public static NyARNftFsetFile genFeatureSet(NyARNftIsetFile i_iset_file, int i_occupancy_size, double i_max_sim_th, double i_min_sim_th, double i_sd_th)
{
NyARNftIsetFile.ReferenceImage[] items = i_iset_file.items;
NyARNftFsetFile.NyAR2FeaturePoints[] points = new NyARNftFsetFile.NyAR2FeaturePoints[items.Length];
for (int i = 0; i < items.Length; i++)
{
NyARNftIsetFile.ReferenceImage rimg = items[i];
//MAX-dpiとMIN-dpiを計算
double max_dpi = Double.MaxValue;
double min_dpi = rimg.dpi * 0.5;
for (int j = 0; j < items.Length; j++)
{
if (rimg.dpi < items[j].dpi && max_dpi > items[j].dpi)
{
max_dpi = items[j].dpi;
}
if (rimg.dpi > items[j].dpi && min_dpi < items[j].dpi)
{
min_dpi = items[j].dpi;
}
}
if (max_dpi == Double.MaxValue)
{
max_dpi = rimg.dpi * 2;
}
else
{
max_dpi = rimg.dpi * 0.8 + max_dpi * 0.2;
}
//MIN-dpiの計算(一番近い小さい値
points[i] = new NyARNftFsetFile.NyAR2FeaturePoints(rimg, i_occupancy_size, i_max_sim_th, i_min_sim_th, i_sd_th, max_dpi, min_dpi, i);
}
return(new NyARNftFsetFile(points));
}
/**
* Grayscale画像からisetファイルイメージを生成します。
* @param i_raster
* @param srcdpi
* @param dpis
* @return
*/
public static NyARNftIsetFile genImageSet(INyARGrayscaleRaster i_raster, double srcdpi, double[] dpis)
{
NyARNftIsetFile.ReferenceImage[] rlist = new NyARNftIsetFile.ReferenceImage[dpis.Length];
rlist[0] = new NyARNftIsetFile.ReferenceImage(i_raster, srcdpi, srcdpi);
for (int i = 1; i < dpis.Length; i++)
{
rlist[i] = new NyARNftIsetFile.ReferenceImage(i_raster, srcdpi, dpis[i]);
}
return(new NyARNftIsetFile(rlist));
}
public IsetFileDataParserV5(NyARNftIsetFile.ReferenceImage i_src_img, float[] i_sub_dpis)
{
this.image = ArrayUtils.toByteArray_impl(i_src_img.img);
this.image_dpi_x = (float)i_src_img.dpi;
this.image_dpi_y = (float)i_src_img.dpi;
this.image_size = new NyARIntSize(i_src_img.width, i_src_img.height);
this.image_unit = 1;
this.sub_dpis = i_sub_dpis;
this.num_of_iset = i_sub_dpis.Length + 1;
return;
}
public IsetFileDataParserV5Raw(NyARNftIsetFile.ReferenceImage i_src_img, float[] i_sub_dpis)
{
this.image_width = i_src_img.width;
this.image_height = i_src_img.height;
this.image = ArrayUtils.toByteArray_impl(i_src_img.img);
this.dpis = new float[i_sub_dpis.Length + 1];
this.dpis[0] = (float)i_src_img.dpi;
for (int i = 0; i < i_sub_dpis.Length; i++)
{
this.dpis[i + 1] = i_sub_dpis[i];
}
return;
}
public NyAR2FeaturePoints(NyARNftIsetFile.ReferenceImage i_refimg, int i_occ_size, double i_max_sim_thresh, double i_min_sim_thresh, double i_sd_th, double i_max_dpi, double i_min_dpi, int i_scale)
{
NyARSurfaceFeatureMap fmap = new NyARSurfaceFeatureMap(
i_refimg,
NyARSurfaceTracker.AR2_DEFAULT_TS1 * NyARTemplatePatchImage.AR2_TEMP_SCALE,
NyARSurfaceTracker.AR2_DEFAULT_TS2 * NyARTemplatePatchImage.AR2_TEMP_SCALE,
