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;
}
/**
* 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;
}
/**
* 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.getPerspectiveProjectionMatrix());
switch (i_al_mode)
{
case AL_POINT:
this._icpp = new NyARIcpPoint(i_param.getPerspectiveProjectionMatrix());
break;
case AL_POINT_ROBUST:
this._icpp = new NyARIcpPointRobust(i_param.getPerspectiveProjectionMatrix());
break;
default:
throw new System.ArgumentException();
}
return;
}
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 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 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 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 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;
}
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;
}
/**
* 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());
}
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;
}
public static void toCameraFrustumRH(NyARParam i_arparam, double i_near, double i_far, ref Matrix o_d3d_projection)
{
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 < 4; i++)
{
icpara[1][i] = (height - 1) * (icpara[2][i]) - icpara[1][i];
}
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 - 1));
q[0, 1] = (2.0 * p[0, 1] / (width - 1));
q[0, 2] = ((2.0 * p[0, 2] / (width - 1)) - 1.0);
q[0, 3] = 0.0;
q[1, 0] = 0.0;
q[1, 1] = -(2.0 * p[1, 1] / (height - 1));
q[1, 2] = -((2.0 * p[1, 2] / (height - 1)) - 1.0);
q[1, 3] = 0.0;
q[2, 0] = 0.0;
q[2, 1] = 0.0;
q[2, 2] = (i_far + i_near) / (i_near - i_far);
q[2, 3] = 2.0 * i_far * i_near / (i_near - i_far);
q[3, 0] = 0.0;
q[3, 1] = 0.0;
q[3, 2] = -1.0;
q[3, 3] = 0.0;
o_d3d_projection.M11 = (float)(q[0, 0] * trans[0][0] + q[0, 1] * trans[1][0] + q[0, 2] * trans[2][0]);
o_d3d_projection.M12 = (float)(q[1, 0] * trans[0][0] + q[1, 1] * trans[1][0] + q[1, 2] * trans[2][0]);
o_d3d_projection.M13 = (float)(q[2, 0] * trans[0][0] + q[2, 1] * trans[1][0] + q[2, 2] * trans[2][0]);
o_d3d_projection.M14 = (float)(q[3, 0] * trans[0][0] + q[3, 1] * trans[1][0] + q[3, 2] * trans[2][0]);
o_d3d_projection.M21 = (float)(q[0, 0] * trans[0][1] + q[0, 1] * trans[1][1] + q[0, 2] * trans[2][1]);
o_d3d_projection.M22 = (float)(q[1, 0] * trans[0][1] + q[1, 1] * trans[1][1] + q[1, 2] * trans[2][1]);
o_d3d_projection.M23 = (float)(q[2, 0] * trans[0][1] + q[2, 1] * trans[1][1] + q[2, 2] * trans[2][1]);
o_d3d_projection.M24 = (float)(q[3, 0] * trans[0][1] + q[3, 1] * trans[1][1] + q[3, 2] * trans[2][1]);
o_d3d_projection.M31 = (float)(q[0, 0] * trans[0][2] + q[0, 1] * trans[1][2] + q[0, 2] * trans[2][2]);
o_d3d_projection.M32 = (float)(q[1, 0] * trans[0][2] + q[1, 1] * trans[1][2] + q[1, 2] * trans[2][2]);
o_d3d_projection.M33 = (float)(q[2, 0] * trans[0][2] + q[2, 1] * trans[1][2] + q[2, 2] * trans[2][2]);
o_d3d_projection.M34 = (float)(q[3, 0] * trans[0][2] + q[3, 1] * trans[1][2] + q[3, 2] * trans[2][2]);
o_d3d_projection.M41 = (float)(q[0, 0] * trans[0][3] + q[0, 1] * trans[1][3] + q[0, 2] * trans[2][3] + q[0, 3]);
o_d3d_projection.M42 = (float)(q[1, 0] * trans[0][3] + q[1, 1] * trans[1][3] + q[1, 2] * trans[2][3] + q[1, 3]);
o_d3d_projection.M43 = (float)(q[2, 0] * trans[0][3] + q[2, 1] * trans[1][3] + q[2, 2] * trans[2][3] + q[2, 3]);
o_d3d_projection.M44 = (float)(q[3, 0] * trans[0][3] + q[3, 1] * trans[1][3] + q[3, 2] * trans[2][3] + q[3, 3]);
return;
}
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の設定
//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);
//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);
//１パターンのみを追跡するクラスを作成
this._ar = NyARSingleDetectMarker.createInstance(ap, code, 80.0, NyARSingleDetectMarker.PF_NYARTOOLKIT);
//計算モードの設定
this._ar.setContinueMode(true);
//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();
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));
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;
//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);
this._is_marker_enable = false;
return(true);
}
/**
* 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())
{
}
public NyARTransMat_ARToolKit(NyARParam i_param)
{
initInstance(i_param.getDistortionFactor(), i_param.getPerspectiveProjectionMatrix());
}
public static void toCameraFrustumRH(NyARParam i_arparam, double i_near, double i_far, ref Matrix o_d3d_projection)
{
toCameraFrustumRH(i_arparam.getPerspectiveProjectionMatrix(), i_arparam.getScreenSize(), 1.0, i_near, i_far, ref o_d3d_projection);
}
/// <summary>
/// Returns a right-handed perspective transformation matrix built from the camera calibration data.
