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));
}
/**
* FsetFileデータから、page_idに一致したキーマップを生成します。
* @param i_refDataSet
* @param i_page_id
*/
public KeyframeMap(NyARNftFreakFsetFile i_refDataSet, int i_page_id)
{
NyARNftFreakFsetFile.PageInfo page_info = i_refDataSet.page_info[i_page_id];
int db_id = 0;
for (int m = 0; m < page_info.image_info.Length; m++)
{
int image_no = page_info.image_info[m].image_no;
int l = 0;
//格納予定のデータ数を数える
for (int i = 0; i < i_refDataSet.ref_point.Length; i++)
{
if (i_refDataSet.ref_point[i].refImageNo == image_no)
{
l++;
}
}
FreakMatchPointSetStack fps = new FreakMatchPointSetStack(l);
for (int i = 0; i < i_refDataSet.ref_point.Length; i++)
{
if (i_refDataSet.ref_point[i].refImageNo == image_no)
{
NyARNftFreakFsetFile.RefDataSet t = i_refDataSet.ref_point[i];
FreakMatchPointSetStack.Item fp = fps.prePush();
fp.x = t.coord2D.x;
fp.y = t.coord2D.y;
fp.angle = t.featureVec.angle;
fp.scale = t.featureVec.scale;
fp.maxima = t.featureVec.maxima > 0 ? true : false;
if (i_refDataSet.ref_point[i].featureVec.v.Length != 96)
{
throw new NyARRuntimeException();
}
fp.descripter.setValueLe(i_refDataSet.ref_point[i].featureVec.v);
fp.pos3d.x = t.coord3D.x;
fp.pos3d.y = t.coord3D.y;
fp.pos3d.z = 0;
}
}
Keyframe keyframe = new Keyframe(page_info.image_info[m].w, page_info.image_info[m].h, fps);
this.Add(db_id++, keyframe);
}
return;
}
