tags/2.4.1/test/jp/nyatla/nyartoolkit/dev/LabelingCamera.java

   1 /* このソースは実験用のソースです。
   2  * 動いたり動かなかったりします。
   3  *
   4  */
   5 package jp.nyatla.nyartoolkit.dev;
   6
   7 import javax.media.*;
   8
   9 import javax.media.util.BufferToImage;
  10 import javax.media.format.*;
  11
  12 import jp.nyatla.nyartoolkit.NyARException;
  13 import jp.nyatla.nyartoolkit.jmf.utils.*;
  14
  15 import jp.nyatla.nyartoolkit.core.*;
  16
  17 import java.awt.*;
  18
  19 import jp.nyatla.nyartoolkit.core.labeling.*;
  20 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingImage;
  21 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabel;
  22 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabelStack;
  23 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabeling_ARToolKit;
  24 import jp.nyatla.nyartoolkit.core.match.*;
  25 import jp.nyatla.nyartoolkit.core.param.*;
  26 import jp.nyatla.nyartoolkit.core.pca2d.INyARPca2d;
  27 import jp.nyatla.nyartoolkit.core.pca2d.NyARPca2d_MatrixPCA_O2;
  28 import jp.nyatla.nyartoolkit.core.pickup.*;
  29 import jp.nyatla.nyartoolkit.core.raster.*;
  30 import jp.nyatla.nyartoolkit.core.raster.rgb.INyARRgbRaster;
  31 import jp.nyatla.nyartoolkit.core.rasterfilter.*;
  32 import jp.nyatla.nyartoolkit.core2.rasteranalyzer.*;
  33 import jp.nyatla.nyartoolkit.core2.rasteranalyzer.threshold.*;
  34 import jp.nyatla.nyartoolkit.core2.rasterfilter.gs2bin.*;
  35 import jp.nyatla.nyartoolkit.core2.rasterfilter.rgb2gs.NyARRasterFilter_RgbAve;
  36 import jp.nyatla.utils.NyObjectStack;
  37 import jp.nyatla.utils.j2se.LabelingBufferdImage;
  38 import jp.nyatla.nyartoolkit.core.rasterfilter.bin.INyARRasterFilter_RgbToGs;
  39 import jp.nyatla.nyartoolkit.core.rasterfilter.rgb2bin.*;
  40 import jp.nyatla.nyartoolkit.core.squaredetect.INyARSquareDetector;
  41 import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquare;
  42 import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquareStack;
  43 import jp.nyatla.nyartoolkit.core.squaredetect.NyARVertexCounter;
  44 import jp.nyatla.nyartoolkit.core.transmat.*;
  45 import jp.nyatla.nyartoolkit.core.types.*;
  46 import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix22;
  47
  48
  49 ///**
  50 // * QRコードのシンボルを結びつける偉いクラス
  51 // *
  52 // */
  53 //class NyQrCodeSymbolBinder
  54 //{
  55 //      LabelingBufferdImage bimg;
  56 //
  57 //      NyARIntPoint[][] _sqare;
  58 //      /**
  59 //       * 最小の三角形を構成する頂点セットを得る
  60 //       * @param i_s0
  61 //       * @param i_s1
  62 //       * @param i_s2
  63 //       * @param o_vertex
  64 //       */
  65 //      public static void getMinimumTriangleVertex(NyARSquare[] i_sqare,int[] o_vertex_id)
  66 //      {
  67 //              //辺の長さが最小になる頂点の組合せを探す
  68 //              int d;
  69 //              int x,y;
  70 //              int dmax=0x7fffffff;
  71 //              final NyARIntPoint[] vertex0=i_sqare[0].imvertex;
  72 //              final NyARIntPoint[] vertex1=i_sqare[1].imvertex;
  73 //              final NyARIntPoint[] vertex2=i_sqare[2].imvertex;
  74 //              for(int i=0;i<4;i++)
  75 //              {
  76 //                      for(int i2=0;i2<4;i2++)
  77 //                      {
  78 //                              for(int i3=0;i3<4;i3++){
  79 //                                      x=vertex0[i].x-vertex2[i3].x;
  80 //                                      y=vertex0[i].y-vertex2[i3].y;
  81 //                                      d=x*x+y*y;
  82 //                                      x=vertex1[i2].x-vertex2[i3].x;
  83 //                                      y=vertex1[i2].y-vertex2[i3].y;
  84 //                                      d+=x*x+y*y;
  85 //                                      x=vertex1[i2].x-vertex0[i].x;
  86 //                                      y=vertex1[i2].y-vertex0[i].y;
  87 //                                      d+=x*x+y*y;
  88 //                                      if(d<dmax){
  89 //                                              dmax=d;
  90 //                                              o_vertex_id[0]=i;
  91 //                                              o_vertex_id[1]=i2;
  92 //                                              o_vertex_id[2]=i3;
  93 //                                      }
  94 //                              }
  95 //                      }
  96 //              }
  97 //              return;
  98 //      }
  99 //      /**
 100 //       * 2矩形の頂点距離が最低の組合せを探す
 101 //       * @param i_sqare
 102 //       * @param o_vertex_id
 103 //       */
 104 //      public static void getMinimumLineVertex(NyARIntPoint[] i_sqare0,NyARIntPoint[] i_sqare1,int[] o_vertex_id)
 105 //      {
 106 //              //辺の長さが最小になる頂点の組合せを探す
 107 //              int d;
 108 //              int x,y;
 109 //              int dmax=0x7fffffff;
 110 //              for(int i=0;i<4;i++)
 111 //              {
 112 //                      for(int i2=0;i2<4;i2++)
 113 //                      {
 114 //                              x=i_sqare1[i2].x-i_sqare0[i].x;
 115 //                              y=i_sqare1[i2].y-i_sqare0[i].y;
 116 //                              d=x*x+y*y;
 117 //                              if(d<dmax){
 118 //                                      dmax=d;
 119 //                                      o_vertex_id[0]=i;
 120 //                                      o_vertex_id[1]=i2;
 121 //                              }
