/**
* 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 = NyARGrayscaleRaster.createInstance(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 NyARSensor(NyARIntSize i_size)
{
this._gs_raster = NyARGrayscaleRaster.createInstance(i_size.w, i_size.h, NyARBufferType.INT1D_GRAY_8, true);
this._gs_hist = new NyARHistogram(256);
this._src_ts = 0;
this._gs_id_ts = 0;
this._gs_hist_ts = 0;
this._hist_drv = (INyARHistogramFromRaster)this._gs_raster.createInterface(typeof(INyARHistogramFromRaster));
}
static void Main(string[] args)
{
String img_file = "../../../../../data/testcase/test.raw";
String cparam_file = "../../../../../data/testcase/camera_para5.dat";
String fset3file = "../../../../../data/testcase/pinball.fset3";
//カメラパラメータ
NyARParam param = NyARParam.loadFromARParamFile(File.OpenRead(cparam_file), 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);
}
NyARDoubleMatrix44 tmat = new NyARDoubleMatrix44();
NyARNftFreakFsetFile f = NyARNftFreakFsetFile.loadFromfset3File(File.OpenRead(fset3file));
// KpmHandle kpm=new KpmHandle(new ARParamLT(param));
Stopwatch sw = new Stopwatch();
FreakKeypointMatching kpm = new FreakKeypointMatching(param);
KeyframeMap keymap = new KeyframeMap(f, 0);
for (int j = 0; j < 4; j++)
{
sw.Reset();
sw.Start();
for (int i = 0; i < 20; i++)
{
kpm.updateInputImage(gs);
kpm.updateFeatureSet();
kpm.kpmMatching(keymap, tmat);
}
//FreakKeypointMatching#kMaxNumFeaturesを300にしてテストして。
sw.Stop();
System.Console.WriteLine("Total=" + (sw.ElapsedMilliseconds));
NyARDoubleMatrix44 TEST_PATT = new NyARDoubleMatrix44(new double[] {
0.98436354107742652, 0.0066768917838370646, -0.17602226595996517, -191.17967199668533,
0.011597578022657571, -0.99956974712564306, 0.026940987645082352, 63.00280574839347,
-0.17576664981496215, -0.028561157958401542, -0.98401745160789567, 611.75871553558636,
0, 0, 0, 1
});
System.Console.WriteLine(TEST_PATT.Equals(tmat));
}
}
/**
* 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 = NyARGrayscaleRaster.createInstance(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;
}
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;
}