src/jp/nyatla/nyartoolkit/processor/SingleNyIdMarkerProcesser.java

   1 /* \r
   2  * Capture Test NyARToolkitCSサンプルプログラム\r
   3  * --------------------------------------------------------------------------------\r
   4  * Copyright (C)2008 R.Iizuka\r
   5  *\r
   6  * This program is free software; you can redistribute it and/or\r
   7  * modify it under the terms of the GNU General Public License\r
   8  * as published by the Free Software Foundation; either version 2\r
   9  * of the License, or (at your option) any later version.\r
  10  * \r
  11  * This program is distributed in the hope that it will be useful,\r
  12  * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
  14  * GNU General Public License for more details.\r
  15  * \r
  16  * You should have received a copy of the GNU General Public License\r
  17  * along with this framework; if not, write to the Free Software\r
  18  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA\r
  19  * \r
  20  * For further information please contact.\r
  21  *      http://nyatla.jp/nyatoolkit/\r
  22  *      <airmail(at)ebony.plala.or.jp>\r
  23  * \r
  24  */\r
  25 package jp.nyatla.nyartoolkit.processor;\r
  26 \r
  27 import jp.nyatla.nyartoolkit.NyARException;\r
  28 import jp.nyatla.nyartoolkit.core.*;\r
  29 import jp.nyatla.nyartoolkit.core.param.*;\r
  30 import jp.nyatla.nyartoolkit.core.raster.*;\r
  31 import jp.nyatla.nyartoolkit.core.raster.rgb.*;\r
  32 import jp.nyatla.nyartoolkit.core.transmat.*;\r
  33 import jp.nyatla.nyartoolkit.core.rasterfilter.rgb2bin.*;\r
  34 import jp.nyatla.nyartoolkit.core.types.*;\r
  35 import jp.nyatla.nyartoolkit.nyidmarker.*;\r
  36 import jp.nyatla.nyartoolkit.nyidmarker.data.INyIdMarkerData;\r
  37 import jp.nyatla.nyartoolkit.nyidmarker.data.INyIdMarkerDataEncoder;\r
  38 \r
  39 \r
  40 public abstract class SingleNyIdMarkerProcesser\r
  41 {\r
  42         /**\r
  43          * オーナーが自由に使えるタグ変数です。\r
  44          */\r
  45         public Object tag;\r
  46 \r
  47         /**\r
  48          * ロスト遅延の管理\r
  49          */\r
  50         private int _lost_delay_count = 0;\r
  51         private int _lost_delay = 5;\r
  52 \r
  53         private NyARSquareDetector _square_detect;\r
  54         protected NyARTransMat _transmat;\r
  55         private double _marker_width=100;\r
  56 \r
  57         private NyARSquareStack _square_list = new NyARSquareStack(100);\r
  58         private INyIdMarkerDataEncoder _encoder;\r
  59         private boolean _is_active;\r
  60         private INyIdMarkerData _data_temp;\r
  61         private INyIdMarkerData _data_current;\r
  62 \r
  63         \r
  64         private int _base_threshold = 110;\r
  65         private int _current_threshold;\r
  66         // [AR]検出結果の保存用\r
  67         private NyARBinRaster _bin_raster;\r
  68 \r
  69         private NyARRasterFilter_ARToolkitThreshold _tobin_filter = new NyARRasterFilter_ARToolkitThreshold(110);\r
  70 \r
  71         private NyARIdMarkerPickup _id_pickup = new NyARIdMarkerPickup();\r
  72 \r
  73 \r
  74         protected SingleNyIdMarkerProcesser(NyARParam i_param,INyIdMarkerDataEncoder i_encoder) throws NyARException\r
  75         {\r
  76                 NyARIntSize scr_size = i_param.getScreenSize();\r
  77                 // 解析オブジェクトを作る\r
  78                 this._square_detect = new NyARSquareDetector(i_param.getDistortionFactor(), scr_size);\r
  79                 this._transmat = new NyARTransMat(i_param);\r
  80                 this._encoder=i_encoder;\r
  81 \r
  82                 // ２値画像バッファを作る\r
  83                 this._bin_raster = new NyARBinRaster(scr_size.w, scr_size.h);\r
  84                 //ワーク用のデータオブジェクトを２個作る\r
  85                 this._is_active=false;\r
  86                 this._data_temp=i_encoder.createDataInstance();\r
  87                 this._data_current=i_encoder.createDataInstance();\r
  88                 return;\r
  89         }\r
  90 \r
  91         public void setBaseThreshold(int i_threshold)\r
  92         {\r
  93                 this._base_threshold = i_threshold;\r
  94                 return;\r
  95         }\r
  96         public void setMarkerWidth(int i_width)\r
  97         {\r
  98                 this._marker_width=i_width;\r