 122 //                      }
 123 //              }
 124 //              return;
 125 //      }
 126 //
 127 //      /**
 128 //       * キーシンボルのインデックスを得る
 129 //       * @param i_sqare
 130 //       * @param i_vertex_id
 131 //       * 最小三角形の頂点IDセット
 132 //       * @return
 133 //       */
 134 //      public static int getKeySymble(NyARSquare[] i_sqare,int[] i_vertex_id)
 135 //      {
 136 //              //シンボルグループの重心を計算
 137 //              int cx,cy;
 138 //              cx=cy=0;
 139 //              for(int i=0;i<3;i++)
 140 //              {
 141 //                      final NyARIntPoint[] sq_ptr=i_sqare[i].imvertex;
 142 //                      cx+=sq_ptr[0].x;
 143 //                      cx+=sq_ptr[1].x;
 144 //                      cx+=sq_ptr[2].x;
 145 //                      cx+=sq_ptr[3].x;
 146 //                      cy+=sq_ptr[0].y;
 147 //                      cy+=sq_ptr[1].y;
 148 //                      cy+=sq_ptr[2].y;
 149 //                      cy+=sq_ptr[3].y;
 150 //              }
 151 //              cx/=12;
 152 //              cy/=12;
 153 //              //前段で探した頂点候補のうち、最も重心に近いものが中心シンボルの内対角点
 154 //              int key_symble_idx=0;
 155 //              int x=i_sqare[0].imvertex[i_vertex_id[0]].x-cx;
 156 //              int y=i_sqare[0].imvertex[i_vertex_id[0]].y-cy;
 157 //              int dmax=x*x+y*y;
 158 //              for(int i=1;i<3;i++){
 159 //                      x=i_sqare[i].imvertex[i_vertex_id[i]].x-cx;
 160 //                      y=i_sqare[i].imvertex[i_vertex_id[i]].y-cy;
 161 //                      final int d=x*x+y*y;
 162 //                      if(d<dmax){
 163 //                              dmax=d;
 164 //                              key_symble_idx=i;
 165 //                      }
 166 //              }
 167 //              return key_symble_idx;
 168 //      }
 169 //      public void bindSquare(NyARSquare i_sq1,int i_lv1,NyARSquare i_sq2,int i_lv2)
 170 //      {
 171 //              NyARSquare new_square=new NyARSquare();
 172 //              //4辺の式を計算
 173 //              new_square.line[0].copyFrom(i_sq1.line[(i_lv1)%4]);
 174 //              new_square.line[1].copyFrom(i_sq1.line[(i_lv1+3)%4]);
 175 //              new_square.line[2].copyFrom(i_sq2.line[(i_lv2)%4]);
 176 //              new_square.line[3].copyFrom(i_sq2.line[(i_lv2+3)%4]);
 177 //              //歪み無しの座標系を計算
 178 //              final NyARDoublePoint2d[] l_sqvertex = new_square.sqvertex;
 179 //              final NyARLinear[] l_line = new_square.line;
 180 //              for (int i = 0; i < 4; i++) {
 181 //                      final NyARLinear l_line_i = l_line[i];
 182 //                      final NyARLinear l_line_2 = l_line[(i + 3) % 4];
 183 //                      final double w1 = l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise;
 184 //                      if (w1 == 0.0) {
 185 //                              return;
 186 //                      }
 187 //                      l_sqvertex[i].x = (l_line_2.rise * l_line_i.intercept - l_line_i.rise * l_line_2.intercept) / w1;
 188 //                      l_sqvertex[i].y = (l_line_i.run * l_line_2.intercept - l_line_2.run * l_line_i.intercept) / w1;
 189 ////                    // 頂点インデクスから頂点座標を得て保存
 190 ////                    l_imvertex[i].x = i_xcoord[i_mkvertex[i]];
 191 ////                    l_imvertex[i].y = i_ycoord[i_mkvertex[i]];
 192 //              }
 193 //              Graphics g=this.bimg.getGraphics();
 194 //              g.setColor(Color.red);
 195 //              int[] x=new int[4];
 196 //              int[] y=new int[4];
 197 //              for(int i=0;i<4;i++){
 198 //                      x[i]=(int)l_sqvertex[i].x;
 199 //                      y[i]=(int)l_sqvertex[i].y;
 200 //              }
 201 //              g.drawPolygon(x,y,4);
 202 //              //基準点はVertexをそのまま採用
 203 //              //２個の想定点は座標を逆変換して設定
 204 //      }
 205 //      /**
 206 //       *
 207 //       * @param i_sq
 208 //       * @param o_sq
 209 //       * @return
 210 //       */
 211 //      public boolean margeEdge(NyARSquare[] i_sq,NyARSquare o_sq)
 212 //      {
 213 //              int[] minimum_triangle_vertex=new int[3];
 214 //              int[] minimum_line_vertex=new int[2];
 215 //
 216 //              //辺の長さが最小になる頂点の組合せを探す
 217 //              getMinimumTriangleVertex(i_sq,minimum_triangle_vertex);
 218 //
 219 //              //キーシンボルのインデクス番号を得る
 220 //              int key_simble_idx=getKeySymble(i_sq,minimum_triangle_vertex);
 221 //
 222 //              //エッジシンボルのインデックス番号を決める
 223 //              int symbol_e1_idx=(key_simble_idx+1)%3;
 224 //              int symbol_e2_idx=(key_simble_idx+2)%3;
 225 //
 226 //              //エッジシンボル間で最短距離を取る頂点ペアを取る
 227 //              //(角度を低くするとエラーが出やすい。対角線との類似性を確認する方法のほうがいい。多分)
 228 //              getMinimumLineVertex(i_sq[symbol_e1_idx].imvertex,i_sq[symbol_e2_idx].imvertex,minimum_line_vertex);
 229 //
 230 //              //内対角を外対角に変換
 231 //              int lv1=(minimum_line_vertex[0]+2)%4;
 232 //              int lv2=(minimum_line_vertex[1]+2)%4;
 233 //              int kv =(minimum_triangle_vertex[key_simble_idx]+2)%4;
 234 //              //矩形のバインド
 235 //              bindSquare(i_sq[symbol_e1_idx],lv1,i_sq[symbol_e2_idx],lv2);
 236 //
 237 //
 238 //              Graphics g=this.bimg.getGraphics();
 239 //              //内対角に緑の点を打つ
 240 //              g.setColor(Color.green);
