public BinaryHierarchicalNode(int id, FreakFeaturePoint i_feature, bool i_is_leaf, FreakMatchPointSetStack.Item[] i_reserv_index, BinaryHierarchicalNode[] i_children)
{
this.is_leaf = i_is_leaf;
this.id = id;
this.reserv_index = i_reserv_index;
if (i_feature != null)
{
this.center = i_feature;
}
else
{
this.center = null;
}
this.children = i_children;
}
public static NyARNftFreakFsetFile genFeatureSet3(NyARNftIsetFile i_iset_file)
{
int max_features = 500;
DogFeaturePointStack _dog_feature_points = new DogFeaturePointStack(max_features);
FreakFeaturePointStack query_keypoint = new FreakFeaturePointStack(max_features);
//
List <NyARNftFreakFsetFile.RefDataSet> refdataset = new List <NyARNftFreakFsetFile.RefDataSet>();
List <NyARNftFreakFsetFile.ImageInfo> imageinfo = new List <NyARNftFreakFsetFile.ImageInfo>();
for (int ii = 0; ii < i_iset_file.items.Length; ii++)
{
NyARNftIsetFile.ReferenceImage rimg = i_iset_file.items[ii];
FREAKExtractor mFeatureExtractor = new FREAKExtractor();
int octerves = BinomialPyramid32f.octavesFromMinimumCoarsestSize(rimg.width, rimg.height, 8);
BinomialPyramid32f _pyramid = new BinomialPyramid32f(rimg.width, rimg.height, octerves, 3);
DoGScaleInvariantDetector _dog_detector = new DoGScaleInvariantDetector(rimg.width, rimg.height, octerves, 3, 3, 4, max_features);
//RefDatasetの作成
_pyramid.build(NyARGrayscaleRaster.createInstance(rimg.width, rimg.height, NyARBufferType.INT1D_GRAY_8, rimg.img));
// Detect feature points
_dog_feature_points.clear();
_dog_detector.detect(_pyramid, _dog_feature_points);
// Extract features
query_keypoint.clear();
mFeatureExtractor.extract(_pyramid, _dog_feature_points, query_keypoint);
for (int i = 0; i < query_keypoint.getLength(); i++)
{
FreakFeaturePoint ffp = query_keypoint.getItem(i);
NyARNftFreakFsetFile.RefDataSet rds = new NyARNftFreakFsetFile.RefDataSet();
rds.pageNo = 1;
rds.refImageNo = ii;
rds.coord2D.setValue(ffp.x, ffp.y);
rds.coord3D.setValue((ffp.x + 0.5f) / rimg.dpi * 25.4f, ((rimg.height - 0.5f) - ffp.y) / rimg.dpi * 25.4f);
rds.featureVec.angle = ffp.angle;
rds.featureVec.maxima = ffp.maxima ? 1 : 0;
rds.featureVec.scale = ffp.scale;
ffp.descripter.getValueLe(rds.featureVec.v);
refdataset.Add(rds);
}
imageinfo.Add(new NyARNftFreakFsetFile.ImageInfo(rimg.width, rimg.height, ii));
}
NyARNftFreakFsetFile.PageInfo[] pi = new NyARNftFreakFsetFile.PageInfo[1];
pi[0] = new NyARNftFreakFsetFile.PageInfo(1, imageinfo.ToArray());
return(new NyARNftFreakFsetFile(refdataset.ToArray(), pi));
}
/**
* Condition four 2D points such that the mean is zero and the standard
* deviation is sqrt(2).
