private void SetupMarkerTracking()
{
IVideoCapture captureDevice = null;
Console.WriteLine(DateTime.Now.ToString() + " Setup Video & AR\n");
// Create our video capture device, depend from Type, "look App.config"
if (CapDeviceType == "OpenCV")
captureDevice = new OpenCVCapture();
else
captureDevice = new DirectShowCapture();
//captureDevice.VideoDeviceID = 0;
captureDevice.InitVideoCapture(SelDevice, FrameRate._60Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
// Add this video capture device to the scene
scene.AddVideoCaptureDevice(captureDevice);
ALVARMarkerTracker tracker = new ALVARMarkerTracker();
tracker.MaxMarkerError = 0.02f;
tracker.InitTracker(captureDevice.Width, captureDevice.Height, CalibFile, 32.4f);
// Set the marker tracker to use for our scene
scene.MarkerTracker = tracker;
// Display the camera image in the background
scene.ShowCameraImage = true;
//Config Gravity from Camera Cord
scene.PhysicsEngine.GravityDirection = -Vector3.UnitZ;
}
private void SetupMarkerTracking()
{
IVideoCapture captureDevice = null;
if (useStaticImage)
{
captureDevice = new NullCapture();
#if USE_NYARTOOLKIT
captureDevice.InitVideoCapture(0, FrameRate._30Hz, Resolution._800x600,
ImageFormat.B8G8R8A8_32, false);
#else
captureDevice.InitVideoCapture(0, FrameRate._30Hz, Resolution._800x600,
ImageFormat.R8G8B8_24, false);
#endif
((NullCapture)captureDevice).StaticImageFile = "MarkerImage";
}
else
{
// Create our video capture device that uses DirectShow library. Note that
// the combinations of resolution and frame rate that are allowed depend on
// the particular video capture device. Thus, setting incorrect resolution
// and frame rate values may cause exceptions or simply be ignored, depending
// on the device driver. The values set here will work for a Microsoft VX 6000,
// and many other webcams.
captureDevice = new DirectShowCapture2();
#if USE_NYARTOOLKIT
captureDevice.InitVideoCapture(0, FrameRate._60Hz, Resolution._640x480,
ImageFormat.B8G8R8A8_32, false);
#else
captureDevice.InitVideoCapture(0, FrameRate._60Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
#endif
}
// Add this video capture device to the scene so that it can be used for
// the marker tracker
scene.AddVideoCaptureDevice(captureDevice);
#if USE_NYARTOOLKIT
NyARToolkitTracker tracker = new NyARToolkitTracker();
tracker.InitTracker(captureDevice.Width, captureDevice.Height, "camera_para.dat");
#else
ALVARMarkerTracker tracker = new ALVARMarkerTracker();
tracker.MaxMarkerError = 0.02f;
tracker.InitTracker(captureDevice.Width, captureDevice.Height, "calib.xml", 32.4f);
#endif
// Set the marker tracker to use for our scene
scene.MarkerTracker = tracker;
// Display the camera image in the background. Note that this parameter should
// be set after adding at least one video capture device to the Scene class.
scene.ShowCameraImage = true;
}
private void SetupMarkerTracking()
{
DirectShowCapture2 captureDevice = new DirectShowCapture2();
captureDevice.InitVideoCapture(0, FrameRate._30Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
// Add this video capture device to the scene so that it can be used for
// the marker tracker
scene.AddVideoCaptureDevice(captureDevice);
// if we're using Wrap920AR, then we need to add another capture device for
// processing stereo camera
DirectShowCapture2 captureDevice2 = null;
if (iTracker.ProductID == iWearDllBridge.IWRProductID.IWR_PROD_WRAP920)
{
captureDevice2 = new DirectShowCapture2();
captureDevice2.InitVideoCapture(1, FrameRate._30Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
scene.AddVideoCaptureDevice(captureDevice2);
// Calculate the right projection matrix using the camera intrinsic parameters for the
// right camera
((StereoCamera)scene.CameraNode.Camera).RightProjection =
ALVARDllBridge.GetCameraProjection("Wrap920_1_Right.xml", captureDevice2.Width,
captureDevice2.Height, 0.1f, 1000);
}
// Create an optical marker tracker that uses ALVAR library
ALVARMarkerTracker tracker = new ALVARMarkerTracker();
tracker.MaxMarkerError = 0.02f;
tracker.ZNearPlane = 0.1f;
tracker.ZFarPlane = 1000;
tracker.InitTracker(captureDevice.Width, captureDevice.Height, "Wrap920_1_Left.xml", markerSize);
((StereoCamera)scene.CameraNode.Camera).LeftProjection = tracker.CameraProjection;
scene.MarkerTracker = tracker;
if (iTracker.ProductID == iWearDllBridge.IWRProductID.IWR_PROD_WRAP920)
{
scene.LeftEyeVideoID = 0;
scene.RightEyeVideoID = 1;
scene.TrackerVideoID = 0;
}
else
{
scene.LeftEyeVideoID = 0;
scene.RightEyeVideoID = 0;
scene.TrackerVideoID = 0;
}
// Create a marker node to track a ground marker array.
groundMarkerNode = new MarkerNode(scene.MarkerTracker, "ALVARGroundArray.xml");
// Add a transform node to tranlate the objects to be centered around the
// marker board.
