public void Test_RayRectangleIntersect_FromTop_Hit()
{
Rectangle rect = new Rectangle(0, 0, 21, 21);
Point2Df rayPos;
Point2Df rayStep;
Geometry.RayIntersection res;
// Vertical cases
rayStep = new Point2Df(0, 1);
//////////////////////////////
rayPos = new Point2Df(0, -10);
//////////////////////////////
// Horizontal step, intersect along top edge
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(30, res.StepsToExit, "Incorrect steps to exit");
///////////////////////////////
rayPos = new Point2Df(20, -10);
///////////////////////////////
// Horizontal step, intersect along bottom edge
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(30, res.StepsToExit, "Incorrect steps to exit");
///////////////////////////////
rayPos = new Point2Df(10, -10);
///////////////////////////////
// Horizontal step, intersect through middle
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(30, res.StepsToExit, "Incorrect steps to exit");
// Q1: In left, out top
rayStep = new Point2Df(0.5, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(20, res.StepsToExit, "Incorrect steps to exit");
// Q1: In left, out right
rayStep = new Point2Df(0.25, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(30, res.StepsToExit, "Incorrect steps to exit");
// Q4: In left, out right
rayStep = new Point2Df(-0.25, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(30, res.StepsToExit, "Incorrect steps to exit");
// Q4: in left, out bottom
rayStep = new Point2Df(-0.5, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(20, res.StepsToExit, "Incorrect steps to exit");
// Q1: Hit top left corner
rayStep = new Point2Df(1, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(10, res.StepsToExit, "Incorrect steps to exit");
// Q4: Hit bottom left corner
rayStep = new Point2Df(-1, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(10, res.StepsToExit, "Incorrect steps to exit");
///////////////////////////////
rayPos = new Point2Df(10, -5);
///////////////////////////////
// Q1: In left, out top right
rayStep = new Point2Df(1, 2.5);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(2, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(10, res.StepsToExit, "Incorrect steps to exit");
// Q4: In left, out bottom right
rayStep = new Point2Df(-1, 2.5);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(2, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(10, res.StepsToExit, "Incorrect steps to exit");
}
public void Test_RayRectangleIntersect_FromTopRight_Miss()
{
Rectangle rect = new Rectangle(0, 0, 21, 21);
Point2Df rayPos = new Point2Df(30, -10);
Point2Df rayStep;
Geometry.RayIntersection res;
// Q2: Up, left
rayStep = new Point2Df(-1, -1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNull(res, "Ray should not have intersected the rectangle");
// Up
rayStep = new Point2Df(0, -1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNull(res, "Ray should not have intersected the rectangle");
// Q1: Up, Right
rayStep = new Point2Df(1, -1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNull(res, "Ray should not have intersected the rectangle");
// Right
rayStep = new Point2Df(1, 0);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNull(res, "Ray should not have intersected the rectangle");
// Q1: Down, Right
rayStep = new Point2Df(1, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNull(res, "Ray should not have intersected the rectangle");
// Down
rayStep = new Point2Df(0, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNull(res, "Ray should not have intersected the rectangle");
// Q3: Miss below
rayStep = new Point2Df(-1, 4);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNull(res, "Ray should not have intersected the rectangle");
// Q3: Miss above
rayStep = new Point2Df(-4, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNull(res, "Ray should not have intersected the rectangle");
// Left
rayStep = new Point2Df(-1, 0);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNull(res, "Ray should not have intersected the rectangle");
}
public void Test_RayRectangleIntersect_FromTopRight_Hit()
{
Rectangle rect = new Rectangle(0, 0, 21, 21);
Point2Df rayPos;
Point2Df rayStep;
Geometry.RayIntersection res;
///////////////////////////////
rayPos = new Point2Df(25, -10);
///////////////////////////////
// Q4: In top, out left
rayStep = new Point2Df(-1, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(25, res.StepsToExit, "Incorrect steps to exit");
// Q4: In top, out bottom
rayStep = new Point2Df(-0.75, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(30, res.StepsToExit, "Incorrect steps to exit");
// Q4: In top, out bottom left
rayStep = new Point2Df(-2.5 / 3, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(30, res.StepsToExit, "Incorrect steps to exit");
// Q4: In top right, out bottom
rayStep = new Point2Df(-0.5, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(30, res.StepsToExit, "Incorrect steps to exit");
///////////////////////////////
rayPos = new Point2Df(30, -5);
///////////////////////////////
// Q4: In right, out bottom
rayStep = new Point2Df(-1, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(25, res.StepsToExit, "Incorrect steps to exit");
