/// <summary>
/// Initializes the detector for single marker detection.
/// </summary>
/// <param name="width">The width of the buffer that will be used for detection.</param>
/// <param name="height">The height of the buffer that will be used for detection.</param>
/// <param name="nearPlane">The near view plane of the frustum.</param>
/// <param name="farPlane">The far view plane of the frustum.</param>
/// <param name="markers">A list of markers that should be detected.</param>
/// <param name="bufferType">The type of the buffer.</param>
/// <param name="adaptive">Performs an adaptive bitmap thresholding if set to true. Default = false.</param>
protected void Initialize(int width, int height, double nearPlane, double farPlane, IList <Marker> markers, int bufferType, bool adaptive = false)
{
// Check arguments
if (markers == null || !markers.Any())
{
throw new ArgumentNullException("markers");
}
// Member init
this.bufferWidth = width;
this.bufferHeight = height;
this.isAdaptive = adaptive;
// Init pattern matchers with markers and check segment size, whcih has to be equal for all markers
int segmentX = markers[0].SegmentsX;
int segmentY = markers[0].SegmentsY;
var patternMatchers = new List <PatternMatcher>(markers.Count);
foreach (var marker in markers)
{
if (marker.SegmentsX != segmentX || marker.SegmentsY != segmentY)
{
throw new ArgumentException("The Segment size has to be equal for all markers. Don't mix 16x16 and 32x32 markers for example.", "markers");
}
patternMatchers.Add(new PatternMatcher(marker));
}
// Load deafult camera calibration data
var asmName = new System.Reflection.AssemblyName(System.Reflection.Assembly.GetExecutingAssembly().FullName).Name;
var streamResInfoCam = Application.GetResourceStream(new Uri(asmName + ";component/data/Camera_Calibration_Default.dat", UriKind.Relative));
var cameraParameters = new NyARParam();
using (var cameraCalibrationDataStream = streamResInfoCam.Stream)
{
cameraParameters.loadARParam(cameraCalibrationDataStream);
cameraParameters.changeScreenSize(width, height);
}
// Get projection matrix from camera calibration data
this.Projection = cameraParameters.GetCameraFrustumRH(nearPlane, farPlane);
// Init detector and necessary data
var colorPattern = new NyARColorPatt_Perspective_O2(segmentX, segmentY, 4, 25);
var patternMatchDeviationData = new NyARMatchPattDeviationColorData(segmentX, segmentY);
this.squareDetector = new NyARSquareContourDetector_Rle(cameraParameters.getScreenSize());
this.squareDetectionListener = new SquareDetectionListener(patternMatchers, cameraParameters, colorPattern, patternMatchDeviationData);
// Init buffer members
this.filteredBuffer = new NyARBinRaster(width, height);
if (adaptive)
{
this.bufferFilter = new NyARRasterFilter_AdaptiveThreshold(bufferType);
}
else
{
this.bufferFilter = new NyARRasterFilter_ARToolkitThreshold(this.Threshold, bufferType);
}
}
public void notifyOnUpdateCameraParametor(NyARParam i_param, double i_near, double i_far)
{
for (int i = 0; i < this._length; i++)
{
this._items[i].onUpdateCameraParametor(i_param, i_near, i_far);
}
}
public MainWindow()
{
InitializeComponent();
CaptureDeviceList cl = new CaptureDeviceList();
m_cap = cl[0];
m_cap.SetCaptureListener(this);
m_cap.PrepareCapture(cameraResX, cameraResY, 30); // 800x600 resolution, 30 fps
NyARParam ap = new NyARParam();
ap.loadARParamFromFile(AR_CAMERA_FILE);
ap.changeScreenSize(cameraResX, cameraResY);
this.m_raster = new NyARRgbRaster(m_cap.video_width, m_cap.video_height, NyARBufferType.BYTE1D_R8G8B8_24,
false);