TransformNode transNode = new TransformNode();
scene.RootNode.AddChild(groundMarkerNode);
scene.ShowCameraImage = true;
}
private void SetupMarkerTracking()
{
DirectShowCapture2 captureDevice = new DirectShowCapture2();
captureDevice.InitVideoCapture(0, FrameRate._30Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
// Add this video capture device to the scene so that it can be used for
// the marker tracker
scene.AddVideoCaptureDevice(captureDevice);
// if we're using Wrap920AR, then we need to add another capture device for
// processing stereo camera
if (iTracker.ProductID == iWearDllBridge.IWRProductID.IWR_PROD_WRAP920)
{
DirectShowCapture2 captureDevice2 = new DirectShowCapture2();
captureDevice2.InitVideoCapture(1, FrameRate._30Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
scene.AddVideoCaptureDevice(captureDevice2);
}
IMarkerTracker tracker = null;
#if USE_ARTAG
// Create an optical marker tracker that uses ARTag library
tracker = new ARTagTracker();
// Set the configuration file to look for the marker specifications
tracker.InitTracker(638.052f, 633.673f, captureDevice.Width,
captureDevice.Height, false, "ARTag.cf");
#else
// Create an optical marker tracker that uses ALVAR library
tracker = new ALVARMarkerTracker();
((ALVARMarkerTracker)tracker).MaxMarkerError = 0.02f;
tracker.InitTracker(captureDevice.Width, captureDevice.Height, "calib.xml", 9.0);
#endif
scene.MarkerTracker = tracker;
if (iTracker.ProductID == iWearDllBridge.IWRProductID.IWR_PROD_WRAP920)
{
scene.LeftEyeVideoID = 0;
scene.RightEyeVideoID = 1;
scene.TrackerVideoID = 0;
}
// Create a marker node to track a ground marker array.
#if USE_ARTAG
groundMarkerNode = new MarkerNode(scene.MarkerTracker, "ground");
scene.RootNode.AddChild(groundMarkerNode);
#else
// Create an array to hold a list of marker IDs that are used in the marker
// array configuration (even though these are already specified in the configuration
// file, ALVAR still requires this array)
int[] ids = new int[28];
for (int i = 0; i < ids.Length; i++)
ids[i] = i;
groundMarkerNode = new MarkerNode(scene.MarkerTracker, "ALVARGroundArray.txt", ids);
// Add a transform node to tranlate the objects to be centered around the
// marker board.
TransformNode transNode = new TransformNode();
scene.RootNode.AddChild(groundMarkerNode);
#endif
scene.ShowCameraImage = true;
}
private void SetupMarkerTracking()
{
DirectShowCapture captureDevice = new DirectShowCapture();
captureDevice.InitVideoCapture(0, FrameRate._30Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
scene.AddVideoCaptureDevice(captureDevice);
ALVARMarkerTracker tracker = new ALVARMarkerTracker();
tracker.MaxMarkerError = 0.02f;
tracker.InitTracker(captureDevice.Width, captureDevice.Height, "calib.xml", 9.0);
scene.MarkerTracker = tracker;
scene.ShowCameraImage = true;
scene.PhysicsEngine.GravityDirection = -Vector3.UnitZ;
// Create a marker node to track the ground plane
markerNode = new MarkerNode(scene.MarkerTracker, "ARDominoALVAR.txt");
scene.RootNode.AddChild(markerNode);
}
//Markers Functions
/// <summary>
/// Setup the marker tracking capture devices
/// </summary>
private void SetupMarkerTracking()
{
IVideoCapture captureDevice = null;
try
{
captureDevice = new DirectShowCapture2();
captureDevice.InitVideoCapture(0, FrameRate._30Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
}
catch
{
Console.WriteLine("Error: No Camera detected");
Exit();
}
// Add this video capture device to the scene so that it can be used for
// the marker tracker
try
{
scene.AddVideoCaptureDevice(captureDevice);
}
catch
{
}
// Create an optical marker tracker that uses ALVAR library
ALVARMarkerTracker tracker = new ALVARMarkerTracker();
tracker.MaxMarkerError = 0.02f;
tracker.InitTracker(captureDevice.Width, captureDevice.Height, "calib.xml", 9.0);
// Set the marker tracker to use for our scene
scene.MarkerTracker = tracker;
// Display the camera image in the background. Note that this parameter should
// be set after adding at least one video capture device to the Scene class.
