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の設定 //ARラスタを作る(DirectShowキャプチャ仕様)。 this._raster = new DsRgbRaster(i_cap_device.video_width, i_cap_device.video_height); //AR用カメラパラメタファイルをロードして設定 NyARParam ap = NyARParam.loadFromARParamFile(File.OpenRead(AR_CAMERA_FILE), SCREEN_WIDTH, SCREEN_HEIGHT); //AR用のパターンコードを読み出し NyARCode code = NyARCode.loadFromARPattFile(File.OpenRead(AR_CODE_FILE), 16, 16); //1パターンのみを追跡するクラスを作成 this._ar = NyARSingleDetectMarker.createInstance(ap, code, 80.0, NyARSingleDetectMarker.PF_NYARTOOLKIT); //計算モードの設定 this._ar.setContinueMode(true); //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(); NyARD3dUtil.toCameraFrustumRH(ap.getPerspectiveProjectionMatrix(), ap.getScreenSize(), 1, 10, 10000, 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.X = 0; 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); this._is_marker_enable = false; return(true); }
/** * この関数は、ARToolKitスタイルのカメラパラメータから、 CameraFrustamを計算します。 * カメラパラメータの要素のうち、ProjectionMatrix成分のみを使います。 * @param i_arparam * ARToolKitスタイルのカメラパラメータ。 * @param i_scale * スケール値を指定します。1=1mmです。10ならば1=1cm,1000ならば1=1mです。 * 2.53以前のNyARToolkitと互換性を持たせるときは、{@link #SCALE_FACTOR_toCameraFrustumRH_NYAR2}を指定してください。 * @param i_near * 視錐体のnearPointを指定します。単位は、i_scaleに設定した値で決まります。 * @param i_far * 視錐体のfarPointを指定します。単位は、i_scaleに設定した値で決まります。 * @param o_gl_projection * OpenGLスタイルのProjectionMatrixです。double[16]を指定します。 */ public static void ToCameraFrustumRH(NyARParam i_arparam, double i_scale, double i_near, double i_far, ref Matrix4x4 o_mat) { ToCameraFrustumRH(i_arparam.getPerspectiveProjectionMatrix(), i_arparam.getScreenSize(), i_scale, i_near, i_far, ref o_mat); return; }
private Matrix GetProjectionMatrix(NyARParam i_arparam, float near, float far) { NyARMat trans_mat = new NyARMat(3, 4); NyARMat icpara_mat = new NyARMat(3, 4); double[,] p = new double[3, 3], q = new double[4, 4]; int width, height; int i, j; NyARIntSize size = i_arparam.getScreenSize(); width = size.w; height = size.h; i_arparam.getPerspectiveProjectionMatrix().decompMat(icpara_mat, trans_mat); double[][] icpara = icpara_mat.getArray(); double[][] trans = trans_mat.getArray(); for (i = 0; i < 3; i++) { for (j = 0; j < 3; j++) { p[i, j] = icpara[i][j] / icpara[2][2]; } } q[0, 0] = (2.0 * p[0, 0] / (width)); q[0, 1] = (2.0 * p[0, 1] / (width)); q[0, 2] = ((2.0 * p[0, 2] / (width)) - 1.0); q[0, 3] = 0.0; q[1, 0] = 0.0; q[1, 1] = (2.0 * p[1, 1] / (height)); q[1, 2] = ((2.0 * p[1, 2] / (height)) - 1.0); q[1, 3] = 0.0; q[2, 0] = 0.0; q[2, 1] = 0.0; q[2, 2] = (far + near) / (far - near); q[2, 3] = -2.0 * far * near / (far - near); q[3, 0] = 0.0; q[3, 1] = 0.0; q[3, 2] = 1.0; q[3, 3] = 0.0; Matrix mat = Matrix.Identity; mat.M11 = (float)(q[0, 0] * trans[0][0] + q[0, 1] * trans[1][0] + q[0, 2] * trans[2][0]); mat.M12 = (float)(q[1, 0] * trans[0][0] + q[1, 1] * trans[1][0] + q[1, 2] * trans[2][0]); mat.M13 = (float)(q[2, 0] * trans[0][0] + q[2, 1] * trans[1][0] + q[2, 2] * trans[2][0]); mat.M14 = (float)(q[3, 0] * trans[0][0] + q[3, 1] * trans[1][0] + q[3, 2] * trans[2][0]); mat.M21 = (float)(q[0, 1] * trans[0][1] + q[0, 1] * trans[1][1] + q[0, 2] * trans[2][1]); mat.M22 = (float)(q[1, 1] * trans[0][1] + q[1, 1] * trans[1][1] + q[1, 2] * trans[2][1]); mat.M23 = (float)(q[2, 1] * trans[0][1] + q[2, 1] * trans[1][1] + q[2, 2] * trans[2][1]); mat.M24 = (float)(q[3, 1] * trans[0][1] + q[3, 1] * trans[1][1] + q[3, 2] * trans[2][1]); mat.M31 = (float)(q[0, 2] * trans[0][2] + q[0, 1] * trans[1][2] + q[0, 2] * trans[2][2]); mat.M32 = (float)(q[1, 2] * trans[0][2] + q[1, 1] * trans[1][2] + q[1, 2] * trans[2][2]); mat.M33 = -(float)(q[2, 2] * trans[0][2] + q[2, 1] * trans[1][2] + q[2, 2] * trans[2][2]); mat.M34 = -(float)(q[3, 2] * trans[0][2] + q[3, 1] * trans[1][2] + q[3, 2] * trans[2][2]); mat.M41 = (float)(q[0, 3] * trans[0][3] + q[0, 1] * trans[1][3] + q[0, 2] * trans[2][3] + q[0, 3]); mat.M42 = (float)(q[1, 3] * trans[0][3] + q[1, 1] * trans[1][3] + q[1, 2] * trans[2][3] + q[1, 3]); mat.M43 = (float)(q[2, 3] * trans[0][3] + q[2, 1] * trans[1][3] + q[2, 2] * trans[2][3] + q[2, 3]); mat.M44 = (float)(q[3, 3] * trans[0][3] + q[3, 1] * trans[1][3] + q[3, 2] * trans[2][3] + q[3, 3]); return mat; }
public NyARSingleDetectMarker_NyARTK(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(i_ref_param); this._square_detect = new RleDetector(this, i_ref_param.getScreenSize()); }
public NyARSingleDetectMarker_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_O3(i_ref_code.getWidth(), i_ref_code.getHeight()); this._transmat = new NyARTransMat_ARToolKit(i_ref_param); this._square_detect = new ARTKDetector(this, i_ref_param.getScreenSize()); }
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); }
public DetectSquare(NyARParam i_param) : base(i_param.getScreenSize()) { this._match_patt = null; this._coordline = new NyARCoord2Linear(i_param.getScreenSize(), i_param.getDistortionFactor()); return; }