src/jp/nyatla/nyartoolkit/core/squaredetect/SquareContourDetector.java

   1 /* \r
   2  * PROJECT: NyARToolkit\r
   3  * --------------------------------------------------------------------------------\r
   4  * This work is based on the original ARToolKit developed by\r
   5  *   Hirokazu Kato\r
   6  *   Mark Billinghurst\r
   7  *   HITLab, University of Washington, Seattle\r
   8  * http://www.hitl.washington.edu/artoolkit/\r
   9  *\r
  10  * The NyARToolkit is Java edition ARToolKit class library.\r
  11  * Copyright (C)2008-2009 Ryo Iizuka\r
  12  *\r
  13  * This program is free software: you can redistribute it and/or modify\r
  14  * it under the terms of the GNU General Public License as published by\r
  15  * the Free Software Foundation, either version 3 of the License, or\r
  16  * (at your option) any later version.\r
  17  * \r
  18  * This program is distributed in the hope that it will be useful,\r
  19  * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  20  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
  21  * GNU General Public License for more details.\r
  22  *\r
  23  * You should have received a copy of the GNU General Public License\r
  24  * along with this program.  If not, see <http://www.gnu.org/licenses/>.\r
  25  * \r
  26  * For further information please contact.\r
  27  *      http://nyatla.jp/nyatoolkit/\r
  28  *      <airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>\r
  29  * \r
  30  */\r
  31 package jp.nyatla.nyartoolkit.core.squaredetect;\r
  32 \r
  33 import jp.nyatla.nyartoolkit.NyARException;\r
  34 import jp.nyatla.nyartoolkit.core.param.NyARCameraDistortionFactor;\r
  35 import jp.nyatla.nyartoolkit.core.param.NyARObserv2IdealMap;\r
  36 import jp.nyatla.nyartoolkit.core.pca2d.INyARPca2d;\r
  37 import jp.nyatla.nyartoolkit.core.pca2d.NyARPca2d_MatrixPCA_O2;\r
  38 import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint2d;\r
  39 import jp.nyatla.nyartoolkit.core.types.NyARIntPoint2d;\r
  40 import jp.nyatla.nyartoolkit.core.types.NyARIntSize;\r
  41 import jp.nyatla.nyartoolkit.core.types.NyARLinear;\r
  42 import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix22;\r
  43 \r
  44 public class SquareContourDetector\r
  45 {\r
  46         private static final double VERTEX_FACTOR = 1.0;// 線検出のファクタ     \r
  47         private final double[] _xpos;\r
  48         private final double[] _ypos;   \r
  49         private final int[] __detectMarker_mkvertex = new int[5];\r
  50         private final NyARVertexCounter __getSquareVertex_wv1 = new NyARVertexCounter();\r
  51         private final NyARVertexCounter __getSquareVertex_wv2 = new NyARVertexCounter();\r
  52         private final INyARPca2d _pca;\r
  53         private final NyARDoubleMatrix22 __getSquareLine_evec=new NyARDoubleMatrix22();\r
  54         private final double[] __getSquareLine_mean=new double[2];\r
  55         private final double[] __getSquareLine_ev=new double[2];\r
  56         private final NyARObserv2IdealMap _dist_factor;\r
  57         public SquareContourDetector(NyARIntSize i_size,NyARCameraDistortionFactor i_distfactor_ref)\r
  58         {\r
  59                 //歪み計算テーブルを作ると、8*width/height*2の領域を消費します。\r
  60                 //領域を取りたくない場合は、i_dist_factor_refの値をそのまま使ってください。\r
  61                 this._dist_factor = new NyARObserv2IdealMap(i_distfactor_ref,i_size);\r
  62 \r
  63 \r
  64                 // 輪郭バッファは頂点変換をするので、輪郭バッファの２倍取る。\r
  65                 this._pca=new NyARPca2d_MatrixPCA_O2();\r
  66                 this._xpos=new double[i_size.w+i_size.h];//最大辺長はthis._width+this._height\r
  67                 this._ypos=new double[i_size.w+i_size.h];//最大辺長はthis._width+this._height\r
  68                 return;\r
  69         }\r
  70 \r
  71         public boolean coordToSquare(int[] i_xcoord,int[] i_ycoord,int i_st_index,int i_coord_num,int i_label_area,NyARSquare o_square) throws NyARException\r
  72         {\r
  73 \r
  74                 final int[] mkvertex = this.__detectMarker_mkvertex;\r
  75 \r
  76                 // 頂点情報を取得\r
  77                 if (!getSquareVertex(i_xcoord, i_ycoord, i_st_index, i_coord_num, i_label_area, mkvertex)) {\r
  78                         // 頂点の取得が出来なかったので破棄\r
  79                         return false;\r
  80                 }\r
  81                 // マーカーを検出\r
  82                 if (!getSquareLine(mkvertex, i_xcoord, i_ycoord, o_square)){\r
  83                         // 矩形が成立しなかった。\r
  84                         return false;\r