 241 //              g.fillRect(i_sq[symbol_e1_idx].imvertex[lv1].x-2,i_sq[symbol_e1_idx].imvertex[lv1].y-2,4,4);
 242 //              g.fillRect(i_sq[symbol_e2_idx].imvertex[lv2].x-2,i_sq[symbol_e2_idx].imvertex[lv2].y-2,4,4);
 243 ////            g.fillRect(i_sq[symbol_e2_idx][minimum_line_vertex[1]].x-2,i_sq[symbol_e2_idx][minimum_line_vertex[1]].y-2,4,4);
 244 //
 245 //
 246 //              //中央の中心エッジから最も遠い点が
 247 //              //両端のエッジも探す
 248 //
 249 //
 250 //
 251 //
 252 ////            this.bimg.getGraphics().fillRect(i_sq[edge1_id][vid1_id].x,i_sq[edge1_id][vid1_id].y,5,5);
 253 //
 254 //              for (int i = 0; i <3; i++) {
 255 //                      int[] xp=new int[4];
 256 //                      int[] yp=new int[4];
 257 //                      for(int i2=0;i2<4;i2++){
 258 //                              xp[i2]=i_sq[i].imvertex[i2].x;
 259 //                              yp[i2]=i_sq[i].imvertex[i2].y;
 260 //                      }
 261 //                      this.bimg.getGraphics().setColor(Color.RED);
 262 //                      this.bimg.getGraphics().drawPolygon(xp, yp,4);
 263 //              }
 264 //
 265 //
 266 //              return false;
 267 //
 268 //
 269 //
 270 //
 271 //
 272 //
 273 //      }
 274 //
 275 //
 276 //
 277 //
 278 //}
 279
 280
 281 /**
 282  * 矩形座標をPCAではなく、頂点座標そのものからSquare位置を計算するクラス
 283  *
 284  */
 285 class NyARQRCodeDetector implements INyARSquareDetector
 286 {
 287         LabelingBufferdImage bimg;
 288         private static final double VERTEX_FACTOR = 2.0;// 線検出のファクタ
 289
 290         private static final int AR_AREA_MAX = 100000;// #define AR_AREA_MAX 100000
 291
 292         private static final int AR_AREA_MIN = 70;// #define AR_AREA_MIN 70
 293
 294         private final int _width;
 295
 296         private final int _height;
 297
 298         private final NyARLabeling_ARToolKit _labeling;
 299
 300         private final NyARLabelingImage _limage;
 301
 302         private final NyARCameraDistortionFactor _dist_factor_ref;
 303
 304         /**
 305          * 最大i_squre_max個のマーカーを検出するクラスを作成する。
 306          *
 307          * @param i_param
 308          */
 309         public NyARQRCodeDetector(NyARCameraDistortionFactor i_dist_factor_ref, NyARIntSize i_size) throws NyARException
 310         {
 311                 this._width = i_size.w;
 312                 this._height = i_size.h;
 313                 this._dist_factor_ref = i_dist_factor_ref;
 314                 this._labeling = new NyARLabeling_ARToolKit();
 315                 this._limage = new NyARLabelingImage(this._width, this._height);
 316                 this._labeling.attachDestination(this._limage);
 317
 318                 // 輪郭の最大長は画面に映りうる最大の長方形サイズ。
 319                 int number_of_coord = (this._width + this._height) * 2;
 320
 321                 // 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。
 322                 this._max_coord = number_of_coord;
 323                 this._xcoord = new int[number_of_coord * 2];
 324                 this._ycoord = new int[number_of_coord * 2];
 325         }
 326
 327         private final int _max_coord;
 328
 329         private final int[] _xcoord;
 330
 331         private final int[] _ycoord;
 332
 333         private void normalizeCoord(int[] i_coord_x, int[] i_coord_y, int i_index, int i_coord_num)
 334         {
 335                 // vertex1を境界にして、後方に配列を連結
 336                 System.arraycopy(i_coord_x, 1, i_coord_x, i_coord_num, i_index);
 337                 System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, i_index);
 338         }
 339
 340         private final int[] __detectMarker_mkvertex = new int[5];
 341
 342         /**
 343          * ARMarkerInfo2 *arDetectMarker2( ARInt16 *limage, int label_num, int *label_ref,int *warea, double *wpos, int *wclip,int area_max, int area_min, double
 344          * factor, int *marker_num ) 関数の代替品 ラベリング情報からマーカー一覧を作成してo_marker_listを更新します。 関数はo_marker_listに重なりを除外したマーカーリストを作成します。
 345          *
 346          * @param i_raster
 347          * 解析する２値ラスタイメージを指定します。
 348          * @param o_square_stack
 349          * 抽出した正方形候補を格納するリスト
 350          * @throws NyARException
 351          */
 352         public final void detectMarker(NyARBinRaster i_raster, NyARSquareStack o_square_stack) throws NyARException
 353         {
 354                 final INyARLabeling labeling_proc = this._labeling;
 355                 final NyARLabelingImage limage = this._limage;
 356
 357                 // 初期化
 358
 359                 // マーカーホルダをリセット
 360                 o_square_stack.clear();
 361
 362                 // ラベリング
 363                 labeling_proc.labeling(i_raster);
 364
 365                 // ラベル数が0ならここまで
 366                 final int label_num = limage.getLabelStack().getLength();
 367                 if (label_num < 1) {
 368                         return;
 369                 }
 370
 371                 final NyARLabelingLabelStack stack = limage.getLabelStack();
 372                 // ラベルを大きい順に整列
 373                 stack.sortByArea();
 374                 final NyARLabelingLabel[] labels = stack.getArray();
 375
 376
 377                 // デカいラベルを読み飛ばし
 378                 int i;
 379                 for (i = 0; i < label_num; i++) {
 380                         // 検査対象内のラベルサイズになるまで無視
 381                         if (labels[i].area <= AR_AREA_MAX) {
 382                                 break;
