/**
* この関数は、オブジェクトからインスタンスに値をセットします。
* @param i_in
* コピー元のオブジェクト。
*/
public void setValue(NyARDoublePoint3d i_in)
{
this.x = i_in.x;
this.y = i_in.y;
this.z = i_in.z;
return;
}
/**
* この関数は、オブジェクトからインスタンスに値をセットします。
* @param i_in
* コピー元のオブジェクト。
*/
public void setValue(NyARDoublePoint3d i_in)
{
this.x = i_in.x;
this.y = i_in.y;
this.z = i_in.z;
return;
}
private double optimize(NyARRotMatrix_ARToolKit io_rotmat, NyARDoublePoint3d io_transvec, INyARTransportVectorSolver i_solver, NyARDoublePoint3d[] i_offset_3d, NyARDoublePoint2d[] i_2d_vertex)
{
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
double err = -1;
//System.out.println("START");
// ループを抜けるタイミングをARToolKitと合わせるために変なことしてます。
for (int i = 0; ; i++)
{
// <arGetTransMat3>
err = this._mat_optimize.modifyMatrix(io_rotmat, io_transvec, i_offset_3d, i_2d_vertex);
io_rotmat.getPoint3dBatch(i_offset_3d, vertex_3d, 4);
i_solver.solveTransportVector(vertex_3d, io_transvec);
err = this._mat_optimize.modifyMatrix(io_rotmat, io_transvec, i_offset_3d, i_2d_vertex);
//System.out.println("E:"+err*4);
// //</arGetTransMat3>
if (err < AR_GET_TRANS_MAT_MAX_FIT_ERROR || i == AR_GET_TRANS_MAT_MAX_LOOP_COUNT - 1)
{
break;
}
io_rotmat.getPoint3dBatch(i_offset_3d, vertex_3d, 4);
i_solver.solveTransportVector(vertex_3d, io_transvec);
}
//System.out.println("END");
return(err);
}
/**
* ターゲット座標系の4頂点でかこまれる領域を射影した平面から、RGB画像をo_rasterに取得します。
* @param i_vertex
* ターゲットのオフセットを基準値とした、頂点座標。要素数は4であること。(mm単位)
* @param i_matrix
* i_vertexに適応する変換行列。
* ターゲットの姿勢行列を指定すると、ターゲット座標系になります。不要ならばnullを設定してください。
* @param i_resolution
* 1ピクセルあたりのサンプリング値(n^2表現)
* @param o_raster
* 出力ラスタ
* @return
* @throws NyARException
* <p>メモ:この関数にはnewが残ってるので注意</p>
*/
public bool getRgbPatt3d(NyARRealitySource i_src, NyARDoublePoint3d[] i_vertex, NyARDoubleMatrix44 i_matrix, int i_resolution, INyARRgbRaster o_raster)
{
Debug.Assert(this._target_type == RT_KNOWN);
NyARDoublePoint2d[] da4 = this._ref_pool._wk_da2_4;
NyARDoublePoint3d v3d = new NyARDoublePoint3d();
if (i_matrix != null)
{
//姿勢変換してから射影変換
for (int i = 3; i >= 0; i--)
{
//姿勢を変更して射影変換
i_matrix.transform3d(i_vertex[i], v3d);
this._transform_matrix.transform3d(v3d, v3d);
this._ref_pool._ref_prj_mat.project(v3d, da4[i]);
}
}
else
{
//射影変換のみ
for (int i = 3; i >= 0; i--)
{
//姿勢を変更して射影変換
this._transform_matrix.transform3d(i_vertex[i], v3d);
this._ref_pool._ref_prj_mat.project(v3d, da4[i]);
}
}
//パターンの取得
return(i_src.refPerspectiveRasterReader().copyPatt(da4, 0, 0, i_resolution, o_raster));
}
/**
* 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;
}
/**
* この関数は、インスタンスの座標と、指定点との距離の２乗値を返します。
* @param i_p1
* 点の座標
* @return
* i_p1との距離の二乗値
*/
public double sqDist(NyARDoublePoint3d i_p1)
{
double x, y, z;
x = this.x - i_p1.x;
y = this.y - i_p1.y;
z = this.z - i_p1.z;
return x * x + y * y + z * z;
}
public NyARDoublePoint2d getScreenPos(int i_id, double i_x, double i_y, double i_z, NyARDoublePoint2d i_out)
