/// <summary>
/// シーケンスの要素を一つ読みだして、読み出しポインタを次へ1つ移動させる
/// </summary>
/// <param name="elem"></param>
/// <param name="reader"></param>
#else
/// <summary>
///
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="elem"></param>
/// <param name="reader"></param>
#endif
public static void REV_READ_SEQ_ELEM <T>(out T elem, CvSeqReader reader) where T : struct
{
if (reader == null)
{
throw new ArgumentNullException("reader");
}
//Type t = typeof(t);
//if (t.IsValueType)
{
using (StructurePointer <T> elemPtr = new StructurePointer <T>())
{
if (reader.Seq.ElemSize != elemPtr.Size)
{
throw new OpenCvSharpException();
}
Util.CopyMemory(elemPtr.Ptr, reader.Ptr, elemPtr.Size);
PREV_SEQ_ELEM(elemPtr.Size, reader);
elem = elemPtr.ToStructure();
}
}
/*
* else
* {
* IntPtr elemPtr;
* REV_READ_SEQ_ELEM<IntPtr>(out elemPtr, reader);
* elem = Util.ToObject<t>(elemPtr);
* }
* //*/
}
/// <summary>
///
/// </summary>
/// <param name="objectKeypoints"></param>
/// <param name="objectDescriptors"></param>
/// <param name="imageKeypoints"></param>
/// <param name="imageDescriptors"></param>
/// <returns></returns>
private static int[] FindPairs(CvSeq <CvSURFPoint> objectKeypoints, CvSeq <float> objectDescriptors, CvSeq <CvSURFPoint> imageKeypoints, CvSeq <float> imageDescriptors)
{
CvSeqReader <float> reader = new CvSeqReader <float>();
CvSeqReader <CvSURFPoint> kreader = new CvSeqReader <CvSURFPoint>();
Cv.StartReadSeq(objectDescriptors, reader);
Cv.StartReadSeq(objectKeypoints, kreader);
List <int> ptpairs = new List <int>();
for (int i = 0; i < objectDescriptors.Total; i++)
{
CvSURFPoint kp = CvSURFPoint.FromPtr(kreader.Ptr);
IntPtr descriptor = reader.Ptr;
Cv.NEXT_SEQ_ELEM(kreader.Seq.ElemSize, kreader);
Cv.NEXT_SEQ_ELEM(reader.Seq.ElemSize, reader);
int nearestNeighbor = NaiveNearestNeighbor(descriptor, kp.Laplacian, imageKeypoints, imageDescriptors);
if (nearestNeighbor >= 0)
{
ptpairs.Add(i);
ptpairs.Add(nearestNeighbor);
}
}
return(ptpairs.ToArray());
}
/// <summary>
/// 次のシーケンスへ
/// </summary>
/// <param name="elemSize"></param>
/// <param name="reader"></param>
#else
/// <summary>
///
/// </summary>
/// <param name="elemSize"></param>
/// <param name="reader"></param>
#endif
public static void NEXT_SEQ_ELEM(int elemSize, CvSeqReader reader)
{
reader.Ptr = new IntPtr(reader.Ptr.ToInt64() + elemSize);
if (reader.Ptr.ToInt64() >= reader.BlockMax.ToInt64())
{
NativeMethods.cvChangeSeqBlock(reader.CvPtr, 1);
}
}
/// <summary>
/// 前のシーケンスへ
/// </summary>
/// <param name="elemSize"></param>
/// <param name="reader"></param>
#else
/// <summary>
///
/// </summary>
/// <param name="elemSize"></param>
/// <param name="reader"></param>
#endif
public static void PREV_SEQ_ELEM(int elemSize, CvSeqReader reader)
{
reader.Ptr = new IntPtr(reader.Ptr.ToInt64() - elemSize);
if (reader.Ptr.ToInt64() < reader.BlockMin.ToInt64())
{
NativeMethods.cvChangeSeqBlock(reader.CvPtr, -1);
}
}
/// <summary>
/// CvSeqReaderからCvQuadEdge2Dのインスタンスを読み込んで返す
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
#else
/// <summary>
/// Reads a CvQuadEdge2D instance from CvSeqReader
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
#endif
public static CvQuadEdge2D FromSeqReader(CvSeqReader reader)
{
if (reader == null)
{
throw new ArgumentNullException("reader");
}
return(new CvQuadEdge2D(reader.Ptr));
}
/// <summary>
///
/// </summary>
/// <param name="vec">Cではconst float*</param>
/// <param name="laplacian"></param>
/// <param name="model_keypoints"></param>
/// <param name="model_descriptors"></param>
/// <returns></returns>
private static int NaiveNearestNeighbor(IntPtr vec, int laplacian, CvSeq <CvSURFPoint> model_keypoints, CvSeq <float> model_descriptors)
{
int length = (int)(model_descriptors.ElemSize / sizeof(float));
int neighbor = -1;
double dist1 = 1e6, dist2 = 1e6;
CvSeqReader <float> reader = new CvSeqReader <float>();
CvSeqReader <CvSURFPoint> kreader = new CvSeqReader <CvSURFPoint>();
Cv.StartReadSeq(model_keypoints, kreader, false);
Cv.StartReadSeq(model_descriptors, reader, false);
IntPtr mvec;
CvSURFPoint kp;
double d;
for (int i = 0; i < model_descriptors.Total; i++)
{
// const CvSURFPoint* kp = (const CvSURFPoint*)kreader.ptr; が結構曲者。
// OpenCvSharpの構造体はFromPtrでポインタからインスタンス生成できるようにしてるので、こう書ける。
kp = CvSURFPoint.FromPtr(kreader.Ptr);
// まともにキャストする場合はこんな感じか
// CvSURFPoint kp = (CvSURFPoint)Marshal.PtrToStructure(kreader.Ptr, typeof(CvSURFPoint));
mvec = reader.Ptr;
Cv.NEXT_SEQ_ELEM(kreader.Seq.ElemSize, kreader);
Cv.NEXT_SEQ_ELEM(reader.Seq.ElemSize, reader);
if (laplacian != kp.Laplacian)
{
continue;
}
d = CompareSurfDescriptors(vec, mvec, dist2, length);
if (d < dist1)
{
dist2 = dist1;
dist1 = d;
neighbor = i;
}
else if (d < dist2)
{
dist2 = d;
}
}
if (dist1 < 0.6 * dist2)
{
return(neighbor);
}
else
{
return(-1);
}
}
/// <summary>
/// シーケンスからの連続読み出し処理を初期化する (cvStartReadSeq).