 383                         }
 384                 }
 385
 386                 final int xsize = this._width;
 387                 final int ysize = this._height;
 388                 final int[] xcoord = this._xcoord;
 389                 final int[] ycoord = this._ycoord;
 390                 final int coord_max = this._max_coord;
 391                 final int[] mkvertex = this.__detectMarker_mkvertex;
 392                 final int[][] buf = (int[][]) limage.getBufferReader().getBuffer();
 393                 final int[] indextable = limage.getIndexArray();
 394                 int coord_num;
 395                 int label_area;
 396                 NyARLabelingLabel label_pt;
 397                 NyARSquareStack wk_stack=new NyARSquareStack(100);
 398
 399                 for (; i < label_num; i++) {
 400                         label_pt = labels[i];
 401                         label_area = label_pt.area;
 402                         // 検査対象サイズよりも小さくなったら終了
 403                         if (label_area < AR_AREA_MIN) {
 404                                 break;
 405                         }
 406                         // クリップ領域が画面の枠に接していれば除外
 407                         if (label_pt.clip_l == 1 || label_pt.clip_r == xsize - 2) {// if(wclip[i*4+0] == 1 || wclip[i*4+1] ==xsize-2){
 408                                 continue;
 409                         }
 410                         if (label_pt.clip_t == 1 || label_pt.clip_b == ysize - 2) {// if( wclip[i*4+2] == 1 || wclip[i*4+3] ==ysize-2){
 411                                 continue;
 412                         }
 413                         // 特徴点候補であるかを確認する。
 414                         if (!hasQrEdgeFeature(buf, indextable, label_pt)) {
 415                                 continue;
 416                         }
 417
 418                         // 輪郭を取得
 419                         coord_num = limage.getContour(i, coord_max, xcoord, ycoord);
 420                         if (coord_num == coord_max) {
 421                                 // 輪郭が大きすぎる。
 422                                 continue;
 423                         }
 424                         // 頂点候補のインデクスを取得
 425                         final int vertex1 = scanVertex(xcoord, ycoord, coord_num);
 426
 427                         // 頂点候補(vertex1)を先頭に並べなおした配列を作成する。
 428                         normalizeCoord(xcoord, ycoord, vertex1, coord_num);
 429
 430                         // 頂点情報を取得
 431                         if (!getSquareVertex(xcoord, ycoord, vertex1, coord_num, label_area, mkvertex)) {
 432                                 continue;
 433                         }
 434                         NyARSquare square=(NyARSquare)wk_stack.prePush();
 435                         if(!getSquareLine(mkvertex,xcoord,ycoord,square)){
 436                                 wk_stack.pop();
 437                                 continue;
 438                         }
 439                 }
 440                 bindQrcodeEdge(wk_stack);
 441                 //エッジ同士の相関関係をしらべる。
 442
 443                 return;
 444         }
 445         /**
 446          *
 447          * @param i_sq
 448          * @param o_sq
 449          * @return
 450          */
 451         public boolean margeEdge(NyARSquare[] i_sq,NyARSquare o_sq)
 452         {
 453                 NyQrCodeSymbolBinder binder=new NyQrCodeSymbolBinder();
 454                 binder.bimg=this.bimg;
 455                 binder.(i_sq, o_sq);
 456
 457                 return false;
 458
 459
 460
 461
 462         }
 463         /**
 464          * QRコードのエッジペアを作る
 465          * @param i_square_stack
 466          */
 467         public void bindQrcodeEdge(NyARSquareStack i_square_stack)
 468         {
 469
 470                 NyARSquare sq_ptr1,sq_ptr2,sq_ptr3;
 471                 int number_of_edge=i_square_stack.getLength();
 472                 if(number_of_edge<3){
 473                         return;
 474                 }
 475                 NyARSquare[] sa=i_square_stack.getArray();
 476                 for(int i=0;i<number_of_edge;i++)
 477                 {
 478                         for(int i2=i+1;i2<number_of_edge;i2++)
 479                         {
 480                                 sq_ptr2=sa[i2];
 481                                 for(int i3=i2+1;i3<number_of_edge;i3++){
 482                                         sq_ptr3=sa[i3];
 483                                         //3個のエッジの関連性を確認する。
 484                                         margeEdge(sa,null);
 485                                 }
 486                                 //
 487                         }
 488                 }
 489         }
 490         /**
 491          * ２つの頂点座標を結ぶ直線から、NyARLinearを計算する。
 492          *
 493          * @param i_v1
 494          * @param i_v2
 495          * @param o_line
 496          */
 497         final private void getLine(NyARDoublePoint2d i_v1, NyARDoublePoint2d i_v2, NyARLinear o_line)
 498         {
 499                 final double x = i_v1.x - i_v2.x;
 500                 final double y = i_v1.y - i_v2.y;
 501                 final double x2 = x * x;
 502                 final double y2 = y * y;
 503                 final double rise_ = Math.sqrt(x2 / (x2 + y2));
 504                 o_line.rise = rise_;
 505                 o_line.run = Math.sqrt(y2 / (x2 + y2));
 506                 if (x < 0) {
 507                         if (y < 0) {