  99                 return;\r
 100         }\r
 101 \r
 102         public void reset(boolean i_is_force)\r
 103         {\r
 104                 if (this._data_current!=null && i_is_force == false) {\r
 105                         // 強制書き換えでなければイベントコール\r
 106                         this.onLeaveHandler();\r
 107                 }\r
 108                 // カレントマーカをリセット\r
 109                 this._data_current = null;\r
 110                 return;\r
 111         }\r
 112 \r
 113         public void detectMarker(INyARRgbRaster i_raster) throws NyARException\r
 114         {\r
 115                 // サイズチェック\r
 116                 if (!this._bin_raster.getSize().isEqualSize(i_raster.getSize().w, i_raster.getSize().h)) {\r
 117                         throw new NyARException();\r
 118                 }\r
 119                 // ラスタを２値イメージに変換する.\r
 120                 this._tobin_filter.setThreshold(this._current_threshold);\r
 121                 this._tobin_filter.doFilter(i_raster, this._bin_raster);\r
 122 \r
 123                 NyARSquareStack square_stack = this._square_list;\r
 124                 // スクエアコードを探す\r
 125                 this._square_detect.detectMarker(this._bin_raster, square_stack);\r
 126                 // 認識処理\r
 127                 if (!this._is_active) {\r
 128                         // マーカ未認識→新規認識\r
 129                         detectNewMarker(i_raster, square_stack);\r
 130                 } else {\r
 131                         // マーカ認識依頼→継続認識\r
 132                         detectExistMarker(i_raster, square_stack);\r
 133                 }\r
 134                 return;\r
 135         }\r
 136 \r
 137         \r
 138         private final NyARIdMarkerPattern _marker_data=new NyARIdMarkerPattern();\r
 139         private final NyARIdMarkerParam _marker_param=new NyARIdMarkerParam();\r
 140 \r
 141         \r
 142 \r
 143         /**新規マーカ検索 現在認識中のマーカがないものとして、最も認識しやすいマーカを１個認識します。\r
 144          */\r
 145         private void detectNewMarker(INyARRgbRaster i_raster, NyARSquareStack i_stack) throws NyARException\r
 146         {\r
 147                 NyARIdMarkerParam param=this._marker_param;\r
 148                 NyARIdMarkerPattern patt_data  =this._marker_data;\r
 149                 int number_of_square = i_stack.getLength();\r
 150                 int square_index = 0;\r
 151                 INyIdMarkerData marker_id=null;\r
 152                 for (int i = 0; i < number_of_square; i++) {\r
 153                         // 評価基準になるパターンをイメージから切り出す\r
 154                         if (!this._id_pickup.pickFromRaster(i_raster, (NyARSquare) i_stack.getItem(i), patt_data, param)) {\r
 155                                 continue;\r
 156                         }\r
 157                         //エンコード\r
 158                         if(!this._encoder.encode(patt_data,this._data_temp)){\r
 159                                 continue;\r
 160                         }\r
 161                         //認識率が一番高いもの（占有面積が一番大きいもの）を選択する(省略)\r
 162                         //id認識が成功したら終了\r
 163                         marker_id=this._data_temp;\r
 164                         break;\r
 165                 }\r
 166                 // 認識状態を更新\r
 167                 updateStatus((NyARSquare) this._square_list.getItem(square_index),marker_id, param);\r
 168         }\r
 169 \r
 170         /**マーカの継続認識 現在認識中のマーカを優先して認識します。 \r
 171          * （注）この機能はたぶん今後いろいろ発展するからNewと混ぜないこと。\r
 172          */\r
 173         private void detectExistMarker(INyARRgbRaster i_raster, NyARSquareStack i_stack) throws NyARException\r
 174         {\r
 175                 NyARIdMarkerParam param=this._marker_param;\r
 176                 NyARIdMarkerPattern patt_data  =this._marker_data;\r
 177                 int number_of_square = i_stack.getLength();\r
 178                 int square_index = 0;\r
 179                 INyIdMarkerData marker_id=null;\r
 180                 for (int i = 0; i < number_of_square; i++){\r
 181                         //idマーカを認識\r
 182                         if (!this._id_pickup.pickFromRaster(i_raster, (NyARSquare) i_stack.getItem(i), patt_data, param)) {\r
 183                                 continue;\r
 184                         }\r
