/// <summary>
/// Creates a new detection result
/// </summary>
/// <param name="marker">A reference to the found marker.</param>
/// <param name="confidence">The confidence / quality of the result.</param>
/// <param name="transformation">The transformation matrix for the marker.</param>
/// <param name="square">The pixel coordinates where the square marker was found. </param>
public DetectionResult(Marker marker, double confidence, Matrix3D transformation, Square square)
{
this.Marker = marker;
this.Confidence = confidence;
this.Transformation = transformation;
this.Square = square;
}
private static Matrix3D CreateIdentity()
{
Matrix3D matrix3D = new Matrix3D();
matrix3D.SetMatrix(1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1);
return matrix3D;
}
private static bool Equals(Matrix3D matrix1, Matrix3D matrix2)
{
return matrix1.M11.Equals(matrix2.M11) &&
matrix1.M12.Equals(matrix2.M12) &&
matrix1.M13.Equals(matrix2.M13) &&
matrix1.M14.Equals(matrix2.M14) &&
matrix1.M21.Equals(matrix2.M21) &&
matrix1.M22.Equals(matrix2.M22) &&
matrix1.M23.Equals(matrix2.M23) &&
matrix1.M24.Equals(matrix2.M24) &&
matrix1.M31.Equals(matrix2.M31) &&
matrix1.M32.Equals(matrix2.M32) &&
matrix1.M33.Equals(matrix2.M33) &&
matrix1.M34.Equals(matrix2.M34) &&
matrix1.OffsetX.Equals(matrix2.OffsetX) &&
matrix1.OffsetY.Equals(matrix2.OffsetY) &&
matrix1.OffsetZ.Equals(matrix2.OffsetZ) &&
matrix1.M44.Equals(matrix2.M44);
}
public bool Equals(Matrix3D value)
{
return Matrix3D.Equals(this, value);
}
public static Matrix3D operator *(Matrix3D matrix1, Matrix3D matrix2)
{
Matrix3D matrix3D = new Matrix3D();
matrix3D.M11 = matrix1.M11 * matrix2.M11 +
matrix1.M12 * matrix2.M21 +
matrix1.M13 * matrix2.M31 +
matrix1.M14 * matrix2.OffsetX;
matrix3D.M12 = matrix1.M11 * matrix2.M12 +
matrix1.M12 * matrix2.M22 +
matrix1.M13 * matrix2.M32 +
matrix1.M14 * matrix2.OffsetY;
matrix3D.M13 = matrix1.M11 * matrix2.M13 +
matrix1.M12 * matrix2.M23 +
matrix1.M13 * matrix2.M33 +
matrix1.M14 * matrix2.OffsetZ;
matrix3D.M14 = matrix1.M11 * matrix2.M14 +
matrix1.M12 * matrix2.M24 +
matrix1.M13 * matrix2.M34 +
matrix1.M14 * matrix2.M44;
matrix3D.M21 = matrix1.M21 * matrix2.M11 +
matrix1.M22 * matrix2.M21 +
matrix1.M23 * matrix2.M31 +
matrix1.M24 * matrix2.OffsetX;
matrix3D.M22 = matrix1.M21 * matrix2.M12 +
matrix1.M22 * matrix2.M22 +
matrix1.M23 * matrix2.M32 +
matrix1.M24 * matrix2.OffsetY;
matrix3D.M23 = matrix1.M21 * matrix2.M13 +
matrix1.M22 * matrix2.M23 +
matrix1.M23 * matrix2.M33 +
matrix1.M24 * matrix2.OffsetZ;
matrix3D.M24 = matrix1.M21 * matrix2.M14 +
matrix1.M22 * matrix2.M24 +
matrix1.M23 * matrix2.M34 +
matrix1.M24 * matrix2.M44;
matrix3D.M31 = matrix1.M31 * matrix2.M11 +
matrix1.M32 * matrix2.M21 +
matrix1.M33 * matrix2.M31 +
matrix1.M34 * matrix2.OffsetX;
matrix3D.M32 = matrix1.M31 * matrix2.M12 +
matrix1.M32 * matrix2.M22 +
matrix1.M33 * matrix2.M32 +
matrix1.M34 * matrix2.OffsetY;
matrix3D.M33 = matrix1.M31 * matrix2.M13 +
matrix1.M32 * matrix2.M23 +
matrix1.M33 * matrix2.M33 +
matrix1.M34 * matrix2.OffsetZ;
matrix3D.M34 = matrix1.M31 * matrix2.M14 +
matrix1.M32 * matrix2.M24 +
matrix1.M33 * matrix2.M34 +
matrix1.M34 * matrix2.M44;
matrix3D.OffsetX = matrix1.OffsetX * matrix2.M11 +
matrix1.OffsetY * matrix2.M21 +
matrix1.OffsetZ * matrix2.M31 +
matrix1.M44 * matrix2.OffsetX;
matrix3D.OffsetY = matrix1.OffsetX * matrix2.M12 +
matrix1.OffsetY * matrix2.M22 +
matrix1.OffsetZ * matrix2.M32 +
matrix1.M44 * matrix2.OffsetY;
matrix3D.OffsetZ = matrix1.OffsetX * matrix2.M13 +
matrix1.OffsetY * matrix2.M23 +
matrix1.OffsetZ * matrix2.M33 +
matrix1.M44 * matrix2.OffsetZ;
matrix3D.M44 = matrix1.OffsetX * matrix2.M14 +
matrix1.OffsetY * matrix2.M24 +
matrix1.OffsetZ * matrix2.M34 +
matrix1.M44 * matrix2.M44;
// matrix3D._type is not set.