{
NyARDoublePoint3d _wk_3dpos = this._wk_3dpos;
this.getTransformMatrix(i_id).transform3d(i_x, i_y, i_z, _wk_3dpos);
this._view.getFrustum().project(_wk_3dpos, i_out);
return(i_out);
}
public void getMarkerPlanePos(int id, int i_x, int i_y, ref Vector3 i_out)
{
NyARDoublePoint3d p = new NyARDoublePoint3d();
this.getMarkerPlanePos(id, i_x, i_y, p);
i_out.x = -(float)p.x;
i_out.y = (float)p.y;
i_out.z = (float)p.z;
}
/**
* この関数は、オブジェクトの一次配列を作ります。
* @param i_number
* 作成する配列の長さ
* @return
* 新しい配列。
*/
public static NyARDoublePoint3d[] createArray(int i_number)
{
NyARDoublePoint3d[] ret = new NyARDoublePoint3d[i_number];
for (int i = 0; i < i_number; i++)
{
ret[i] = new NyARDoublePoint3d();
}
return ret;
}
/**
* この関数は、インスタンスの座標と、指定点との距離の２乗値を返します。
* @param i_p1
* 点の座標
* @return
* i_p1との距離の二乗値
*/
public double sqDist(NyARDoublePoint3d i_p1)
{
double x, y, z;
x = this.x - i_p1.x;
y = this.y - i_p1.y;
z = this.z - i_p1.z;
return(x * x + y * y + z * z);
}
/**
* この関数は、オブジェクトの一次配列を作ります。
* @param i_number
* 作成する配列の長さ
* @return
* 新しい配列。
*/
public static NyARDoublePoint3d[] createArray(int i_number)
{
NyARDoublePoint3d[] ret = new NyARDoublePoint3d[i_number];
for (int i = 0; i < i_number; i++)
{
ret[i] = new NyARDoublePoint3d();
}
return(ret);
}
public void getMarkerPlanePos(int i_id, int i_x, int i_y, ref Vector3 i_buf)
{
NyARDoublePoint3d p = this.__wk_3dpos;
base.getMarkerPlanePos(i_id, i_x, i_y, p);
i_buf.X = (float)p.x;
i_buf.Y = (float)p.y;
i_buf.Z = (float)p.z;
return;
}
public void getScreenPos(int i_id, double i_x, double i_y, double i_z, ref Vector2 i_out)
{
NyARDoublePoint2d wk_2dpos = this.__wk_2dpos;
NyARDoublePoint3d wk_3dpos = this.__wk_3dpos;
this.getMarkerMatrix(i_id).transform3d(i_x, i_y, i_z, wk_3dpos);
this._frustum.project(wk_3dpos, wk_2dpos);
i_out.X = (float)wk_2dpos.x;
i_out.Y = (float)wk_2dpos.y;
return;
}
public static void restoreOutputOffset(NyARDoubleMatrix44 conv, NyARDoublePoint3d i_offset)
{
double dx = i_offset.x;
double dy = i_offset.y;
double dz = i_offset.z;
conv.m03 = (conv.m03 - conv.m00 * dx - conv.m01 * dy - conv.m02 * dz);
conv.m13 = (conv.m13 - conv.m10 * dx - conv.m11 * dy - conv.m12 * dz);
conv.m23 = (conv.m23 - conv.m20 * dx - conv.m21 * dy - conv.m22 * dz);
return;
}
/**
* 画面座標群と3次元座標群から、平行移動量を計算します。
* 2d座標系は、直前に実行した{@link #set2dVertex}のものを使用します。
*/
public void solveTransportVector(NyARDoublePoint3d[] i_vertex3d, NyARDoublePoint3d o_transfer)
{
int number_of_vertex = this._nmber_of_vertex;
double p00 = this._projection_mat.m00;
double p01 = this._projection_mat.m01;
double p02 = this._projection_mat.m02;
double p11 = this._projection_mat.m11;
double p12 = this._projection_mat.m12;
//行列[A]の3列目のキャッシュ
double[] cx = this._cx;
double[] cy = this._cy;
//回転行列を元座標の頂点群に適応
//[A]T*[b]を計算
double b1 = 0, b2 = 0, b3 = 0;
for (int i = 0; i < number_of_vertex; i++)
{