 508                                 o_line.rise = -o_line.rise;
 509                         } else {
 510                                 o_line.rise = -o_line.rise;
 511                                 o_line.run = -o_line.run;
 512                         }
 513                 } else {
 514                         if (y < 0) {
 515                                 o_line.rise = -o_line.rise;
 516                                 o_line.run = -o_line.run;
 517                         } else {
 518                                 o_line.rise = -o_line.rise;
 519                         }
 520                 }
 521                 o_line.intercept = (i_v1.y + (o_line.run / o_line.rise) * (i_v1.x)) * rise_;
 522
 523         }
 524         private final INyARPca2d _pca=new NyARPca2d_MatrixPCA_O2(100);
 525         private final NyARDoubleMatrix22 __getSquareLine_evec=new NyARDoubleMatrix22();
 526         private final NyARDoublePoint2d __getSquareLine_mean=new NyARDoublePoint2d();
 527         private final NyARDoublePoint2d __getSquareLine_ev=new NyARDoublePoint2d();
 528         /**
 529          * arGetLine(int x_coord[], int y_coord[], int coord_num,int vertex[], double line[4][3], double v[4][2]) arGetLine2(int x_coord[], int y_coord[], int
 530          * coord_num,int vertex[], double line[4][3], double v[4][2], double *dist_factor) の２関数の合成品です。 マーカーのvertex,lineを計算して、結果をo_squareに保管します。
 531          * Optimize:STEP[424->391]
 532          *
 533          * @param i_cparam
 534          * @return
 535          * @throws NyARException
 536          */
 537         private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square) throws NyARException
 538         {
 539                 final NyARLinear[] l_line = o_square.line;
 540                 final NyARCameraDistortionFactor dist_factor=this._dist_factor_ref;
 541                 final NyARDoubleMatrix22 evec=this.__getSquareLine_evec;
 542                 final NyARDoublePoint2d mean=this.__getSquareLine_mean;
 543                 final NyARDoublePoint2d ev=this.__getSquareLine_ev;
 544
 545
 546                 for (int i = 0; i < 4; i++) {
 547                         final double w1 = (double) (i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5;
 548                         final int st = (int) (i_mkvertex[i] + w1);
 549                         final int ed = (int) (i_mkvertex[i + 1] - w1);
 550                         final int n = ed - st + 1;
 551                         if (n < 2) {
 552                                 // 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
 553                                 return false;
 554                         }
 555                         //主成分分析する。
 556                         this._pca.pcaWithDistortionFactor(i_xcoord, i_ycoord, st, n,dist_factor, evec, ev,mean);
 557                         final NyARLinear l_line_i = l_line[i];
 558                         l_line_i.run = evec.m01;// line[i][0] = evec->m[1];
 559                         l_line_i.rise = -evec.m00;// line[i][1] = -evec->m[0];
 560                         l_line_i.intercept = -(l_line_i.run * mean.x + l_line_i.rise * mean.y);// line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]);
 561                 }
 562
 563                 final NyARDoublePoint2d[] l_sqvertex = o_square.sqvertex;
 564                 final NyARIntPoint2d[] l_imvertex = o_square.imvertex;
 565                 for (int i = 0; i < 4; i++) {
 566                         final NyARLinear l_line_i = l_line[i];
 567                         final NyARLinear l_line_2 = l_line[(i + 3) % 4];
 568                         final double w1 = l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise;
 569                         if (w1 == 0.0) {
 570                                 return false;
 571                         }
 572                         l_sqvertex[i].x = (l_line_2.rise * l_line_i.intercept - l_line_i.rise * l_line_2.intercept) / w1;
 573                         l_sqvertex[i].y = (l_line_i.run * l_line_2.intercept - l_line_2.run * l_line_i.intercept) / w1;
 574                         // 頂点インデクスから頂点座標を得て保存
 575                         l_imvertex[i].x = i_xcoord[i_mkvertex[i]];
 576                         l_imvertex[i].y = i_ycoord[i_mkvertex[i]];
 577                 }
 578                 return true;
 579         }
 580         /**
 581          * 辺からの対角線が最長になる点を対角線候補として返す。
 582          *
 583          * @param i_xcoord
 584          * @param i_ycoord
 585          * @param i_coord_num
 586          * @return
 587          */
 588         private int scanVertex(int[] i_xcoord, int[] i_ycoord, int i_coord_num)
 589         {
 590                 final int sx = i_xcoord[0];
 591                 final int sy = i_ycoord[0];
 592                 int d = 0;
 593                 int w, x, y;
 594                 int ret = 0;
 595                 for (int i = 1; i < i_coord_num; i++) {
 596                         x = i_xcoord[i] - sx;
 597                         y = i_ycoord[i] - sy;
 598                         w = x * x + y * y;
 599                         if (w > d) {
 600                                 d = w;
 601                                 ret = i;
 602                         }
 603                         // ここでうまく終了条件入れられないかな。
 604                 }
 605                 return ret;
 606         }
 607
 608         private final NyARVertexCounter __getSquareVertex_wv1 = new NyARVertexCounter();
