public void run()
{
try {
Thread.Sleep(3000);
RawbitSerialIdTable.IdentifyIdResult ret = new RawbitSerialIdTable.IdentifyIdResult();
bool res;
lock (this._parent._mklib){
NyARDoublePoint2d[] vx = NyARDoublePoint2d.createArray(4);
//反時計まわり
vx[0].x = 0; vx[0].y = 0;
vx[1].x = 99; vx[1].y = 0;
vx[2].x = 99; vx[2].y = 99;
vx[3].x = 0; vx[3].y = 99;
res = this._parent._mklib.identifyId(vx, this._source, ret);
}
this._parent.callListener(res, this._serial, ret.artk_direction, ret.marker_width, ret.id);
} catch (Exception e) {
Console.Error.WriteLine(e.StackTrace);
}
}
/**
* 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 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);
}
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;
}
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);
}