NyARCode code = new NyARCode(16, 16); // 16 pixels to detect within black box
code.loadARPattFromFile(AR_CODE_FILE);
this.m_ar = new NyARDetectMarker(ap, new NyARCode[] { code }, new double[] { 80.0 }, 1,
NyARBufferType.BYTE1D_B8G8R8_24);
this.m_ar.setContinueMode(false);
this.Loaded += MainWindow_Loaded;
}
/**
* この関数は、インスタンスを初期化します。
* 継承先のクラスから呼び出してください。
* @param i_param
* カメラパラメータオブジェクト。このサイズは、{@link #detectMarker}に入力する画像と同じサイズである必要があります。
* @param i_encoder
* IDマーカの値エンコーダを指定します。
* @param i_marker_width
* マーカの物理縦横サイズをmm単位で指定します。
* @
*/
protected void initInstance(NyARParam i_param, INyIdMarkerDataEncoder i_encoder, double i_marker_width)
{
//初期化済？
Debug.Assert(this._initialized == false);
NyARIntSize scr_size = i_param.getScreenSize();
// 解析オブジェクトを作る
this._square_detect = new RleDetector(
i_param,
i_encoder,
new NyIdMarkerPickup());
this._transmat = new NyARTransMat(i_param);
// ２値画像バッファを作る
this._gs_raster = new NyARGrayscaleRaster(scr_size.w, scr_size.h);
this._histmaker = (INyARHistogramFromRaster)this._gs_raster.createInterface(typeof(INyARHistogramFromRaster));
//ワーク用のデータオブジェクトを２個作る
this._data_current = i_encoder.createDataInstance();
this._threshold_detect = new NyARHistogramAnalyzer_SlidePTile(15);
this._initialized = true;
this._is_active = false;
this._offset = new NyARRectOffset();
this._offset.setSquare(i_marker_width);
return;
}
public Form1()
{
InitializeComponent();
//ARの設定
//AR用カメラパラメタファイルをロード
NyARParam ap = NyARParam.loadFromARParamFile(File.OpenRead(AR_CAMERA_FILE), 320, 240);
//AR用のパターンコードを読み出し
NyARCode code = NyARCode.loadFromARPattFile(File.OpenRead(AR_CODE_FILE), 16, 16);
NyARDoubleMatrix44 result_mat = new NyARDoubleMatrix44();
//計算モードの設定
//キャプチャを作る
/**************************************************
* このコードは、0番目（一番初めに見つかったキャプチャデバイス）
* を使用するようにされています。
* 複数のキャプチャデバイスを持つシステムの場合、うまく動作しないかもしれません。
* n番目のデバイスを使いたいときには、CaptureDevice cap=cl[0];←ここの0を変えてください。
* 手動で選択させる方法は、SimpleLiteDirect3Dを参考にしてください。
**************************************************/
CaptureDeviceList cl = new CaptureDeviceList();
CaptureDevice cap = cl[0];
cap.SetCaptureListener(this);
cap.PrepareCapture(320, 240, 30);
this.m_cap = cap;
//ラスタを作る。
this.m_raster = new DsRgbRaster(cap.video_width, cap.video_height);
//１パターンのみを追跡するクラスを作成
this.m_ar = NyARSingleDetectMarker.createInstance(ap, code, 80.0);
this.m_ar.setContinueMode(false);
}
public D3dManager(Form i_main_window, NyARParam i_nyparam, int i_profile_id)
{
PresentParameters pp = new PresentParameters();
// ウインドウモードなら true、フルスクリーンモードなら false を指定
pp.Windowed = true;
// スワップとりあえずDiscardを指定。
pp.SwapEffect = SwapEffect.Discard;
pp.EnableAutoDepthStencil = true;
pp.AutoDepthStencilFormat = DepthFormat.D16;
pp.BackBufferCount = 0;
pp.BackBufferFormat = Format.R5G6B5;
this._d3d_device = new Device(0, DeviceType.Default, i_main_window.Handle, CreateFlags.None, pp);
//ビューポートを指定
float scale = setupView(i_nyparam, i_main_window.ClientSize);
this._scale = scale;
// ライトを無効
this._d3d_device.RenderState.Lighting = false;
//カメラ画像の転写矩形を作成
Viewport vp = this._d3d_device.Viewport;
this._view_rect = new Rectangle(vp.X, vp.Y, vp.Width, vp.Height);
NyARIntSize cap_size = i_nyparam.getScreenSize();
this._background_size = new Size(cap_size.w, cap_size.h);
return;
}
public MarkerProcessor(NyARParam i_cparam, int i_raster_format)
{
initInstance(i_cparam, new NyIdMarkerDataEncoder_RawBit(), 100);
//アプリケーションフレームワークの初期化
return;
}
protected NyARSingleCameraSystem(NyARParam i_ref_cparam)
{
this._observer = new ObserverList(3);
this._ref_param = i_ref_cparam;