// Q4: In right, out left
rayStep = new Point2Df(-1, 0.75);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(30, res.StepsToExit, "Incorrect steps to exit");
// Q4: In right, out bottom left
rayStep = new Point2Df(-1, 2.5 / 3);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(30, res.StepsToExit, "Incorrect steps to exit");
// Q4: In top right, out left
rayStep = new Point2Df(-1, 0.5);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(30, res.StepsToExit, "Incorrect steps to exit");
////////////////////////////////
rayPos = new Point2Df(30, -10);
////////////////////////////////
// Q4: In top right, out bottom left
rayStep = new Point2Df(-1, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(30, res.StepsToExit, "Incorrect steps to exit");
// Q4: Hit top left corner
rayStep = new Point2Df(-3, 1);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(10, res.StepsToExit, "Incorrect steps to exit");
// Q4: Hit bottom right corner
rayStep = new Point2Df(-1, 3);
res = Geometry.RayRectangleIntersect(rayPos, rayStep, rect);
Assert.IsNotNull(res, "Ray should have intersected rectangle");
Assert.AreEqual(10, res.StepsToEntry, "Incorrect steps to entry");
Assert.AreEqual(10, res.StepsToExit, "Incorrect steps to exit");
}
public NaturalPipeline(IComponentManager xpcfComponentManager) : base(xpcfComponentManager)
{
imageViewerKeypoints = Create <IImageViewer>("SolARImageViewerOpencv", "keypoints");
imageViewerResult = Create <IImageViewer>("SolARImageViewerOpencv");
marker = Create <IMarker2DNaturalImage>("SolARMarker2DNaturalImageOpencv");
kpDetector = Create <IKeypointDetector>("SolARKeypointDetectorOpencv");
kpDetectorRegion = Create <IKeypointDetectorRegion>("SolARKeypointDetectorRegionOpencv");
descriptorExtractor = Create <IDescriptorsExtractor>("SolARDescriptorsExtractorAKAZE2Opencv");
matcher = Create <IDescriptorMatcher>("SolARDescriptorMatcherKNNOpencv");
geomMatchesFilter = Create <IMatchesFilter>("SolARGeometricMatchesFilterOpencv");
poseEstimationPlanar = Create <I3DTransformSACFinderFrom2D3D>("SolARPoseEstimationPlanarPointsOpencv");
opticalFlow = Create <IOpticalFlowEstimator>("SolAROpticalFlowPyrLKOpencv");
projection = Create <IProject>("SolARProjectOpencv");
unprojection = Create <IUnproject>("SolARUnprojectPlanarPointsOpencv");
img_mapper = Create <IImage2WorldMapper>("SolARImage2WorldMapper4Marker2D");
basicMatchesFilter = Create <IMatchesFilter>("SolARBasicMatchesFilter");
keypointsReindexer = Create <IKeypointsReIndexer>("SolARKeypointsReIndexer");
overlay3DComponent = Create <I3DOverlay>("SolAR3DOverlayOpencv");
/* in dynamic mode, we need to check that components are well created*/
/* this is needed in dynamic mode */
if (new object[] { imageViewerKeypoints, imageViewerResult, marker, kpDetector, kpDetectorRegion, descriptorExtractor, matcher,
geomMatchesFilter, poseEstimationPlanar, opticalFlow, projection, unprojection, img_mapper,
basicMatchesFilter, keypointsReindexer, overlay3DComponent }.Contains(null))
{
LOG_ERROR("One or more component creations have failed");
return;
}
LOG_INFO("All components have been created");
// Declare data structures used to exchange information between components
refImage = SharedPtr.Alloc <Image>().AddTo(subscriptions);
previousCamImage = SharedPtr.Alloc <Image>().AddTo(subscriptions);
//kpImageCam = SharedPtr.Alloc<Image>().AddTo(subscriptions);
refDescriptors = SharedPtr.Alloc <DescriptorBuffer>().AddTo(subscriptions);
camDescriptors = SharedPtr.Alloc <DescriptorBuffer>().AddTo(subscriptions);
matches = new DescriptorMatchVector().AddTo(subscriptions);
// where to store detected keypoints in ref image and camera image
refKeypoints = new KeypointArray().AddTo(subscriptions);
camKeypoints = new KeypointArray().AddTo(subscriptions);
markerWorldCorners = new Point3DfArray().AddTo(subscriptions);
// load marker
marker.loadMarker().Check();
marker.getWorldCorners(markerWorldCorners).Check();
marker.getImage(refImage).Check();
// detect keypoints in reference image
kpDetector.detect(refImage, refKeypoints);
// extract descriptors in reference image
descriptorExtractor.extract(refImage, refKeypoints, refDescriptors);
// initialize image mapper with the reference image size and marker size
var img_mapper_config = img_mapper.BindTo <IConfigurable>().AddTo(subscriptions);
var refSize = refImage.getSize();
var mkSize = marker.getSize();
img_mapper_config.getProperty("digitalWidth").setIntegerValue((int)refSize.width);
img_mapper_config.getProperty("digitalHeight").setIntegerValue((int)refSize.height);
img_mapper_config.getProperty("worldWidth").setFloatingValue(mkSize.width);
img_mapper_config.getProperty("worldHeight").setFloatingValue(mkSize.height);
// vector of 4 corners in the marker
refImgCorners = new Point2DfArray();
float w = refImage.getWidth(), h = refImage.getHeight();
Point2Df corner0 = new Point2Df(0, 0);
Point2Df corner1 = new Point2Df(w, 0);
Point2Df corner2 = new Point2Df(w, h);
Point2Df corner3 = new Point2Df(0, h);
refImgCorners.Add(corner0);
refImgCorners.Add(corner1);
refImgCorners.Add(corner2);
refImgCorners.Add(corner3);
}
