/// <summary>
/// Listener method called when something was detected.
/// </summary>
/// <param name="callingDetector">The detector that called the method.</param>
/// <param name="coordsX">The four x coordinates of the detected marker square.</param>
/// <param name="coordsY">The four y coordinates of the detected marker square.</param>
/// <param name="coordCount">The number of coordinates.</param>
/// <param name="coordIndices">The indices of the coordiantes in the coords array.</param>
public void onSquareDetect(NyARSquareContourDetector callingDetector, int[] coordsX, int[] coordsY, int coordCount, int[] coordIndices)
{
// Init variables
points[0].x = coordsX[coordIndices[0]];
points[0].y = coordsY[coordIndices[0]];
points[1].x = coordsX[coordIndices[1]];
points[1].y = coordsY[coordIndices[1]];
points[2].x = coordsX[coordIndices[2]];
points[2].y = coordsY[coordIndices[2]];
points[3].x = coordsX[coordIndices[3]];
points[3].y = coordsY[coordIndices[3]];
// Evaluate and find best match
if (this.colorPattern.pickFromRaster(this.Buffer, points))
{
// Find best matching marker
this.patternMatchDeviationData.setRaster(this.colorPattern);
Marker foundMarker = null;
int foundDirection = NyARMatchPattResult.DIRECTION_UNKNOWN;
double bestConfidence = 0;
foreach (var patMat in patternMatchers)
{
// Evaluate
patMat.evaluate(this.patternMatchDeviationData, evaluationResult);
// Best match?
if (evaluationResult.confidence > bestConfidence)
{
foundMarker = patMat.Marker;
foundDirection = evaluationResult.direction;
bestConfidence = evaluationResult.confidence;
}
}
// Calculate found marker square
var square = new NyARSquare();
var len = coordIndices.Length;
for (int i = 0; i < len; i++)
{
int idx = (i + len - foundDirection) % len;
this.coordinationMapper.coord2Line(coordIndices[idx], coordIndices[(idx + 1) % len], coordsX, coordsY, coordCount, square.line[i]);
}
// Calculate normal
for (int i = 0; i < len; i++)
{
NyARLinear.crossPos(square.line[i], square.line[(i + 3) % len], square.sqvertex[i]);
}
// Calculate matrix using continued mode
if (foundMarker != null)
{
var nymat = new NyARTransMatResult();
matrixCalculator.transMatContinue(square, foundMarker.RectOffset, nymat);
// Create and add result to collection
var v = square.sqvertex;
var resultSquare = new Square(v[0].x, v[0].y, v[1].x, v[1].y, v[2].x, v[2].y, v[3].x, v[3].y);
Results.Add(new DetectionResult(foundMarker, bestConfidence, nymat.ToMatrix3D(), resultSquare));
}
}
}