this._frustum = new NyARFrustum();
this.setProjectionMatrixClipping(FRUSTUM_DEFAULT_NEAR_CLIP, FRUSTUM_DEFAULT_FAR_CLIP);
}
public void Test()
{
//AR用カメラパラメタファイルをロード
NyARParam ap = NyARParam.createFromARParamFile(new StreamReader(camera_file));
ap.changeScreenSize(320, 240);
//試験イメージの読み出し(320x240 RGBのRAWデータ)
StreamReader sr = new StreamReader(data_file);
BinaryReader bs = new BinaryReader(sr.BaseStream);
byte[] raw = bs.ReadBytes(320 * 240 * 3);
NyARRgbRaster ra = new NyARRgbRaster(320, 240, NyARBufferType.BYTE1D_R8G8B8_24, false);
ra.wrapBuffer(raw);
MarkerProcessor pr = new MarkerProcessor(ap, ra.getBufferType());
pr.detectMarker(ra);
Console.WriteLine(pr.transmat.m00 + "," + pr.transmat.m01 + "," + pr.transmat.m02 + "," + pr.transmat.m03);
Console.WriteLine(pr.transmat.m10 + "," + pr.transmat.m11 + "," + pr.transmat.m12 + "," + pr.transmat.m13);
Console.WriteLine(pr.transmat.m20 + "," + pr.transmat.m21 + "," + pr.transmat.m22 + "," + pr.transmat.m23);
Console.WriteLine(pr.transmat.m30 + "," + pr.transmat.m31 + "," + pr.transmat.m32 + "," + pr.transmat.m33);
Console.WriteLine(pr.current_id);
return;
}
public NyARSurfaceTrackingTransmatUtils(NyARParam i_ref_param, double i_tracking_threshold)
{
this._surface_threshold = i_tracking_threshold;
this._icp = new NyARIcpPoint(i_ref_param.getPerspectiveProjectionMatrix());
this._icp_r = new NyARIcpPointRobust(i_ref_param.getPerspectiveProjectionMatrix());
this._last_inliner_probability = 0;
}
public MainWindow()
{
InitializeComponent();
this.GdMainZm.Height = 600;
this.CameraZm.Height = 600;
this.CameraZm.DesiredPixelHeight = 600;
this.GdMainZm.Width = 800;
this.CameraZm.Width = 800;
this.CameraZm.DesiredPixelWidth = 800;
this.CameraZm.EnableSampleGrabbing = true;
this.CameraZm.NewVideoSample += CameraZm_NewVideoSample;
NyARParam ap = NyARParam.loadFromARParamFile(File.OpenRead(AR_CAMERA_FILE), 800, 600);
this.ARRgbRaster = new NyARRgbRaster_BYTE1D_B8G8R8_24(800, 600, false);
NyARCode code = NyARCode.loadFromARPattFile(File.OpenRead(AR_CODE_FILE), 16, 16);
this.ARDetectMarker = new NyARDetectMarker(ap, new NyARCode[] { code }, new double[] { 80.0 }, 1);
this.ARDetectMarker.setContinueMode(false);
this.Loaded += MainWindow_Loaded;
}
public NyARSingleDetectMarker_NyARTK_FITTING_ARTKv2(NyARParam i_ref_param, NyARCode i_ref_code, double i_marker_width)
: base(i_ref_param, i_ref_code, i_marker_width)
{
this._inst_patt = new NyARColorPatt_Perspective(i_ref_code.getWidth(), i_ref_code.getHeight(), 4, 25);
this._transmat = new NyARTransMat_ARToolKit(i_ref_param);
this._square_detect = new NyARSingleDetectMarker_ARTKv2.ARTKDetector(this, i_ref_param.getScreenSize());
}
protected void initInstance(
INyARColorPatt i_patt_inst,
NyARSquareContourDetector i_sqdetect_inst,
INyARTransMat i_transmat_inst,
INyARRasterFilter_Rgb2Bin i_filter,
NyARParam i_ref_param,
NyARCode i_ref_code,
double i_marker_width)
{
NyARIntSize scr_size = i_ref_param.getScreenSize();
// 解析オブジェクトを作る
this._square_detect = i_sqdetect_inst;
this._transmat = i_transmat_inst;
this._tobin_filter = i_filter;
//２値画像バッファを作る
this._bin_raster = new NyARBinRaster(scr_size.w, scr_size.h);
//パターンの一致検索処理用
this._inst_patt = i_patt_inst;
this._deviation_data = new NyARMatchPattDeviationColorData(i_ref_code.getWidth(), i_ref_code.getHeight());
this._coordline = new NyARCoord2Linear(i_ref_param.getScreenSize(), i_ref_param.getDistortionFactor());
this._match_patt = new NyARMatchPatt_Color_WITHOUT_PCA(i_ref_code);
//オフセットを作成
this._offset = new NyARRectOffset();
this._offset.setSquare(i_marker_width);
