/**
* double arGetTransMat( ARMarkerInfo *marker_info,double center[2], double width, double conv[3][4] )
*
* @param i_square
* 計算対象のNyARSquareオブジェクト
* @param i_width
* @return
* @throws NyARException
*/
public void transMat(NyARSquare i_square, NyARRectOffset i_offset, NyARTransMatResult o_result_conv)
{
NyARDoublePoint3d trans = this.__transMat_trans;
//平行移動量計算機に、2D座標系をセット
NyARDoublePoint2d[] vertex_2d;
if (this._ref_dist_factor != null)
{
//歪み復元必要
vertex_2d = this.__transMat_vertex_2d;
this._ref_dist_factor.ideal2ObservBatch(i_square.sqvertex, vertex_2d, 4);
}
else
{
//歪み復元は不要
vertex_2d = i_square.sqvertex;
}
this._transsolver.set2dVertex(vertex_2d, 4);
//回転行列を計算
this._rotmatrix.initRotBySquare(i_square.line, i_square.sqvertex);
//回転後の3D座標系から、平行移動量を計算
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
this._rotmatrix.getPoint3dBatch(i_offset.vertex, vertex_3d, 4);
this._transsolver.solveTransportVector(vertex_3d, trans);
//計算結果の最適化(平行移動量と回転行列の最適化)
double err = this.optimize(this._rotmatrix, trans, this._transsolver, i_offset.vertex, vertex_2d);
// マトリクスの保存
o_result_conv.setValue(this._rotmatrix, trans, err);
return;
}
/**オブジェクトのステータスを更新し、必要に応じてハンドル関数を駆動します。
*/
private bool updateStatus(NyARSquare i_square, INyIdMarkerData i_marker_data)
{
bool is_id_found = false;
NyARTransMatResult result = this.__NyARSquare_result;
if (!this._is_active)
{ // 未認識中
if (i_marker_data == null)
{ // 未認識から未認識の遷移
// なにもしないよーん。
this._is_active = false;
}
else
{// 未認識から認識の遷移
this._data_current.copyFrom(i_marker_data);
// イベント生成
// OnEnter
this.onEnterHandler(this._data_current);
// 変換行列を作成
this._transmat.transMat(i_square, this._offset, result);
// OnUpdate
this.onUpdateHandler(i_square, result);
this._lost_delay_count = 0;
this._is_active = true;
is_id_found = true;
}
}
else
{// 認識中
if (i_marker_data == null)
{
// 認識から未認識の遷移
this._lost_delay_count++;
if (this._lost_delay < this._lost_delay_count)
{
// OnLeave
this.onLeaveHandler();
this._is_active = false;
}
}
else if (this._data_current.isEqual(i_marker_data))
{
//同じidの再認識
this._transmat.transMatContinue(i_square, this._offset, result);
// OnUpdate
this.onUpdateHandler(i_square, result);
this._lost_delay_count = 0;
is_id_found = true;
}
else
{// 異なるコードの認識→今はサポートしない。
throw new NyARException();
}
}
return(is_id_found);
}
/** オブジェクトのステータスを更新し、必要に応じてハンドル関数を駆動します。
* 戻り値は、「実際にマーカを発見する事ができたか」です。クラスの状態とは異なります。
*/
private bool updateStatus(NyARSquare i_square, int i_code_index)
{
NyARTransMatResult result = this.__NyARSquare_result;
if (this._current_arcode_index < 0)
{ // 未認識中
if (i_code_index < 0)
{ // 未認識から未認識の遷移
// なにもしないよーん。
return(false);
}
else
{// 未認識から認識の遷移
this._current_arcode_index = i_code_index;
// イベント生成
// OnEnter
this.onEnterHandler(i_code_index);
// 変換行列を作成
this._transmat.transMat(i_square, this._offset, result);
// OnUpdate
this.onUpdateHandler(i_square, result);
this._lost_delay_count = 0;
return(true);
}
}
else
{ // 認識中
if (i_code_index < 0)
{ // 認識から未認識の遷移
this._lost_delay_count++;
if (this._lost_delay < this._lost_delay_count)
{
// OnLeave
this._current_arcode_index = -1;
this.onLeaveHandler();
}
return(false);
}
else if (i_code_index == this._current_arcode_index)
{// 同じARCodeの再認識
// イベント生成
// 変換行列を作成
this._transmat.transMatContinue(i_square, this._offset, result);
// OnUpdate
this.onUpdateHandler(i_square, result);
this._lost_delay_count = 0;
return(true);
}
else
{// 異なるコードの認識→今はサポートしない。
throw new NyARException();
}
}
}
/*
* (non-Javadoc)
* @see jp.nyatla.nyartoolkit.core.transmat.INyARTransMat#transMatContinue(jp.nyatla.nyartoolkit.core.NyARSquare, int, double, jp.nyatla.nyartoolkit.core.transmat.NyARTransMatResult)
*/
public void transMatContinue(NyARSquare i_square, NyARRectOffset i_offset, NyARTransMatResult o_result_conv)
{
NyARDoublePoint3d trans = this.__transMat_trans;
// io_result_convが初期値なら、transMatで計算する。
if (!o_result_conv.has_value)
{
this.transMat(i_square, i_offset, o_result_conv);
return;
}
//平行移動量計算機に、2D座標系をセット
NyARDoublePoint2d[] vertex_2d = this.__transMat_vertex_2d;
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