return matrix3D;
}
private static void ApplyMatrix(ref Matrix3D matrix, JArray values)
{
matrix.M11 = values.Value<double>(0);
matrix.M12 = values.Value<double>(1);
matrix.M13 = values.Value<double>(2);
matrix.M14 = values.Value<double>(3);
matrix.M21 = values.Value<double>(4);
matrix.M22 = values.Value<double>(5);
matrix.M23 = values.Value<double>(6);
matrix.M24 = values.Value<double>(7);
matrix.M31 = values.Value<double>(8);
matrix.M32 = values.Value<double>(9);
matrix.M33 = values.Value<double>(10);
matrix.M34 = values.Value<double>(11);
matrix.OffsetX = values.Value<double>(12);
matrix.OffsetY = values.Value<double>(13);
matrix.OffsetZ = values.Value<double>(14);
matrix.M44 = values.Value<double>(15);
}
public static Matrix3D operator *(Matrix3D matrix1, Matrix3D matrix2)
{
Matrix3D matrix3D = default;
matrix3D.M11 = matrix1.M11 * matrix2.M11 +
matrix1.M12 * matrix2.M21 +
matrix1.M13 * matrix2.M31 +
matrix1.M14 * matrix2.OffsetX;
matrix3D.M12 = matrix1.M11 * matrix2.M12 +
matrix1.M12 * matrix2.M22 +
matrix1.M13 * matrix2.M32 +
matrix1.M14 * matrix2.OffsetY;
matrix3D.M13 = matrix1.M11 * matrix2.M13 +
matrix1.M12 * matrix2.M23 +
matrix1.M13 * matrix2.M33 +
matrix1.M14 * matrix2.OffsetZ;
matrix3D.M14 = matrix1.M11 * matrix2.M14 +
matrix1.M12 * matrix2.M24 +
matrix1.M13 * matrix2.M34 +
matrix1.M14 * matrix2.M44;
matrix3D.M21 = matrix1.M21 * matrix2.M11 +
matrix1.M22 * matrix2.M21 +
matrix1.M23 * matrix2.M31 +
matrix1.M24 * matrix2.OffsetX;
matrix3D.M22 = matrix1.M21 * matrix2.M12 +
matrix1.M22 * matrix2.M22 +
matrix1.M23 * matrix2.M32 +
matrix1.M24 * matrix2.OffsetY;
matrix3D.M23 = matrix1.M21 * matrix2.M13 +
matrix1.M22 * matrix2.M23 +
matrix1.M23 * matrix2.M33 +
matrix1.M24 * matrix2.OffsetZ;
matrix3D.M24 = matrix1.M21 * matrix2.M14 +
matrix1.M22 * matrix2.M24 +
matrix1.M23 * matrix2.M34 +
matrix1.M24 * matrix2.M44;
matrix3D.M31 = matrix1.M31 * matrix2.M11 +
matrix1.M32 * matrix2.M21 +
matrix1.M33 * matrix2.M31 +
matrix1.M34 * matrix2.OffsetX;
matrix3D.M32 = matrix1.M31 * matrix2.M12 +
matrix1.M32 * matrix2.M22 +
matrix1.M33 * matrix2.M32 +
matrix1.M34 * matrix2.OffsetY;
matrix3D.M33 = matrix1.M31 * matrix2.M13 +
matrix1.M32 * matrix2.M23 +
matrix1.M33 * matrix2.M33 +
matrix1.M34 * matrix2.OffsetZ;
matrix3D.M34 = matrix1.M31 * matrix2.M14 +
matrix1.M32 * matrix2.M24 +
matrix1.M33 * matrix2.M34 +
matrix1.M34 * matrix2.M44;
matrix3D.OffsetX = matrix1.OffsetX * matrix2.M11 +
matrix1.OffsetY * matrix2.M21 +
matrix1.OffsetZ * matrix2.M31 +
matrix1.M44 * matrix2.OffsetX;
matrix3D.OffsetY = matrix1.OffsetX * matrix2.M12 +
matrix1.OffsetY * matrix2.M22 +
matrix1.OffsetZ * matrix2.M32 +
matrix1.M44 * matrix2.OffsetY;
matrix3D.OffsetZ = matrix1.OffsetX * matrix2.M13 +
matrix1.OffsetY * matrix2.M23 +
matrix1.OffsetZ * matrix2.M33 +
matrix1.M44 * matrix2.OffsetZ;
matrix3D.M44 = matrix1.OffsetX * matrix2.M14 +
matrix1.OffsetY * matrix2.M24 +
matrix1.OffsetZ * matrix2.M34 +
matrix1.M44 * matrix2.M44;
// matrix3D._type is not set.
return(matrix3D);
}
public bool Equals(Matrix3D value)
{
return(Matrix3D.Equals(this, value));
}
public override bool Equals(object?o)
{
return(o is Matrix3D && Matrix3D.Equals(this, (Matrix3D)o));
}
public bool Equals(Matrix3D value)
{
throw new NotImplementedException();
}
