public DetectSquareCB(INyARColorPatt i_inst_patt, NyARCode i_ref_code, NyARParam i_param)
{
this._inst_patt = i_inst_patt;
this._deviation_data = new NyARMatchPattDeviationColorData(i_ref_code.getWidth(), i_ref_code.getHeight());
this._coordline = new Coord2Linear(i_param.getScreenSize(), i_param.getDistortionFactor());
this._match_patt = new NyARMatchPatt_Color_WITHOUT_PCA(i_ref_code);
return;
}
public void setNyARCodeTable(NyARCode[] i_ref_code, int i_code_resolution)
{
/*unmanagedで実装するときは、ここでリソース解放をすること。*/
this._deviation_data = new NyARMatchPattDeviationColorData(i_code_resolution, i_code_resolution);
this._inst_patt = new NyARColorPatt_Perspective_O2(i_code_resolution, i_code_resolution, 4, 25);
this._match_patt = new NyARMatchPatt_Color_WITHOUT_PCA[i_ref_code.Length];
for (int i = 0; i < i_ref_code.Length; i++)
{
this._match_patt[i] = new NyARMatchPatt_Color_WITHOUT_PCA(i_ref_code[i]);
}
}
/**
* 現在セットされているARコードとi_pattを比較します。
*/
public bool evaluate(NyARMatchPattDeviationColorData i_patt, NyARMatchPattResult o_result)
{
Debug.Assert(this._code_patt != null);
//
int[] linput = i_patt.refData();
int sum;
double max = Double.MinValue;
int res = NyARMatchPattResult.DIRECTION_UNKNOWN;
int for_mod = this._optimize_for_mod;
for (int j = 0; j < 4; j++)
{
//合計値初期化
sum = 0;
NyARMatchPattDeviationColorData code_patt = this._code_patt.getColorData(j);
int[] pat_j = code_patt.refData();
//<全画素について、比較(FORの1/16展開)>
int i;
for (i = this._rgbpixels - 1; i >= for_mod; i--)
{
sum += linput[i] * pat_j[i];
}
for (; i >= 0;)
{
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
}
//<全画素について、比較(FORの1/16展開)/>
double sum2 = sum / code_patt.getPow(); // sum2 = sum / patpow[k][j]/ datapow;
if (sum2 > max)
{
max = sum2;
res = j;
}
}
o_result.direction = res;
o_result.confidence = max / i_patt.getPow();
return(true);
}
/// <summary>
/// Initialize a new SquareDetectionListener.
/// </summary>
/// <param name="patternMatchers">The pattern matchers with the marker data.</param>
/// <param name="cameraParameters">The camera calibration data.</param>
/// <param name="colorPattern">The used color pattern.</param>
/// <param name="patternMatchDeviationData">The pattern match deviation data.</param>
public SquareDetectionListener(List<PatternMatcher> patternMatchers, NyARParam cameraParameters, INyARColorPatt colorPattern, NyARMatchPattDeviationColorData patternMatchDeviationData)
{
this.patternMatchers = patternMatchers;
this.colorPattern = colorPattern;
this.patternMatchDeviationData = patternMatchDeviationData;
this.coordinationMapper = new Coord2Linear(cameraParameters.getScreenSize(), cameraParameters.getDistortionFactor());
this.matrixCalculator = new NyARTransMat(cameraParameters);
this.points = NyARIntPoint2d.createArray(4);
this.evaluationResult = new NyARMatchPattResult();
Reset();
}
/**
* 現在セットされているARコードとi_pattを比較します。
*/
public bool evaluate(NyARMatchPattDeviationColorData i_patt, NyARMatchPattResult o_result)
{
Debug.Assert(this._code_patt != null);
//
int[] linput = i_patt.refData();
int sum;
double max = Double.MinValue;
int res = NyARMatchPattResult.DIRECTION_UNKNOWN;
int for_mod = this._optimize_for_mod;
for (int j = 0; j < 4; j++)
{
//合計値初期化
sum = 0;
NyARMatchPattDeviationColorData code_patt = this._code_patt.getColorData(j);
int[] pat_j = code_patt.refData();
//<全画素について、比較(FORの1/16展開)>
int i;
for (i = this._rgbpixels - 1; i >= for_mod; i--)
{
sum += linput[i] * pat_j[i];
}
for (; i >= 0; )
{
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
sum += linput[i] * pat_j[i]; i--;
}
//<全画素について、比較(FORの1/16展開)/>
double sum2 = sum / code_patt.getPow();// sum2 = sum / patpow[k][j]/ datapow;
if (sum2 > max)
{
max = sum2;
res = j;
}
}
o_result.direction = res;
o_result.confidence = max / i_patt.getPow();
return true;
}
public Item(int i_patt_w, int i_patt_h, int i_edge_percentage)
{
int r = 1;
//解像度は幅を基準にする。
while (i_patt_w * r < 64)
{
r *= 2;
}
this._patt = new NyARRgbRaster(i_patt_w, i_patt_h, NyARBufferType.INT1D_X8R8G8B8_32, true);
this._patt_d = new NyARMatchPattDeviationColorData(i_patt_w, i_patt_h);
this._patt_edge = i_edge_percentage;
this._patt_resolution = r;
}
/// <summary>
/// Initializes the detector for single marker detection.