this._ref_dist_factor.ideal2ObservBatch(i_square.sqvertex, vertex_2d, 4);
this._transsolver.set2dVertex(vertex_2d, 4);
//回転行列を計算
this._rotmatrix.initRotByPrevResult(o_result_conv);
//回転後の3D座標系から、平行移動量を計算
this._rotmatrix.getPoint3dBatch(i_offset.vertex, vertex_3d, 4);
this._transsolver.solveTransportVector(vertex_3d, trans);
//計算結果の最適化(平行移動量と回転行列の最適化)
double err = this.optimize(this._rotmatrix, trans, this._transsolver, i_offset.vertex, vertex_2d);
// マトリクスの保存
this.updateMatrixValue(this._rotmatrix, trans, o_result_conv);
// エラー値が許容範囲でなければTransMatをやり直し
if (err > AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR)
{
// rotationを矩形情報で初期化
this._rotmatrix.initRotBySquare(i_square.line, i_square.sqvertex);
//回転行列の平行移動量の計算
this._rotmatrix.getPoint3dBatch(i_offset.vertex, vertex_3d, 4);
this._transsolver.solveTransportVector(vertex_3d, trans);
//計算結果の最適化(this._rotmatrix,trans)
double err2 = this.optimize(this._rotmatrix, trans, this._transsolver, i_offset.vertex, vertex_2d);
//エラー値が低かったら値を差換え
if (err2 < err)
{
// 良い値が取れたら、差換え
this.updateMatrixValue(this._rotmatrix, trans, o_result_conv);
}
err = err2;
}
//エラー値保存
o_result_conv.error = err;
return;
}
/**
* 検出したマーカーの変換行列を計算して、o_resultへ値を返します。
* 直前に実行したdetectMarkerLiteが成功していないと使えません。
*
* @param o_result
* 変換行列を受け取るオブジェクトを指定します。
* @throws NyARException
*/
public void getTransmationMatrix(NyARTransMatResult o_result)
{
// 一番一致したマーカーの位置とかその辺を計算
if (this._is_continue)
{
this._transmat.transMatContinue(this._detect_cb.square, this._offset, o_result);
}
else
{
this._transmat.transMat(this._detect_cb.square, this._offset, o_result);
}
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;
}
/**
* i_indexのマーカーに対する変換行列を計算し、結果値をo_resultへ格納します。 直前に実行したdetectMarkerLiteが成功していないと使えません。
*
* @param i_index
* マーカーのインデックス番号を指定します。 直前に実行したdetectMarkerLiteの戻り値未満かつ0以上である必要があります。
* @param o_result
* 結果値を受け取るオブジェクトを指定してください。
* @throws NyARException
*/
public void getTransmationMatrix(int i_index, NyARTransMatResult o_result)
{
NyARDetectMarkerResult result = this._square_detect.result_stack.getItem(i_index);
// 一番一致したマーカーの位置とかその辺を計算
if (_is_continue)
{
_transmat.transMatContinue(result.square, this._offset[result.arcode_id], o_result, o_result);
}
else
{
_transmat.transMat(result.square, this._offset[result.arcode_id], o_result);
}
return;
}
public void toD3dMatrix(NyARTransMatResult i_ny_result, ref Matrix o_result)
{
//ARのMatrixをDirectXのMatrixに変換
o_result.M11 = (float)i_ny_result.m00;
o_result.M12 = (float)i_ny_result.m10;
o_result.M13 = (float)i_ny_result.m20;
o_result.M14 = 0;
o_result.M21 = (float)i_ny_result.m01;
o_result.M22 = (float)i_ny_result.m11;
o_result.M23 = (float)i_ny_result.m21;
o_result.M24 = 0;
o_result.M31 = (float)i_ny_result.m02;
o_result.M32 = (float)i_ny_result.m12;
o_result.M33 = (float)i_ny_result.m22;
o_result.M34 = 0;
o_result.M41 = (float)i_ny_result.m03;
o_result.M42 = (float)i_ny_result.m13;
o_result.M43 = (float)i_ny_result.m23;
o_result.M44 = 1;
return;
}
/**
* double arGetTransMat( ARMarkerInfo *marker_info,double center[2], double width, double conv[3][4] )
*
* @param i_square
* 計算対象のNyARSquareオブジェクト
* @param i_width
* @return
* @throws NyARException
*/
public void transMat(NyARSquare i_square, NyARRectOffset i_offset, NyARTransMatResult o_result_conv)
{
NyARDoublePoint3d trans = this.__transMat_trans;
//平行移動量計算機に、2D座標系をセット
NyARDoublePoint2d[] vertex_2d = this.__transMat_vertex_2d;
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
this._ref_dist_factor.ideal2ObservBatch(i_square.sqvertex, vertex_2d, 4);
this._transsolver.set2dVertex(vertex_2d, 4);
//回転行列を計算
this._rotmatrix.initRotBySquare(i_square.line, i_square.sqvertex);
//回転後の3D座標系から、平行移動量を計算
this._rotmatrix.getPoint3dBatch(i_offset.vertex, vertex_3d, 4);
this._transsolver.solveTransportVector(vertex_3d, trans);
//計算結果の最適化(平行移動量と回転行列の最適化)
o_result_conv.error = this.optimize(this._rotmatrix, trans, this._transsolver, i_offset.vertex, vertex_2d);
// マトリクスの保存
this.updateMatrixValue(this._rotmatrix, trans, o_result_conv);
return;
}
/// <summary>
/// Listener method called when something was detected.