scene.ShowCameraImage = true;
}
private void SetupCalibration()
{
leftCaptureDevice = new DirectShowCapture2();
leftCaptureDevice.InitVideoCapture(leftDeviceID, FrameRate._30Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
// Add left video capture device to the scene for rendering left eye image
scene.AddVideoCaptureDevice(leftCaptureDevice);
rightCaptureDevice = new DirectShowCapture2();
rightCaptureDevice.InitVideoCapture(rightDeviceID, FrameRate._30Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
// Add right video capture device to the scene for rendering right eye image
scene.AddVideoCaptureDevice(rightCaptureDevice);
// Create holders for retrieving the captured video images
leftImagePtr = Marshal.AllocHGlobal(leftCaptureDevice.Width * leftCaptureDevice.Height * 3);
rightImagePtr = Marshal.AllocHGlobal(rightCaptureDevice.Width * rightCaptureDevice.Height * 3);
// Associate each video devices to each eye
scene.LeftEyeVideoID = 0;
scene.RightEyeVideoID = 1;
scene.ShowCameraImage = true;
float markerSize = 32.4f;
// Initialize a marker tracker for tracking an marker array used for calibration
markerTracker = new ALVARMarkerTracker();
markerTracker.MaxMarkerError = 0.02f;
markerTracker.ZNearPlane = 0.1f;
markerTracker.ZFarPlane = 1000;
markerTracker.InitTracker(leftCaptureDevice.Width, leftCaptureDevice.Height, LEFT_CALIB, markerSize);
((StereoCamera)scene.CameraNode.Camera).LeftProjection = markerTracker.CameraProjection;
// Add another marker detector for tracking right video capture device
ALVARDllBridge.alvar_add_marker_detector(markerSize, 5, 2);
ALVARDllBridge.alvar_add_camera(RIGHT_CALIB, rightCaptureDevice.Width, rightCaptureDevice.Height);
double[] projMat = new double[16];
double cameraFovX = 0, cameraFovY = 0;
ALVARDllBridge.alvar_get_camera_params(1, projMat, ref cameraFovX, ref cameraFovY, 1000, 0.1f);
((StereoCamera)scene.CameraNode.Camera).RightProjection = new Matrix(
(float)projMat[0], (float)projMat[1], (float)projMat[2], (float)projMat[3],
(float)projMat[4], (float)projMat[5], (float)projMat[6], (float)projMat[7],
(float)projMat[8], (float)projMat[9], (float)projMat[10], (float)projMat[11],
(float)projMat[12], (float)projMat[13], (float)projMat[14], (float)projMat[15]);
// Add a marker array to be tracked
markerID = markerTracker.AssociateMarker("ALVARGroundArray.xml");
relativeTransforms = new List<Matrix>();
}
private void SetupMarkerTracking()
{
DirectShowCapture captureDevice = new DirectShowCapture();
captureDevice.InitVideoCapture(0, FrameRate._60Hz, Resolution._640x480, ImageFormat.R8G8B8_24, false);
scene.AddVideoCaptureDevice(captureDevice);
// Use ALVAR marker tracker
ALVARMarkerTracker tracker = new ALVARMarkerTracker();
tracker.MaxMarkerError = 0.02f;
tracker.InitTracker(captureDevice.Width, captureDevice.Height, "calib.xml", markerSize);
// Set the marker tracker to use for our scene
scene.MarkerTracker = tracker;
// Display the camera image in the background.
scene.ShowCameraImage = true;
// Create a marker node to track a ground marker array.
groundMarkerNode = new MarkerNode(scene.MarkerTracker, "ALVARGroundArray.xml");
// Create a marker node to track a toolbar marker array.
toolbarMarkerNode = new MarkerNode(scene.MarkerTracker, "ALVARToolbar.xml");
scene.RootNode.AddChild(groundMarkerNode);
scene.RootNode.AddChild(toolbarMarkerNode);
}
private void SetupMarkerTracking()
{
DirectShowCapture2 captureDevice = new DirectShowCapture2();
captureDevice.InitVideoCapture(0, FrameRate._60Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
scene.AddVideoCaptureDevice(captureDevice);
// Use ALVAR marker tracker
ALVARMarkerTracker tracker = new ALVARMarkerTracker();
tracker.MaxMarkerError = 0.02f;
tracker.ZNearPlane = arCameraNode.Camera.ZNearPlane;
tracker.ZFarPlane = arCameraNode.Camera.ZFarPlane;
tracker.InitTracker(captureDevice.Width, captureDevice.Height, "calib.xml", 32.4f);
// Set the marker tracker to use for our scene
scene.MarkerTracker = tracker;
// Display the camera image in the background. Note that this parameter should
// be set after adding at least one video capture device to the Scene class.
scene.ShowCameraImage = true;
// Create a marker node to track a ground marker array.
groundMarkerNode = new MarkerNode(scene.MarkerTracker, "ALVARGroundArray.xml");
scene.RootNode.AddChild(groundMarkerNode);
}