return;
}
/**
* コンストラクタです。カメラパラメータにサンプル値(../Data/camera_para.dat)をロードして、コンフィギュレーションを生成します。
* @param i_width
* @param i_height
* @
*/
public NyARMarkerSystemConfig(NyARParam i_param, int i_transmat_algo_type)
{
Debug.Assert(1 <= i_transmat_algo_type && i_transmat_algo_type <= 3);
this._param = i_param;
this._transmat_algo_type = i_transmat_algo_type;
return;
}
private float setupView(NyARParam i_nyparam, Size i_client_size)
{
NyARIntSize cap_size = i_nyparam.getScreenSize();
float scale;
int new_w, new_h;
//縦にあわせてみる。
scale = (float)i_client_size.Height / (float)cap_size.h;
new_h = i_client_size.Height;
new_w = (int)((float)cap_size.w * scale);
//幅が収まってないなら、幅に合わせる。
if (new_w > i_client_size.Width)
{
scale = (float)i_client_size.Width / (float)cap_size.w;
new_w = i_client_size.Width;
new_h = (int)(cap_size.h * scale);
}
//ビューポート作成
Viewport vp = new Viewport();
vp.X = (i_client_size.Width - new_w) / 2;
vp.Y = (i_client_size.Height - new_h) / 2;
vp.Height = new_h;
vp.Width = new_w;
//ビューポート設定
this._d3d_device.Viewport = vp;
// ビュー変換の設定(左手座標系ビュー行列で設定する)
// 0,0,0から、Z+方向を向いて、上方向がY軸
this._d3d_device.Transform.View = Matrix.LookAtLH(
new Vector3(0.0f, 0.0f, 0.0f), new Vector3(0.0f, 0.0f, 1.0f), new Vector3(0.0f, 1.0f, 0.0f));
return(scale);
}
/**
* この関数は、インスタンスを初期化します。
* コンストラクタから呼び出します。
* @see NyARDetectMarker#NyARDetectMarker(NyARParam, NyARCode[], double[], int, int)
* @param i_ref_param
* Check see also
* @param i_ref_code
* Check see also
* @param i_marker_width
* Check see also
* @param i_number_of_code
* Check see also
* @param i_input_raster_type
* Check see also
* @
*/
protected void initInstance(
NyARParam i_ref_param,
NyARCode[] i_ref_code,
double[] i_marker_width,
int i_number_of_code)
{
NyARIntSize scr_size = i_ref_param.getScreenSize();
// 解析オブジェクトを作る
int cw = i_ref_code[0].getWidth();
int ch = i_ref_code[0].getHeight();
this._transmat = new NyARTransMat(i_ref_param);
//NyARToolkitプロファイル
this._square_detect = new RleDetector(new NyARColorPatt_Perspective(cw, ch, 4, 25), i_ref_code, i_number_of_code, i_ref_param);
//実サイズ保存
this._offset = NyARRectOffset.createArray(i_number_of_code);
for (int i = 0; i < i_number_of_code; i++)
{
this._offset[i].setSquare(i_marker_width[i]);
}
//２値画像バッファを作る
this._bin_raster = new NyARBinRaster(scr_size.w, scr_size.h);
return;
}
protected void initInstance(
NyARParam i_ref_param,
NyARCode[] i_ref_code,
double[] i_marker_width,
int i_number_of_code,
int i_input_raster_type)
{
NyARIntSize scr_size = i_ref_param.getScreenSize();
// 解析オブジェクトを作る
int cw = i_ref_code[0].getWidth();
int ch = i_ref_code[0].getHeight();
//detectMarkerのコールバック関数
this._detect_cb = new DetectSquareCB(
new NyARColorPatt_Perspective_O2(cw, ch, 4, 25),
i_ref_code, i_number_of_code, i_ref_param);
this._transmat = new NyARTransMat(i_ref_param);
//NyARToolkitプロファイル
this._square_detect = new NyARSquareContourDetector_Rle(i_ref_param.getScreenSize());
this._tobin_filter = new NyARRasterFilter_ARToolkitThreshold(100, i_input_raster_type);
//実サイズ保存
this._offset = NyARRectOffset.createArray(i_number_of_code);
for (int i = 0; i < i_number_of_code; i++)
{
this._offset[i].setSquare(i_marker_width[i]);
}
//２値画像バッファを作る
this._bin_raster = new NyARBinRaster(scr_size.w, scr_size.h);
return;
}
public DetectSquareCB(INyARColorPatt i_inst_patt, NyARCode i_ref_code, NyARParam i_param)
{
this._inst_patt = i_inst_patt;
this._deviation_data = new NyARMatchPattDeviationColorData(i_ref_code.getWidth(), i_ref_code.getHeight());
this._coordline = new Coord2Linear(i_param.getScreenSize(), i_param.getDistortionFactor());