/// </summary>
/// <param name="callingDetector">The detector that called the method.</param>
/// <param name="coordsX">The four x coordinates of the detected marker square.</param>
/// <param name="coordsY">The four y coordinates of the detected marker square.</param>
/// <param name="coordCount">The number of coordinates.</param>
/// <param name="coordIndices">The indices of the coordiantes in the coords array.</param>
public void onSquareDetect(NyARSquareContourDetector callingDetector, int[] coordsX, int[] coordsY, int coordCount, int[] coordIndices)
{
// Init variables
points[0].x = coordsX[coordIndices[0]];
points[0].y = coordsY[coordIndices[0]];
points[1].x = coordsX[coordIndices[1]];
points[1].y = coordsY[coordIndices[1]];
points[2].x = coordsX[coordIndices[2]];
points[2].y = coordsY[coordIndices[2]];
points[3].x = coordsX[coordIndices[3]];
points[3].y = coordsY[coordIndices[3]];
// Evaluate and find best match
if (this.colorPattern.pickFromRaster(this.Buffer, points))
{
// Find best matching marker
this.patternMatchDeviationData.setRaster(this.colorPattern);
Marker foundMarker = null;
int foundDirection = NyARMatchPattResult.DIRECTION_UNKNOWN;
double bestConfidence = 0;
foreach (var patMat in patternMatchers)
{
// Evaluate
patMat.evaluate(this.patternMatchDeviationData, evaluationResult);
// Best match?
if (evaluationResult.confidence > bestConfidence)
{
foundMarker = patMat.Marker;
foundDirection = evaluationResult.direction;
bestConfidence = evaluationResult.confidence;
}
}
// Calculate found marker square
var square = new NyARSquare();
var len = coordIndices.Length;
for (int i = 0; i < len; i++)
{
int idx = (i + len - foundDirection) % len;
this.coordinationMapper.coord2Line(coordIndices[idx], coordIndices[(idx + 1) % len], coordsX, coordsY, coordCount, square.line[i]);
}
// Calculate normal
for (int i = 0; i < len; i++)
{
NyARLinear.crossPos(square.line[i], square.line[(i + 3) % len], square.sqvertex[i]);
}
// Calculate matrix using continued mode
if (foundMarker != null)
{
var nymat = new NyARTransMatResult();
matrixCalculator.transMatContinue(square, foundMarker.RectOffset, nymat);
// Create and add result to collection
var v = square.sqvertex;
var resultSquare = new Square(v[0].x, v[0].y, v[1].x, v[1].y, v[2].x, v[2].y, v[3].x, v[3].y);
Results.Add(new DetectionResult(foundMarker, bestConfidence, nymat.ToMatrix3D(), resultSquare));
}
}
}
//Método executado a cada frame de vídeo
public void OnBuffer(CaptureDevice i_sender, double i_sample_time, IntPtr i_buffer, int i_buffer_len)
{
try
{
i++;
int w = i_sender.video_width;
int h = i_sender.video_height;
int s = w * (i_sender.video_bit_count / 8);
Matrix trans_matrix = new Matrix();
NyARTransMatResult nyar_transmat = this.__OnBuffer_nyar_transmat;
Bitmap b = new Bitmap(w, h, s, PixelFormat.Format32bppRgb, i_buffer);
// If the image is upsidedown
b.RotateFlip(RotateFlipType.RotateNoneFlipY);
this.pbxNyAR.Image = b;
//Calculation of the AR - Seta o frame do vídeo no objeto Raster
Core.raster.setBuffer(i_buffer, i_sender.video_vertical_flip);
//Instância dos objetos de detecção
detectedMarkersListLetters = new ArrayList();
detectedMarkersListImages = new ArrayList();
NyARTransMatResult transMatrix;
NyARDoublePoint3d point3D;
//Aqui vem a lógica do Bingo
//1 - Detectar o marcador da cartela
//2 - Verificar a relação de letras sorteadas e a palavra da cartela
//3 - Se a palavra tiver todas as letras sorteadas, plotar o desenho específico
// - Senão, informa de algum jeito o total das letras, e qual falta, sei lá.
//Verficar a palavra relacionada à cartela
string originalWord = string.Empty;
//Adiciona as letras sorteadas no ArrayList para comparação
raffledLetters = new ArrayList();
foreach (char item in gmNyAR.RaffleLetters)
{
raffledLetters.Add(item);
}
if (intRefresh == 0)
{
//Detecção das LETRAS
int totalMarkersLetter = this.markerDetectorLetters.detectMarkerLite(Core.raster, 100);
int markerLetterId = 0;
NyARTransMatResult transMatKanji = new NyARTransMatResult();
//Caso encontrar marcadores
if (totalMarkersLetter > 0)
{
for (int counter = 0; counter < totalMarkersLetter; counter++)
{
markerLetterId = this.markerDetectorLetters.getARCodeIndex(counter);
if (this.markerDetectorLetters.getConfidence(counter) > 0.60)
{
if (markerLetterId == 0)
{
this.markerDetectorLetters.getTransmationMatrix(markerLetterId, transMatKanji);
}
else
{
//Recupera o ângulo XYZ do marcador e salva na lista.