/// </summary>
/// <param name="arParameters">The camera calibration data.</param>
/// <param name="nearPlane">The near view plane of the frustum.</param>
/// <param name="farPlane">The far view plane of the frustum.</param>
/// <returns>The projection matrix.</returns>
internal static Matrix3D GetCameraFrustumRH(this NyARParam arParameters, double nearPlane, double farPlane)
{
NyARMat transformation = new NyARMat(3, 4);
NyARMat icParameters = new NyARMat(3, 4);
double[,] p = new double[3, 3];
double[,] q = new double[4, 4];
NyARIntSize size = arParameters.getScreenSize();
int width = size.w;
int height = size.h;
arParameters.getPerspectiveProjectionMatrix().decompMat(icParameters, transformation);
double[][] icpara = icParameters.getArray();
double[][] trans = transformation.getArray();
for (int i = 0; i < 4; i++)
{
icpara[1][i] = (height - 1) * (icpara[2][i]) - icpara[1][i];
}
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
p[i, j] = icpara[i][j] / icpara[2][2];
}
}
q[0, 0] = (2.0 * p[0, 0] / (width - 1));
q[0, 1] = (2.0 * p[0, 1] / (width - 1));
q[0, 2] = ((2.0 * p[0, 2] / (width - 1)) - 1.0);
q[0, 3] = 0.0;
q[1, 0] = 0.0;
q[1, 1] = -(2.0 * p[1, 1] / (height - 1));
q[1, 2] = -((2.0 * p[1, 2] / (height - 1)) - 1.0);
q[1, 3] = 0.0;
q[2, 0] = 0.0;
q[2, 1] = 0.0;
q[2, 2] = (farPlane + nearPlane) / (nearPlane - farPlane);
q[2, 3] = 2.0 * farPlane * nearPlane / (nearPlane - farPlane);
q[3, 0] = 0.0;
q[3, 1] = 0.0;
q[3, 2] = -1.0;
q[3, 3] = 0.0;
return(new Matrix3D(q[0, 0] * trans[0][0] + q[0, 1] * trans[1][0] + q[0, 2] * trans[2][0],
q[1, 0] * trans[0][0] + q[1, 1] * trans[1][0] + q[1, 2] * trans[2][0],
q[2, 0] * trans[0][0] + q[2, 1] * trans[1][0] + q[2, 2] * trans[2][0],
q[3, 0] * trans[0][0] + q[3, 1] * trans[1][0] + q[3, 2] * trans[2][0],
q[0, 0] * trans[0][1] + q[0, 1] * trans[1][1] + q[0, 2] * trans[2][1],
q[1, 0] * trans[0][1] + q[1, 1] * trans[1][1] + q[1, 2] * trans[2][1],
q[2, 0] * trans[0][1] + q[2, 1] * trans[1][1] + q[2, 2] * trans[2][1],
q[3, 0] * trans[0][1] + q[3, 1] * trans[1][1] + q[3, 2] * trans[2][1],
q[0, 0] * trans[0][2] + q[0, 1] * trans[1][2] + q[0, 2] * trans[2][2],
q[1, 0] * trans[0][2] + q[1, 1] * trans[1][2] + q[1, 2] * trans[2][2],
q[2, 0] * trans[0][2] + q[2, 1] * trans[1][2] + q[2, 2] * trans[2][2],
q[3, 0] * trans[0][2] + q[3, 1] * trans[1][2] + q[3, 2] * trans[2][2],
q[0, 0] * trans[0][3] + q[0, 1] * trans[1][3] + q[0, 2] * trans[2][3] + q[0, 3],
q[1, 0] * trans[0][3] + q[1, 1] * trans[1][3] + q[1, 2] * trans[2][3] + q[1, 3],
q[2, 0] * trans[0][3] + q[2, 1] * trans[1][3] + q[2, 2] * trans[2][3] + q[2, 3],
q[3, 0] * trans[0][3] + q[3, 1] * trans[1][3] + q[3, 2] * trans[2][3] + q[3, 3]));
}
/**
* 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())
{
}
public NyARWordsBingoCore(Label lbl, Game currentGame, PictureBox pbx)
{
//Instanciando o PictureBox com o recebido do Form
