private static bool kpmUtilGetPose_binary(NyARParam i_cparam, FeaturePairStack matchData, NyARDoubleMatrix44 i_transmat, NyARTransMatResultParam i_resultparam)
{
NyARDoubleMatrix44 initMatXw2Xc = new NyARDoubleMatrix44();
// ARdouble err;
int i;
if (matchData.getLength() < 4)
{
return(false);
}
NyARDoublePoint2d[] sCoord = NyARDoublePoint2d.createArray(matchData.getLength());
NyARDoublePoint3d[] wCoord = NyARDoublePoint3d.createArray(matchData.getLength());
for (i = 0; i < matchData.getLength(); i++)
{
sCoord[i].x = matchData.getItem(i).query.x;
sCoord[i].y = matchData.getItem(i).query.y;
wCoord[i].x = matchData.getItem(i).ref_.pos3d.x;
wCoord[i].y = matchData.getItem(i).ref_.pos3d.y;
wCoord[i].z = 0.0;
}
NyARIcpPlane icp_planer = new NyARIcpPlane(i_cparam.getPerspectiveProjectionMatrix());
if (!icp_planer.icpGetInitXw2Xc_from_PlanarData(sCoord, wCoord, matchData.getLength(), initMatXw2Xc))
{
return(false);
}
/*
* printf("--- Init pose ---\n"); for( int j = 0; j < 3; j++ ) { for( i = 0; i < 4; i++ ) printf(" %8.3f",
* initMatXw2Xc[j][i]); printf("\n"); }
*/
NyARIcpPoint icp_point = new NyARIcpPoint(i_cparam.getPerspectiveProjectionMatrix());
icp_point.icpPoint(sCoord, wCoord, matchData.getLength(), initMatXw2Xc, i_transmat, i_resultparam);
if (i_resultparam.last_error > 10.0f)
{
return(false);
}
return(true);
}
public override bool icpPoint(NyARDoublePoint2d[] screenCoord,
NyARDoublePoint3d[] worldCoord, int num,
NyARDoubleMatrix44 initMatXw2Xc, NyARDoubleMatrix44 o_matxw2xc, NyARTransMatResultParam o_result_param)
{
Debug.Assert(num >= 4);
double err0 = 0, err1;
NyARIcpUtils.U u = this.__u;
NyARIcpUtils.DeltaS dS = this.__dS;
//ワークオブジェクトのリセット
if (this.__jus.getArraySize() < num)
{
this.__jus = new NyARIcpUtils.JusStack(num);
this.__E = new double[num];
this.__E2 = new double[num];
this.__du = NyARDoublePoint2d.createArray(num);
}
NyARIcpUtils.JusStack jus = this.__jus;
double[] E = this.__E;
double[] E2 = this.__E2;
NyARDoublePoint2d[] du = this.__du;
NyARDoubleMatrix44 matXw2U = this.__matXw2U;
int inlierNum = (int)(num * this.getInlierProbability()) - 1;
if (inlierNum < 3)
{
inlierNum = 3;
}
o_matxw2xc.setValue(initMatXw2Xc);
for (int i = 0;; i++)
{
matXw2U.mul(this._ref_matXc2U, o_matxw2xc);
for (int j = 0; j < num; j++)
{
if (!u.setXbyMatX2U(matXw2U, worldCoord[j]))
{
return(false);
}
double dx = screenCoord[j].x - u.x;
double dy = screenCoord[j].y - u.y;
du[j].x = dx;
du[j].y = dy;
E[j] = E2[j] = dx * dx + dy * dy;
}
Array.Sort(E2, 0, num);// qsort(E2, data->num, sizeof(ARdouble), compE);
double K2 = E2[inlierNum] * K2_FACTOR;
if (K2 < 16.0)
{
K2 = 16.0;
}
err1 = 0.0;
for (int j = 0; j < num; j++)
{
if (E2[j] > K2)
{
err1 += K2 / 6.0;
}
else
{
err1 += K2 / 6.0 * (1.0 - (1.0 - E2[j] / K2) * (1.0 - E2[j] / K2) * (1.0 - E2[j] / K2));