 609
 610         private final NyARVertexCounter __getSquareVertex_wv2 = new NyARVertexCounter();
 611
 612         /**
 613          * static int arDetectMarker2_check_square( int area, ARMarkerInfo2 *marker_info2, double factor ) 関数の代替関数 OPTIMIZED STEP [450->415] o_squareに頂点情報をセットします。
 614          *
 615          * @param i_x_coord
 616          * @param i_y_coord
 617          * @param i_vertex1_index
 618          * @param i_coord_num
 619          * @param i_area
 620          * @param o_vertex
 621          * 要素数はint[4]である事
 622          * @return
 623          */
 624         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)
 625         {
 626                 final NyARVertexCounter wv1 = this.__getSquareVertex_wv1;
 627                 final NyARVertexCounter wv2 = this.__getSquareVertex_wv2;
 628                 final int end_of_coord = i_vertex1_index + i_coord_num - 1;
 629                 final int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];
 630                 final int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];
 631                 int dmax = 0;
 632                 int v1 = i_vertex1_index;
 633                 for (int i = 1 + i_vertex1_index; i < end_of_coord; i++) {// for(i=1;i<marker_info2->coord_num-1;i++)
 634                         // {
 635                         final int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);
 636                         if (d > dmax) {
 637                                 dmax = d;
 638                                 v1 = i;
 639                         }
 640                 }
 641                 final double thresh = (i_area / 0.75) * 0.01 * VERTEX_FACTOR;
 642
 643                 o_vertex[0] = i_vertex1_index;
 644
 645                 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)<
 646                         // 0 ) {
 647                         return false;
 648                 }
 649                 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)
 650                         // < 0) {
 651                         return false;
 652                 }
 653
 654                 int v2;
 655                 if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {// if(wvnum1 == 1 && wvnum2== 1) {
 656                         o_vertex[1] = wv1.vertex[0];
 657                         o_vertex[2] = v1;
 658                         o_vertex[3] = wv2.vertex[0];
 659                 } else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0) {// }else if( wvnum1 > 1 && wvnum2== 0) {
 660                         // 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。
 661                         v2 = (v1 - i_vertex1_index) / 2 + i_vertex1_index;
 662                         if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh)) {
 663                                 return false;
 664                         }
 665                         if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh)) {
 666                                 return false;
 667                         }
 668                         if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {
 669                                 o_vertex[1] = wv1.vertex[0];
 670                                 o_vertex[2] = wv2.vertex[0];
 671                                 o_vertex[3] = v1;
 672                         } else {
 673                                 return false;
 674                         }
 675                 } else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1) {
 676                         // v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;
 677                         v2 = (v1 + end_of_coord) / 2;
 678
 679                         if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh)) {
 680                                 return false;
 681                         }
 682                         if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh)) {
 683                                 return false;
 684                         }
 685                         if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {
 686                                 o_vertex[1] = v1;
 687                                 o_vertex[2] = wv1.vertex[0];
 688                                 o_vertex[3] = wv2.vertex[0];
 689                         } else {
 690                                 return false;
 691                         }
 692                 } else {
 693                         return false;
 694                 }
 695                 o_vertex[4] = end_of_coord;
 696                 return true;
 697         }
 698         /**
 699          * QRコードのエッジ特徴を持つラベルであるかを調べる
 700          * @param buf
 701          * @param index_table
 702          * @param i_label
 703          * @return
 704          */
 705         private boolean hasQrEdgeFeature(int buf[][], int[] index_table, NyARLabelingLabel i_label)
 706         {
 707                 int tx, bx;
 708                 int w;
 709                 int i_label_id = i_label.id;
 710                 int[] limage_j;
 711                 final int clip_l = i_label.clip_l;
 712                 final int clip_b = i_label.clip_b;
 713                 final int clip_r = i_label.clip_r;
 714                 final int clip_t = i_label.clip_t;
 715
 716                 tx = bx = 0;
 717                 // 上接点(→)
 718                 limage_j = buf[clip_t];
