameraFrustumRH(NyARParam i_arparam, double i_near, double i_far, ref Matrix o_d3d_projection)
{
toCameraFrustumRH(i_arparam.getPerspectiveProjectionMatrix(),i_arparam.getScreenSize(),1.0,i_near, i_far,ref o_d3d_projection);
}
public NyARIcpPlane(NyARParam i_param)
{
this._cparam = i_param.getPerspectiveProjectionMatrix();
}
protected void initInstance(NyARParam i_param, INyIdMarkerDataEncoder i_encoder, double i_marker_width, int i_raster_format)
{
//初期化済？
Debug.Assert(this._initialized == false);
NyARIntSize scr_size = i_param.getScreenSize();
// 解析オブジェクトを作る
this._square_detect = new NyARSquareContourDetector_Rle(scr_size);
this._transmat = new NyARTransMat(i_param);
this._callback = new DetectSquareCB(i_param, i_encoder);
// ２値画像バッファを作る
this._bin_raster = new NyARBinRaster(scr_size.w, scr_size.h);
//ワーク用のデータオブジェクトを２個作る
this._data_current = i_encoder.createDataInstance();
this._tobin_filter = new NyARRasterFilter_ARToolkitThreshold(110, i_raster_format);
this._threshold_detect = new NyARRasterThresholdAnalyzer_SlidePTile(15, i_raster_format, 4);
this._initialized = true;
this._is_active = false;
this._offset = new NyARRectOffset();
this._offset.setSquare(i_marker_width);
return;
}
/*
* <nyar>
* <version>MobileSimpleLite/0.1</version>
* <config>
* <camera file="camera_para.dat" width="240" height="320" vertical="false"></camera>
* <patt file="patt.hiro" size="16"></patt>
* <direct3d background="texture"/>
* </config>
* </nyar>
*/
public ResourceBuilder()
{
//ルートパスの取得
this._root_path=Path.GetDirectoryName(Assembly.GetExecutingAssembly().GetModules()[0].FullyQualifiedName);
//設定の読み出し
XmlDocument dom = new XmlDocument();
dom.Load(this._root_path + "\\setting.xml");
if (dom.SelectSingleNode("/root/version").InnerText != "MobileSimpleLite/0.1")
{
throw new Exception("設定ファイルのバージョンが違います？");
}
XmlNode config_node = dom.SelectSingleNode("/root/config");
this._cap_size.Width = int.Parse(config_node.SelectSingleNode("camera/@width").Value);
this._cap_size.Height =int.Parse(config_node.SelectSingleNode("camera/@height").Value);
this._cpara_file = config_node.SelectSingleNode("camera/@file").Value;
this._cvertical = bool.Parse(config_node.SelectSingleNode("camera/@vertical").Value);
this._code_file = config_node.SelectSingleNode("patt/@file").Value;
this._code_size = int.Parse(config_node.SelectSingleNode("patt/@size").Value);
String bgmode=config_node.SelectSingleNode("direct3d/@background").Value;
this._background_type = bgmode.CompareTo("texture")==0 ? BGMODE_TEXTURE : BGMODE_SURFACE;
dom = null;
//初期化セクション
this._ar_param=new NyARParam();
this._ar_param.loadARParamFromFile(this._root_path + "\\" +this._cpara_file);
this._ar_param.changeScreenSize(this._cap_size.Width, this._cap_size.Height);
return;
}
/**
* コンストラクタ。
* 樽型歪みが少ない、または補正済みの画像を入力するときには、{@link #NyARReality(NyARIntSize, double, double, NyARPerspectiveProjectionMatrix, NyARCameraDistortionFactor, int, int)}
* のi_dist_factorにnullを指定すると、より高速な動作が期待できます。
* @param i_param
* カメラパラメータを指定します。
* @param i_near
* 視錐体のnear-pointをmm単位で指定します。
* default値は{@link #FRASTRAM_ARTK_NEAR}です。
* @param i_far
* 視錐体のfar-pointをmm単位で指定します。
* default値は{@link #FRASTRAM_ARTK_FAR}です。
* @param i_max_known_target
* Knownターゲットの最大数を指定します。
* @param i_max_unknown_target
* UnKnownターゲットの最大数を指定します。
* @throws NyARException
*/
public NyARReality(NyARParam i_param,double i_near,double i_far,int i_max_known_target,int i_max_unknown_target)
{
//定数とかいろいろ
this.MAX_LIMIT_KNOWN=i_max_known_target;
this.MAX_LIMIT_UNKNOWN=i_max_unknown_target;
this.initInstance(i_param.getScreenSize(),i_near,i_far,i_param.getPerspectiveProjectionMatrix(),i_param.getDistortionFactor());
