public LocalizationResult Localize(string name, CultureInfo cultureInfo)
{
if (string.IsNullOrWhiteSpace(name))
{
throw new ArgumentNullException(nameof(name));
}
if (cultureInfo == null)
{
throw new ArgumentNullException(nameof(cultureInfo));
}
LocalizationResult result = null;
var source = _sources.FirstOrDefault(f => f.CanLocalize(name, cultureInfo));
if (source != null)
{
var localized = source.Localize(name, cultureInfo);
result = new LocalizationResult()
{
CultureInfo = cultureInfo,
Name = name,
Source = source,
Value = localized
};
}
else
{
if (_options.ReturnNameWhenNotFound)
{
result = new LocalizationResult()
{
CultureInfo = cultureInfo,
Name = name,
Source = source,
Value = _options.ReturnBracketsOnUsingName ? $"[{name}]" : name
};
}
}
return(result);
}
/// <summary>
/// Get Joint Transform Matrix from H and image size and position.
/// </summary>
/// <param name="result"></param>
/// <param name="tagSize"></param>
/// <returns></returns>
private async Task <Mat> GetTransformFromDetection(/*Detector det*/ LocalizationResult result, float tagSize)
{
var objPoints = new List <Point3f>();
var imgPoints = new List <Point2f>();
var tagRadius = tagSize / 2;
objPoints.Add(new Point3f {
X = -tagRadius, Y = -tagRadius, Z = 0
});
objPoints.Add(new Point3f {
X = tagRadius, Y = -tagRadius, Z = 0
});
objPoints.Add(new Point3f {
X = tagRadius, Y = tagRadius, Z = 0
});
objPoints.Add(new Point3f {
X = -tagRadius, Y = tagRadius, Z = 0
});
foreach (var point in result.ResultPoints)
{
imgPoints.Add(new Point2f(point.X, point.Y));
}
//switch (det.rotation)
//{
// case 1:
// // first quadrant
// imgPoints.Add(det.points[2]);
// imgPoints.Add(det.points[1]);
// imgPoints.Add(det.points[0]);
// imgPoints.Add(det.points[3]);
// break;
// case 0:
// // fourth quadrant
// imgPoints.Add(det.points[3]);
// imgPoints.Add(det.points[2]);
// imgPoints.Add(det.points[1]);
// imgPoints.Add(det.points[0]);
// break;
// case 3:
// // third quadrant
// imgPoints.Add(det.points[0]);
// imgPoints.Add(det.points[3]);
// imgPoints.Add(det.points[2]);
// imgPoints.Add(det.points[1]);
// break;
// case 2:
// // second quadrant
// imgPoints.Add(det.points[1]);
// imgPoints.Add(det.points[0]);
// imgPoints.Add(det.points[3]);
// imgPoints.Add(det.points[2]);
// break;
//}
var intrinsics = new double[3, 3]
{
{ 446.362, 0, 631.601 },
{ 0, 448.676, 350.1 },
{ 0, 0, 1 },
};
var distortionCoeff = new double[4]
{
0, 0, 0, 0
};
var rVec = new double[9];
var tVec = new double[3];
Cv2.SolvePnP(objPoints.ToArray(), imgPoints.ToArray(), intrinsics, distortionCoeff, out rVec, out tVec, false, SolvePnPFlags.Iterative);
var r = new double[3, 3];
Cv2.Rodrigues(rVec, out r);
var mat = new Mat(4, 4, MatType.CV_64FC1);
var indexer = mat.GetGenericIndexer <double>();
indexer[0, 0] = r[0, 0];
indexer[0, 1] = r[0, 1];
indexer[0, 2] = r[0, 2];
indexer[1, 0] = r[1, 0];
indexer[1, 1] = r[1, 1];
indexer[1, 2] = r[1, 2];
indexer[2, 0] = r[2, 0];
indexer[2, 1] = r[2, 1];
indexer[2, 2] = r[2, 2];
indexer[0, 3] = tVec[0];
indexer[1, 3] = tVec[1];
indexer[2, 3] = tVec[2];
indexer[3, 0] = 0;
indexer[3, 1] = 0;
indexer[3, 2] = 0;
indexer[3, 3] = 1;
return(mat);
}
public List<LocalizationResult> TransformXmlToTranslationsList(XDocument xDoc)
{
var keys = GetTranslationKeys(xDoc);
var localizations = new List<LocalizationResult>();
var languages = xDoc.Element("languages").Elements("language");