transMatrix = new NyARTransMatResult();
point3D = new NyARDoublePoint3d();
this.markerDetectorLetters.getTransmationMatrix(counter, transMatrix);
transMatrix.getZXYAngle(point3D);
detectedMarker = new DetectedMarker();
detectedMarker.markerID = markerLetterId;
detectedMarker.point3D = point3D;
detectedMarkersListLetters.Add(detectedMarker);
}
}
}
}
//Detecção dos marcadores específicos
int totalMarkerImages = this.markerDetectorImages.detectMarkerLite(Core.raster, 100);
int markerImageId = 0;
if (totalMarkerImages > 0)
{
for (int counter = 0; counter < totalMarkerImages; counter++)
{
markerImageId = this.markerDetectorImages.getARCodeIndex(counter);
if (this.markerDetectorImages.getConfidence(counter) > 0.50)
{
//Recupera o ângulo XYZ do marcador e salva na lista.
transMatrix = new NyARTransMatResult();
point3D = new NyARDoublePoint3d();
this.markerDetectorImages.getTransmationMatrix(counter, transMatrix);
transMatrix.getZXYAngle(point3D);
detectedMarker = new DetectedMarker();
detectedMarker.markerID = markerImageId;
detectedMarker.point3D = point3D;
detectedMarkersListImages.Add(detectedMarker);
}
}
}
if ((detectedMarkersListLetters.Count + detectedMarkersListImages.Count) > 0)
{
if ((detectedMarkersListLetters.Count + detectedMarkersListImages.Count) > 1)
{
lbNyAR.Text = "Há letras que não foram preenchidas na cartela";
//Fazer algo para avisar que nem todas as letras foram preenchidas.
}
else
{
if (detectedMarkersListImages.Count > 0)
{
//switch das palavras correspondentes ao marcador encontrado.
switch (markerImageId)
{
case 0: originalWord = "BOLA";
break;
case 1: originalWord = "ESPADA";
break;
case 2: originalWord = "CARRO";
break;
case 3: originalWord = "BRIGADEIRO";
break;
case 4: originalWord = "GARFO";
break;
case 5: originalWord = "CANETA";
break;
case 6: originalWord = "PEIXE";
break;
}
int total = checkTotalLetters(raffledLetters, originalWord);
//Se todas as letras da palavra tiverem sido sorteadas, plota a imagem
if (total == originalWord.Length)
{
lbNyAR.Text = "BINGO! Palavra: " + originalWord;
intRefresh++;
intDetected = markerImageId;
}
else
{
lbNyAR.Text = "Algumas letras ainda não foram sorteadas";
//Verificar o que vai fazer... pode ser uma mensagem na tela.
}
}
}
}
}
else
{
bool detected;
switch (intDetected)
{
case 0: detected = this.ballMarkerDetector.detectMarkerLite(Core.raster);
if (detected)
{
NyARTransMatResult result = new NyARTransMatResult();
if (this.ballMarkerDetector.getConfidence() > 0.50)
{
this.ballMarkerDetector.getTransmationMatrix(result);
//DrawWord("bola", result);
}
}
break;
case 1: detected = this.swordMarkerDetector.detectMarkerLite(Core.raster);
if (detected)
{
NyARTransMatResult result = new NyARTransMatResult();
if (this.swordMarkerDetector.getConfidence() > 0.50)
{
this.swordMarkerDetector.getTransmationMatrix(result);
//DrawWord("espada", result);
}
}
break;
case 3: detected = this.carMarkerDetector.detectMarkerLite(Core.raster);
if (detected)
{
NyARTransMatResult result = new NyARTransMatResult();
if (this.carMarkerDetector.getConfidence() > 0.50)
{
this.carMarkerDetector.getTransmationMatrix(result);
//DrawWord("carro", result);
}
}
break;
case 4: detected = this.forkMarkerDetector.detectMarkerLite(Core.raster);
if (detected)
{
NyARTransMatResult result = new NyARTransMatResult();
if (this.forkMarkerDetector.getConfidence() > 0.50)
{
this.forkMarkerDetector.getTransmationMatrix(result);
DrawWord("garfo", result);
}
}
break;
case 5: detected = this.penMarkerDetector.detectMarkerLite(Core.raster);
if (detected)
{
NyARTransMatResult result = new NyARTransMatResult();
if (this.penMarkerDetector.getConfidence() > 0.50)
{
this.penMarkerDetector.getTransmationMatrix(result);
//DrawWord("caneta", result);
}
}
break;
case 6: detected = this.fishMarkerDetector.detectMarkerLite(Core.raster);
if (detected)
{
NyARTransMatResult result = new NyARTransMatResult();
if (this.fishMarkerDetector.getConfidence() > 0.50)
{
this.fishMarkerDetector.getTransmationMatrix(result);
DrawWord("peixe", result);
