/// <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);
}
}
protected void initInstance(
INyARColorPatt i_patt_inst,
NyARSquareContourDetector i_sqdetect_inst,
INyARTransMat i_transmat_inst,
INyARRasterFilter_Rgb2Bin i_filter,
NyARParam i_ref_param,
NyARCode i_ref_code,
double i_marker_width)
{
NyARIntSize scr_size = i_ref_param.getScreenSize();
// 解析オブジェクトを作る
this._square_detect = i_sqdetect_inst;
this._transmat = i_transmat_inst;
this._tobin_filter = i_filter;
//２値画像バッファを作る
this._bin_raster = new NyARBinRaster(scr_size.w, scr_size.h);
//パターンの一致検索処理用
this._inst_patt = i_patt_inst;
this._deviation_data = new NyARMatchPattDeviationColorData(i_ref_code.getWidth(), i_ref_code.getHeight());
this._coordline = new NyARCoord2Linear(i_ref_param.getScreenSize(), i_ref_param.getDistortionFactor());
this._match_patt = new NyARMatchPatt_Color_WITHOUT_PCA(i_ref_code);
//オフセットを作成
this._offset = new NyARRectOffset();
this._offset.setSquare(i_marker_width);
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 void setNyARCodeTable(NyARCode[] i_ref_code, int i_code_resolution)
{
/*unmanagedで実装するときは、ここでリソース解放をすること。*/
this._deviation_data = new NyARMatchPattDeviationColorData(i_code_resolution, i_code_resolution);
this._inst_patt = new NyARColorPatt_Perspective(i_code_resolution, i_code_resolution, 4, 25);
this._match_patt = new NyARMatchPatt_Color_WITHOUT_PCA[i_ref_code.Length];
for (int i = 0; i < i_ref_code.Length; i++)
{
this._match_patt[i] = new NyARMatchPatt_Color_WITHOUT_PCA(i_ref_code[i]);
}
}
/**
* コンストラクタです。
* @param i_max
* 登録するアイテムの最大数です。
* @param i_resolution_x
* 登録するパターンの解像度です。
* ARToolKit互換の標準値は16です。
* @param i_resolution_y
* 登録するパターンの解像度です。
* ARToolKit互換の標準値は16です。
* @param i_edge_x
* エッジ部分の割合です。ARToolKit互換の標準値は25です。
* @param i_edge_y
* エッジ部分の割合です。ARToolKit互換の標準値は25です。
* @param i_sample_per_pix
* パターン取得の1ピクセルあたりのサンプリング数です。1なら1Pixel=1,2なら1Pixel=4のサンプリングをします。
* ARToolKit互換の標準値は4です。
* 高解像度(64以上)のパターンを用いるときは、サンプリング数を低く設定してください。
* @throws NyARException
*/
public ARTKMarkerTable(int i_max, int i_resolution_x, int i_resolution_y, int i_edge_x, int i_edge_y, int i_sample_per_pix)
{
this._resolution_width = i_resolution_x;
this._resolution_height = i_resolution_y;
this._edge_x = i_edge_x;
this._edge_y = i_edge_y;
this._sample_per_pix = i_sample_per_pix;
this._tmp_raster = new NyARRgbRaster(i_resolution_x, i_resolution_y, NyARBufferType.INT1D_X8R8G8B8_32);
this._table = new MarkerTable(i_max);
this._deviation_data = new NyARMatchPattDeviationColorData(i_resolution_x, i_resolution_y);
this._match_patt = new NyARMatchPatt_Color_WITHOUT_PCA(i_resolution_x, i_resolution_y);
}
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);
}
/// <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 Item(int i_patt_w, int i_patt_h, int i_edge_percentage)
{
int r = 1;
//解像度は幅を基準にする。
while (i_patt_w * r < 64)
{
r *= 2;
}
this._patt = new NyARRgbRaster(i_patt_w, i_patt_h, NyARBufferType.INT1D_X8R8G8B8_32, true);
this._patt_d = new NyARMatchPattDeviationColorData(i_patt_w, i_patt_h);
this._patt_edge = i_edge_percentage;
this._patt_resolution = r;
}
/**
* o_targetsに、敷居値を越えたターゲットリストを返却する。
* @param i_pix_drv
* @param i_vertex
* @param o_targets
* @return
* @
*/
public bool Update(INyARPerspectiveCopy i_pix_drv, SquareStack.Item i_sq)
{
//sq_tmpに値を生成したかのフラグ
bool is_ganalated_sq = false;
for (int i = this.Count - 1; i >= 0; i--)
{
ARMarkerList.Item target = this[i];
//解像度に一致する画像を取得
NyARMatchPattDeviationColorData diff = this._mpickup.getDeviationColorData(target, i_pix_drv, i_sq.ob_vertex);
//マーカのパターン解像度に一致したサンプリング画像と比較する。
if (!target.matchpatt.evaluate(diff, this._patt_result))
{
continue;
}
//敷居値をチェック
if (this._patt_result.confidence < this._configense_th)
{
continue;
}
//マーカマップへの追加対象か調べる。
ARMarkerSortList.Item ip = this._mkmap.getInsertPoint(this._patt_result.confidence);
if (ip == null)
{
continue;
}
//マーカマップアイテムの矩形に参照値を設定する。
ip = this._mkmap.insertFromTailBefore(ip);
ip.cf = this._patt_result.confidence;
ip.dir = this._patt_result.direction;
ip.marker = target;
ip.ref_sq = i_sq;
is_ganalated_sq = true;
}
return(is_ganalated_sq);
}
public RleDetector(INyARColorPatt i_inst_patt, NyARCode[] i_ref_code, int i_num_of_code, NyARParam i_param) : base(i_param.getScreenSize())
{
int cw = i_ref_code[0].getWidth();
int ch = i_ref_code[0].getHeight();
//NyARMatchPatt_Color_WITHOUT_PCA[]の作成
this._match_patt = new NyARMatchPatt_Color_WITHOUT_PCA[i_num_of_code];
this._match_patt[0] = new NyARMatchPatt_Color_WITHOUT_PCA(i_ref_code[0]);
for (int i = 1; i < i_num_of_code; i++)
{
//解像度チェック
if (cw != i_ref_code[i].getWidth() || ch != i_ref_code[i].getHeight())
{
throw new NyARException();
}
this._match_patt[i] = new NyARMatchPatt_Color_WITHOUT_PCA(i_ref_code[i]);
}
this._inst_patt = i_inst_patt;
this._coordline = new NyARCoord2Linear(i_param.getScreenSize(), i_param.getDistortionFactor());
this._deviation_data = new NyARMatchPattDeviationColorData(cw, ch);
return;
}