this._match_patt = new NyARMatchPatt_Color_WITHOUT_PCA(i_ref_code);
return;
}
public NyARSingleCameraView(NyARParam i_ref_cparam)
{
this._ref_param = i_ref_cparam;
this._frustum = new NyARFrustum();
this._observer = new ObserverList(3);
this.setClipping(FRUSTUM_DEFAULT_NEAR_CLIP, FRUSTUM_DEFAULT_FAR_CLIP);
return;
}
/**
* コンストラクタ。
* 樽型歪みが少ない、または補正済みの画像を入力するときには、{@link #NyARReality(NyARIntSize, double, double, NyARPerspectiveProjectionMatrix, NyARCameraDistortionFactor, int, int)}
* のi_dist_factorにnullを指定すると、より高速な動作が期待できます。
* @param i_param
* カメラパラメータを指定します。
* @param i_near
* 視錐体のnear-pointをmm単位で指定します。
* default値は{@link #FRASTRAM_ARTK_NEAR}です。
* @param i_far
* 視錐体のfar-pointをmm単位で指定します。
* default値は{@link #FRASTRAM_ARTK_FAR}です。
* @param i_max_known_target
* Knownターゲットの最大数を指定します。
* @param i_max_unknown_target
* UnKnownターゲットの最大数を指定します。
* @throws NyARException
*/
public NyARReality(NyARParam i_param, double i_near, double i_far, int i_max_known_target, int i_max_unknown_target)
{
//定数とかいろいろ
this.MAX_LIMIT_KNOWN = i_max_known_target;
this.MAX_LIMIT_UNKNOWN = i_max_unknown_target;
this.InitInstance(i_param.getScreenSize(), i_near, i_far, i_param.getPerspectiveProjectionMatrix(), i_param.getDistortionFactor());
return;
}
public DetectSquareCB(NyARParam i_param, INyIdMarkerDataEncoder i_encoder)
{
this._coordline = new Coord2Linear(i_param.getScreenSize(), i_param.getDistortionFactor());
this._data_temp = i_encoder.createDataInstance();
this._current_data = i_encoder.createDataInstance();
this._encoder = i_encoder;
return;
}
public DetectSquare(NyARParam i_param, int i_raster_type)
: base(i_param.getScreenSize())
{
this._match_patt = null;
this._coordline = new NyARCoord2Linear(i_param.getScreenSize(), i_param.getDistortionFactor());
this._raster_type = i_raster_type;
return;
}
private void InitARConfigs()
{
NyARParam ap = NyARParam.loadFromARParamFile(File.OpenRead(AR_CAMERA_FILE), 800, 600);
NyARCode code = NyARCode.loadFromARPattFile(File.OpenRead(AR_CODE_FILE2), 16, 16);
this.MyArRaster = new DsRgbRaster(800, 600);
this.MySingleDetectMarker = NyARSingleDetectMarker.createInstance(ap, code, 80.0);
this.MySingleDetectMarker.setContinueMode(false);
}
public NyARIcp(NyARParam i_param)
{
this._ref_matXc2U = i_param.getPerspectiveProjectionMatrix();
this._maxLoop = ICP_MAX_LOOP;
this.breakLoopErrorThresh = ICP_BREAK_LOOP_ERROR_THRESH;
this.breakLoopErrorRatioThresh = ICP_BREAK_LOOP_ERROR_RATIO_THRESH;
this.breakLoopErrorThresh2 = ICP_BREAK_LOOP_ERROR_THRESH2;
this.inlierProb = ICP_INLIER_PROBABILITY;
}
public bool InitializeApplication(Form1 topLevelForm, CaptureDevice i_cap_device)
{
topLevelForm.ClientSize = new Size(SCREEN_WIDTH, SCREEN_HEIGHT);
//キャプチャを作る(QVGAでフレームレートは30)
i_cap_device.SetCaptureListener(this);
i_cap_device.PrepareCapture(SCREEN_WIDTH, SCREEN_HEIGHT, 30);
this._cap = i_cap_device;
//ARラスタを作る(DirectShowキャプチャ仕様)。
this._raster = new DsRgbRaster(i_cap_device.video_width, i_cap_device.video_height);
//AR用カメラパラメタファイルをロードして設定
NyARParam ap = NyARParam.loadFromARParamFile(File.OpenRead(AR_CAMERA_FILE), SCREEN_WIDTH, SCREEN_HEIGHT);
//Direct3d用のユーティリティ準備
//プロセッサの準備
this._processor = new MarkerProcessor(ap, this._raster.getBufferType());
NyARCode[] codes = new NyARCode[2];
codes[0] = NyARCode.loadFromARPattFile(File.OpenRead(AR_CODE_FILE1), 16, 16);
codes[1] = NyARCode.loadFromARPattFile(File.OpenRead(AR_CODE_FILE2), 16, 16);
this._processor.setARCodeTable(codes, 16, 80.0);
//3dデバイスを準備する
this._device = PrepareD3dDevice(topLevelForm);
this._device.RenderState.ZBufferEnable = true;