 185                         if(!this._encoder.encode(patt_data,this._data_temp)){\r
 186                                 continue;\r
 187                         }\r
 188                         //現在認識中のidか確認\r
 189                         if(!this._data_current.isEqual((this._data_temp))){\r
 190                                 continue;\r
 191                         }\r
 192                         //現在認識中のものであれば、終了\r
 193                         marker_id=this._data_temp;\r
 194                         break;\r
 195                 }\r
 196                 // 認識状態を更新\r
 197                 updateStatus((NyARSquare) this._square_list.getItem(square_index),marker_id,param);\r
 198         }\r
 199 \r
 200         private NyARTransMatResult __NyARSquare_result = new NyARTransMatResult();\r
 201 \r
 202         /**オブジェクトのステータスを更新し、必要に応じてハンドル関数を駆動します。\r
 203          */\r
 204         private void updateStatus(NyARSquare i_square, INyIdMarkerData i_marker_data,NyARIdMarkerParam i_param)  throws NyARException\r
 205         {\r
 206                 boolean is_id_found=false;\r
 207                 NyARTransMatResult result = this.__NyARSquare_result;\r
 208                 if (!this._is_active) {// 未認識中\r
 209                         if (i_marker_data==null) {// 未認識から未認識の遷移\r
 210                                 // なにもしないよーん。\r
 211                                 this._is_active=false;\r
 212                         } else {// 未認識から認識の遷移\r
 213                                 this._data_current.copyFrom(i_marker_data);\r
 214                                 // イベント生成\r
 215                                 // OnEnter\r
 216                                 this.onEnterHandler(this._data_current);\r
 217                                 // 変換行列を作成\r
 218                                 this._transmat.transMat(i_square,i_param.direction, this._marker_width, result);\r
 219                                 // OnUpdate\r
 220                                 this.onUpdateHandler(i_square, result);\r
 221                                 this._lost_delay_count = 0;\r
 222                                 this._is_active=true;\r
 223                                 is_id_found=true;\r
 224                         }\r
 225                 } else {// 認識中\r
 226                         if (i_marker_data==null) {\r
 227                                 // 認識から未認識の遷移\r
 228                                 this._lost_delay_count++;\r
 229                                 if (this._lost_delay < this._lost_delay_count) {\r
 230                                         // OnLeave\r
 231                                         this.onLeaveHandler();\r
 232                                         this._is_active=false;\r
 233                                 }\r
 234                         } else if(this._data_current.isEqual(i_marker_data)) {\r
 235                                 //同じidの再認識\r
 236                                 this._transmat.transMat(i_square, i_param.direction, this._marker_width, result);\r
 237                                 // OnUpdate\r
 238                                 this.onUpdateHandler(i_square, result);\r
 239                                 this._lost_delay_count = 0;\r
 240                                 is_id_found=true;\r
 241                         } else {// 異なるコードの認識→今はサポートしない。\r
 242                                 throw new  NyARException();\r
 243                         }\r
 244                 }\r
 245                 //閾値フィードバック\r
 246                 if(is_id_found){\r
 247                         //マーカがあれば、マーカの周辺閾値を反映\r
 248                         this._current_threshold=(this._current_threshold+i_param.threshold)/2;\r
 249                 }else{\r
 250                         //マーカがなければ、探索+DualPTailで基準輝度検索(省略)\r
 251                         this._current_threshold=(this._current_threshold+this._base_threshold)/2;\r
 252                 }\r
 253                 return;\r
 254         }       \r
 255         //通知ハンドラ\r
 256         protected abstract void onEnterHandler(INyIdMarkerData i_code);\r
 257         protected abstract void onLeaveHandler();\r
 258         protected abstract void onUpdateHandler(NyARSquare i_square, NyARTransMatResult result);\r
 259 }\r