*/
private static bool condition4Points2d(NyARDoublePoint2d xp1, NyARDoublePoint2d xp2, NyARDoublePoint2d xp3,
NyARDoublePoint2d xp4, double[] mus, // ms[2],sの3要素
FreakFeaturePoint x1, FreakFeaturePoint x2, FreakFeaturePoint x3, FreakFeaturePoint x4)
{
double[] d1 = new double[2], d2 = new double[2], d3 = new double[2], d4 = new double[2];
mus[0] = (x1.x + x2.x + x3.x + x4.x) / 4;
mus[1] = (x1.y + x2.y + x3.y + x4.y) / 4;
d1[0] = x1.x - mus[0];
d1[1] = x1.y - mus[1];
d2[0] = x2.x - mus[0];
d2[1] = x2.y - mus[1];
d3[0] = x3.x - mus[0];
d3[1] = x3.y - mus[1];
d4[0] = x4.x - mus[0];
d4[1] = x4.y - mus[1];
double ds1 = (double)Math.Sqrt(d1[0] * d1[0] + d1[1] * d1[1]);
double ds2 = (double)Math.Sqrt(d2[0] * d2[0] + d2[1] * d2[1]);
double ds3 = (double)Math.Sqrt(d3[0] * d3[0] + d3[1] * d3[1]);
double ds4 = (double)Math.Sqrt(d4[0] * d4[0] + d4[1] * d4[1]);
double d = (ds1 + ds2 + ds3 + ds4) / 4;
if (d == 0)
{
return(false);
}
double s = (double)((1 / d) * SQRT2);
mus[2] = s;
xp1.x = d1[0] * s;
xp1.y = d1[1] * s;
xp2.x = d2[0] * s;
xp2.y = d2[1] * s;
xp3.x = d3[0] * s;
xp3.y = d3[1] * s;
xp4.x = d4[0] * s;
xp4.y = d4[1] * s;
return(true);
}
/**
* Extract the descriptors for all the feature points.
*/
private void ExtractFREAK84(FreakFeaturePointStack store,
GaussianScaleSpacePyramid pyramid, DogFeaturePointStack points,
double[] points_ring0, double[] points_ring1, double[] points_ring2,
double[] points_ring3, double[] points_ring4, double[] points_ring5,
double sigma_center, double sigma_ring0, double sigma_ring1,
double sigma_ring2, double sigma_ring3, double sigma_ring4,
double sigma_ring5, double expansion_factor)
{
// ASSERT(pyramid, "Pyramid is NULL");
// ASSERT(store.size() == points.size(),
// "Feature store has not been allocated");
for (int i = 0; i < points.getLength(); i++)
{
FreakFeaturePoint sp = store.prePush();
if (sp == null)
{
prepush_wawning();
break;
}
DogFeaturePoint pt = points.getItem(i);
if (!ExtractFREAK84(sp.descripter,
pyramid, pt, points_ring0, points_ring1,
points_ring2, points_ring3, points_ring4, points_ring5,
sigma_center, sigma_ring0, sigma_ring1, sigma_ring2,
sigma_ring3, sigma_ring4, sigma_ring5, expansion_factor
))
{
store.pop();
continue;
}
sp.angle = pt.angle;
sp.x = pt.x;
sp.y = pt.y;
sp.scale = pt.sigma;
sp.maxima = pt.score > 0;
// store.point(num_points).set(points[i]);
}
}
private BinaryHierarchicalNode build(FreakMatchPointSetStack.Item[] features, FreakFeaturePoint i_center, int[] i_indices, int num_indices)
{
int t = mBinarykMedoids.k();
if (t < this.mMinFeaturePerNode)
{
t = this.mMinFeaturePerNode;
}
if (num_indices <= t)
{
FreakMatchPointSetStack.Item[] index = intArray2FeaturePointArray(features, i_indices);
return(new BinaryHierarchicalNode(this.nextNodeId(), i_center, true, index, null));
}
SortedDictionary <int, List <int> > cluster_map = new SortedDictionary <int, List <int> >();
// Perform clustering
// Get a list of features for each cluster center
int[] assignment = this.mBinarykMedoids.assign(features, i_indices, num_indices);
// ASSERT(assignment.size() == num_indices, "Assignment size wrong");