pbxNyAR = pbx;
lbNyAR = lbl;
gmNyAR = currentGame;
//Parâmetros da RA
NyARParam ap = new NyARParam();
ap.loadARParamFromFile(AR_CAMERA_FILE); //Lendo arquivo .dat
ap.changeScreenSize(640, 480); //Setando tamanho da câmera.
//Lendo padrão do marcador
NyARCode codeKanji = new NyARCode(16, 16);
NyARCode codeA = new NyARCode(16, 16);
NyARCode codeB = new NyARCode(16, 16);
NyARCode codeC = new NyARCode(16, 16);
NyARCode codeD = new NyARCode(16, 16);
NyARCode codeE = new NyARCode(16, 16);
NyARCode codeF = new NyARCode(16, 16);
NyARCode codeG = new NyARCode(16, 16);
NyARCode codeH = new NyARCode(16, 16);
NyARCode codeI = new NyARCode(16, 16);
NyARCode codeJ = new NyARCode(16, 16);
NyARCode codeK = new NyARCode(16, 16);
NyARCode codeL = new NyARCode(16, 16);
NyARCode codeM = new NyARCode(16, 16);
NyARCode codeN = new NyARCode(16, 16);
NyARCode codeO = new NyARCode(16, 16);
NyARCode codeP = new NyARCode(16, 16);
NyARCode codeQ = new NyARCode(16, 16);
NyARCode codeR = new NyARCode(16, 16);
NyARCode codeS = new NyARCode(16, 16);
NyARCode codeT = new NyARCode(16, 16);
NyARCode codeU = new NyARCode(16, 16);
NyARCode codeV = new NyARCode(16, 16);
NyARCode codeW = new NyARCode(16, 16);
NyARCode codeX = new NyARCode(16, 16);
NyARCode codeY = new NyARCode(16, 16);
NyARCode codeZ = new NyARCode(16, 16);
NyARCode codeBall = new NyARCode(16, 16);
NyARCode codeSword = new NyARCode(16, 16);
NyARCode codeCar = new NyARCode(16, 16);
NyARCode codeBrigadier = new NyARCode(16, 16);
NyARCode codeFork = new NyARCode(16, 16);
NyARCode codePen = new NyARCode(16, 16);
NyARCode codeFish = new NyARCode(16, 16);
//Carregando os arquivos dos marcadores no NyARCode
codeKanji.loadARPattFromFile(AR_CODE_FILE_KANJI);
codeA.loadARPattFromFile(AR_CODE_FILE_A);
codeB.loadARPattFromFile(AR_CODE_FILE_B);
codeC.loadARPattFromFile(AR_CODE_FILE_C);
codeD.loadARPattFromFile(AR_CODE_FILE_D);
codeE.loadARPattFromFile(AR_CODE_FILE_E);
codeF.loadARPattFromFile(AR_CODE_FILE_F);
codeG.loadARPattFromFile(AR_CODE_FILE_G);
codeH.loadARPattFromFile(AR_CODE_FILE_H);
codeI.loadARPattFromFile(AR_CODE_FILE_I);
codeJ.loadARPattFromFile(AR_CODE_FILE_J);
codeK.loadARPattFromFile(AR_CODE_FILE_K);
codeL.loadARPattFromFile(AR_CODE_FILE_L);
codeM.loadARPattFromFile(AR_CODE_FILE_M);
codeN.loadARPattFromFile(AR_CODE_FILE_N);
codeO.loadARPattFromFile(AR_CODE_FILE_O);
codeP.loadARPattFromFile(AR_CODE_FILE_P);
codeQ.loadARPattFromFile(AR_CODE_FILE_Q);
codeR.loadARPattFromFile(AR_CODE_FILE_R);
codeS.loadARPattFromFile(AR_CODE_FILE_S);
codeT.loadARPattFromFile(AR_CODE_FILE_T);
codeU.loadARPattFromFile(AR_CODE_FILE_U);
codeV.loadARPattFromFile(AR_CODE_FILE_V);
codeW.loadARPattFromFile(AR_CODE_FILE_W);
codeX.loadARPattFromFile(AR_CODE_FILE_X);
codeY.loadARPattFromFile(AR_CODE_FILE_Y);
codeZ.loadARPattFromFile(AR_CODE_FILE_Z);
codeBall.loadARPattFromFile(AR_CODE_FILE_BALL);
