public bool extractMatches(FeaturePairStack i_matche_resule, int refWidth, int refHeight)
{
// Extract the data from the features
// hough.vote((float*)&query[0], (float*)&ref[0], (int)matches.size());
int size = i_matche_resule.getLength();
if (size == 0)
{
return(false);
}
//ワークエリア
if (this._mSubBinLocations.Length < size)
{
this._mSubBinLocations = SubBinLocation.createArray(size + 10);
}
//FindHoughSimilarity
int max_dim = refWidth > refHeight ? refWidth : refHeight;//math_utils.max2(mRefImageWidth, mRefImageHeight);
if (!this.autoAdjustXYNumBins(max_dim, i_matche_resule))
{
return(false);
}
this.votemap.reset();
int num_of_subbin = this.vote(i_matche_resule, refWidth / 2, refHeight / 2, this._mSubBinLocations);
int max_hough_index = this.votemap.findMax();
if (max_hough_index < 0)
{
return(false);
}
this.FindHoughMatches(i_matche_resule, max_hough_index, kHoughBinDelta, this._mSubBinLocations, num_of_subbin);
return(true);
}
public static SubBinLocation[] createArray(int i_length)
{
SubBinLocation[] r = new SubBinLocation[i_length];
for (int i = 0; i < i_length; i++)
{
r[i] = new SubBinLocation();
}
return(r);
}
private int vote(FeaturePairStack i_point_pair, int i_center_x, int i_center_y, SubBinLocation[] i_sub_bin_locations)
{
int size = i_point_pair.getLength();
int num_features_that_cast_vote = 0;
for (int i = 0; i < size; i++)
{
//mapCorrespondence(r,i_point_pair.getItem(i),i_center_x,i_center_y);
double rx, ry, rangle, rscale;
{
FreakFeaturePoint ins = i_point_pair.getItem(i).query;
FreakFeaturePoint ref_ = i_point_pair.getItem(i).ref_;
//angle
rangle = ins.angle - ref_.angle;
// Map angle to (-pi,pi]
if (rangle <= -PI)
{
rangle += (2 * PI);
}
else if (rangle > PI)
{
rangle -= (2 * PI);
}
double scale = SafeDivision(ins.scale, ref_.scale);
double c = (scale * Math.Cos(rangle));
double s = (scale * Math.Sin(rangle));
//scale
rscale = (double)(Math.Log(scale) * this.mScaleOneOverLogK);
//x,y
rx = c * i_center_x - s * i_center_y + (ins.x - (c * ref_.x - s * ref_.y));
ry = s * i_center_x + c * i_center_y + (ins.y - (s * ref_.x + c * ref_.y));
// Check that the vote is within range
if (rx < mMinX || rx >= mMaxX || ry < mMinY || ry >= mMaxY ||
rangle <= -PI || rangle > PI ||
rscale < mMinScale || rscale >= mMaxScale)
{
continue;
}
}
// Compute the bin location
SubBinLocation sub_bin = i_sub_bin_locations[num_features_that_cast_vote];
mapVoteToBin(sub_bin, rx, ry, rangle, rscale);
int binX = (int)Math.Floor(sub_bin.x - 0.5f);
int binY = (int)Math.Floor(sub_bin.y - 0.5f);
int binScale = (int)Math.Floor(sub_bin.scale - 0.5f);
int binAngle = ((int)Math.Floor(sub_bin.angle - 0.5f) + mNumAngleBins) % mNumAngleBins;
// Check that we can voting to all 16 bin locations
if (binX < 0 || (binX + 1) >= mNumXBins || binY < 0 ||
(binY + 1) >= mNumYBins || binScale < 0 ||
(binScale + 1) >= mNumScaleBins)
{
continue;
}
sub_bin.index = i;
num_features_that_cast_vote++;
this.votemap.vote16(binX, binY, binAngle, binScale, 1);
}
return(num_features_that_cast_vote);
}
/**
* Get only the matches that are consistent based on the hough votes.
*/
private void FindHoughMatches(FeaturePairStack in_matches, int binIndex, double binDelta, SubBinLocation[] i_sub_bin, int i_num_of_sbin)
{
/**
* Get the bins locations from an index.
*/
double ref_x, ref_y, ref_angle, ref_scale;
{
//ハッシュ値から元の値を復帰
int binX = binIndex & 0x3f;
int binY = (binIndex >> 7) & 0x3f;
int binAngle = (binIndex >> 14) & 0x3f;
int binScale = (binIndex >> 21) & 0x3f;
ref_x = binX + 0.5;
ref_y = binY + 0.5;
ref_angle = binAngle + 0.5;
ref_scale = binScale + 0.5;
}
//
int pos = 0;
for (int i = 0; i < i_num_of_sbin; i++)
{
SubBinLocation ins = i_sub_bin[i];
//getBinDistance
double d;
//x
d = Math.Abs(ins.x - ref_x);
if (d >= binDelta)
{
continue;
}
//y
d = Math.Abs(ins.y - ref_y);
if (d >= binDelta)
{
continue;
}
//scale
d = Math.Abs(ins.scale - ref_scale);
if (d >= binDelta)
{
continue;
}
// Angle
double d1 = Math.Abs(ins.angle - ref_angle);
double d2 = (double)this.mNumAngleBins - d1;
d = d1 < d2 ? d1 : d2;
if (d >= binDelta)
{
continue;
}
//idxは昇順のはずだから詰める。
int idx = ins.index;
in_matches.swap(idx, pos);
pos++;
}
in_matches.setLength(pos);
return;
}