/// </summary>
/// <param name="reader">リーダ（reader）の状態．この関数で初期化される．</param>
/// <param name="reverse">シーケンス走査方向の指定．reverse が false の場合，リーダは先頭のシーケンス要素に位置する．それ以外は最後の要素に位置する．</param>
#else
/// <summary>
/// Initializes process of sequential reading from sequence (cvStartReadSeq).
/// </summary>
/// <param name="reader">Reader state; initialized by the function. </param>
/// <param name="reverse">Determines the direction of the sequence traversal. If reverse is false, the reader is positioned at the first sequence element, otherwise it is positioned at the last element. </param>
#endif
public virtual void StartRead(CvSeqReader <T> reader, Boolean reverse)
{
Cv.StartReadSeq(this, reader, reverse);
}
/// <summary>
/// シーケンスからの連続読み出し処理を初期化する (cvStartReadSeq).
/// </summary>
/// <param name="reader">リーダ（reader）の状態．この関数で初期化される．</param>
#else
/// <summary>
/// Initializes process of sequential reading from sequence (cvStartReadSeq).
/// </summary>
/// <param name="reader">Reader state; initialized by the function. </param>
#endif
public virtual void StartRead(CvSeqReader <T> reader)
{
Cv.StartReadSeq(this, reader);
}
/// <summary>
/// ファイルノードのシーケンスリーダの初期化
/// </summary>
/// <param name="src">読み込むファイルノード(シーケンス)．</param>
/// <param name="reader">シーケンスリーダへのポインタ．</param>
#else
/// <summary>
/// Initializes file node sequence reader
/// </summary>
/// <param name="src">The file node (a sequence) to read numbers from. </param>
/// <param name="reader">Output reference to the sequence reader. </param>
#endif
public void StartReadRawData(CvFileNode src, out CvSeqReader reader)
{
Cv.StartReadRawData(this, src, out reader);
}
/// <summary>
/// 複数の数値のシーケンスを読み込む
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="reader">シーケンスリーダ</param>
/// <param name="count">読み込む要素数</param>
/// <param name="dst">出力配列</param>
/// <param name="dt">各配列要素の仕様</param>
#else
/// <summary>
/// Initializes file node sequence reader
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="reader">The sequence reader. Initialize it with cvStartReadRawData. </param>
/// <param name="count">The number of elements to read. </param>
/// <param name="dst">Destination array. </param>
/// <param name="dt">Specification of each array element. It has the same format as in cvWriteRawData. </param>
#endif
public void ReadRawDataSlice <T>(CvSeqReader reader, int count, out T[] dst, string dt)
where T : struct
{
Cv.ReadRawDataSlice(this, reader, count, out dst, dt);
}
/// <summary>
/// シーケンスからの連続読み出し処理を初期化する (cvStartReadSeq).
/// </summary>
/// <param name="reader">リーダ（reader）の状態．この関数で初期化される．</param>
/// <param name="reverse">シーケンス走査方向の指定．reverse が false の場合，リーダは先頭のシーケンス要素に位置する．それ以外は最後の要素に位置する．</param>
#else
/// <summary>
/// Initializes process of sequential reading from sequence (cvStartReadSeq).
/// </summary>
/// <param name="reader">Reader state; initialized by the function. </param>
/// <param name="reverse">Determines the direction of the sequence traversal. If reverse is false, the reader is positioned at the first sequence element, otherwise it is positioned at the last element. </param>
#endif
public virtual void StartRead(CvSeqReader reader, bool reverse)
{
Cv.StartReadSeq(this, reader, reverse);
}