  85                 }\r
  86                 return true;\r
  87         }\r
  88         \r
  89         private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square) throws NyARException\r
  90         {\r
  91                 final NyARLinear[] l_line = o_square.line;\r
  92                 final NyARDoubleMatrix22 evec=this.__getSquareLine_evec;\r
  93                 final double[] mean=this.__getSquareLine_mean;\r
  94                 final double[] ev=this.__getSquareLine_ev;\r
  95         \r
  96                 \r
  97                 for (int i = 0; i < 4; i++) {\r
  98                         final double w1 = (double) (i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5;\r
  99                         final int st = (int) (i_mkvertex[i] + w1);\r
 100                         final int ed = (int) (i_mkvertex[i + 1] - w1);\r
 101                         final int n = ed - st + 1;\r
 102                         if (n < 2) {\r
 103                                 // nが2以下でmatrix.PCAを計算することはできないので、エラー\r
 104                                 return false;\r
 105                         }\r
 106                         //配列作成\r
 107                         this._dist_factor.observ2IdealBatch(i_xcoord, i_ycoord, st, n,this._xpos,this._ypos);\r
 108                         \r
 109                         //主成分分析する。\r
 110                         this._pca.pca(this._xpos,this._ypos,n,evec, ev,mean);\r
 111                         final NyARLinear l_line_i = l_line[i];\r
 112                         l_line_i.dy = evec.m01;// line[i][0] = evec->m[1];\r
 113                         l_line_i.dx = -evec.m00;// line[i][1] = -evec->m[0];\r
 114                         l_line_i.c = -(l_line_i.dy * mean[0] + l_line_i.dx * mean[1]);// line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]);\r
 115                 }\r
 116 \r
 117                 final NyARDoublePoint2d[] l_sqvertex = o_square.sqvertex;\r
 118                 final NyARIntPoint2d[] l_imvertex = o_square.imvertex;\r
 119                 for (int i = 0; i < 4; i++) {\r
 120                         final NyARLinear l_line_i = l_line[i];\r
 121                         final NyARLinear l_line_2 = l_line[(i + 3) % 4];\r
 122                         final double w1 = l_line_2.dy * l_line_i.dx - l_line_i.dy * l_line_2.dx;\r
 123                         if (w1 == 0.0) {\r
 124                                 return false;\r
 125                         }\r
 126                         l_sqvertex[i].x = (l_line_2.dx * l_line_i.c - l_line_i.dx * l_line_2.c) / w1;\r
 127                         l_sqvertex[i].y = (l_line_i.dy * l_line_2.c - l_line_2.dy * l_line_i.c) / w1;\r
 128                         // 頂点インデクスから頂点座標を得て保存\r
 129                         l_imvertex[i].x = i_xcoord[i_mkvertex[i]];\r
 130                         l_imvertex[i].y = i_ycoord[i_mkvertex[i]];\r
 131                 }\r
 132                 return true;\r
 133         }       \r
 134         private boolean getSquareVertex(int[] i_x_coord, int[] i_y_coord, int i_vertex1_index, int i_coord_num, int i_area, int[] o_vertex)\r
 135         {\r
 136                 final NyARVertexCounter wv1 = this.__getSquareVertex_wv1;\r
 137                 final NyARVertexCounter wv2 = this.__getSquareVertex_wv2;\r
 138                 final int end_of_coord = i_vertex1_index + i_coord_num - 1;\r
 139                 final int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];\r
 140                 final int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];\r
 141                 int dmax = 0;\r
 142                 int v1 = i_vertex1_index;\r
 143                 for (int i = 1 + i_vertex1_index; i < end_of_coord; i++) {// for(i=1;i<marker_info2->coord_num-1;i++)\r
 144                         // {\r
 145                         final int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);\r
 146                         if (d > dmax) {\r
 147                                 dmax = d;\r
 148                                 v1 = i;\r
 149                         }\r
 150                 }\r
 151                 final double thresh = (i_area / 0.75) * 0.01 * VERTEX_FACTOR;\r
 152 \r
 153                 o_vertex[0] = i_vertex1_index;\r
 154 \r
 155                 if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v1, thresh)) { // if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,0,v1,thresh,wv1,&wvnum1)<\r
 156                                                                                                                                                                         // 0 ) {\r
