public static NyARNftFsetFile genFeatureSet(NyARNftIsetFile i_iset_file, int i_occupancy_size, double i_max_sim_th, double i_min_sim_th, double i_sd_th)
{
NyARNftIsetFile.ReferenceImage[] items = i_iset_file.items;
NyARNftFsetFile.NyAR2FeaturePoints[] points = new NyARNftFsetFile.NyAR2FeaturePoints[items.Length];
for (int i = 0; i < items.Length; i++)
{
NyARNftIsetFile.ReferenceImage rimg = items[i];
//MAX-dpiとMIN-dpiを計算
double max_dpi = Double.MaxValue;
double min_dpi = rimg.dpi * 0.5;
for (int j = 0; j < items.Length; j++)
{
if (rimg.dpi < items[j].dpi && max_dpi > items[j].dpi)
{
max_dpi = items[j].dpi;
}
if (rimg.dpi > items[j].dpi && min_dpi < items[j].dpi)
{
min_dpi = items[j].dpi;
}
}
if (max_dpi == Double.MaxValue)
{
max_dpi = rimg.dpi * 2;
}
else
{
max_dpi = rimg.dpi * 0.8 + max_dpi * 0.2;
}
//MIN-dpiの計算(一番近い小さい値
points[i] = new NyARNftFsetFile.NyAR2FeaturePoints(rimg, i_occupancy_size, i_max_sim_th, i_min_sim_th, i_sd_th, max_dpi, min_dpi, i);
}
return(new NyARNftFsetFile(points));
}
public FsetFileDataParserV4(byte[] i_src)
{
BinaryReader br = new BinaryReader(i_src, BinaryReader.ENDIAN_LITTLE);
int num_of_data = br.getInt();
NyARNftFsetFile.NyAR2FeaturePoints[] l = new NyARNftFsetFile.NyAR2FeaturePoints[num_of_data];
for (int i = 0; i < l.Length; i++)
{
int scale = br.getInt();
double maxdpi = br.getFloat();
double mindpi = br.getFloat();
int num_of_coord = br.getInt();
NyARNftFsetFile.NyAR2FeaturePoints p = new NyARNftFsetFile.NyAR2FeaturePoints(num_of_coord, scale, maxdpi, mindpi);
for (int i2 = 0; i2 < num_of_coord; i2++)
{
p.coord[i2].x = br.getInt();
p.coord[i2].y = br.getInt();
p.coord[i2].mx = br.getFloat();
p.coord[i2].my = br.getFloat();
p.coord[i2].maxSim = br.getFloat();
}
l[i] = p;
}
this.points = l;
}
/**
* 格納している情報から、ファイルイメージを生成します。
* @param i_sub_dpis
* @return
*/
public byte[] makeBinary()
{
//初期メモリは2MB
BinaryWriter bw = new BinaryWriter(BinaryReader.ENDIAN_LITTLE, 2 * 1024 * 1024);
bw.putInt(this.points.Length);
for (int i = 0; i < this.points.Length; i++)
{
NyARNftFsetFile.NyAR2FeaturePoints p = this.points[i];
bw.putInt(p.scale);
bw.putFloat((float)p.maxdpi);
bw.putFloat((float)p.mindpi);
bw.putInt(p.coord.Length);
for (int j = 0; j < p.coord.Length; j++)
{
bw.putInt(p.coord[j].x);
bw.putInt(p.coord[j].y);
bw.putFloat((float)p.coord[j].mx);
bw.putFloat((float)p.coord[j].my);
bw.putFloat((float)p.coord[j].maxSim);
}
}
return(bw.getBinary());
}
public void extractVisibleFeatures(
NyARNftFsetFile i_fset, NyARSurfaceTransMatrixSet i_ctrans,
NyARSurfaceFeatures candidate, NyARSurfaceFeatures candidate2)
{
//get work objects
NyARDoublePoint2d ide2d = this.__ide2d;
NyARDoublePoint2d obs2d = this.__obs2d;
NyARDoublePoint2d rideal2d = this.__rideal2d;
// trans1.setCoefficient(i_cparam.getPerspectiveProjectionMatrix(), trans1);
candidate.clear();
candidate2.clear();
int xsize = this._ref_size.w;
int ysize = this._ref_size.h;
INyARCameraDistortionFactor df = this._ref_dist_factor;
for (int j = 0; j < i_fset.list.Length; j++)
{
NyARNftFsetFile.NyAR2FeaturePoints fpoint_ptr = i_fset.list[j];
for (int k = 0; k < fpoint_ptr.coord.Length; k++)
{
NyARNftFsetFile.NyAR2FeatureCoord coord_ptr = fpoint_ptr.coord[k];
//理想画面点を計算
i_ctrans.calculate2dPos(coord_ptr.mx, coord_ptr.my, ide2d);
df.ideal2Observ(ide2d.x, ide2d.y, obs2d);
//観察座標に変換後、画面内にあるか確認
if (obs2d.x < 0 || obs2d.x >= xsize)
{
continue;
}
if (obs2d.y < 0 || obs2d.y >= ysize)
{
continue;
}
//逆変換可能か確認
df.observ2Ideal(obs2d, rideal2d);
if (ide2d.sqDist(rideal2d) > 1.0)
{
continue;
}
//原点からのベクトルを計算
//Z軸が+だとつかえないので判定？
if (i_ctrans.calculateVd(coord_ptr.mx, coord_ptr.my) > -0.1)
{
continue;
}
// double vd0 = trans1.m00 * coord_ptr.mx+ trans1.m01 * coord_ptr.my+ trans1.m03;
// double vd1 = trans1.m10 * coord_ptr.mx+ trans1.m11 * coord_ptr.my+ trans1.m13;
// double vd2 = trans1.m20 * coord_ptr.mx+ trans1.m21 * coord_ptr.my+ trans1.m23;
// if( (vd0*trans1.m02 + vd1*trans1.m12 + vd2*trans1.m22)/Math.sqrt( vd0*vd0 + vd1*vd1 + vd2*vd2 ) > -0.1 ){
// continue;
// }
//撮影箇所のdpiを計算(x,y方向で計算して、大・小の順番で格納？)
double dpi = i_ctrans.ar2GetMinResolution(coord_ptr);
//dpiによってコレクトする候補を分離
if (dpi <= fpoint_ptr.maxdpi && dpi >= fpoint_ptr.mindpi)
{
NyARSurfaceFeatureItem item = candidate.prePush();
if (item == null)
{
return;
}
item.ref_feature = coord_ptr;
item.scale = fpoint_ptr.scale;
item.x = obs2d.x;
item.y = obs2d.y;
}
else if (dpi <= fpoint_ptr.maxdpi * 2 && dpi >= fpoint_ptr.mindpi / 2)
{
NyARSurfaceFeatureItem item = candidate2.prePush();
if (item == null)
{
return;
}
item.ref_feature = coord_ptr;
item.scale = fpoint_ptr.scale;
item.x = obs2d.x;
item.y = obs2d.y;
}
}
}
return;
}
