bool ofxArtool5::initNFT(ARParamLT * cparamLT, AR_PIXEL_FORMAT pixFormat){
kpmHandle = kpmCreateHandle(cparamLT, pixFormat);
if (!kpmHandle) {
ofLogError("ofxArtool5::initNFT","kpmCreateHandle");
return false;
}
if((ar2Handle = ar2CreateHandle(cparamLT, pixFormat, AR2_TRACKING_DEFAULT_THREAD_NUM))==NULL){
ofLogError("ofxArtool5::initNFT","ar2CreateHandle");
kpmDeleteHandle(&kpmHandle);
return false;
}
if(threadGetCPU()<=1){
ofLogWarning("ofxArtool5::initNFT","Using NFT settings for a single CPU");
ar2SetTrackingThresh(ar2Handle, 5.0);
ar2SetSimThresh(ar2Handle, 0.50);
ar2SetSearchFeatureNum(ar2Handle, 16);
ar2SetSearchSize(ar2Handle, 6);
ar2SetTemplateSize1(ar2Handle, 6);
ar2SetTemplateSize2(ar2Handle, 6);
}else{
cout<<"ofxArtool5::initNFT: Using NFT settings for multi CPU"<<endl;
ar2SetTrackingThresh(ar2Handle, 5.0);
ar2SetSimThresh(ar2Handle, 0.50);
ar2SetSearchFeatureNum(ar2Handle, 16);
ar2SetSearchSize(ar2Handle, 12);
ar2SetTemplateSize1(ar2Handle, 6);
ar2SetTemplateSize2(ar2Handle, 6);
}
return true;
}
// Modifies globals: kpmHandle, ar2Handle.
static int initNFT(ARParamLT *cparamLT, AR_PIXEL_FORMAT pixFormat)
{
#ifdef DEBUG
LOGE("Initialising NFT.\n");
#endif
//
// NFT init.
//
// KPM init.
kpmHandle = kpmCreateHandle(cparamLT, pixFormat);
if (!kpmHandle) {
LOGE("Error: kpmCreatHandle.\n");
return (false);
}
//kpmSetProcMode( kpmHandle, KpmProcHalfSize );
// AR2 init.
if( (ar2Handle = ar2CreateHandle(cparamLT, pixFormat, AR2_TRACKING_DEFAULT_THREAD_NUM)) == NULL ) {
LOGE("Error: ar2CreateHandle.\n");
kpmDeleteHandle(&kpmHandle);
return (false);
}
if (threadGetCPU() <= 1) {
#ifdef DEBUG
LOGE("Using NFT tracking settings for a single CPU.\n");
#endif
ar2SetTrackingThresh( ar2Handle, 5.0 );
ar2SetSimThresh( ar2Handle, 0.50 );
ar2SetSearchFeatureNum(ar2Handle, 16);
ar2SetSearchSize(ar2Handle, 6);
ar2SetTemplateSize1(ar2Handle, 6);
ar2SetTemplateSize2(ar2Handle, 6);
} else {
#ifdef DEBUG
LOGE("Using NFT tracking settings for more than one CPU.\n");
#endif
ar2SetTrackingThresh( ar2Handle, 5.0 );
ar2SetSimThresh( ar2Handle, 0.50 );
ar2SetSearchFeatureNum(ar2Handle, 16);
ar2SetSearchSize(ar2Handle, 12);
ar2SetTemplateSize1(ar2Handle, 6);
ar2SetTemplateSize2(ar2Handle, 6);
}
// NFT dataset loading will happen later.
#ifdef DEBUG
LOGE("NFT initialised OK.\n");
#endif
return (true);
}
int surfSubGetDescriptors( SurfSubIPointArrayT *iPointArray, int *image, int width, int height, int border, int maxNum, int threadNum )
{
#if 1
int k = 0;
for(int i = 0; i < iPointArray->num; i++) {
int x, y, s;
x = (int)(iPointArray->iPoint[i].x+0.5);
y = (int)(iPointArray->iPoint[i].y+0.5);
s = (int)(iPointArray->iPoint[i].scale+0.5);
if( x-s*20 < 0 || y-s*20 < 0 || x+s*20 >= width || y+s*20 >= height ) {
continue;
}
if( i != k ) {
iPointArray->iPoint[k] = iPointArray->iPoint[i];
}
k++;
}
iPointArray->num = k;
if( iPointArray->num == 0 ) return 0;
#endif
if( maxNum > 0 ) {
if( iPointArray->num > maxNum ) {
qsort( iPointArray->iPoint, iPointArray->num, sizeof(SurfSubIPointT), compSurfP );
iPointArray->num = maxNum;
}
}
static int initF = 0;
static int threadMax;
static THREAD_HANDLE_T **threadHandle;
static SurfSubGetDescriptorsParam *arg;
if( initF == 0 ) {
threadMax = threadGetCPU();
threadHandle = (THREAD_HANDLE_T **)malloc(sizeof(THREAD_HANDLE_T*)*threadMax);
if( threadHandle == NULL ) {ARLOGe("Malloc error: surfSubGetDescriptors.\n"); exit(0);}
arg = (SurfSubGetDescriptorsParam *)malloc(sizeof(SurfSubGetDescriptorsParam)*threadMax);
if( arg == NULL ) {ARLOGe("Malloc error: surfSubGetDescriptors.\n"); exit(0);}
for(int i = 0; i < threadMax; i++ ) {
threadHandle[i] = threadInit(i, &(arg[i]), surfSubGetDescriptorsSub);
}
initF = 1;
}
if( threadNum < 0 ) threadNum = threadMax;
if( threadNum > threadMax ) threadNum = threadMax;
char *flag = (char *)malloc(iPointArray->num);
int i = iPointArray->num/threadNum;
int j = iPointArray->num%threadNum;
k = 0;
for(int l = 0; l < j; l++ ) {
arg[l].iPoint = iPointArray->iPoint;
arg[l].flag = flag;
arg[l].image = image;
arg[l].width = width;
arg[l].height = height;
arg[l].border = border;
arg[l].startNum = k;
arg[l].endNum = k + i;
threadStartSignal( threadHandle[l] );
k += (i+1);
}
for(int l = j; l < threadNum; l++ ) {
arg[l].iPoint = iPointArray->iPoint;
arg[l].flag = flag;
arg[l].image = image;
arg[l].width = width;
arg[l].height = height;
arg[l].border = border;
arg[l].startNum = k;
arg[l].endNum = k + i - 1;
threadStartSignal( threadHandle[l] );
k += i;
}
for(int l = 0; l < threadNum; l++ ) {
threadEndWait( threadHandle[l] );
}
k = 0;
for(int i = 0; i < iPointArray->num; i++) {
if( flag[i] == 0 ) continue;
if( i != k ) {
iPointArray->iPoint[k] = iPointArray->iPoint[i];
}
k++;
}
iPointArray->num = k;
free(flag);
/*
for(int i = 0; i < iPointArray->num; i++) {
if( getOrientation(&(iPointArray->iPoint[i]), image, width, height, border) < 0 ) {
for( int j = i+1; j < iPointArray->num; j++ ) iPointArray->iPoint[j-1] = iPointArray->iPoint[j];
iPointArray->num--;
i--;
continue;
}
if( getDescriptor(&(iPointArray->iPoint[i]), image, width, height, border) < 0 ) {
for( int j = i+1; j < iPointArray->num; j++ ) iPointArray->iPoint[j-1] = iPointArray->iPoint[j];
iPointArray->num--;
i--;
continue;
}
}
*/
return 0;
}