 157                         return false;\r
 158                 }\r
 159                 if (!wv2.getVertex(i_x_coord, i_y_coord, v1, end_of_coord, thresh)) {// if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,v1,marker_info2->coord_num-1,thresh,wv2,&wvnum2)\r
 160                         // < 0) {\r
 161                         return false;\r
 162                 }\r
 163 \r
 164                 int v2;\r
 165                 if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {// if(wvnum1 == 1 && wvnum2== 1) {\r
 166                         o_vertex[1] = wv1.vertex[0];\r
 167                         o_vertex[2] = v1;\r
 168                         o_vertex[3] = wv2.vertex[0];\r
 169                 } else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0) {// }else if( wvnum1 > 1 && wvnum2== 0) {\r
 170                         //頂点位置を、起点から対角点の間の1/2にあると予想して、検索する。\r
 171                         v2 = (v1-i_vertex1_index)/2+i_vertex1_index;\r
 172                         if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh)) {\r
 173                                 return false;\r
 174                         }\r
 175                         if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh)) {\r
 176                                 return false;\r
 177                         }\r
 178                         if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {\r
 179                                 o_vertex[1] = wv1.vertex[0];\r
 180                                 o_vertex[2] = wv2.vertex[0];\r
 181                                 o_vertex[3] = v1;\r
 182                         } else {\r
 183                                 return false;\r
 184                         }\r
 185                 } else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1) {\r
 186                         //v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;\r
 187                         v2 = (v1+ end_of_coord)/2;\r
 188 \r
 189                         if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh)) {\r
 190                                 return false;\r
 191                         }\r
 192                         if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh)) {\r
 193                                 return false;\r
 194                         }\r
 195                         if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {\r
 196                                 o_vertex[1] = v1;\r
 197                                 o_vertex[2] = wv1.vertex[0];\r
 198                                 o_vertex[3] = wv2.vertex[0];\r
 199                         } else {\r
 200                                 return false;\r
 201                         }\r
 202                 } else {\r
 203                         return false;\r
 204                 }\r
 205                 o_vertex[4] = end_of_coord;\r
 206                 return true;\r
 207         }\r
 208         \r
 209         /**\r
 210          * 輪郭線の矩形検出開始ポイントを特定して、座標を並べ替えます。\r
 211          * 輪郭線の先頭から、対角線が最長になる点を１点検索し、それより前の区間をバッファの後方に接続します。\r
 212          * 戻り値は対角線が最長になった点です。関数終了後、返却値+i_coord_numの要素が有効になります。\r
 213          * @param i_xcoord\r
 214          * @param i_ycoord\r
 215          * @param i_coord_num\r
 216          * @return\r
 217          */\r
 218         public static int normalizeCoord(int[] i_coord_x, int[] i_coord_y,int i_coord_num)\r
 219         {\r
 220                 //\r
 221                 final int sx = i_coord_x[0];\r
 222                 final int sy = i_coord_y[0];\r
 223                 int d = 0;\r
 224                 int w, x, y;\r
 225                 int ret = 0;\r
 226                 for (int i = 1; i < i_coord_num; i++) {\r
 227                         x = i_coord_x[i] - sx;\r
 228                         y = i_coord_y[i] - sy;\r
 229                         w = x * x + y * y;\r
 230                         if (w > d) {\r
 231                                 d = w;\r
 232                                 ret = i;\r
 233                         }\r
 234                         // ここでうまく終了条件入れられないかな。\r
 235                 }               \r
 236                 // vertex1を境界にして、後方に配列を連結\r
 237                 System.arraycopy(i_coord_x, 1, i_coord_x, i_coord_num, ret);\r
 238                 System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, ret);\r
 239                 return ret;\r
 240         }       \r
 241         \r
 242 }