return;
}
public NyARMarkerSystemConfig(NyARParam i_param)
: this(i_param, TM_ARTKICP)
{
}
/**
* @param i_param
* @param i_max_points
* 最大頂点数
* @throws NyARException
*/
public NyARIcpPointRobust(NyARParam i_param)
: base(i_param)
{
}
/**
* @param i_param
* @param i_max_points
* 最大頂点数
* @throws NyARException
*/
public NyARIcpPointRobust(NyARParam i_param)
: base(i_param)
{
}
public NyARMarkerSystemConfig(StreamReader i_ar_param_stream, int i_width, int i_height)
{
this._param = new NyARParam();
this._param.loadARParam(i_ar_param_stream);
this._param.changeScreenSize(i_width, i_height);
}
public DetectSquare(NyARParam i_param): base(i_param.getScreenSize())
{
this._match_patt = null;
this._coordline = new NyARCoord2Linear(i_param.getScreenSize(), i_param.getDistortionFactor());
return;
}
/**
* コンストラクタです。
* 座標計算に必要なカメラパラメータの参照値を元に、インスタンスを生成します。
* @param i_param
* ARToolKit形式のカメラパラメータです。
* インスタンスは、この中から樽型歪み矯正オブジェクト、射影変換オブジェクトを参照します。
* @
*/
public NyARTransMat(NyARParam i_param)
{
initInstance(i_param.getDistortionFactor(), i_param.getPerspectiveProjectionMatrix());
return;
}
/// <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
string location = System.IO.Path.GetDirectoryName(System.Reflection.Assembly.GetExecutingAssembly().Location);
StreamReader reader = new StreamReader(location + "/Content/Data/Camera_Calibration_1280x720.dat");
var cameraParameters = new NyARParam();
using (var cameraCalibrationDataStream = reader.BaseStream)
{
cameraParameters.loadARParam(cameraCalibrationDataStream);
cameraParameters.changeScreenSize(width, height);
}
//var asmName = new System.Reflection.AssemblyName(System.Reflection.Assembly.GetExecutingAssembly().FullName).Name;
//var uri = new Uri(asmName + ";component/Assets/data/Camera_Calibration_1280x720.dat", UriKind.Relative);
//var streamResInfoCam = Application.GetResourceStream(uri);
//if (null == streamResInfoCam)
// throw new FileNotFoundException("Application.GetResourceStream returned null", uri.OriginalString);
//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);
}
}
/**
* コンストラクタです。
* 座標計算に必要なカメラパラメータの参照値を元に、インスタンスを生成します。
* @param i_param
* ARToolKit形式のカメラパラメータです。
* インスタンスは、この中から樽型歪み矯正オブジェクト、射影変換オブジェクトを参照します。
* @
*/
public NyARTransMat(NyARParam i_param)
: this(i_param.getDistortionFactor(), i_param.getPerspectiveProjectionMatrix())
{
return;
}
/**
* この関数は、インスタンスを初期化します。
* 継承先のクラスから呼び出してください。
* @param i_param
* カメラパラメータオブジェクト。このサイズは、{@link #detectMarker}に入力する画像と同じサイズである必要があります。
* @param i_encoder
* IDマーカの値エンコーダを指定します。
* @param i_marker_width
* マーカの物理縦横サイズをmm単位で指定します。
* @
*/
protected void initInstance(NyARParam i_param, INyIdMarkerDataEncoder i_encoder, double i_marker_width)
{
//初期化済？
Debug.Assert(this._initialized == false);
NyARIntSize scr_size = i_param.getScreenSize();
// 解析オブジェクトを作る
this._square_detect = new RleDetector(
i_param,
i_encoder,
new NyIdMarkerPickup());
this._transmat = new NyARTransMat(i_param);
// ２値画像バッファを作る
this._gs_raster = new NyARGrayscaleRaster(scr_size.w, scr_size.h);
this._histmaker = (INyARHistogramFromRaster)this._gs_raster.createInterface(typeof(INyARHistogramFromRaster));
//ワーク用のデータオブジェクトを２個作る
this._data_current = i_encoder.createDataInstance();
this._threshold_detect = new NyARHistogramAnalyzer_SlidePTile(15);
this._initialized = true;
this._is_active = false;
this._offset = new NyARRectOffset();
this._offset.setSquare(i_marker_width);
return;
}
/**
* 処理プロファイルを指定して、{@link NyARSingleDetectoMarker}オブジェクトを生成します。
* @param i_param
* カメラパラメータを指定します。このサイズは、{@link #detectMarkerLite}に入力する画像と同じである必要があります。
* @param i_code
* 検出するマーカパターンを指定します。
