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 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 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 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;
}
/// <summary>
/// Initialize a new SquareDetectionListener.
/// </summary>
/// <param name="patternMatchers">The pattern matchers with the marker data.</param>
/// <param name="cameraParameters">The camera calibration data.</param>
/// <param name="colorPattern">The used color pattern.</param>
/// <param name="patternMatchDeviationData">The pattern match deviation data.</param>
public SquareDetectionListener(List<PatternMatcher> patternMatchers, NyARParam cameraParameters, INyARColorPatt colorPattern, NyARMatchPattDeviationColorData patternMatchDeviationData)
{
this.patternMatchers = patternMatchers;
this.colorPattern = colorPattern;
this.patternMatchDeviationData = patternMatchDeviationData;
this.coordinationMapper = new Coord2Linear(cameraParameters.getScreenSize(), cameraParameters.getDistortionFactor());
this.matrixCalculator = new NyARTransMat(cameraParameters);
this.points = NyARIntPoint2d.createArray(4);
this.evaluationResult = new NyARMatchPattResult();
Reset();
}
/// <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
string location = System.IO.Path.GetDirectoryName(System.Reflection.Assembly.GetExecutingAssembly().Location);
StreamReader reader = new StreamReader(location + "/Content/Data/Camera_Calibration_1280x720.dat");
var cameraParameters = new NyARParam();
using (var cameraCalibrationDataStream = reader.BaseStream)
{
cameraParameters.loadARParam(cameraCalibrationDataStream);
cameraParameters.changeScreenSize(width, height);
}
//var asmName = new System.Reflection.AssemblyName(System.Reflection.Assembly.GetExecutingAssembly().FullName).Name;
//var uri = new Uri(asmName + ";component/Assets/data/Camera_Calibration_1280x720.dat", UriKind.Relative);
//var streamResInfoCam = Application.GetResourceStream(uri);
//if (null == streamResInfoCam)
// throw new FileNotFoundException("Application.GetResourceStream returned null", uri.OriginalString);
//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 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);
}
protected void initInstance(NyARParam i_param, INyIdMarkerDataEncoder i_encoder, double i_marker_width, int i_raster_format)
{
//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 NyARSquareContourDetector_Rle(scr_size);
this._transmat = new NyARTransMat(i_param);
this._callback = new DetectSquareCB(i_param, i_encoder);
// ２値画像バッファを作る
this._bin_raster = new NyARBinRaster(scr_size.w, scr_size.h);
//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._tobin_filter = new NyARRasterFilter_ARToolkitThreshold(110, i_raster_format);
this._threshold_detect = new NyARRasterThresholdAnalyzer_SlidePTile(15, i_raster_format, 4);
this._initialized = true;
this._is_active = false;
this._offset = new NyARRectOffset();
this._offset.setSquare(i_marker_width);
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;
}
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;
}
/**
* 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。
* @
*/
protected void initInstance(NyARParam i_param)
{
//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._transmat = new NyARTransMat(i_param);
this._thdetect = new NyARHistogramAnalyzer_SlidePTile(15);
// ２値画像バッファを作る
this._gs_raster = new NyARGrayscaleRaster(scr_size.w, scr_size.h);
this._initialized = true;
//コールバックハンドラ
this._detectmarker = new DetectSquare(i_param);
this._offset = new NyARRectOffset();
return;
}
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);
//_detect_cb
this._detect_cb = new DetectSquareCB(i_patt_inst, i_ref_code, i_ref_param);
//オフセットを作成
this._offset = new NyARRectOffset();
this._offset.setSquare(i_marker_width);
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;
}
/**
* コンストラクタから呼び出す関数です。
* @param i_ref_param
* @param i_ref_code
* @param i_marker_width
* @param i_input_raster_type
* @param i_profile_id
* @throws NyARException
*/
protected void initialize(
NyARParam i_ref_param,
NyARCode i_ref_code,
double i_marker_width,
int i_input_raster_type,
int i_profile_id)
{
NyARRasterFilter_ARToolkitThreshold th = new NyARRasterFilter_ARToolkitThreshold(100, i_input_raster_type);
INyARColorPatt patt_inst;
NyARSquareContourDetector sqdetect_inst;
INyARTransMat transmat_inst;
switch (i_profile_id)
{
case PF_ARTOOLKIT_COMPATIBLE:
patt_inst = new NyARColorPatt_O3(i_ref_code.getWidth(), i_ref_code.getHeight());
sqdetect_inst = new NyARSquareContourDetector_ARToolKit(i_ref_param.getScreenSize());
transmat_inst = new NyARTransMat_ARToolKit(i_ref_param);
break;
case PF_NYARTOOLKIT_ARTOOLKIT_FITTING:
patt_inst = new NyARColorPatt_Perspective_O2(i_ref_code.getWidth(), i_ref_code.getHeight(), 4, 25);
sqdetect_inst = new NyARSquareContourDetector_Rle(i_ref_param.getScreenSize());
transmat_inst = new NyARTransMat_ARToolKit(i_ref_param);
break;
case PF_NYARTOOLKIT://default
patt_inst = new NyARColorPatt_Perspective_O2(i_ref_code.getWidth(), i_ref_code.getHeight(), 4, 25);
sqdetect_inst = new NyARSquareContourDetector_Rle(i_ref_param.getScreenSize());
transmat_inst = new NyARTransMat(i_ref_param);
break;
default:
throw new NyARException();
}
base.initInstance(patt_inst, sqdetect_inst, transmat_inst,th, i_ref_param, i_ref_code, i_marker_width);
return;
}
protected void initInstance(NyARParam i_param, int i_raster_type)
{
//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 NyARSquareContourDetector_Rle(scr_size);
this._transmat = new NyARTransMat(i_param);
this._tobin_filter = new NyARRasterFilter_ARToolkitThreshold(110, i_raster_type);
// ２値画像バッファを作る
this._bin_raster = new NyARBinRaster(scr_size.w, scr_size.h);
this._threshold_detect = new NyARRasterThresholdAnalyzer_SlidePTile(15, i_raster_type, 4);
this._initialized = true;
//コールバックハンドラ
this._detectmarker_cb = new DetectSquareCB(i_param);
this._offset = new NyARRectOffset();
return;
}
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());
}
/**
* 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;
}
protected NyARSingleDetectMarker(NyARParam i_ref_param, NyARCode i_ref_code, double i_marker_width)
{
this._deviation_data = new NyARMatchPattDeviationColorData(i_ref_code.getWidth(), i_ref_code.getHeight());
this._match_patt = new NyARMatchPatt_Color_WITHOUT_PCA(i_ref_code);
this._offset = new NyARRectOffset();
this._offset.setSquare(i_marker_width);
this._coordline = new NyARCoord2Linear(i_ref_param.getScreenSize(), i_ref_param.getDistortionFactor());
//２値画像バッファを作る
NyARIntSize s = i_ref_param.getScreenSize();
this._bin_raster = new NyARBinRaster(s.w, s.h);
}
public DetectSquare(NyARParam i_param): base(i_param.getScreenSize())
{
this._match_patt = null;
this._coordline = new NyARCoord2Linear(i_param.getScreenSize(), i_param.getDistortionFactor());
return;
}
/**
* 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;
}