double w1 = i_vertex3d[i].z * cx[i] - p00 * i_vertex3d[i].x - p01 * i_vertex3d[i].y - p02 * i_vertex3d[i].z;
double w2 = i_vertex3d[i].z * cy[i] - p11 * i_vertex3d[i].y - p12 * i_vertex3d[i].z;
b1 += w1;
b2 += w2;
b3 += cx[i] * w1 + cy[i] * w2;
}
//[A]T*[b]を計算
b3 = p02 * b1 + p12 * b2 - b3;//順番変えたらダメよ
b2 = p01 * b1 + p11 * b2;
b1 = p00 * b1;
//([A]T*[A])*[T]=[A]T*[b]を方程式で解く。
//a01とa10を0と仮定しても良いんじゃないかな？
double a00 = this._a00;
double a01 = this._a01_10;
double a02 = this._a02_20;
double a11 = this._a11;
double a12 = this._a12_21;
double a22 = this._a22;
double t1 = a22 * b2 - a12 * b3;
double t2 = a12 * b2 - a11 * b3;
double t3 = a01 * b3 - a02 * b2;
double t4 = a12 * a12 - a11 * a22;
double t5 = a02 * a12 - a01 * a22;
double t6 = a02 * a11 - a01 * a12;
double det = a00 * t4 - a01 * t5 + a02 * t6;
o_transfer.x = (a01 * t1 - a02 * t2 + b1 * t4) / det;
o_transfer.y = -(a00 * t1 + a02 * t3 + b1 * t5) / det;
o_transfer.z = (a00 * t2 + a01 * t3 + b1 * t6) / det;
return;
}
/*
* (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;
}
/**
* 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, NyARDoubleMatrix44 i_prev_result, double i_prev_err, NyARDoubleMatrix44 o_result, NyARTransMatResultParam o_param)
{
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);
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);
// 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)
{
return(false);
}
// マトリクスの保存
o_result.setValue(this._rotmatrix, trans);
//エラー値保存
if (o_param != null)
{
o_param.last_error = err;
}
return(true);
}
/**
* 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;
}
/**
* 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, NyARDoubleMatrix44 o_result, NyARTransMatResultParam o_param)
{
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
if (!this._rotmatrix.initRotBySquare(i_square.line, i_square.sqvertex))
{
return(false);
}
//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.setValue(this._rotmatrix, trans);
if (o_param != null)
{
o_param.last_error = err;
}
return(true);
}
/**
* この関数は、平行移動量と回転行列をセットして、インスタンスのパラメータを更新します。
* 通常、ユーザが使うことはありません。
* {@link INyARTransMat#transMatContinue}関数が使います。
* @param i_rot
* 設定する回転行列
* @param i_trans
* 設定する平行移動量
*/
public void setValue(NyARDoubleMatrix33 i_rot, NyARDoublePoint3d i_trans, double i_error)
{
this.m00 = i_rot.m00;
this.m01 = i_rot.m01;
this.m02 = i_rot.m02;
this.m03 = i_trans.x;
this.m10 = i_rot.m10;
this.m11 = i_rot.m11;
this.m12 = i_rot.m12;
this.m13 = i_trans.y;
this.m20 = i_rot.m20;
this.m21 = i_rot.m21;
this.m22 = i_rot.m22;
this.m23 = i_trans.z;
this.m30 = this.m31 = this.m32 = 0;
this.m33 = 1.0;
this.has_value = true;
this.last_error = i_error;
return;
}
/**
* この関数は、平行移動量と回転行列をセットして、インスタンスのパラメータを更新します。
* 通常、ユーザが使うことはありません。
* {@link INyARTransMat#transMatContinue}関数が使います。
* @param i_rot
* 設定する回転行列
* @param i_trans
* 設定する平行移動量
*/
public void setValue(NyARDoubleMatrix33 i_rot, NyARDoublePoint3d i_trans, double i_error)