foreach (var lang in languages)
{
var id = lang.Attribute("id") != null ? lang.Attribute("id").Value : string.Empty;
if (string.IsNullOrEmpty(id)) { continue; }
foreach (var key in keys)
{
var selector = $".{key}";
var translationValue = lang.XPathSelectElement(selector);
if (translationValue == null) { continue; }
var existingLocalizationResult = localizations.SingleOrDefault(loc => loc.Key == key);
var translation = new LocalizationResult.Translation(id, translationValue.Value);
if (existingLocalizationResult != null)
{
existingLocalizationResult.Translations.Add(translation);
}
else
{
var localizationResult = new LocalizationResult()
{
Key = key,
Translations = new List<LocalizationResult.Translation>() { translation }
};
localizations.Add(localizationResult);
}
}
}
return localizations;
}
private unsafe void buttonSpeedTest_Click(object sender, EventArgs e)
{
// get lut
// rescale lut
// var lut = new Bitmap("lut000.jpg");
var dlg = new ProgressBarDlg();
dlg.Show(new Action(delegate
{
Bitmap lut = TrackerDlgUtils.Properties.Resources.lut000;
using (QTrkInstance inst = new QTrkInstance(TrackerConfiguration))
{
int total = Math.Max(100000, inst.GetMaxQueueLength() * 4);
Trace.WriteLine(string.Format("Max queue len: {1}, running benchmark with {0} images...", total, inst.GetMaxQueueLength()));
dlg.Update(0.0f, "Generating lookup table...", "Benchmark in progress");
GetTimestamp();
// use LUT to generate images for new rescaled lut table
var lutf = new FloatImg(lut, 0);
using (FloatImg img = QTrkUtil.RescaleAndSetLUT(inst, lutf, lut.Height)) { }
// make sample image
var cfg = inst.Config;
var sample = new FloatImg(cfg.config.width, cfg.config.height);
QTrkUtil.GenerateImageFromLUT(sample, lutf, cfg.config.ZLUT_minradius, cfg.zlut_maxradius, new Vector3(cfg.config.width / 2, cfg.config.height / 2, lutf.h / 2), false, 1);
dlg.Update(0.0f, "Running speed test...", "Benchmark in progress");
// measure tracking speed
double st = GetTimestamp();
ImageData imgd = sample.ImageData;
LocalizationJob job = new LocalizationJob();
LocalizationJob *pj = &job;
int lastUpdate = 0;
for (uint i = 0; i < total; i++)
{
pj->frame = i;
pj->zlutIndex = 0;
inst.ScheduleLocalization(ref imgd, pj);
int rc = inst.GetResultCount();
if (rc - lastUpdate > total / 20)
{
dlg.Update(rc / (float)total, "Running speed test...", "Benchmark in progress");
lastUpdate = rc;
}
}
double st0 = GetTimestamp();
inst.Flush();
// wait for results
while (true)
{
System.Threading.Thread.Sleep(20);
int rc = inst.GetResultCount();
if (rc - lastUpdate > total / 20)
{
dlg.Update(rc / (float)total, "Running speed test...", "Benchmark in progress");
lastUpdate = rc;
}
if (rc == total)
{
break;
}
}
double end = GetTimestamp();
double fps = total / (end - st);
double scheduleTime = (st0 - st) * 1000;
Trace.WriteLine(string.Format("Scheduling time: {0} ms. Per frame: {1} us. Scheduling FPS={2}. Processing FPS={3}",
(int)scheduleTime, (int)(scheduleTime / total * 1000), (int)(total / (st0 - st)), (int)fps));
Invoke(new Action(delegate { labelSpeedResults.Text = string.Format("{0} frames processed in {1} ms. \nFPS={2}",
total, (int)((end - st) * 1000), (int)fps); }));
var results = new LocalizationResult[total];
inst.GetResults(results);
for (int i = 0; i < 10; i++)
{
Vector3 p = results[i].pos;
Trace.WriteLine(string.Format("x={0}, y={1}, z={2}", p.x, p.y, p.z));
}
sample.Dispose();
}
lut.Dispose();
}));
}