 719                 for (int i = clip_l; i <= clip_r; i++) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {
 720                         w = limage_j[i];
 721                         if (w > 0 && index_table[w - 1] == i_label_id) {
 722                                 tx = i;
 723                                 break;
 724                         }
 725                 }
 726                 // 下接点(←)
 727                 limage_j = buf[clip_b];
 728                 for (int i = clip_r; i >= clip_l; i--) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {
 729                         w = limage_j[i];
 730                         if (w > 0 && index_table[w - 1] == i_label_id) {
 731                                 bx = i;
 732                                 break;
 733                         }
 734                 }
 735                 final int cx = (clip_l + clip_r) / 2;
 736                 final int cy = (clip_t + clip_b) / 2;
 737                 // 横断チェック(中心から線を引いて、101になるかしらべる)
 738                 if (!checkDiagonalLine(buf, cx, cy, bx, clip_b)) {
 739                         return false;
 740                 }
 741                 if (!checkDiagonalLine(buf, tx, clip_t, cx, cy)) {
 742                         return false;
 743                 }
 744                 return true;
 745         }
 746
 747         /**
 748          * 対角線のパターンを調べる。
 749          *
 750          * @param buf
 751          * @param i_px1
 752          * @param i_py1
 753          * @param i_px2
 754          * @param i_py2
 755          * @return
 756          */
 757         private boolean checkDiagonalLine(int[][] buf, int i_px1, int i_py1, int i_px2, int i_py2)
 758         {
 759                 int sub_y = i_py2 - i_py1;
 760                 int sub_x = i_px2 - i_px1;
 761                 // 黒
 762                 int i = 0;
 763                 for (; i < sub_y; i++) {
 764                         int yp = i_py1 + i;
 765                         int xp = i_px1 + i * sub_x / sub_y;
 766                         if (buf[yp][xp] == 0 && buf[yp][xp-1] == 0 && buf[yp][xp+1] == 0) {
 767                                 break;
 768                         }
 769
 770                 }
 771                 if (i == sub_y) {
 772                         return false;
 773                 }
 774                 // 白
 775                 for (; i < sub_y; i++) {
 776                         int yp = i_py1 + i;
 777                         int xp = i_px1 + i * sub_x / sub_y;
 778                         if (buf[yp][xp] != 0 && buf[yp][xp-1] != 0 && buf[yp][xp+1] != 0) {
 779                                 break;
 780                         }
 781
 782                 }
 783                 if (i == sub_y) {
 784                         return false;
 785                 }
 786                 // 黒
 787                 for (; i < sub_y; i++) {
 788                         int yp = i_py1 + i;
 789                         int xp = i_px1 + i * sub_x / sub_y;
 790                         if (buf[yp][xp] == 0 && buf[yp][xp-1] == 0 && buf[yp][xp+1] == 0) {
 791                                 break;
 792                         }
 793
 794                 }
 795                 if (i != sub_y) {
 796                         return false;
 797                 }
 798                 // 端まで到達したらOK
 799                 return true;
 800         }
 801
 802 }
 803
 804
 805 public class LabelingCamera extends Frame implements JmfCaptureListener
 806 {
 807         private final String camera_file = "../Data/camera_para.dat";
 808
 809         private JmfNyARRaster_RGB _raster;
 810
 811         private JmfCameraCapture capture;
 812         private NyARParam ap;
 813         public LabelingCamera() throws NyARException, NyARException
 814         {
 815                 setBounds(0, 0, 640 + 64, 720 + 64);
 816                 // キャプチャの準備
 817                 capture = new JmfCameraCapture(320, 240, 30f, JmfCameraCapture.PIXEL_FORMAT_RGB);
 818                 capture.setCaptureListener(this);
 819
 820                 // キャプチャイメージ用のラスタを準備
 821                 this._raster = new JmfNyARRaster_RGB(320, 240);
 822
 823                 // AR用カメラパラメタファイルをロード
 824                 ap = new NyARParam();
 825                 ap.loadARParamFromFile(camera_file);
 826                 ap.changeScreenSize(320, 240);
 827
 828
 829         }
 830
 831         // そのラベルが特徴点候補か返す。
 832
 833         private NyARBinRaster _binraster1 = new NyARBinRaster(320, 240);
 834
 835         private NyARGrayscaleRaster _gsraster1 = new NyARGrayscaleRaster(320, 240);
 836
 837         private NyARLabelingImage _limage = new NyARLabelingImage(320, 240);
 838
 839         private LabelingBufferdImage _bimg = new LabelingBufferdImage(320, 240);
 840
 841         private NyARRasterFilter_ARToolkitThreshold filter_gs2bin;
 842
 843         public void onUpdateBuffer(Buffer i_buffer)
 844         {
 845                 NyARRasterFilter_AreaAverage gs2bin=new NyARRasterFilter_AreaAverage();
 846
 847                 try {
 848                         // キャプチャしたバッファをラスタにセット
 849                         _raster.setBuffer(i_buffer);
 850
 851                         Graphics g = getGraphics();
 852                         // キャプチャ画像
 853                         BufferToImage b2i = new BufferToImage((VideoFormat) i_buffer.getFormat());
 854                         Image img = b2i.createImage(i_buffer);