codeSword.loadARPattFromFile(AR_CODE_FILE_SWORD);
codeCar.loadARPattFromFile(AR_CODE_FILE_CAR);
codeBrigadier.loadARPattFromFile(AR_CODE_FILE_BRIGADIER);
codeFork.loadARPattFromFile(AR_CODE_FILE_FORK);
codePen.loadARPattFromFile(AR_CODE_FILE_PEN);
codeFish.loadARPattFromFile(AR_CODE_FILE_FISH);
double[] WidthArray = { 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0,
80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0,
80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0 };
NyARCode[] arrayCodes = { codeKanji, codeA, codeB, codeC, codeD, codeE, codeF, codeG, codeH, codeI,
codeJ, codeK, codeL, codeM, codeN, codeO, codeP, codeQ, codeR, codeS,
codeT, codeU, codeV, codeW, codeX, codeY, codeZ };
double[] WidthArrayImages = { 80.0, 80.0, 80.0, 80.0, 80.0, 80.0, 80.0 };
NyARCode[] arrayCodesImage = { codeBall, codeSword, codeCar, codeBrigadier, codeFork, codePen, codeFish };
//Seta propriedades da câmera
try
{
Core.cap.SetCaptureListener(this);
}
catch (Exception e)
{
MessageBox.Show("Ocorreu um erro no estabelecimento da conexão com a câmera. Verifique se ela está instalada corretamente. Favor, reinicie a aplicação.", "Erro!");
Environment.Exit(0);
}
Core.cap.PrepareCapture(640, 480, 30);
//Create a cluster - Instanciando o Raster, passando os parâmetros do vídeo encontrado no CaptureDevice
Core.raster = Core.InstanceRaster(Core.cap.video_width, Core.cap.video_height);
//Instanciando os detectores únicos
this.ballMarkerDetector = new NyARSingleDetectMarker(ap, codeBall, 80.0, Core.raster.getBufferType());
this.ballMarkerDetector.setContinueMode(true);
this.brigadierlMarkerDetector = new NyARSingleDetectMarker(ap, codeBrigadier, 80.0, Core.raster.getBufferType());
this.brigadierlMarkerDetector.setContinueMode(true);
this.carMarkerDetector = new NyARSingleDetectMarker(ap, codeCar, 80.0, Core.raster.getBufferType());
this.carMarkerDetector.setContinueMode(true);
this.forkMarkerDetector = new NyARSingleDetectMarker(ap, codeFork, 80.0, Core.raster.getBufferType());
this.forkMarkerDetector.setContinueMode(true);
this.penMarkerDetector = new NyARSingleDetectMarker(ap, codePen, 80.0, Core.raster.getBufferType());
this.penMarkerDetector.setContinueMode(true);
this.swordMarkerDetector = new NyARSingleDetectMarker(ap, codeSword, 80.0, Core.raster.getBufferType());
this.swordMarkerDetector.setContinueMode(true);
this.fishMarkerDetector = new NyARSingleDetectMarker(ap, codeFish, 80.0, Core.raster.getBufferType());
this.fishMarkerDetector.setContinueMode(true);
//Instanciando o detector de todas as letras
this.markerDetectorLetters = new NyARDetectMarker(ap, arrayCodes, WidthArray, 27, Core.raster.getBufferType());
this.markerDetectorLetters.setContinueMode(true);
//Instanciando o detector das imagens que representam a palavra na cartela
this.markerDetectorImages = new NyARDetectMarker(ap, arrayCodesImage, WidthArrayImages, 7, Core.raster.getBufferType());