{
this.m00 = i_rot.m00;
this.m01 = i_rot.m01;
this.m02 = i_rot.m02;
this.m03 = i_trans.x;
this.m10 = i_rot.m10;
this.m11 = i_rot.m11;
this.m12 = i_rot.m12;
this.m13 = i_trans.y;
this.m20 = i_rot.m20;
this.m21 = i_rot.m21;
this.m22 = i_rot.m22;
this.m23 = i_trans.z;
this.m30 = this.m31 = this.m32 = 0;
this.m33 = 1.0;
this.has_value = true;
this.last_error = i_error;
return;
}
/**
* カメラ座標系の4頂点でかこまれる領域から、RGB画像をo_rasterに取得します。
* @param i_vertex
* @param i_matrix
* i_vertexに適応する変換行列。
* ターゲットの姿勢行列を指定すると、ターゲット座標系になります。不要ならばnullを設定してください。
* @param i_resolution
* @param o_raster
* @return
* @throws NyARException
*/
public bool GetRgbPatt3d(NyARRealitySource i_src, NyARDoublePoint3d[] i_vertex, NyARDoubleMatrix44 i_matrix, int i_resolution, INyARRgbRaster o_raster)
{
NyARDoublePoint2d[] vx = NyARDoublePoint2d.createArray(4);
if (i_matrix != null)
{
//姿勢変換してから射影変換
NyARDoublePoint3d v3d = new NyARDoublePoint3d();
for (int i = 3; i >= 0; i--)
{
i_matrix.transform3d(i_vertex[i], v3d);
this._ref_prjmat.project(v3d, vx[i]);
}
}
else
{
//射影変換のみ
for (int i = 3; i >= 0; i--)
{
this._ref_prjmat.project(i_vertex[i], vx[i]);
}
}
//パターンの取得
return(i_src.refPerspectiveRasterReader().copyPatt(vx, 0, 0, i_resolution, o_raster));
}
public NyARDoublePoint3d getPlanePos(int i_id, int i_x, int i_y, NyARDoublePoint3d i_out)
{
this._view.getFrustum().unProjectOnMatrix(i_x, i_y, this.getTransformMatrix(i_id), i_out);
return(i_out);
}
static void Main(string[] args)
{
NyARDoubleMatrix44 DEST_MAT = new NyARDoubleMatrix44(
new double[] {
0.9832165682361184, 0.004789697223621061, -0.18237945710280384, -190.59060790299358,
0.012860184615056927, -0.9989882709616935, 0.04309419210331572, 64.04490277502563,
-0.18198852802987958, -0.044716355753573425, -0.9822833548209547, 616.6427596804766,
0, 0, 0, 1
});
NyARDoubleMatrix44 SRC_MAT = new NyARDoubleMatrix44(new double[] {
0.984363556, 0.00667689135, -0.176022261, -191.179672,
0.0115975942, -0.999569774, 0.0269410834, 63.0028076,
-0.175766647, -0.0285612550, -0.984017432, 611.758728,
0, 0, 0, 1
});
String img_file = "../../../../../data/testcase/test.raw";
String cparam = "../../../../../data/testcase/camera_para5.dat";
String fsetfile = "../../../../../data/testcase/pinball.fset";
String isetfile = "../../../../../data/testcase/pinball.iset5";
//カメラパラメータ
NyARParam param = NyARParam.loadFromARParamFile(File.OpenRead(cparam), 640, 480, NyARParam.DISTFACTOR_LT_ARTK5);
INyARGrayscaleRaster gs = NyARGrayscaleRaster.createInstance(640, 480);
//試験画像の準備
{
INyARRgbRaster rgb = NyARRgbRaster.createInstance(640, 480, NyARBufferType.BYTE1D_B8G8R8X8_32);
Stream fs = File.OpenRead(img_file);
byte[] b = (byte[])rgb.getBuffer();
fs.Read(b, 0, b.Length);
INyARRgb2GsFilterRgbAve filter = (INyARRgb2GsFilterRgbAve)rgb.createInterface(typeof(INyARRgb2GsFilterRgbAve));
filter.convert(gs);
}
NyARNftFsetFile fset = NyARNftFsetFile.loadFromFsetFile(File.OpenRead(fsetfile));