* @param i_marker_width
* 正方形マーカの物理サイズをmm単位で指定します。
* @param i_input_raster_type
* {@link #detectMarkerLite}に入力するラスタの画素形式を指定します。
* この値は、{@link INyARRgbRaster#getBufferType}関数の戻り値を利用します。
* @param i_profile_id
* 計算アルゴリズムの選択値です。以下の定数のいずれかを指定します。
* <ul>
* <li>{@link #PF_ARTOOLKIT_COMPATIBLE}
* <li>{@link #PF_NYARTOOLKIT}
* <li>{@link #PF_NYARTOOLKIT_ARTOOLKIT_FITTING}
* </ul>
* @
* @
*/
public static NyARSingleDetectMarker createInstance(NyARParam i_param, NyARCode i_code, double i_marker_width, int i_profile_id)
{
switch (i_profile_id)
{
case PF_ARTOOLKIT_COMPATIBLE:
return new NyARSingleDetectMarker_ARTKv2(i_param, i_code, i_marker_width);
case PF_NYARTOOLKIT_ARTOOLKIT_FITTING:
return new NyARSingleDetectMarker_NyARTK_FITTING_ARTKv2(i_param, i_code, i_marker_width);
case PF_NYARTOOLKIT://default
return new NyARSingleDetectMarker_NyARTK(i_param, i_code, i_marker_width);
default:
throw new NyARException();
}
}
/**
* この関数は、インスタンスを初期化します。
* 継承先のクラスから呼び出してください。
* @param i_param
* カメラパラメータオブジェクト。このサイズは、{@link #detectMarker}に入力する画像と同じサイズである必要があります。
* @
*/
protected void initInstance(NyARParam i_param)
{
//初期化済？
Debug.Assert(this._initialized == false);
NyARIntSize scr_size = i_param.getScreenSize();
// 解析オブジェクトを作る
this._transmat = new NyARTransMat(i_param);
this._thdetect = new NyARHistogramAnalyzer_SlidePTile(15);
// ２値画像バッファを作る
this._gs_raster = new NyARGrayscaleRaster(scr_size.w, scr_size.h);
this._initialized = true;
//コールバックハンドラ
this._detectmarker = new DetectSquare(i_param);
this._offset = new NyARRectOffset();
return;
}
public static NyARSingleDetectMarker createInstance(NyARParam i_param, NyARCode i_code, double i_marker_width)
{
return createInstance(i_param, i_code, i_marker_width, PF_NYARTOOLKIT);
}
public NyARMarkerSystemConfig(NyARParam i_param)
{
this._param = i_param;
}
public NyARSingleDetectMarker_NyARTK_FITTING_ARTKv2(NyARParam i_ref_param, NyARCode i_ref_code, double i_marker_width)
: base(i_ref_param, i_ref_code, i_marker_width)
{
this._inst_patt = new NyARColorPatt_Perspective(i_ref_code.getWidth(), i_ref_code.getHeight(), 4, 25);
this._transmat = new NyARTransMat_ARToolKit(i_ref_param);
this._square_detect = new NyARSingleDetectMarker_ARTKv2.ARTKDetector(this, i_ref_param.getScreenSize());
}
/**
* コンストラクタです。カメラパラメータにサンプル値(../Data/camera_para.dat)をロードして、コンフィギュレーションを生成します。
* @param i_width
* @param i_height
* @
*/
public NyARMarkerSystemConfig(int i_width, int i_height)
{
this._param = new NyARParam();
this._param.loadDefaultParameter();
this._param.changeScreenSize(i_width, i_height);
}
protected NyARSingleDetectMarker(NyARParam i_ref_param, NyARCode i_ref_code, double i_marker_width)
{
this._deviation_data = new NyARMatchPattDeviationColorData(i_ref_code.getWidth(), i_ref_code.getHeight());
this._match_patt = new NyARMatchPatt_Color_WITHOUT_PCA(i_ref_code);
this._offset = new NyARRectOffset();
this._offset.setSquare(i_marker_width);
this._coordline = new NyARCoord2Linear(i_ref_param.getScreenSize(), i_ref_param.getDistortionFactor());
//２値画像バッファを作る
NyARIntSize s = i_ref_param.getScreenSize();
this._bin_raster = new NyARBinRaster(s.w, s.h);
}
/**
* コンストラクタです。
* 座標計算に必要なカメラパラメータの参照値を元に、インスタンスを生成します。
* @param i_param
* ARToolKit形式のカメラパラメータです。
* インスタンスは、この中から樽型歪み矯正オブジェクト、射影変換オブジェクトを参照します。
* @
*/
public NyARTransMat(NyARParam i_param)
{
initInstance(i_param.getDistortionFactor(), i_param.getPerspectiveProjectionMatrix());
return;
}
public NyARMarkerSystemConfig(StreamReader i_ar_param_stream, int i_width, int i_height)
{
this._param = NyARParam.createFromARParamFile(i_ar_param_stream);
this._param.changeScreenSize(i_width, i_height);
}