 855                         this.getGraphics().drawImage(img, 32, 32, this);
 856
 857                         // 画像1
 858                         INyARRasterFilter_RgbToGs filter_rgb2gs = new NyARRasterFilter_RgbAve();
 859                         filter_rgb2gs.doFilter(_raster, _gsraster1);
 860                         this._bimg.drawImage(this._gsraster1);
 861                         this.getGraphics().drawImage(this._bimg, 32 + 320, 32, 320 + 320 + 32, 240 + 32, 0, 240, 320, 0, this);
 862
 863
 864                         // 画像2
 865                         gs2bin.doFilter(_gsraster1, _binraster1);
 866                         this._bimg.drawImage(_binraster1);
 867                         this.getGraphics().drawImage(this._bimg, 32, 32 + 240, 320 + 32, 240 + 32 + 240, 0, 240, 320, 0, this);
 868
 869                         // 画像3
 870                         NyARLabelingImage limage = new NyARLabelingImage(320, 240);
 871                         NyARLabeling_ARToolKit labeling = new NyARLabeling_ARToolKit();
 872                         labeling.attachDestination(limage);
 873                         labeling.labeling(_binraster1);
 874                         this._bimg.drawImage(this._gsraster1);
 875                         NyARLabelingLabel[] labels =  limage.getLabelStack().getArray();
 876
 877                         NyARSquareStack stack = new NyARSquareStack(100);
 878                         NyARQRCodeDetector detect = new NyARQRCodeDetector(ap.getDistortionFactor(), new NyARIntSize(320,240));
 879                         detect.bimg=this._bimg;
 880
 881                         detect.detectMarker(_binraster1, stack);
 882                         for (int i = 0; i < stack.getLength(); i++) {
 883                                 NyARSquare[] square_ptr = (NyARSquare[]) stack.getArray();
 884                                 int[] xp=new int[4];
 885                                 int[] yp=new int[4];
 886                                 for(int i2=0;i2<4;i2++){
 887                                         xp[i2]=square_ptr[i].imvertex[i2].x;
 888                                         yp[i2]=square_ptr[i].imvertex[i2].y;
 889                                 }
 890                                 this._bimg.getGraphics().setColor(Color.RED);
 891                                 this._bimg.getGraphics().drawPolygon(xp, yp,2);
 892                         }
 893                         this.getGraphics().drawImage(this._bimg, 32 + 320, 32 + 240, 320 + 32 + 320, 240 + 32 + 240, 0, 240, 320, 0, this);
 894
 895                         // 画像3
 896                         // threshold.debugDrawHistgramMap(_workraster, _workraster2);
 897                         // this._bimg2.setImage(this._workraster2);
 898                         // this.getGraphics().drawImage(this._bimg2, 32+320, 32+240,320+32+320,240+32+240,0,240,320,0, this);
 899
 900                         // 画像4
 901                         // NyARRasterThresholdAnalyzer_SlidePTile threshold=new NyARRasterThresholdAnalyzer_SlidePTile(15);
 902                         // threshold.analyzeRaster(_gsraster1);
 903                         // filter_gs2bin=new NyARRasterFilter_AreaAverage();
 904                         // filter_gs2bin.doFilter(_gsraster1, _binraster1);
 905                         // this._bimg.drawImage(_binraster1);
 906
 907                         // NyARRasterDetector_QrCodeEdge detector=new NyARRasterDetector_QrCodeEdge(10000);
 908                         // detector.analyzeRaster(_binraster1);
 909
 910                         // this._bimg.overlayData(detector.geResult());
 911
 912                         // this.getGraphics().drawImage(this._bimg, 32, 32+480,320+32,480+32+240,0,240,320,0, this);
 913                         // 画像5
 914
 915                         /*
 916                          * threshold2.debugDrawHistgramMap(_workraster, _workraster2); this._bimg2.drawImage(this._workraster2); this.getGraphics().drawImage(this._bimg2,
 917                          * 32+320, 32+480,320+32+320,480+32+240,0,240,320,0, this);
 918                          */
 919
 920                         // this.getGraphics().drawImage(this._bimg, 32, 32, this);
 921
 922                 } catch (Exception e) {
 923                         e.printStackTrace();
 924                 }
 925
 926         }
 927
 928         private INyARLabeling labelingFactory(int i_idx)
 929         {
 930                 // switch(i_idx){
 931                 // case 0:{NyARLabeling_ARToolKit l=new NyARLabeling_ARToolKit();l.setThresh(4);return l;}
 932                 // case 1:{return new NyLineLabeling();}
 933                 // }
 934                 return null;
 935
 936         }
 937
 938         private void startCapture()
 939         {
 940                 try {
 941                         capture.start();
 942                 } catch (Exception e) {
 943                         e.printStackTrace();
 944                 }
 945         }
 946
 947         public static void main(String[] args)
 948         {
 949                 try {
 950                         LabelingCamera mainwin = new LabelingCamera();
 951                         mainwin.setVisible(true);
 952                         mainwin.startCapture();
 953                 } catch (Exception e) {
 954                         e.printStackTrace();
 955                 }
 956
 957         }
 958
 959 }