}
}
break;
}
//Refresh do detector
intRefresh++;
if (intRefresh > 20)
{
intRefresh = 0;
intDetected = -1;
}
}
}
catch (Exception e)
{
MessageBox.Show("Ocorreu um erro na verficação dos marcadores. Favor, reinicie a aplicação. Se o erro persistir, contate os desenvolvedores.", "Erro!");
Environment.Exit(0);
}
}
void CaptureListener.OnBuffer(CaptureDevice i_sender, double i_sample_time, IntPtr i_buffer, int i_buffer_len)
{
// calculate size of the frame bitmap
int w = i_sender.video_width;
int h = i_sender.video_height;
int s = w * (i_sender.video_bit_count / 8); // stride
AForge.Imaging.Filters.FiltersSequence seq = new AForge.Imaging.Filters.FiltersSequence();
seq.Add(new AForge.Imaging.Filters.Grayscale(0.2125, 0.7154, 0.0721));
seq.Add(new AForge.Imaging.Filters.Threshold(127));
seq.Add(new AForge.Imaging.Filters.GrayscaleToRGB());
AForge.Imaging.UnmanagedImage srcImg = new AForge.Imaging.UnmanagedImage(i_buffer, w, h, s, System.Drawing.Imaging.PixelFormat.Format32bppRgb);
AForge.Imaging.UnmanagedImage outputImg = seq.Apply(srcImg);
byte[] destArr = new byte[outputImg.Stride * outputImg.Height];
System.Runtime.InteropServices.Marshal.Copy(outputImg.ImageData, destArr, 0, outputImg.Stride * outputImg.Height);
this.m_raster.wrapBuffer(destArr);
try
{
int detectedMkrs = this.m_ar.detectMarkerLite(this.m_raster, m_threshold);
NyARSquare square = null;
if (detectedMkrs > 0)
{
NyARTransMatResult transMat = new NyARTransMatResult();
NyARDoublePoint2d[] points = m_ar.getCorners(0); // RichF added this method
square = new NyARSquare();
square.sqvertex = points;
}
Dispatcher.BeginInvoke(new Action(delegate()
{
TransformedBitmap b = new TransformedBitmap();
b.BeginInit();
b.Source = BitmapSource.Create(w, h, dpiX, dpiY, PixelFormats.Bgr32, BitmapPalettes.WebPalette, i_buffer, i_buffer_len, s);
b.SetValue(TransformedBitmap.TransformProperty, new ScaleTransform(-1, -1));
b.EndInit();
image1.SetValue(Image.SourceProperty, b);
if (square != null)
{
recognizedTag.Points = new PointCollection(new Point[] {
new Point(cameraResX - square.sqvertex[0].x, cameraResY - square.sqvertex[0].y),
new Point(cameraResX - square.sqvertex[1].x, cameraResY - square.sqvertex[1].y),
new Point(cameraResX - square.sqvertex[2].x, cameraResY - square.sqvertex[2].y),
new Point(cameraResX - square.sqvertex[3].x, cameraResY - square.sqvertex[3].y)
});
recognizedTag.Visibility = System.Windows.Visibility.Visible;
}
else
{
recognizedTag.Visibility = System.Windows.Visibility.Hidden;
}
}), null);
}
catch
{
}
}
//Método executado a cada frame de vídeo
public void OnBuffer(CaptureDevice i_sender, double i_sample_time, IntPtr i_buffer, int i_buffer_len)
{
try
{
i++;
int w = i_sender.video_width;
int h = i_sender.video_height;
int s = w * (i_sender.video_bit_count / 8);
Matrix trans_matrix = new Matrix();
NyARTransMatResult nyar_transmat = this.__OnBuffer_nyar_transmat;
Bitmap b = new Bitmap(w, h, s, PixelFormat.Format32bppRgb, i_buffer);
// If the image is upsidedown
b.RotateFlip(RotateFlipType.RotateNoneFlipY);
this.pbxNyAR.Image = b;
//Calculation of the AR - Seta o frame do vídeo no objeto Raster
Core.raster.setBuffer(i_buffer, i_sender.video_vertical_flip);
//Instância dos objetos de detecção
detectedMarkersList = new ArrayList();
NyARTransMatResult transMatrix;
NyARDoublePoint3d point3D;
if (this.blnKanji == false) //Controle Kanji. FALSE: Palavra não formada // TRUE: Palavra formada, pronto para plotar
{
//Detecção
int totalMarkers = this.markerDetector.detectMarkerLite(Core.raster, 100);
int markerId = 0;
string palavraFormada = null;
NyARTransMatResult transMatKanji = new NyARTransMatResult();
//Caso encontrar marcadores
if (totalMarkers > 0)
{
for (int counter = 0; counter < totalMarkers; counter++)
{
markerId = this.markerDetector.getARCodeIndex(counter);
if (this.markerDetector.getConfidence(counter) > 0.60)
{
if (markerId == 0)
{
this.markerDetector.getTransmationMatrix(markerId, transMatKanji);
}
else
{
//Recupera o ângulo XYZ do marcador e salva na lista.
