tags/2.4.1/sample/sandbox/jp/nyatla/nyartoolkit/sandbox/x2/SquareContourDetector_X2.java

   1 package jp.nyatla.nyartoolkit.sandbox.x2;\r
   2 \r
   3 import jp.nyatla.nyartoolkit.NyARException;\r
   4 import jp.nyatla.nyartoolkit.core.param.NyARCameraDistortionFactor;\r
   5 import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint2d;\r
   6 import jp.nyatla.nyartoolkit.core.types.NyARI64Linear;\r
   7 import jp.nyatla.nyartoolkit.core.types.NyARI64Point2d;\r
   8 import jp.nyatla.nyartoolkit.core.types.NyARIntPoint2d;\r
   9 import jp.nyatla.nyartoolkit.core.types.NyARIntSize;\r
  10 import jp.nyatla.nyartoolkit.core.types.NyARLinear;\r
  11 import jp.nyatla.nyartoolkit.core.types.matrix.NyARI64Matrix22;\r
  12 import jp.nyatla.nyartoolkit.core.squaredetect.*;\r
  13 \r
  14 public class SquareContourDetector_X2\r
  15 {\r
  16         private final int PCA_LENGTH=20;\r
  17         private final int[] _xpos=new int[PCA_LENGTH];\r
  18         private final int[] _ypos=new int[PCA_LENGTH];\r
  19         private final int[] __detectMarker_mkvertex = new int[5];\r
  20         private final NyARFixedFloatVertexCounter __getSquareVertex_wv1 = new NyARFixedFloatVertexCounter();\r
  21         private final NyARFixedFloatVertexCounter __getSquareVertex_wv2 = new NyARFixedFloatVertexCounter();\r
  22         private final NyARFixedFloatPca2d _pca;\r
  23         private final NyARI64Matrix22 __getSquareLine_evec=new NyARI64Matrix22();\r
  24         private final NyARI64Point2d __getSquareLine_mean=new NyARI64Point2d();\r
  25         private final NyARI64Point2d __getSquareLine_ev=new NyARI64Point2d();\r
  26         private final NyARI64Linear[] __getSquareLine_i64liner=NyARI64Linear.createArray(4);\r
  27         private final NyARFixedFloatObserv2IdealMap _dist_factor;\r
  28         public SquareContourDetector_X2(NyARIntSize i_size,NyARCameraDistortionFactor i_distfactor_ref)\r
  29         {\r
  30                 //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
  31                 //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
  32                 this._dist_factor = new NyARFixedFloatObserv2IdealMap(i_distfactor_ref,i_size);\r
  33 \r
  34 \r
  35                 // 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
  36                 this._pca=new NyARFixedFloatPca2d();\r
  37                 return;\r
  38         }\r
  39 \r
  40         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
  41         {\r
  42 \r
  43                 final int[] mkvertex = this.__detectMarker_mkvertex;\r
  44 \r
  45                 // 頂点情報を取得\r
  46                 if (!getSquareVertex(i_xcoord, i_ycoord, i_st_index, i_coord_num, i_label_area, mkvertex)) {\r
  47                         // 頂点の取得が出来なかったので破棄\r
  48                         return false;\r
  49                 }\r
  50                 // マーカーを検出\r
  51                 if (!getSquareLine(mkvertex, i_xcoord, i_ycoord, o_square)){\r
  52                         // 矩形が成立しなかった。\r
  53                         return false;\r
  54                 }\r
  55                 return true;\r
  56         }\r
  57         \r
  58         private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square) throws NyARException\r
  59         {\r
  60                 final NyARLinear[] l_line = o_square.line;\r
  61                 final NyARI64Matrix22 evec=this.__getSquareLine_evec;\r
  62                 final NyARI64Point2d mean=this.__getSquareLine_mean;\r
  63                 final NyARI64Point2d ev=this.__getSquareLine_ev;\r
  64                 final NyARI64Linear[] i64liner=this.__getSquareLine_i64liner;\r
  65         \r
  66                 for (int i = 0; i < 4; i++) {\r
  67 //                      final double w1 = (double) (i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5;\r
  68                         final int w1 = ((((i_mkvertex[i + 1] - i_mkvertex[i] + 1)<<8)*13)>>8) + (1<<7);\r
  69                         final int st = i_mkvertex[i] + (w1>>8);\r
  70                         final int ed = i_mkvertex[i + 1] - (w1>>8);\r
  71                         int n = ed - st + 1;\r
  72                         if (n < 2) {\r
  73                                 // 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
  74                                 return false;\r
  75                         }\r
  76                         //配列作成\r
  77                         n=this._dist_factor.observ2IdealSampling(i_xcoord, i_ycoord, st, n,this._xpos,this._ypos,PCA_LENGTH);\r
  78                         //主成分分析する。\r
  79                         this._pca.pcaF16(this._xpos,this._ypos, n,evec, ev,mean);\r
  80                         final NyARI64Linear l_line_i = i64liner[i];\r
  81                         l_line_i.run = evec.m01;// line[i][0] = evec->m[1];\r
  82                         l_line_i.rise = -evec.m00;// line[i][1] = -evec->m[0];\r
  83                         l_line_i.intercept = -((l_line_i.run * mean.x + l_line_i.rise * mean.y)>>16);// line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]);\r
  84                 }\r
  85 \r
  86                 final NyARDoublePoint2d[] l_sqvertex = o_square.sqvertex;\r
  87                 final NyARIntPoint2d[] l_imvertex = o_square.imvertex;\r
  88                 for (int i = 0; i < 4; i++) {\r
  89                         final NyARI64Linear l_line_i = i64liner[i];\r
  90                         final NyARI64Linear l_line_2 = i64liner[(i + 3) % 4];\r
  91                         final long w1 =(l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise)>>16;\r
  92                         if (w1 == 0) {\r
  93                                 return false;\r
  94                         }\r
  95                         l_sqvertex[i].x = (double)((l_line_2.rise * l_line_i.intercept - l_line_i.rise * l_line_2.intercept) / w1)/65536.0;\r
  96                         l_sqvertex[i].y = (double)((l_line_i.run * l_line_2.intercept - l_line_2.run * l_line_i.intercept) / w1)/65536.0;\r
  97                         // 頂点インデクスから頂点座標を得て保存\r
  98                         l_imvertex[i].x = i_xcoord[i_mkvertex[i]];\r
  99                         l_imvertex[i].y = i_ycoord[i_mkvertex[i]];\r
 100                         l_line[i].dy=(double)l_line_i.run/65536.0;\r
 101                         l_line[i].dx=(double)l_line_i.rise/65536.0;\r