NyARNftIsetFile iset = NyARNftIsetFile.loadFromIsetFile(File.OpenRead(isetfile));
NyARSurfaceTracker st = new NyARSurfaceTracker(param, 16, 0.5);
NyARSurfaceDataSet sd = new NyARSurfaceDataSet(iset, fset);
NyARDoubleMatrix44 sret = new NyARDoubleMatrix44();
NyARDoublePoint2d[] o_pos2d = NyARDoublePoint2d.createArray(16);
NyARDoublePoint3d[] o_pos3d = NyARDoublePoint3d.createArray(16);
NyARSurfaceTrackingTransmatUtils tmat = new NyARSurfaceTrackingTransmatUtils(param, 5.0);
NyARDoubleMatrix44 tret = new NyARDoubleMatrix44();
for (int j = 0; j < 10; j++)
{
Stopwatch s = new Stopwatch();
s.Reset();
s.Start();
for (int i = 0; i < 3000; i++)
{
sret.setValue(SRC_MAT);
int nop = st.tracking(gs, sd, sret, o_pos2d, o_pos3d, 16);
//Transmatの試験
NyARDoublePoint3d off = NyARSurfaceTrackingTransmatUtils.centerOffset(o_pos3d, nop, new NyARDoublePoint3d());
NyARSurfaceTrackingTransmatUtils.modifyInputOffset(sret, o_pos3d, nop, off);
tmat.surfaceTrackingTransmat(sret, o_pos2d, o_pos3d, nop, tret, new NyARTransMatResultParam());
NyARSurfaceTrackingTransmatUtils.restoreOutputOffset(tret, off);
System.Console.WriteLine(tret.Equals(DEST_MAT));
}
s.Stop();
System.Console.WriteLine(s.ElapsedMilliseconds);
}
return;
}
private double optimize(NyARRotMatrix_ARToolKit io_rotmat, NyARDoublePoint3d io_transvec, INyARTransportVectorSolver i_solver, NyARDoublePoint3d[] i_offset_3d, NyARDoublePoint2d[] i_2d_vertex)
{
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
double err = -1;
//System.out.println("START");
// ループを抜けるタイミングをARToolKitと合わせるために変なことしてます。
for (int i = 0; ; i++)
{
// <arGetTransMat3>
err = this._mat_optimize.modifyMatrix(io_rotmat, io_transvec, i_offset_3d, i_2d_vertex);
io_rotmat.getPoint3dBatch(i_offset_3d, vertex_3d, 4);
i_solver.solveTransportVector(vertex_3d, io_transvec);
err = this._mat_optimize.modifyMatrix(io_rotmat, io_transvec, i_offset_3d, i_2d_vertex);
//System.out.println("E:"+err*4);
// //</arGetTransMat3>
if (err < AR_GET_TRANS_MAT_MAX_FIT_ERROR || i == AR_GET_TRANS_MAT_MAX_LOOP_COUNT - 1)
{
break;
}
io_rotmat.getPoint3dBatch(i_offset_3d, vertex_3d, 4);
i_solver.solveTransportVector(vertex_3d, io_transvec);
}
//System.out.println("END");
return err;
}
/**
* この関数は、入力した画像でインスタンスの状態を更新します。
* 関数は、入力画像を処理して検出、一致判定、トラッキング処理を実行します。
* @param i_sensor
* 画像を含むセンサオブジェクト
*/
public void update(NyARSensor i_sensor)
{
long time_stamp = i_sensor.getTimeStamp();
//センサのタイムスタンプが変化していなければ何もしない。
if (this._last_time_stamp == time_stamp)
{
return;
}
//タイムスタンプの更新
this._last_time_stamp = time_stamp;
//ステータス遷移
NyARDoublePoint2d[] pos2d = this._pos2d;
NyARDoublePoint3d[] pos3d = this._pos3d;
INyARGrayscaleRaster gs = i_sensor.getGsImage();
//KPMスレッドによる更新()
this._kpm_worker.updateInputImage(gs);
//SurfaceTrackingによるfrontデータの更新
foreach (NftTarget target in this._nftdatalist)
{
if (target.stage < NftTarget.ST_KPM_FOUND)
{
//System.out.println("NOTHING");