transMatrix = new NyARTransMatResult();
point3D = new NyARDoublePoint3d();
this.markerDetector.getTransmationMatrix(counter, transMatrix);
transMatrix.getZXYAngle(point3D);
detectedMarker = new DetectedMarker();
detectedMarker.markerID = markerId;
detectedMarker.point3D = point3D;
detectedMarkersList.Add(detectedMarker);
}
}
}
}
//Realiza os cálculos da RA caso encontrar algum marcador válido
if (detectedMarkersList.Count > 0)
{
//Ordena a lista de acordo com a posição
detectedMarkersList.Sort(new OrdenacaoPorX());
//Monta a palavra de acordo com os marcadores detectados
foreach (DetectedMarker item in detectedMarkersList)
{
palavraFormada += this.arrayLetters[item.markerID - 1];
}
if (detectedMarkersList.Count == 3)
{
totalMarkers = totalMarkers + 0;
}
//Teste - Verifica o número de letras correspondentes
string originalWord = gmNyAR.SelectedObject;
int total = verificaTotalPalavraFormada(detectedMarkersList, originalWord);
if (total == originalWord.Length)
{
this.blnKanji = true;
this.kanjiCounter = 0; //Refresh do contador
lbNyAR.Text = "Palavra correta!";
}
else
{
if (intRefresh == 0)
{
if (total == 1)
{
lbNyAR.Text = "Você acertou " + total + " letra! ";
}
else
{
lbNyAR.Text = "Você acertou " + total + " letras! ";
}
}
}
// Realiza a gravação da pontuação
int points = (total / originalWord.Length) * 100;
if (points > int.Parse(gmNyAR.Points))
{
gmNyAR.Points = points.ToString();
}
//Refresh da label que indica a quantidade de letras corretas.
intRefresh++;
if (intRefresh > 20)
{
intRefresh = 0;
}
}
}
else
{
//Desenho do objeto 3D no marcador Kanji.
bool kanji = this.kanjiDetector.detectMarkerLite(Core.raster);
if (kanji)
{
NyARTransMatResult result = new NyARTransMatResult();
if (this.kanjiDetector.getConfidence() > 0.50)
{
this.kanjiDetector.getTransmationMatrix(result);
DrawWord(gmNyAR.SelectedObject, result);
}
}
this.kanjiCounter++;
if (this.kanjiCounter > 50)
{
this.blnKanji = false;
}
}
}
catch (Exception e)
{
MessageBox.Show("Ocorreu um erro na verficação dos marcadores. Favor, reinicie a aplicação. Se o erro persistir, contate os desenvolvedores.", "Erro!");
Environment.Exit(0);
}
}
/**
* この関数は、理想座標系の四角系を元に、位置姿勢変換行列を求めます。
* 計算に過去の履歴を使う点が、{@link #transMat}と異なります。
* @see INyARTransMat#transMatContinue
*/
public bool transMatContinue(NyARSquare i_square, NyARRectOffset i_offset, NyARTransMatResult i_prev_result, NyARTransMatResult o_result)
{
NyARDoublePoint3d trans = this.__transMat_trans;
// i_prev_resultが初期値なら、transMatで計算する。
if (!i_prev_result.has_value)
{
this.transMat(i_square, i_offset, o_result);
return true;
}
//平行移動量計算機に、2D座標系をセット
NyARDoublePoint2d[] vertex_2d;
if (this._ref_dist_factor != null)
{
//歪み復元必要
vertex_2d = this.__transMat_vertex_2d;
this._ref_dist_factor.ideal2ObservBatch(i_square.sqvertex, vertex_2d, 4);
}
else
{
//歪み復元は不要
vertex_2d = i_square.sqvertex;
}
this._transsolver.set2dVertex(vertex_2d, 4);
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
//回転行列を計算
this._rotmatrix.initRotByPrevResult(i_prev_result);
//回転後の3D座標系から、平行移動量を計算
this._rotmatrix.getPoint3dBatch(i_offset.vertex, vertex_3d, 4);
this._transsolver.solveTransportVector(vertex_3d, trans);
//計算結果の最適化(平行移動量と回転行列の最適化)
double err = this.optimize(this._rotmatrix, trans, this._transsolver, i_offset.vertex, vertex_2d);
// マトリクスの保存
o_result.setValue(this._rotmatrix, trans, err);
// エラー値が許容範囲でなければTransMatをやり直し
if (err > AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR)
{
// rotationを矩形情報で初期化
this._rotmatrix.initRotBySquare(i_square.line, i_square.sqvertex);
//回転行列の平行移動量の計算
this._rotmatrix.getPoint3dBatch(i_offset.vertex, vertex_3d, 4);
this._transsolver.solveTransportVector(vertex_3d, trans);
//計算結果の最適化(this._rotmatrix,trans)
double err2 = this.optimize(this._rotmatrix, trans, this._transsolver, i_offset.vertex, vertex_2d);
//エラー値が低かったら値を差換え
if (err2 < err)
{
// 良い値が取れたら、差換え
o_result.setValue(this._rotmatrix, trans, err2);
}
err = err2;
}
//エラー値保存
return true;
}
/**
* この関数は、理想座標系の四角系を元に、位置姿勢変換行列を求めます。
* ARToolKitのarGetTransMatに該当します。