/// </summary>
/// <param name="width">The width of the buffer that will be used for detection.</param>
/// <param name="height">The height of the buffer that will be used for detection.</param>
/// <param name="nearPlane">The near view plane of the frustum.</param>
/// <param name="farPlane">The far view plane of the frustum.</param>
/// <param name="markers">A list of markers that should be detected.</param>
/// <param name="bufferType">The type of the buffer.</param>
/// <param name="adaptive">Performs an adaptive bitmap thresholding if set to true. Default = false.</param>
protected void Initialize(int width, int height, double nearPlane, double farPlane, IList<Marker> markers, int bufferType, bool adaptive = false)
{
// Check arguments
if (markers == null || !markers.Any())
{
throw new ArgumentNullException("markers");
}
// Member init
this.bufferWidth = width;
this.bufferHeight = height;
this.isAdaptive = adaptive;
// Init pattern matchers with markers and check segment size, whcih has to be equal for all markers
int segmentX = markers[0].SegmentsX;
int segmentY = markers[0].SegmentsY;
var patternMatchers = new List<PatternMatcher>(markers.Count);
foreach (var marker in markers)
{
if (marker.SegmentsX != segmentX || marker.SegmentsY != segmentY)
{
throw new ArgumentException("The Segment size has to be equal for all markers. Don't mix 16x16 and 32x32 markers for example.", "markers");
}
patternMatchers.Add(new PatternMatcher(marker));
}
// Load deafult camera calibration data
string location = System.IO.Path.GetDirectoryName(System.Reflection.Assembly.GetExecutingAssembly().Location);
StreamReader reader = new StreamReader(location + "/Content/Data/Camera_Calibration_1280x720.dat");
var cameraParameters = new NyARParam();
using (var cameraCalibrationDataStream = reader.BaseStream)
{
cameraParameters.loadARParam(cameraCalibrationDataStream);
cameraParameters.changeScreenSize(width, height);
}
//var asmName = new System.Reflection.AssemblyName(System.Reflection.Assembly.GetExecutingAssembly().FullName).Name;
//var uri = new Uri(asmName + ";component/Assets/data/Camera_Calibration_1280x720.dat", UriKind.Relative);
//var streamResInfoCam = Application.GetResourceStream(uri);
//if (null == streamResInfoCam)
// throw new FileNotFoundException("Application.GetResourceStream returned null", uri.OriginalString);
//var cameraParameters = new NyARParam();
//using (var cameraCalibrationDataStream = streamResInfoCam.Stream)
//{
// cameraParameters.loadARParam(cameraCalibrationDataStream);
// cameraParameters.changeScreenSize(width, height);
//}
// Get projection matrix from camera calibration data
this.Projection = cameraParameters.GetCameraFrustumRH(nearPlane, farPlane);
// Init detector and necessary data
var colorPattern = new NyARColorPatt_Perspective_O2(segmentX, segmentY, 4, 25);
var patternMatchDeviationData = new NyARMatchPattDeviationColorData(segmentX, segmentY);
this.squareDetector = new NyARSquareContourDetector_Rle(cameraParameters.getScreenSize());
this.squareDetectionListener = new SquareDetectionListener(patternMatchers, cameraParameters, colorPattern, patternMatchDeviationData);
// Init buffer members
this.filteredBuffer = new NyARBinRaster(width, height);
if (adaptive)
{
this.bufferFilter = new NyARRasterFilter_AdaptiveThreshold(bufferType);
}
else
{
this.bufferFilter = new NyARRasterFilter_ARToolkitThreshold(this.Threshold, bufferType);
}
}
protected NyARSingleDetectMarker(NyARParam i_ref_param, NyARCode i_ref_code, double i_marker_width)
{
this._deviation_data = new NyARMatchPattDeviationColorData(i_ref_code.getWidth(), i_ref_code.getHeight());
this._match_patt = new NyARMatchPatt_Color_WITHOUT_PCA(i_ref_code);
this._offset = new NyARRectOffset();
this._offset.setSquare(i_marker_width);
this._coordline = new NyARCoord2Linear(i_ref_param.getScreenSize(), i_ref_param.getDistortionFactor());
//２値画像バッファを作る
NyARIntSize s = i_ref_param.getScreenSize();
this._bin_raster = new NyARBinRaster(s.w, s.h);
}