//KPM検出前なら何もしない。
continue;
}
switch (target.stage)
{
case NftTarget.ST_AR2_TRACKING:
//NftTarget.ST_AR2_TRACKING以降
//front_transmatに作る。
NyARSurfaceTracker st = this._surface_tracker;
int nop = st.tracking(gs, target.dataset.surface_dataset, target.front_transmat, this._pos2d, pos3d, 16);
if (nop == 0)
{
//失敗
target.stage = NftTarget.ST_KPM_SEARCH;
//System.out.println("ST_KPM_SEARCH");
continue;
}
//Transmatの試験
NyARDoublePoint3d off = NyARSurfaceTrackingTransmatUtils.centerOffset(pos3d, nop, new NyARDoublePoint3d());
NyARSurfaceTrackingTransmatUtils.modifyInputOffset(target.front_transmat, pos3d, nop, off); //ARTK5の補正
if (!this._sftrackingutils.surfaceTrackingTransmat(target.front_transmat, pos2d, pos3d, nop, target.front_transmat, this.result_param))
{
//失敗
target.stage = NftTarget.ST_KPM_SEARCH;
//System.out.println("ST_KPM_SEARCH");
continue;
}
NyARSurfaceTrackingTransmatUtils.restoreOutputOffset(target.front_transmat, off); //ARTK5の補正
break;
case NftTarget.ST_KPM_FOUND:
target.stage = NftTarget.ST_AR2_TRACKING;
//System.out.println("ST_AR2_TRACKING");
break;
}
}
}
public override bool icpPoint(NyARDoublePoint2d[] screenCoord,
NyARDoublePoint3d[] worldCoord, int num,
NyARDoubleMatrix44 initMatXw2Xc, NyARDoubleMatrix44 o_matxw2xc, NyARTransMatResultParam o_result_param)
{
double err0 = 0, err1;
System.Diagnostics.Debug.Assert(num >= 4);
NyARIcpUtils.DeltaS dS = this.__dS;
NyARIcpUtils.U u = this.__u;
//ワークオブジェクトのリセット
if (this.__jus.getArraySize() < num)
{
this.__jus = new NyARIcpUtils.JusStack(num);
this.__du = NyARDoublePoint2d.createArray(num);
}
NyARIcpUtils.JusStack jus = this.__jus;
NyARDoublePoint2d[] du = this.__du;
o_matxw2xc.setValue(initMatXw2Xc);
double breakLoopErrorThresh = this.getBreakLoopErrorThresh();
double breakLoopErrorThresh2 = this.getBreakLoopErrorThresh2();
double breakLoopErrorRatioThresh = this.getBreakLoopErrorRatioThresh();
double maxLoop = this.getMaxLoop();
NyARDoubleMatrix44 matXw2U = this.__matXw2U;
for (int i = 0; ; i++)
{
matXw2U.mul(this._ref_matXc2U, o_matxw2xc);
err1 = 0.0;
for (int j = 0; j < num; j++)
{
if (!u.setXbyMatX2U(matXw2U, worldCoord[j]))
{
return false;
}
double dx = screenCoord[j].x - u.x;
double dy = screenCoord[j].y - u.y;
err1 += dx * dx + dy * dy;
du[j].x = dx;
du[j].y = dy;
}
err1 /= num;
if (err1 < breakLoopErrorThresh)
{
break;
}
if ((i > 0) && (err1 < breakLoopErrorThresh2) && (err1 / err0 > breakLoopErrorRatioThresh))
{
break;
}
if (i == maxLoop)
{
break;
}
err0 = err1;
jus.clear();
for (int j = 0; j < num; j++)
{
if(!jus.push(this._ref_matXc2U,o_matxw2xc, worldCoord[j],du[j],1.0))
{
return false;
}
}
if (!dS.setJusArray(jus))
{
return false;
}
dS.makeMat(o_matxw2xc);
}
if (o_result_param != null)
{
o_result_param.last_error = err1;
}
// *err = err1;
return true;
}
public NyARDoublePoint3d getMarkerPlanePos(int i_id, int i_x, int i_y, NyARDoublePoint3d i_out)
{