this.markerDetectorImages.setContinueMode(true);
//Inicia a captura
//Inicia a captura
try
{
Core.cap.StartCapture();
}
catch (Exception e)
{
MessageBox.Show("Ocorreu um erro no estabelecimento da conexão com a câmera. Verifique se ela está instalada corretamente.");
Environment.Exit(0);
}
//Abaixo, são as funções que preparam todo o dispositivo e cenário para renderização 3D
//Necessário descobrir mais detalhes do funcionamento.
//Preparing the 3D device
this._device = Core.PrepareD3dDevice(pbx); //Prepara o dispositivo em cima do PictureBox
this._device.RenderState.ZBufferEnable = true;
this._device.RenderState.Lighting = false;
//Projection Camera Settings
Matrix tmp = new Matrix();
NyARD3dUtil.toCameraFrustumRH(ap.getPerspectiveProjectionMatrix(), ap.getScreenSize(), 1, 10, 10000, ref tmp);
this._device.Transform.Projection = tmp;
// View conversion settings (set in the left-handed view matrix).
//From 0,0,0, and facing Z +, Y-axis direction on
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.X = 0;
vp.Y = 0;
vp.Height = ap.getScreenSize().h;
vp.Width = ap.getScreenSize().w;
vp.MaxZ = 1.0f;
//Set viewport
this._device.Viewport = vp;
//Draw a color cube instance - Instância de um cubo colorido, padrão da biblioteca NyAR
this._cube = new ColorCube(this._device, 40);
//Create a background surface
this._surface = new NyARSurface_XRGB32(this._device, 640, 480);
//Carregando os meshs (objetos 3D)
LoadMeshes();
}
/**
* この関数は、ARToolKitスタイルのカメラパラメータから、 CameraFrustamを計算します。
* カメラパラメータの要素のうち、ProjectionMatrix成分のみを使います。
* @param i_arparam
* ARToolKitスタイルのカメラパラメータ。
* @param i_scale
* スケール値を指定します。1=1mmです。10ならば1=1cm,1000ならば1=1mです。
* 2.53以前のNyARToolkitと互換性を持たせるときは、{@link #SCALE_FACTOR_toCameraFrustumRH_NYAR2}を指定してください。
* @param i_near
* 視錐体のnearPointを指定します。単位は、i_scaleに設定した値で決まります。
* @param i_far
* 視錐体のfarPointを指定します。単位は、i_scaleに設定した値で決まります。
* @param o_gl_projection
* OpenGLスタイルのProjectionMatrixです。double[16]を指定します。
*/
public static void toCameraFrustumRH(NyARParam i_arparam, double i_scale, double i_near, double i_far, ref Matrix4x4 o_mat)
{
toCameraFrustumRH(i_arparam.getPerspectiveProjectionMatrix(), i_arparam.getScreenSize(), i_scale, i_near, i_far, ref o_mat);
return;
}
public void Test()
{
try {
NyARParam param = NyARParam.createFromARParamFile(new StreamReader(PARAM_FILE));
param.changeScreenSize(320, 240);
NyARReality reality = new NyARReality(param.getScreenSize(), 10, 1000, param.getPerspectiveProjectionMatrix(), null, 10, 10);
NyARRealitySource reality_in = new NyARRealitySource_Reference(320, 240, null, 2, 100, NyARBufferType.BYTE1D_B8G8R8X8_32);
//試験イメージの読み出し(320x240 BGRAのRAWデータ)
StreamReader sr = new StreamReader(DATA_FILE);
BinaryReader bs = new BinaryReader(sr.BaseStream);
byte[] raw = bs.ReadBytes(320 * 240 * 4);
Array.Copy(raw, (byte[])reality_in.refRgbSource().getBuffer(), raw.Length);