AR2_DEFAULT_GEN_FEATURE_MAP_SEARCH_SIZE1, AR2_DEFAULT_GEN_FEATURE_MAP_SEARCH_SIZE2,
AR2_DEFAULT_MAX_SIM_THRESH2, AR2_DEFAULT_SD_THRESH2);
this.coord = fmap.ar2SelectFeature(i_refimg.dpi, AR2_DEFAULT_GEN_FEATURE_MAP_SEARCH_SIZE2, i_occ_size, i_max_sim_thresh, i_min_sim_thresh, i_sd_th);
this.maxdpi = i_max_dpi;
this.mindpi = i_min_dpi;
this.scale = i_scale;
return;
}
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));
}
/**
* 元ar2GenTemplate関数。
* 与えられた座標を中心に、テンプレート画像を生成する。
* 座標は観察座標点。
* @param i_x
* @param i_y
* @param i_scale
* @param o_template
* @return
* @throws NyARException
*/
public void makeFromReferenceImage(double i_x, double i_y, NyARDoubleMatrix44 i_ref_ctrans, INyARCameraDistortionFactor i_ref_dist_factor, NyARNftIsetFile.ReferenceImage i_source)
{
int[] img = this.img;
int img1_ptr = 0;
int k = 0;
int sum2 = 0;
int sum = 0;
NyARDoublePoint2d ideal = this.__in;
for (int j = -(this.yts); j <= this.yts; j++)
{
for (int i = -(this.xts); i <= this.xts; i++)
{
i_ref_dist_factor.observ2Ideal(i_x + i * AR2_TEMP_SCALE, i_y + j * AR2_TEMP_SCALE, ideal);
double ideal_x = ideal.x;
double ideal_y = ideal.y;
//ar2ScreenCoord2MarkerCoord(in.x,in.y,i_ref_ctrans,in);の展開
double c11 = i_ref_ctrans.m20 * ideal_x - i_ref_ctrans.m00;
double c12 = i_ref_ctrans.m21 * ideal_x - i_ref_ctrans.m01;
double c21 = i_ref_ctrans.m20 * ideal_y - i_ref_ctrans.m10;
double c22 = i_ref_ctrans.m21 * ideal_y - i_ref_ctrans.m11;
double b1 = i_ref_ctrans.m03 - i_ref_ctrans.m23 * ideal_x;
double b2 = i_ref_ctrans.m13 - i_ref_ctrans.m23 * ideal_y;
double m = c11 * c22 - c12 * c21;
//public int ar2GetImageValue(double sx, double sy) throws NyARExceptionの展開
{
int ix = (int)((((c22 * b1 - c12 * b2) / m) * i_source.dpi / 25.4f) + 0.5);
int iy = (int)((i_source.height - (((c11 * b2 - c21 * b1) / m) * i_source.dpi) / 25.4f) + 0.5);
//座標計算と値取得は分けよう。
if (ix < 0 || ix >= i_source.width || iy < 0 || iy >= i_source.height)
{
img[img1_ptr] = AR2_TEMPLATE_NULL_PIXEL;
}
else
{
int ret = img[img1_ptr] = i_source.img[iy * i_source.width + ix];
sum2 += ret * ret;
sum += ret;
k++;
}
//byte値はint化
}
img1_ptr++;
}
}
int vlen = sum2 - sum * sum / k;
this.vlen = (int)Math.Sqrt((double)(vlen));
this.sum_of_img = sum;
this.valid_pixels = k;
return;
}
/**
* @param i_raster
* @param ts1
* @param ts2
* @param search_size1
* @param search_size2
* @param max_sim_thresh
* @param sd_thresh
* @return
* @throws InterruptedException
*/
public NyARSurfaceFeatureMap(NyARNftIsetFile.ReferenceImage i_refimage, int ts1, int ts2, int search_size1, int search_size2, double max_sim_thresh, double sd_thresh)
{
int w = i_refimage.width;
int h = i_refimage.height;
//アクセス用のテンポラリラスタ
TemplateSourceRaster refraster = new TemplateSourceRaster(w, h, i_refimage.img);
this._refimage = refraster;
this.fimage = new double[w * h];