return(this.getPlanePos(i_id, i_x, i_y, i_out));
}
/**
* 画面座標群と3次元座標群から、平行移動量を計算します。
* 2d座標系は、直前に実行した{@link #set2dVertex}のものを使用します。
*/
public void solveTransportVector(NyARDoublePoint3d[] i_vertex3d, NyARDoublePoint3d o_transfer)
{
int number_of_vertex = this._nmber_of_vertex;
double p00 = this._projection_mat.m00;
double p01 = this._projection_mat.m01;
double p02 = this._projection_mat.m02;
double p11 = this._projection_mat.m11;
double p12 = this._projection_mat.m12;
//行列[A]の3列目のキャッシュ
double[] cx = this._cx;
double[] cy = this._cy;
//回転行列を元座標の頂点群に適応
//[A]T*[b]を計算
double b1 = 0, b2 = 0, b3 = 0;
for (int i = 0; i < number_of_vertex; i++)
{
double w1 = i_vertex3d[i].z * cx[i] - p00 * i_vertex3d[i].x - p01 * i_vertex3d[i].y - p02 * i_vertex3d[i].z;
double w2 = i_vertex3d[i].z * cy[i] - p11 * i_vertex3d[i].y - p12 * i_vertex3d[i].z;
b1 += w1;
b2 += w2;
b3 += cx[i] * w1 + cy[i] * w2;
}
//[A]T*[b]を計算
b3 = p02 * b1 + p12 * b2 - b3;//順番変えたらダメよ
b2 = p01 * b1 + p11 * b2;
b1 = p00 * b1;
//([A]T*[A])*[T]=[A]T*[b]を方程式で解く。
//a01とa10を0と仮定しても良いんじゃないかな？
double a00 = this._a00;
double a01 = this._a01_10;
double a02 = this._a02_20;
double a11 = this._a11;
double a12 = this._a12_21;
double a22 = this._a22;
double t1 = a22 * b2 - a12 * b3;
double t2 = a12 * b2 - a11 * b3;
double t3 = a01 * b3 - a02 * b2;
double t4 = a12 * a12 - a11 * a22;
double t5 = a02 * a12 - a01 * a22;
double t6 = a02 * a11 - a01 * a12;
double det = a00 * t4 - a01 * t5 + a02 * t6;
o_transfer.x = (a01 * t1 - a02 * t2 + b1 * t4) / det;
o_transfer.y = -(a00 * t1 + a02 * t3 + b1 * t5) / det;
o_transfer.z = (a00 * t2 + a01 * t3 + b1 * t6) / det;
return;
}
/** * ICPアルゴリズムによる姿勢推定を行います。 * * @param screenCoord * @param worldCoord * @param num * @param initMatXw2Xc * @param o_matxw2xc * @param o_result_param * 結果パラメータを受け取るオブジェクト。不要な場合はnullを指定可能。 * @return * @throws NyARException */ public abstract bool icpPoint(NyARDoublePoint2d[] screenCoord, NyARDoublePoint3d[] worldCoord, int num, NyARDoubleMatrix44 initMatXw2Xc, NyARDoubleMatrix44 o_matxw2xc,NyARTransMatResultParam o_result_param);
/**
* この関数は、スクリーン座標点をマーカ平面の点に変換します。
* {@link #isExistMarker(int)}がtrueの時にだけ使用できます。
* @param i_id
* マーカID（ハンドル）値。
* @param i_x
* 変換元のスクリーン座標
* @param i_y
* 変換元のスクリーン座標
* @param i_out
* 結果を格納するオブジェクト
* @return
* 結果を格納したi_outに設定したオブジェクト
*/
public NyARDoublePoint3d getMarkerPlanePos(int i_id, int i_x, int i_y, NyARDoublePoint3d i_out)
{
this._frustum.unProjectOnMatrix(i_x, i_y, this.getMarkerMatrix(i_id), i_out);
return(i_out);
}
//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);
}
}
public bool icpStereoPoint(NyARDoublePoint2d[] screenCoord_l,
NyARDoublePoint3d[] worldCoord_l, int num_l,
NyARDoublePoint2d[] screenCoord_r,
NyARDoublePoint3d[] worldCoord_r, int num_r,
NyARDoubleMatrix44 initMatXw2Xc, NyARDoubleMatrix44 matXw2Xc)
{
System.Diagnostics.Debug.Assert(num_l + num_r >= 3);
double err0 = 0, err1;
// 6*2*num?