this._device.RenderState.Lighting = false;
this._device.RenderState.CullMode = Cull.CounterClockwise;
Viewport vp = new Viewport();
vp.X = 0;
vp.Y = 0;
vp.Height = ap.getScreenSize().h;
vp.Width = ap.getScreenSize().w;
vp.MaxZ = 1.0f;
//ビューポート設定
this._device.Viewport = vp;
this._text = new TextPanel(this._device, 1);
//カメラProjectionの設定
Matrix tmp = new Matrix();
NyARD3dUtil.toCameraFrustumRH(ap.getPerspectiveProjectionMatrix(), ap.getScreenSize(), 1, 10, 10000, ref tmp);
this._device.Transform.Projection = tmp;
// ビュー変換の設定(左手座標系ビュー行列で設定する)
// 0,0,0から、Z+方向を向いて、上方向がY軸
this._device.Transform.View = Matrix.LookAtLH(
new Vector3(0.0f, 0.0f, 0.0f), new Vector3(0.0f, 0.0f, 1.0f), new Vector3(0.0f, 1.0f, 0.0f));
//背景サーフェイスを作成
this._surface = new NyARD3dSurface(this._device, SCREEN_WIDTH, SCREEN_HEIGHT);
return(true);
}
public RleDetector(NyARParam i_param, INyIdMarkerDataEncoder i_encoder, NyIdMarkerPickup i_id_pickup) : base(i_param.getScreenSize())
{
this._coordline = new NyARCoord2Linear(i_param.getScreenSize(), i_param.getDistortionFactor());
this._data_temp = i_encoder.createDataInstance();
this._current_data = i_encoder.createDataInstance();
this._encoder = i_encoder;
this._id_pickup = i_id_pickup;
return;
}
public NyARIcp(NyARParam i_param)
{
this._ref_matXc2U = i_param.getPerspectiveProjectionMatrix();
this._maxLoop = ICP_MAX_LOOP;
this.breakLoopErrorThresh = ICP_BREAK_LOOP_ERROR_THRESH;
this.breakLoopErrorRatioThresh = ICP_BREAK_LOOP_ERROR_RATIO_THRESH;
this.breakLoopErrorThresh2 = ICP_BREAK_LOOP_ERROR_THRESH2;
this.inlierProb = ICP_INLIER_PROBABILITY;
}
public bool InitializeApplication(Form1 topLevelForm, CaptureDevice i_cap_device)
{
topLevelForm.ClientSize = new Size(SCREEN_WIDTH, SCREEN_HEIGHT);
//キャプチャを作る(QVGAでフレームレートは30)
i_cap_device.SetCaptureListener(this);
i_cap_device.PrepareCapture(SCREEN_WIDTH, SCREEN_HEIGHT, 30);
this._cap = i_cap_device;
//AR用カメラパラメタファイルをロードして設定
NyARParam ap = NyARParam.createFromARParamFile(new StreamReader(AR_CAMERA_FILE));
ap.changeScreenSize(SCREEN_WIDTH, SCREEN_HEIGHT);
//マーカライブラリ(NyId)の構築
this._mklib = new RawbitSerialIdTable(10);
//マーカサイズテーブルの作成(とりあえず全部8cm)
this._mklib.addAnyItem("any id", 80);
//Realityの準備
this._reality = new NyARRealityD3d(ap, 10, 10000, 2, 10);
this._reality_source = new NyARRealitySource_DShow(SCREEN_WIDTH, SCREEN_HEIGHT, null, 2, 100);
//3dデバイスを準備する
this._device = PrepareD3dDevice(topLevelForm);
this._device.RenderState.ZBufferEnable = true;
this._device.RenderState.Lighting = false;
//カメラProjectionの設定
Matrix tmp = new Matrix();
this._reality.getD3dCameraFrustum(ref tmp);
this._device.Transform.Projection = tmp;
// ビュー変換の設定(左手座標系ビュー行列で設定する)
// 0,0,0から、Z+方向を向いて、上方向がY軸
this._device.Transform.View = Matrix.LookAtLH(
new Vector3(0.0f, 0.0f, 0.0f), new Vector3(0.0f, 0.0f, 1.0f), new Vector3(0.0f, 1.0f, 0.0f));
Viewport vp = new Viewport();
vp.Y = 0;
vp.Height = ap.getScreenSize().h;
vp.Width = ap.getScreenSize().w;
vp.MaxZ = 1.0f;
//ビューポート設定
this._device.Viewport = vp;
//カラーキューブの描画インスタンス
this._cube = new ColorCube(this._device, 40);
//背景サーフェイスを作成
this._surface = new NyARD3dSurface(this._device, SCREEN_WIDTH, SCREEN_HEIGHT);
return(true);
}
/**
* コンストラクタです。
* @param i_config
* NFTのコンフィギュレーションオブジェクトを指定します。
*/
public NyARNftSystem(INyARNftSystemConfig i_config)
: base(i_config.getNyARSingleCameraView())
{
NyARParam cparam = this._view.getARParam();
this._surface_tracker = new NyARSurfaceTracker(cparam, 16, 0.5);
this._sftrackingutils = new NyARSurfaceTrackingTransmatUtils(cparam, 5.0);