}
}
err1 /= num;
if (err1 < this.breakLoopErrorThresh)
{
break;
}
if (i > 0 && err1 < this.breakLoopErrorThresh2 && err1 / err0 > this.breakLoopErrorRatioThresh)
{
break;
}
if (i == this._maxLoop)
{
break;
}
err0 = err1;
jus.clear();
for (int j = 0; j < num; j++)
{
if (E[j] <= K2)
{
double W = (1.0 - E[j] / K2) * (1.0 - E[j] / K2);
if (!jus.push(this._ref_matXc2U, o_matxw2xc, worldCoord[j], du[j], W))
{
return(false);
}
}
}
if (jus.getLength() < 3)
{
return(false);
}
if (!dS.setJusArray(jus))
{
return(false);
}
dS.makeMat(o_matxw2xc);
}
if (o_result_param != null)
{
o_result_param.last_error = err1;
}
return(true);
}
/**
* 4ポイント限定のHomographyPointsGeometricallyConsistent関数
* @param H
* @param i_width
* @param i_height
* @return
*/
virtual public bool geometricallyConsistent(HomographyMat H)
{
NyARDoublePoint2d[] x = NyARDoublePoint2d.createArray(4);
x[0].x = 0;
x[0].y = 0;
x[1].x = this._w;
x[1].y = 0;
x[2].x = this._w;
x[2].y = this._h;
x[3].x = 0;
x[3].y = this._h;
NyARDoublePoint2d xp1 = new NyARDoublePoint2d();
NyARDoublePoint2d xp2 = new NyARDoublePoint2d();
NyARDoublePoint2d xp3 = new NyARDoublePoint2d();
NyARDoublePoint2d first_xp1 = new NyARDoublePoint2d();
NyARDoublePoint2d first_xp2 = new NyARDoublePoint2d();
int x1_ptr = 0;
// int x2_ptr = 0+1;
// int x3_ptr = 0+2;
NyARDoublePoint2d xp1_ptr = xp1;
NyARDoublePoint2d xp2_ptr = xp2;
NyARDoublePoint2d xp3_ptr = xp3;
//
// Check the first 3 points
//
MultiplyPointHomographyInhomogenous(xp1, H, x[x1_ptr]);
MultiplyPointHomographyInhomogenous(xp2, H, x[x1_ptr + 1]);
MultiplyPointHomographyInhomogenous(xp3, H, x[x1_ptr + 2]);
first_xp1.setValue(xp1); //indexing.CopyVector2(first_xp1,0, xp1,0);
first_xp2.setValue(xp2); //indexing.CopyVector2(first_xp2,0, xp2,0);
// public boolean Homography4PointsGeometricallyConsistent(float[] x1, float[] x2, float[] x3, float[] x4,float[] x1p,float[] x2p,float[] x3p,float[] x4p) {
if (!Homography3PointsGeometricallyConsistent(
x[x1_ptr], x[x1_ptr + 1], x[x1_ptr + 2],
xp1_ptr, xp2_ptr, xp3_ptr))
{
return(false);
}
//
// Check the remaining points
//
for (int i = 3; i < x.Length; i++)
{
x1_ptr += 1;
MultiplyPointHomographyInhomogenous(xp1_ptr, H, x[x1_ptr + 2]);
NyARDoublePoint2d tmp_ptr = xp1_ptr;
xp1_ptr = xp2_ptr;
xp2_ptr = xp3_ptr;
xp3_ptr = tmp_ptr;
if (!Homography3PointsGeometricallyConsistent(
x[x1_ptr], x[x1_ptr + 1], x[x1_ptr + 2],
xp1_ptr, xp2_ptr, xp3_ptr))
{
return(false);
}
}
//
// Check the last 3 points
//
if (!Homography3PointsGeometricallyConsistent(
x[x1_ptr + 1], x[x1_ptr + 2], x[0],
xp2_ptr, xp3_ptr, first_xp1))
{
return(false);
}
if (!Homography3PointsGeometricallyConsistent(
x[x1_ptr + 2], x[0], x[2],
xp3_ptr, first_xp1, first_xp2))
{
return(false);
}
return(true);
}