 102                         l_line[i].c=(double)l_line_i.intercept/65536.0;\r
 103                 }\r
 104                 return true;\r
 105         }       \r
 106         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
 107         {\r
 108                 final NyARFixedFloatVertexCounter wv1 = this.__getSquareVertex_wv1;\r
 109                 final NyARFixedFloatVertexCounter wv2 = this.__getSquareVertex_wv2;\r
 110                 final int end_of_coord = i_vertex1_index + i_coord_num - 1;\r
 111                 final int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];\r
 112                 final int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];\r
 113                 int dmax = 0;\r
 114                 int v1 = i_vertex1_index;\r
 115                 for (int i = 1 + i_vertex1_index; i < end_of_coord; i++) {// for(i=1;i<marker_info2->coord_num-1;i++)\r
 116                         // {\r
 117                         final int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);\r
 118                         if (d > dmax) {\r
 119                                 dmax = d;\r
 120                                 v1 = i;\r
 121                         }\r
 122                 }\r
 123                 //final double thresh = (i_area / 0.75) * 0.01;\r
 124                 final long thresh_f16 =(i_area<<16)/75;\r
 125 \r
 126                 o_vertex[0] = i_vertex1_index;\r
 127 \r
 128                 if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v1, thresh_f16)) { // if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,0,v1,thresh,wv1,&wvnum1)<\r
 129                                                                                                                                                                         // 0 ) {\r
 130                         return false;\r
 131                 }\r
 132                 if (!wv2.getVertex(i_x_coord, i_y_coord, v1, end_of_coord, thresh_f16)) {// if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,v1,marker_info2->coord_num-1,thresh,wv2,&wvnum2)\r
 133                         // < 0) {\r
 134                         return false;\r
 135                 }\r
 136 \r
 137                 int v2;\r
 138                 if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {// if(wvnum1 == 1 && wvnum2== 1) {\r
 139                         o_vertex[1] = wv1.vertex[0];\r
 140                         o_vertex[2] = v1;\r
 141                         o_vertex[3] = wv2.vertex[0];\r
 142                 } else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0) {// }else if( wvnum1 > 1 && wvnum2== 0) {\r
 143                         //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
 144                         v2 = (v1-i_vertex1_index)/2+i_vertex1_index;\r
 145                         if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh_f16)) {\r
 146                                 return false;\r
 147                         }\r
 148                         if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh_f16)) {\r
 149                                 return false;\r
 150                         }\r
 151                         if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {\r
 152                                 o_vertex[1] = wv1.vertex[0];\r
 153                                 o_vertex[2] = wv2.vertex[0];\r
 154                                 o_vertex[3] = v1;\r
 155                         } else {\r
 156                                 return false;\r
 157                         }\r
 158                 } else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1) {\r
 159                         //v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;\r
 160                         v2 = (v1+ end_of_coord)/2;\r
 161 \r
 162                         if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh_f16)) {\r
 163                                 return false;\r
 164                         }\r
 165                         if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh_f16)) {\r
 166                                 return false;\r
 167                         }\r
 168                         if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {\r
 169                                 o_vertex[1] = v1;\r
 170                                 o_vertex[2] = wv1.vertex[0];\r
 171                                 o_vertex[3] = wv2.vertex[0];\r
 172                         } else {\r
 173                                 return false;\r
 174                         }\r
 175                 } else {\r
 176                         return false;\r
 177                 }\r
 178                 o_vertex[4] = end_of_coord;\r
 179                 return true;\r
 180         }\r
 181         \r
 182         /**\r
 183          * 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
 184          * 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
 185          * 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
 186          * @param i_xcoord\r
 187          * @param i_ycoord\r
 188          * @param i_coord_num\r
 189          * @return\r
 190          */\r
 191         public static int normalizeCoord(int[] i_coord_x, int[] i_coord_y,int i_coord_num)\r
 192         {\r
 193                 //\r
 194                 final int sx = i_coord_x[0];\r
 195                 final int sy = i_coord_y[0];\r
 196                 int d = 0;\r
 197                 int w, x, y;\r
 198                 int ret = 0;\r
 199                 for (int i = 1; i < i_coord_num; i++) {\r
 200                         x = i_coord_x[i] - sx;\r
 201                         y = i_coord_y[i] - sy;\r
 202                         w = x * x + y * y;\r
 203                         if (w > d) {\r
 204                                 d = w;\r
 205                                 ret = i;\r
 206                         }\r
 207                         // ここでうまく終了条件入れられないかな。\r
 208                 }               \r
 209                 // vertex1を境界にして、後方に配列を連結\r
 210                 System.arraycopy(i_coord_x, 1, i_coord_x, i_coord_num, ret);\r
 211                 System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, ret);\r
 212                 return ret;\r
 213         }       \r
 214         \r
 215 }