Stopwatch sw = new Stopwatch();
sw.Start();
for (int i = 0; i < 1000; i++)
{
reality.progress(reality_in);
}
sw.Stop();
Console.WriteLine(sw.ElapsedMilliseconds + "[ms]");
Console.WriteLine(reality.getNumberOfKnown());
Console.WriteLine(reality.getNumberOfUnknown());
Console.WriteLine(reality.getNumberOfDead());
NyARRealityTarget[] rt = new NyARRealityTarget[10];
reality.selectUnKnownTargets(rt);
reality.changeTargetToKnown(rt[0], 2, 80);
Console.WriteLine(rt[0]._transform_matrix.m00 + "," + rt[0]._transform_matrix.m01 + "," + rt[0]._transform_matrix.m02 + "," + rt[0]._transform_matrix.m03);
Console.WriteLine(rt[0]._transform_matrix.m10 + "," + rt[0]._transform_matrix.m11 + "," + rt[0]._transform_matrix.m12 + "," + rt[0]._transform_matrix.m13);
Console.WriteLine(rt[0]._transform_matrix.m20 + "," + rt[0]._transform_matrix.m21 + "," + rt[0]._transform_matrix.m22 + "," + rt[0]._transform_matrix.m23);
Console.WriteLine(rt[0]._transform_matrix.m30 + "," + rt[0]._transform_matrix.m31 + "," + rt[0]._transform_matrix.m32 + "," + rt[0]._transform_matrix.m33);
} catch (Exception e) {
Console.WriteLine(e.StackTrace);
}
return;
}
public bool InitializeApplication(Form1 topLevelForm, CaptureDevice i_cap_device)
{
topLevelForm.ClientSize = new Size(SCREEN_WIDTH, SCREEN_HEIGHT);
i_cap_device.SetCaptureListener(this);
i_cap_device.PrepareCapture(SCREEN_WIDTH, SCREEN_HEIGHT, 30);
this._cap = i_cap_device;
//this._raster = new DsRgbRaster(i_cap_device.video_width, i_cap_device.video_height,NyARBufferType.BYTE1D_B8G8R8X8_32);
#region my code
try
{
byte[] bimg = service.getb();
//if(bimg != null)
{
Image img = byteToImage(bimg);
if (img != null)
{
//frm.textBox1.Text = img.ToString();
this._raster = new NyARBitmapRaster((Bitmap)img);
}
}
//else
}
catch (Exception x)
{
//MessageBox.Show(x.ToString());
}
#endregion
NyARParam ap = NyARParam.createFromARParamFile(new StreamReader(AR_CAMERA_FILE));
ap.changeScreenSize(SCREEN_WIDTH, SCREEN_HEIGHT);
NyARCode code = NyARCode.createFromARPattFile(new StreamReader(AR_CODE_FILE), 16, 16);
this._ar = NyARSingleDetectMarker.createInstance(ap, code, 80.0, NyARSingleDetectMarker.PF_NYARTOOLKIT);
this._ar.setContinueMode(true);
this._device = PrepareD3dDevice(topLevelForm);
this._device.RenderState.ZBufferEnable = true;
this._device.RenderState.Lighting = false;
Matrix tmp = new Matrix();
NyARD3dUtil.toCameraFrustumRH(ap.getPerspectiveProjectionMatrix(), ap.getScreenSize(), 1, 10, 10000, ref tmp);
this._device.Transform.Projection = tmp;
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.X = 0;
vp.Y = 0;
vp.Height = ap.getScreenSize().h;
vp.Width = ap.getScreenSize().w;
vp.MaxZ = 1.0f;
this._device.Viewport = vp;
this._cube = new ColorCube(this._device, 40);
this._surface = new NyARD3dSurface(this._device, SCREEN_WIDTH, SCREEN_HEIGHT);
this._is_marker_enable = false;
return(true);
}