this._kpm_worker = new KpmWorker(cparam, this._nftdatalist);
this._kpm_thread = new Thread(this._kpm_worker.run);
this._kpm_thread.Start(this._kpm_thread);
}
public NyARTransMat_ARToolKit(NyARParam i_param)
{
NyARCameraDistortionFactor dist = i_param.getDistortionFactor();
NyARPerspectiveProjectionMatrix pmat = i_param.getPerspectiveProjectionMatrix();
this._transsolver = new NyARTransportVectorSolver_ARToolKit(pmat);
//互換性が重要な時は、NyARRotMatrix_ARToolKitを使うこと。
//理屈はNyARRotMatrix_NyARToolKitもNyARRotMatrix_ARToolKitも同じだけど、少しだけ値がずれる。
this._rotmatrix = new NyARRotMatrix_ARToolKit_O2(pmat);
this._mat_optimize = new NyARRotMatrixOptimize_O2(pmat);
this._ref_dist_factor = dist;
}
public OnSquareDetect(
NyARParam i_params,
ARMarkerList i_armk_list, NyIdList i_idmk_list, ARPlayCardList i_psmk_list,
TrackingList i_tracking_list, int i_initial_stack_size)
{
this._coordline = new NyARCoord2Linear(i_params.getScreenSize(), i_params.getDistortionFactor());
this._ref_armk_list = i_armk_list;
this._ref_idmk_list = i_idmk_list;
this._ref_psmk_list = i_psmk_list;
this._ref_tracking_list = i_tracking_list;
this._sq_stack = new SquareStack(i_initial_stack_size);
}
public NyARTransMat_ARToolKit(NyARParam i_param)
{
NyARCameraDistortionFactor dist = i_param.getDistortionFactor();
NyARPerspectiveProjectionMatrix pmat = i_param.getPerspectiveProjectionMatrix();
this._transsolver = new NyARTransportVectorSolver_ARToolKit(pmat);
//互換性が重要な時は、NyARRotMatrix_ARToolKitを使うこと。
//理屈はNyARRotMatrix_NyARToolKitもNyARRotMatrix_ARToolKitも同じだけど、少しだけ値がずれる。
this._rotmatrix = new NyARRotMatrix_ARToolKit_O2(pmat);
this._mat_optimize = new NyARRotMatrixOptimize_O2(pmat);
this._ref_dist_factor = dist;
}
public NyARIcpStereo(NyARParam i_param_l, NyARParam i_param_r, NyARDoubleMatrix44 i_matC2_l, NyARDoubleMatrix44 i_matC2_r)
{
this.maxLoop = ICP_MAX_LOOP;
this.breakLoopErrorThresh = ICP_BREAK_LOOP_ERROR_THRESH;
this.breakLoopErrorRatioThresh = ICP_BREAK_LOOP_ERROR_RATIO_THRESH;
this.breakLoopErrorThresh2 = ICP_BREAK_LOOP_ERROR_THRESH2;
this.inlierProb = ICP_INLIER_PROBABILITY;
this._ref_matXcl2Ul = i_param_l.getPerspectiveProjectionMatrix();
this._ref_matXcr2Ur = i_param_r.getPerspectiveProjectionMatrix();
this._matC2L = i_matC2_l;
this._matC2R = i_matC2_r;
return;
}
/**
* The constructor.
* @param i_param
* ARToolkit parameter object that finished setup.
* @param i_al_mode
* fitting algorism type.
* @throws NyARException
*/
public NyARIcpTransMat(NyARParam i_param, int i_al_mode)
{
this._icpc = new NyARIcpPlane(i_param);
switch (i_al_mode)
{
case AL_POINT:
this._icpp = new NyARIcpPoint(i_param);
break;
case AL_POINT_ROBUST:
this._icpp = new NyARIcpPointRobust(i_param);
break;
default:
throw new System.ArgumentException();
}
return;
}
private Matrix GetProjectionMatrix(NyARParam i_arparam, float near, float far)
{
NyARMat trans_mat = new NyARMat(3, 4);
NyARMat icpara_mat = new NyARMat(3, 4);
double[,] p = new double[3, 3], q = new double[4, 4];
int width, height;
int i, j;
NyARIntSize size = i_arparam.getScreenSize();
width = size.w;
height = size.h;
i_arparam.getPerspectiveProjectionMatrix().decompMat(icpara_mat, trans_mat);
double[][] icpara = icpara_mat.getArray();
double[][] trans = trans_mat.getArray();
for (i = 0; i < 3; i++)
{
for (j = 0; j < 3; j++)
{
p[i, j] = icpara[i][j] / icpara[2][2];
}
}
q[0, 0] = (2.0 * p[0, 0] / (width));
q[0, 1] = (2.0 * p[0, 1] / (width));
q[0, 2] = ((2.0 * p[0, 2] / (width)) - 1.0);
q[0, 3] = 0.0;
q[1, 0] = 0.0;
q[1, 1] = (2.0 * p[1, 1] / (height));
q[1, 2] = ((2.0 * p[1, 2] / (height)) - 1.0);
q[1, 3] = 0.0;