this._tmpimg = new TemplateImage_O1(ts1, ts2);
double max;
double[] tmp_fimg2 = new double[w * h];
int fp2 = 0;
//fimegeに数値を設定。エッジは-1
for (int i = 0; i < w; i++)
{
tmp_fimg2[fp2++] = -1.0f;
}
for (int j = 1; j < h - 1; j++)
{
tmp_fimg2[fp2++] = -1.0f;
for (int i = 1; i < w - 1; i++)
{
double dx = (refraster.getPixel(i + 1, j - 1) - refraster.getPixel(i - 1, j - 1)
+ refraster.getPixel(i + 1, j) - refraster.getPixel(i - 1, j)
+ refraster.getPixel(i + 1, j + 1) - refraster.getPixel(i - 1, j + 1)) / (double)(3 * 256);
double dy = (refraster.getPixel(i + 1, j + 1) - refraster.getPixel(i + 1, j - 1)
+ refraster.getPixel(i, j + 1) - refraster.getPixel(i, j - 1)
+ refraster.getPixel(i - 1, j + 1) - refraster.getPixel(i - 1, j - 1)) / (double)(3 * 256);
tmp_fimg2[fp2++] = (double)Math.Sqrt((dx * dx + dy * dy) / (double)2.0f);
}
tmp_fimg2[fp2++] = -1.0f;
}
for (int i = 0; i < w; i++)
{
tmp_fimg2[fp2++] = -1.0f;
}
int[] hist = new int[1000];
for (int i = 0; i < hist.Length; i++)
{
hist[i] = 0;
}
fp2 = w + 1;//(1,1の位置)
for (int j = 1; j < h - 1; j++)
{
for (int i = 1; i < w - 1; i++)
{
if (tmp_fimg2[fp2] > tmp_fimg2[fp2 - 1] && tmp_fimg2[fp2] > tmp_fimg2[fp2 + 1] && tmp_fimg2[fp2] > tmp_fimg2[fp2 - w] && tmp_fimg2[fp2] > tmp_fimg2[fp2 + w])
{
int k = (int)(tmp_fimg2[fp2] * 1000.0f);
if (k > 999)
{
k = 999;
}
if (k < 0)
{
k = 0;
}
hist[k]++;
}
fp2++;
}
fp2 += 2;
}
int sum_of_hist = 0;
int k2 = 0;
for (int i = 999; i >= 0; i--)
{
sum_of_hist += hist[i];
if ((double)sum_of_hist / (double)(w * h) >= 0.02f)
{
k2 = i;
break;
}
}
double[] fimg = this.fimage;
int fp = 0;
fp2 = 0;
for (int i = 0; i < w; i++)
{
fimg[fp++] = 1.0f;
fp2++;
}
TemplateImage_O1 ti = this._tmpimg;
for (int j = 1; j < h - 1; j++)
{
//長時間かかるループなので割り込み監視はブレーク可能。
// if (Thread.interrupted())
// {
// throw new InterruptedException();
// }
fimg[fp++] = 1.0f;
fp2++;
for (int i = 1; i < w - 1; i++)
{
if (tmp_fimg2[fp2] <= tmp_fimg2[fp2 - 1] || tmp_fimg2[fp2] <= tmp_fimg2[fp2 + 1] || tmp_fimg2[fp2] <= tmp_fimg2[fp2 - w] || tmp_fimg2[fp2] <= tmp_fimg2[fp2 + w])
{
fimg[fp++] = 1.0f;
fp2++;
continue;
}
if ((int)(tmp_fimg2[fp2] * 1000) < k2)
{
fimg[fp++] = 1.0f;
fp2++;
continue;
}
if (!ti.make_template(refraster, i, j, sd_thresh))
{
fimg[fp++] = 1.0f;
fp2++;
continue;
}
max = -1.0f;
for (int jj = -search_size1; jj <= search_size1; jj++)
{
for (int ii = -search_size1; ii <= search_size1; ii++)
{
//円を作ってるね。
if (ii * ii + jj * jj <= search_size2 * search_size2)
{
continue;
}
double sim = ti.get_similarity(refraster, i + ii, j + jj);
if (sim > max)
{
max = sim;
if (max > max_sim_thresh)
{
break;
}
}
}
if (max > max_sim_thresh)
{
break;
}
}
fimg[fp++] = (double)max;
fp2++;
}
fimg[fp++] = 1.0f;
fp2++;
}
for (int i = 0; i < w; i++)
{
fimg[fp++] = 1.0f;
fp2++;
}
return;
}