for (int i = 0; i < num_indices; i++)
{
// ASSERT(assignment[i] != -1, "Assignment is invalid");
// ASSERT(assignment[i] < num_indices, "Assignment out of range");
// ASSERT(indices[assignment[i]] < num_features, "Assignment out of range");
List <int> li;
if (!cluster_map.ContainsKey(i_indices[assignment[i]]))
{
li = new List <int>();
cluster_map.Add(i_indices[assignment[i]], li);
}
else
{
li = cluster_map[i_indices[assignment[i]]];
}
li.Add(i_indices[i]);
}
// If there is only 1 cluster then make this node a leaf
if (cluster_map.Count == 1)
{
FreakMatchPointSetStack.Item[] index = intArray2FeaturePointArray(features, i_indices);
return(new BinaryHierarchicalNode(this.nextNodeId(), i_center, true, index, null));
}
int n = 0;
BinaryHierarchicalNode[] cl = new BinaryHierarchicalNode[cluster_map.Count];
// Create a new node for each cluster center
foreach (KeyValuePair <int, List <int> > l in cluster_map)
{
int first = l.Key;
// Recursively build the tree
int[] v = ArrayUtils.toIntArray_impl(l.Value, 0, l.Value.Count);
cl[n] = this.build(features, features[first], v, v.Length);
n++;
}
return(new BinaryHierarchicalNode(this.nextNodeId(), i_center, false, null, cl));
}
private int vote(FeaturePairStack i_point_pair, int i_center_x, int i_center_y, SubBinLocation[] i_sub_bin_locations)
{
int size = i_point_pair.getLength();
int num_features_that_cast_vote = 0;
for (int i = 0; i < size; i++)
{
//mapCorrespondence(r,i_point_pair.getItem(i),i_center_x,i_center_y);
double rx, ry, rangle, rscale;
{
FreakFeaturePoint ins = i_point_pair.getItem(i).query;
FreakFeaturePoint ref_ = i_point_pair.getItem(i).ref_;
//angle
rangle = ins.angle - ref_.angle;
// Map angle to (-pi,pi]
if (rangle <= -PI)
{
rangle += (2 * PI);
}
else if (rangle > PI)
{
rangle -= (2 * PI);
}
double scale = SafeDivision(ins.scale, ref_.scale);
double c = (scale * Math.Cos(rangle));
double s = (scale * Math.Sin(rangle));
//scale
rscale = (double)(Math.Log(scale) * this.mScaleOneOverLogK);
//x,y
rx = c * i_center_x - s * i_center_y + (ins.x - (c * ref_.x - s * ref_.y));
ry = s * i_center_x + c * i_center_y + (ins.y - (s * ref_.x + c * ref_.y));
// Check that the vote is within range
if (rx < mMinX || rx >= mMaxX || ry < mMinY || ry >= mMaxY ||
rangle <= -PI || rangle > PI ||
rscale < mMinScale || rscale >= mMaxScale)
{
continue;
}
}
// Compute the bin location
SubBinLocation sub_bin = i_sub_bin_locations[num_features_that_cast_vote];
mapVoteToBin(sub_bin, rx, ry, rangle, rscale);
int binX = (int)Math.Floor(sub_bin.x - 0.5f);
int binY = (int)Math.Floor(sub_bin.y - 0.5f);
int binScale = (int)Math.Floor(sub_bin.scale - 0.5f);
int binAngle = ((int)Math.Floor(sub_bin.angle - 0.5f) + mNumAngleBins) % mNumAngleBins;
// Check that we can voting to all 16 bin locations
if (binX < 0 || (binX + 1) >= mNumXBins || binY < 0 ||
(binY + 1) >= mNumYBins || binScale < 0 ||
(binScale + 1) >= mNumScaleBins)
{
continue;
}
sub_bin.index = i;
num_features_that_cast_vote++;
this.votemap.vote16(binX, binY, binAngle, binScale, 1);
}
return(num_features_that_cast_vote);
}