q[2, 0] = 0.0;
q[2, 1] = 0.0;
q[2, 2] = (far + near) / (far - near);
q[2, 3] = -2.0 * far * near / (far - near);
q[3, 0] = 0.0;
q[3, 1] = 0.0;
q[3, 2] = 1.0;
q[3, 3] = 0.0;
Matrix mat = Matrix.Identity;
mat.M11 = (float)(q[0, 0] * trans[0][0] + q[0, 1] * trans[1][0] + q[0, 2] * trans[2][0]);
mat.M12 = (float)(q[1, 0] * trans[0][0] + q[1, 1] * trans[1][0] + q[1, 2] * trans[2][0]);
mat.M13 = (float)(q[2, 0] * trans[0][0] + q[2, 1] * trans[1][0] + q[2, 2] * trans[2][0]);
mat.M14 = (float)(q[3, 0] * trans[0][0] + q[3, 1] * trans[1][0] + q[3, 2] * trans[2][0]);
mat.M21 = (float)(q[0, 1] * trans[0][1] + q[0, 1] * trans[1][1] + q[0, 2] * trans[2][1]);
mat.M22 = (float)(q[1, 1] * trans[0][1] + q[1, 1] * trans[1][1] + q[1, 2] * trans[2][1]);
mat.M23 = (float)(q[2, 1] * trans[0][1] + q[2, 1] * trans[1][1] + q[2, 2] * trans[2][1]);
mat.M24 = (float)(q[3, 1] * trans[0][1] + q[3, 1] * trans[1][1] + q[3, 2] * trans[2][1]);
mat.M31 = (float)(q[0, 2] * trans[0][2] + q[0, 1] * trans[1][2] + q[0, 2] * trans[2][2]);
mat.M32 = (float)(q[1, 2] * trans[0][2] + q[1, 1] * trans[1][2] + q[1, 2] * trans[2][2]);
mat.M33 = -(float)(q[2, 2] * trans[0][2] + q[2, 1] * trans[1][2] + q[2, 2] * trans[2][2]);
mat.M34 = -(float)(q[3, 2] * trans[0][2] + q[3, 1] * trans[1][2] + q[3, 2] * trans[2][2]);
mat.M41 = (float)(q[0, 3] * trans[0][3] + q[0, 1] * trans[1][3] + q[0, 2] * trans[2][3] + q[0, 3]);
mat.M42 = (float)(q[1, 3] * trans[0][3] + q[1, 1] * trans[1][3] + q[1, 2] * trans[2][3] + q[1, 3]);
mat.M43 = (float)(q[2, 3] * trans[0][3] + q[2, 1] * trans[1][3] + q[2, 2] * trans[2][3] + q[2, 3]);
mat.M44 = (float)(q[3, 3] * trans[0][3] + q[3, 1] * trans[1][3] + q[3, 2] * trans[2][3] + q[3, 3]);
return mat;
}
/**
* コンストラクタです。
* 座標計算に必要なカメラパラメータの参照値を元に、インスタンスを生成します。
* @param i_param
* ARToolKit形式のカメラパラメータです。
* インスタンスは、この中から樽型歪み矯正オブジェクト、射影変換オブジェクトを参照します。
* @
*/
public NyARTransMat_ARToolKit(NyARParam i_param)
: this(i_param.getDistortionFactor(), i_param.getPerspectiveProjectionMatrix())
{
}
/**
* コンストラクタです。
* 座標計算に必要なカメラパラメータの参照値を元に、インスタンスを生成します。
* @param i_param
* ARToolKit形式のカメラパラメータです。
* インスタンスは、この中から樽型歪み矯正オブジェクト、射影変換オブジェクトを参照します。
* @
*/
public NyARTransMat_ARToolKit(NyARParam i_param)
{
initInstance(i_param.getDistortionFactor(), i_param.getPerspectiveProjectionMatrix());
}
public void InitTracker(params object[] configs)
{
if (!(configs.Length == 3 || configs.Length == 5))
{
throw new MarkerException("Problem in InitTracker in NewNyAR");
}
int imgWidth = 0;
int imgHeight = 0;
try
{
imgWidth = (int)configs[0];
imgHeight = (int)configs[1];
configFilename = (String)configs[2];
if (configs.Length == 5)
{
threshold = (int)configs[3];
continuousMode = (bool)configs[4];
}
else
{
threshold = 100;
continuousMode = false;
}
}
catch (Exception)
{
throw new MarkerException("Problem in InitTracker in NewNyAR");
}
nyARIntSize = new NyARIntSize(imgWidth, imgHeight);
param = new NyARParam();
param.loadARParam(TitleContainer.OpenStream(configFilename));
param.changeScreenSize(nyARIntSize.w, nyARIntSize.h);
camProjMat = GetProjectionMatrix(param, zNearPlane, zFarPlane);
INyARMarkerSystemConfig arMarkerSystemConfig = new NyARMarkerSystemConfig(param);
markerSystem = new NyARMarkerSystem(arMarkerSystemConfig);
initialized = true;
}
public NyARIcpPoint(NyARParam i_param)
: base(i_param)
{
}
public NyARIcpStereoPoint(NyARParam i_param_l, NyARParam i_param_r,
NyARDoubleMatrix44 i_matC2_l, NyARDoubleMatrix44 i_matC2_r)
: base(i_param_l, i_param_r, i_matC2_l, i_matC2_r)
{
throw new NyARException("This function is not checked.");
}