NyARIcpUtils.DeltaS dS = this.__dS;
//ワークオブジェクトのリセット
if (this.__jus.getArraySize() < num_l + num_r)
{
this.__jus = new NyARIcpUtils.JusStack(num_l + num_r);
this.__du = NyARDoublePoint2d.createArray(num_l + num_r);
}
NyARIcpUtils.JusStack jus = this.__jus;
NyARDoublePoint2d[] du = this.__du;
NyARIcpUtils.U u = this.__u;
NyARDoubleMatrix44 matXc2Ul = new NyARDoubleMatrix44();
NyARDoubleMatrix44 matXc2Ur = new NyARDoubleMatrix44();
NyARDoubleMatrix44 matXw2Ul = new NyARDoubleMatrix44();
NyARDoubleMatrix44 matXw2Ur = new NyARDoubleMatrix44();
matXw2Xc.setValue(initMatXw2Xc);
matXc2Ul.mul(this._ref_matXcl2Ul, this._matC2L);
matXc2Ur.mul(this._ref_matXcr2Ur, this._matC2R);
for (int i = 0; ; i++)
{
matXw2Ul.mul(matXc2Ul, matXw2Xc);
matXw2Ur.mul(matXc2Ur, matXw2Xc);
err1 = 0.0;
for (int j = 0; j < num_l; j++)
{
if (!u.setXbyMatX2U(matXw2Ul, worldCoord_l[j]))
{
return false;
}
double dx = screenCoord_l[j].x - u.x;
double dy = screenCoord_l[j].y - u.y;
err1 += dx * dx + dy * dy;
du[j].x = dx;
du[j].y = dy;
}
for (int j = 0; j < num_r; j++)
{
if (!u.setXbyMatX2U(matXw2Ur, worldCoord_r[j]))
{
return false;
}
double dx = screenCoord_r[j].x - u.x;
double dy = screenCoord_r[j].y - u.y;
err1 += dx * dx + dy * dy;
du[j + num_l].x = dx;
du[j + num_l].y = dy;
}
err1 /= (num_l + num_r);
if (err1 < this.breakLoopErrorThresh)
{
break;
}
if (i > 0 && err1 < ICP_BREAK_LOOP_ERROR_THRESH2
&& err1 / err0 > this.breakLoopErrorRatioThresh)
{
break;
}
if (i == this.maxLoop)
{
break;
}
err0 = err1;
for (int j = 0; j < num_l; j++)
{
if (!jus.push(this._ref_matXc2U, matXw2Xc, worldCoord_l[j], du[j], 1.0))
{
return false;
}
}
for (int j = 0; j < num_r; j++)
{
if (!jus.push(this._ref_matXc2U, matXw2Xc, worldCoord_r[j], du[j], 1.0))
{
return false;
}
}
if (!dS.setJusArray(jus))
{
return false;
}
dS.makeMat(matXw2Xc);
}
return false;
}
public static NyARDoublePoint3d centerOffset(NyARDoublePoint3d[] i_pos3d, int i_num, NyARDoublePoint3d i_result)
{
double dx, dy, dz;
dx = dy = dz = 0.0f;
for (int i = 0; i < i_num; i++)
{
dx += i_pos3d[i].x;
dy += i_pos3d[i].y;
dz += i_pos3d[i].z;
}
i_result.x = dx / i_num;
i_result.y = dy / i_num;
i_result.z = dz / i_num;
return(i_result);
}
/**
* ARToolKitV5で追加されていた補正
* @param initConv
* @param i_pos3d
* @param i_offset
* @param i_num
*/
public static void modifyInputOffset(NyARDoubleMatrix44 initConv, NyARDoublePoint3d[] i_pos3d, int i_num, NyARDoublePoint3d i_offset)
{
double dx = i_offset.x;
double dy = i_offset.y;
double dz = i_offset.z;
for (int i = 0; i < i_num; i++)
{
i_pos3d[i].x = i_pos3d[i].x - dx;
i_pos3d[i].y = i_pos3d[i].y - dy;
i_pos3d[i].z = i_pos3d[i].z - dz;
}
initConv.m03 = (initConv.m00 * dx + initConv.m01 * dy + initConv.m02 * dz + initConv.m03);
initConv.m13 = (initConv.m10 * dx + initConv.m11 * dy + initConv.m12 * dz + initConv.m13);
initConv.m23 = (initConv.m20 * dx + initConv.m21 * dy + initConv.m22 * dz + initConv.m23);
return;
}
//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);
}
}
/**
* 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;
}