* @see INyARTransMat#transMatContinue
*/
public bool transMat(NyARSquare i_square, NyARRectOffset i_offset, NyARTransMatResult o_result_conv)
{
NyARDoublePoint3d trans = this.__transMat_trans;
//平行移動量計算機に、2D座標系をセット
NyARDoublePoint2d[] vertex_2d;
if (this._ref_dist_factor != null)
{
//歪み復元必要
vertex_2d = this.__transMat_vertex_2d;
this._ref_dist_factor.ideal2ObservBatch(i_square.sqvertex, vertex_2d, 4);
}
else
{
//歪み復元は不要
vertex_2d = i_square.sqvertex;
}
this._transsolver.set2dVertex(vertex_2d, 4);
//回転行列を計算
this._rotmatrix.initRotBySquare(i_square.line, i_square.sqvertex);
//回転後の3D座標系から、平行移動量を計算
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
this._rotmatrix.getPoint3dBatch(i_offset.vertex, vertex_3d, 4);
this._transsolver.solveTransportVector(vertex_3d, trans);
//計算結果の最適化(平行移動量と回転行列の最適化)
double err = this.optimize(this._rotmatrix, trans, this._transsolver, i_offset.vertex, vertex_2d);
// マトリクスの保存
o_result_conv.setValue(this._rotmatrix, trans, err);
return true;
}
protected abstract void onUpdateHandler(NyARSquare i_square, NyARTransMatResult result);
/**
* @deprecated
* {@link #getTransmat}
*/
public void getTransmationMatrix(NyARTransMatResult o_result)
{
this.getTransmat(o_result);
return;
}
/**
* パラメータで変換行列を更新します。
*
* @param i_rot
* @param i_off
* @param i_trans
*/
public void updateMatrixValue(NyARRotMatrix i_rot, NyARDoublePoint3d i_trans, NyARTransMatResult o_result)
{
o_result.m00 = i_rot.m00;
o_result.m01 = i_rot.m01;
o_result.m02 = i_rot.m02;
o_result.m03 = i_trans.x;
o_result.m10 = i_rot.m10;
o_result.m11 = i_rot.m11;
o_result.m12 = i_rot.m12;
o_result.m13 = i_trans.y;
o_result.m20 = i_rot.m20;
o_result.m21 = i_rot.m21;
o_result.m22 = i_rot.m22;
o_result.m23 = i_trans.z;
o_result.has_value = true;
return;
}
/**
* This function retrieves bitmap from the area defined by RECT(i_l,i_t,i_r,i_b) above transform matrix i_base_mat.
* ----
* この関数は、basementで示される平面のAで定義される領域から、ビットマップを読み出します。
* 例えば、8cmマーカでRECT(i_l,i_t,i_r,i_b)に-40,0,0,-40.0を指定すると、マーカの左下部分の画像を抽出します。
*
* マーカから離れた場所になるほど、また、マーカの鉛直方向から外れるほど誤差が大きくなります。
* @param i_src_imege
* 詠み出し元の画像を指定します。
* @param i_l
* 基準点からの左上の相対座標（x）を指定します。
* @param i_t
* 基準点からの左上の相対座標（y）を指定します。
* @param i_r
* 基準点からの右下の相対座標（x）を指定します。
* @param i_b
* 基準点からの右下の相対座標（y）を指定します。
* @param i_base_mat
* @return 画像の取得の成否を返す。
*/
public bool pickupImage2d(INyARRgbRaster i_src_imege, double i_l, double i_t, double i_r, double i_b, NyARTransMatResult i_base_mat)
{
double cp00, cp01, cp02, cp11, cp12;
cp00 = this._ref_perspective.m00;
cp01 = this._ref_perspective.m01;
cp02 = this._ref_perspective.m02;
cp11 = this._ref_perspective.m11;
cp12 = this._ref_perspective.m12;
//マーカと同一平面上にある矩形の4個の頂点を座標変換して、射影変換して画面上の
//頂点を計算する。
//[hX,hY,h]=[P][RT][x,y,z]
//出力先
NyARIntPoint2d[] poinsts = this._work_points;
double yt0, yt1, yt2;
double x3, y3, z3;
double m00 = i_base_mat.m00;
double m10 = i_base_mat.m10;
double m20 = i_base_mat.m20;
//yとtの要素を先に計算
yt0 = i_base_mat.m01 * i_t + i_base_mat.m03;
yt1 = i_base_mat.m11 * i_t + i_base_mat.m13;
yt2 = i_base_mat.m21 * i_t + i_base_mat.m23;
// l,t
x3 = m00 * i_l + yt0;
y3 = m10 * i_l + yt1;
z3 = m20 * i_l + yt2;
poinsts[0].x = (int)((x3 * cp00 + y3 * cp01 + z3 * cp02) / z3);
poinsts[0].y = (int)((y3 * cp11 + z3 * cp12) / z3);
// r,t
x3 = m00 * i_r + yt0;
y3 = m10 * i_r + yt1;
z3 = m20 * i_r + yt2;
poinsts[1].x = (int)((x3 * cp00 + y3 * cp01 + z3 * cp02) / z3);
poinsts[1].y = (int)((y3 * cp11 + z3 * cp12) / z3);
//yとtの要素を先に計算
yt0 = i_base_mat.m01 * i_b + i_base_mat.m03;
yt1 = i_base_mat.m11 * i_b + i_base_mat.m13;
yt2 = i_base_mat.m21 * i_b + i_base_mat.m23;
// r,b
x3 = m00 * i_r + yt0;
y3 = m10 * i_r + yt1;
z3 = m20 * i_r + yt2;
poinsts[2].x = (int)((x3 * cp00 + y3 * cp01 + z3 * cp02) / z3);
poinsts[2].y = (int)((y3 * cp11 + z3 * cp12) / z3);
// l,b
x3 = m00 * i_l + yt0;
y3 = m10 * i_l + yt1;
z3 = m20 * i_l + yt2;
poinsts[3].x = (int)((x3 * cp00 + y3 * cp01 + z3 * cp02) / z3);
poinsts[3].y = (int)((y3 * cp11 + z3 * cp12) / z3);
return(this.pickFromRaster(i_src_imege, poinsts));
