public MainForm()
{
InitializeComponent();
posit = new Posit(positObject, -200);
coposit = new CoplanarPosit(copositObject, 200);
}
private void CreatePosit( )
{
if (glyphSize != 0)
{
// create glyph's model
float sizeHalf = glyphSize / 2;
Vector3[] glyphModel = new Vector3[]
{
new Vector3(-sizeHalf, 0, sizeHalf),
new Vector3(sizeHalf, 0, sizeHalf),
new Vector3(sizeHalf, 0, -sizeHalf),
new Vector3(-sizeHalf, 0, -sizeHalf),
};
posit = new CoplanarPosit(glyphModel, cameraFocalLength);
}
else
{
posit = null;
}
}
// Estimate 3D position
private void EstimatePose( )
{
try
{
// check if all image coordinates are specified
if ((string.IsNullOrEmpty(imagePoint1Box.Text)) ||
(string.IsNullOrEmpty(imagePoint2Box.Text)) ||
(string.IsNullOrEmpty(imagePoint3Box.Text)) ||
(string.IsNullOrEmpty(imagePoint4Box.Text)))
{
throw new ApplicationException("Some image coordinates are not specified.");
}
// check if all model coordnates are specified
if ((string.IsNullOrEmpty(modelPoint1xBox.Text)) ||
(string.IsNullOrEmpty(modelPoint2xBox.Text)) ||
(string.IsNullOrEmpty(modelPoint3xBox.Text)) ||
(string.IsNullOrEmpty(modelPoint4xBox.Text)) ||
(string.IsNullOrEmpty(modelPoint1yBox.Text)) ||
(string.IsNullOrEmpty(modelPoint2yBox.Text)) ||
(string.IsNullOrEmpty(modelPoint3yBox.Text)) ||
(string.IsNullOrEmpty(modelPoint4yBox.Text)) ||
((!useCoplanarPosit) && (
(string.IsNullOrEmpty(modelPoint1zBox.Text)) ||
(string.IsNullOrEmpty(modelPoint2zBox.Text)) ||
(string.IsNullOrEmpty(modelPoint3zBox.Text)) ||
(string.IsNullOrEmpty(modelPoint4zBox.Text)))))
{
throw new ApplicationException("Some model coordinates are not specified.");
}
// calculate model's center
Vector3 modelCenter = new Vector3(
(modelPoints[0].X + modelPoints[1].X + modelPoints[2].X + modelPoints[3].X) / 4,
(modelPoints[0].Y + modelPoints[1].Y + modelPoints[2].Y + modelPoints[3].Y) / 4,
(modelPoints[0].Z + modelPoints[1].Z + modelPoints[2].Z + modelPoints[3].Z) / 4
);
// calculate ~ model's radius
modelRadius = 0;
foreach (Vector3 modelPoint in modelPoints)
{
float distanceToCenter = (modelPoint - modelCenter).Norm;
if (distanceToCenter > modelRadius)
{
modelRadius = distanceToCenter;
}
}
if (!useCoplanarPosit)
{
Posit posit = new Posit(modelPoints, focalLength);
posit.EstimatePose(imagePoints, out rotationMatrix, out translationVector);
bestPoseButton.Visible = alternatePoseButton.Visible = false;
}
else
{
CoplanarPosit coposit = new CoplanarPosit(modelPoints, focalLength);
coposit.EstimatePose(imagePoints, out rotationMatrix, out translationVector);
bestRotationMatrix = coposit.BestEstimatedRotation;
bestTranslationVector = coposit.BestEstimatedTranslation;
alternateRotationMatrix = coposit.AlternateEstimatedRotation;
alternateTranslationVector = coposit.AlternateEstimatedTranslation;
bestPoseButton.Visible = alternatePoseButton.Visible = true;
}
isPoseEstimated = true;
UpdateEstimationInformation( );
pictureBox.Invalidate( );
}
catch (ApplicationException ex)
{
MessageBox.Show(ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
void camera_NewFrame(object sender, NewFrameEventArgs eventArgs)
{
float sizeHalf = 113.0f / 2;
Vector3[] glyphModel = new Vector3[]
{
new Vector3(-sizeHalf, 0, sizeHalf),
new Vector3(sizeHalf, 0, sizeHalf),
new Vector3(sizeHalf, 0, -sizeHalf),
new Vector3(-sizeHalf, 0, -sizeHalf),
};
try
{
GlyphRecognizer gr = new GlyphRecognizer(glyphDatabase);
List <ExtractedGlyphData> glyphs = gr.FindGlyphs(eventArgs.Frame);
System.Drawing.Image img = (Bitmap)eventArgs.Frame.Clone();
double x = 0;
double y = 0;
String glyphName = String.Empty;
AForge.Point[] glyphPoints = new AForge.Point[4];
foreach (var glyph in glyphs)
{
if (glyph.RecognizedGlyph != null)
{
glyphName = glyph.RecognizedGlyph.Name;
x = (glyph.Quadrilateral[0].X + glyph.Quadrilateral[2].X) / 2;
y = (glyph.Quadrilateral[0].Y + glyph.Quadrilateral[2].Y) / 2;
for (int i = 0; i < 4; i++)
{
glyphPoints[i] = new AForge.Point(
(int)(glyph.RecognizedQuadrilateral[i].X - x),
(int)y - glyph.RecognizedQuadrilateral[i].Y);
}
break;
}
}
MemoryStream ms = new MemoryStream();
img.Save(ms, ImageFormat.Bmp);
ms.Seek(0, SeekOrigin.Begin);
BitmapImage bi = new BitmapImage();
bi.BeginInit();
bi.StreamSource = ms;
bi.EndInit();
bi.Freeze();
Dispatcher.BeginInvoke(new ThreadStart(delegate
{
//Canvas.SetLeft(pictureGlyph, x-60);
//Canvas.SetTop(pictureGlyph, y-60);
image1.Source = bi;
Title = "Found glyphs " + glyphs.Count + " " + glyphName;
if (glyphName != "")
{
Dispatcher.BeginInvoke(new ThreadStart(delegate
{
Console.WriteLine(MODEL_PATH);
MODEL_PATH = CurrentGallery.UrlPrefix + "\\" + glyphName + ".3ds";
float yaw, pitch, roll;
CoplanarPosit posit = new CoplanarPosit(glyphModel, 1);
Matrix3x3 positRotation;
Vector3 positTranslation;
posit.EstimatePose(glyphPoints, out positRotation, out positTranslation);
positRotation.ExtractYawPitchRoll(out yaw, out pitch, out roll);
visualisation3Dmodel(MODEL_PATH, yaw, pitch, roll, new Vector3D(positTranslation.X, positTranslation.Y, positTranslation.Z));
}));
}
}));
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