}
void DrawWord(string word, NyARTransMatResult result)
{
NyARD3dUtil.toD3dCameraView(result, 1f, ref this._trans_mat);
this._surface.CopyFromXRGB32(Core.raster);
lock (pbxNyAR)
{
//Ajustando a escala para cada desenho
switch (word)
{
case "bola":
scaling = scaleArray[0];
break;
case "gato":
scaling = scaleArray[1];
break;
case "peixe":
scaling = scaleArray[2];
break;
case "garfo":
scaling = scaleArray[3];
break;
case "leao":
scaling = scaleArray[4];
break;
case "caneta":
scaling = scaleArray[5];
break;
case "panela":
scaling = scaleArray[6];
break;
case "radio":
scaling = scaleArray[7];
break;
case "tesoura":
scaling = scaleArray[8];
break;
case "faca":
scaling = scaleArray[9];
break;
case "espada":
scaling = scaleArray[10];
break;
case "mesa":
scaling = scaleArray[11];
break;
}
// Background directly to the surface drawing
Surface dest_surface = this._device.GetBackBuffer(0, 0, BackBufferType.Mono);
Rectangle src_dest_rect = new Rectangle(0, 0, 543, 348);
this._device.StretchRectangle(this._surface.d3d_surface, src_dest_rect, dest_surface, src_dest_rect, TextureFilter.None);
// Drawing 3D objects from here
this._device.BeginScene();
this._device.Clear(ClearFlags.ZBuffer, Color.DarkBlue, 1.0f, 0);
//MATRIZ QUE DEFINE O POSICIONAMENTO DO OBJETO 3D
//On 20mm cube (top marker) to be shifted
Matrix transform_mat2 = Matrix.Scaling(scaling, scaling, scaling);
transform_mat2 *= Matrix.RotationX((float)Math.PI * 1 / 2);
//Multiply the transformation matrix
transform_mat2 *= this._trans_mat;
// Coordinate transformation matrix was calculated
this._device.SetTransform(TransformType.World, transform_mat2);
// Rendering (drawing)
//this._cube.draw(this._device);
//switch (word)
//{
// case "sapo":
// DrawMesh(listSpacemesh[0], listSpacemeshmaterials[0], listSpacemeshtextures[0]);
// break;
// case "bola":
// DrawMesh(listSpacemesh[1], listSpacemeshmaterials[1], listSpacemeshtextures[1]);
// break;
//}
//Plota a imagem
switch (word)
{
case "bola":
DrawMesh(listSpacemesh[0], listSpacemeshmaterials[0], listSpacemeshtextures[0]);
break;
case "gato":
DrawMesh(listSpacemesh[1], listSpacemeshmaterials[1], listSpacemeshtextures[1]);
break;
case "peixe":
DrawMesh(listSpacemesh[2], listSpacemeshmaterials[2], listSpacemeshtextures[2]);
break;
case "garfo":
DrawMesh(listSpacemesh[3], listSpacemeshmaterials[3], listSpacemeshtextures[3]);
break;
case "leao":
DrawMesh(listSpacemesh[4], listSpacemeshmaterials[4], listSpacemeshtextures[4]);
break;
case "caneta":
DrawMesh(listSpacemesh[5], listSpacemeshmaterials[5], listSpacemeshtextures[5]);
break;
case "panela":
DrawMesh(listSpacemesh[6], listSpacemeshmaterials[6], listSpacemeshtextures[6]);
break;
case "radio":
DrawMesh(listSpacemesh[7], listSpacemeshmaterials[7], listSpacemeshtextures[7]);
break;
case "tesoura":
DrawMesh(listSpacemesh[8], listSpacemeshmaterials[8], listSpacemeshtextures[8]);
break;
case "faca":
DrawMesh(listSpacemesh[9], listSpacemeshmaterials[9], listSpacemeshtextures[9]);
break;
case "espada":
DrawMesh(listSpacemesh[10], listSpacemeshmaterials[10], listSpacemeshtextures[10]);
break;
case "mesa":
DrawMesh(listSpacemesh[11], listSpacemeshmaterials[11], listSpacemeshtextures[11]);
break;
}
//DrawMesh(spacemesh, spacemeshmaterials, spacemeshtextures);
//DrawMesh(listSpacemesh[2], listSpacemeshmaterials[2], listSpacemeshtextures[2]);
// Drawing up here
this._device.EndScene();
// Drawing on the actual display
this._device.Present();
}
}
/**
* パラメータで変換行列を更新します。
*
* @param i_rot
* @param i_off
* @param i_trans
*/
public void updateMatrixValue(NyARRotMatrix i_rot, NyARDoublePoint3d i_trans, NyARTransMatResult o_result)
{
o_result.m00 = i_rot.m00;
o_result.m01 = i_rot.m01;
o_result.m02 = i_rot.m02;
o_result.m03 = i_trans.x;
o_result.m10 = i_rot.m10;
o_result.m11 = i_rot.m11;
o_result.m12 = i_rot.m12;
o_result.m13 = i_trans.y;
o_result.m20 = i_rot.m20;
o_result.m21 = i_rot.m21;
o_result.m22 = i_rot.m22;
o_result.m23 = i_trans.z;
o_result.has_value = true;
return;
}
