tags/2.4.2/sample/sandbox/jp/nyatla/nyartoolkit/sandbox/qrcode/NyARQrCodeSymbolBinder.java

   1 package jp.nyatla.nyartoolkit.sandbox.qrcode;\r
   2 \r
   3 import jp.nyatla.nyartoolkit.core.*;\r
   4 import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquare;\r
   5 import jp.nyatla.nyartoolkit.core.types.*;\r
   6 import jp.nyatla.nyartoolkit.core.param.*;\r
   7 /**\r
   8  * QRコードのシンボルを結びつける偉いクラス\r
   9  * アルゴリズムはこんな感じ。\r
  10  * 1.3シンボルの位置関係から中間のシンボルを探す。\r
  11  * 2.中間シンボルの内角点を探す\r
  12  * 3.残りの２シンボル間の最短距離の頂点セットを見つけて、それぞれの内角点を探す\r
  13  * 4.３個の内角点が決まったら、各シンボルごとに外角点（反対側の頂点）を特定する。\r
  14  * 5.対角のシンボルの外角頂点から伸びる線分を合成して、矩形を決める。\r
  15  * 6.矩形が決まったら、方程式を解いて交点を出して、頂点にする。\r
  16  * 7.交点と中央のシンボルの位置関係から、正しい計算が行われたかを判定（まだ実装してない）\r
  17  * \r
  18  * \r
  19  * この方法は浅い角度でシンボル集合を見たときに、1や3の手順が高い確率で失敗する。\r
  20  * その場合計算が途中で破綻するのでわかる（はず）\r
  21  * 他の方法もあるけど、それはまた今度。\r
  22  */\r
  23 public class NyARQrCodeSymbolBinder\r
  24 {\r
  25         private NyARCameraDistortionFactor _distfactor;\r
  26 \r
  27         public NyARQrCodeSymbolBinder(NyARCameraDistortionFactor i_ref_distortion)\r
  28         {\r
  29                 this._distfactor=i_ref_distortion;\r
  30                 return;\r
  31         }\r
  32         /**\r
  33          * 最小の三角形を構成する頂点セットを得る\r
  34          * @param i_s0\r
  35          * @param i_s1\r
  36          * @param i_s2\r
  37          * @param o_vertex\r
  38          */\r
  39         private static void getMinimumTriangleVertex(NyARSquare[] i_sqare,int[] o_vertex_id)\r
  40         {\r
  41                 //辺の長さが最小になる頂点の組合せを探す\r
  42                 int d;\r
  43                 int x,y;\r
  44                 int dmax=0x7fffffff;\r
  45                 final NyARIntPoint2d[] vertex0=i_sqare[0].imvertex;\r
  46                 final NyARIntPoint2d[] vertex1=i_sqare[1].imvertex;\r
  47                 final NyARIntPoint2d[] vertex2=i_sqare[2].imvertex;\r
  48                 for(int i=0;i<4;i++)\r
  49                 {\r
  50                         for(int i2=0;i2<4;i2++)\r
  51                         {\r
  52                                 for(int i3=0;i3<4;i3++){\r
  53                                         x=vertex0[i].x-vertex2[i3].x;\r
  54                                         y=vertex0[i].y-vertex2[i3].y;\r
  55                                         d=x*x+y*y;\r
  56                                         x=vertex1[i2].x-vertex2[i3].x;\r
  57                                         y=vertex1[i2].y-vertex2[i3].y;\r
  58                                         d+=x*x+y*y;\r
  59                                         x=vertex1[i2].x-vertex0[i].x;\r
  60                                         y=vertex1[i2].y-vertex0[i].y;\r
  61                                         d+=x*x+y*y;\r
  62                                         if(d<dmax){\r
  63                                                 dmax=d;\r
  64                                                 o_vertex_id[0]=i;                                       \r
  65                                                 o_vertex_id[1]=i2;\r
  66                                                 o_vertex_id[2]=i3;\r
  67                                         }\r
  68                                 }\r
  69                         }\r
  70                 }\r
  71                 return;\r
  72         }\r
  73         /**\r
  74          * 2矩形の頂点距離が最低の組合せを探す\r
  75          * @param i_sqare\r
  76          * @param o_vertex_id\r
  77          */\r
  78         private static void getMinimumLineVertex(NyARIntPoint2d[] i_sqare0,NyARIntPoint2d[] i_sqare1,int[] o_vertex_id)\r
  79         {\r
  80                 //辺の長さが最小になる頂点の組合せを探す\r
  81                 int d;\r
  82                 int x,y;\r
  83                 int dmax=0x7fffffff;\r
  84                 for(int i=0;i<4;i++)\r
  85                 {\r
  86                         for(int i2=0;i2<4;i2++)\r
  87                         {\r
  88                                 x=i_sqare1[i2].x-i_sqare0[i].x;\r
  89                                 y=i_sqare1[i2].y-i_sqare0[i].y;\r
  90                                 d=x*x+y*y;\r
  91                                 if(d<dmax){\r
  92                                         dmax=d;\r
  93                                         o_vertex_id[0]=i;                                       \r
  94                                         o_vertex_id[1]=i2;\r
  95                                 }\r
  96                         }\r
  97                 }\r
  98                 return;\r
  99         }\r
 100         /**\r
 101          * シンボルグループの重心を計算する\r
 102          * @param i_sqare\r
 103          * @param i_center\r
 104          */\r
 105         private void getSymbolGroupCenter(NyARSquare[] i_sqare,NyARIntPoint2d i_center)\r
 106         {\r
 107                 //シンボルグループの重心を計算\r
 108                 int cx,cy;\r
 109                 cx=cy=0;\r
 110                 for(int i=0;i<3;i++)\r
 111                 {\r
 112                         final NyARIntPoint2d[] sq_ptr=i_sqare[i].imvertex;\r
 113                         cx+=sq_ptr[0].x;                        \r
 114                         cx+=sq_ptr[1].x;                        \r
 115                         cx+=sq_ptr[2].x;                        \r
 116                         cx+=sq_ptr[3].x;                        \r
 117                         cy+=sq_ptr[0].y;                        \r
 118                         cy+=sq_ptr[1].y;                        \r
 119                         cy+=sq_ptr[2].y;                        \r
 120                         cy+=sq_ptr[3].y;                        \r
 121                 }\r
 122                 i_center.x=cx/12;\r
 123                 i_center.y=cy/12;       \r
 124                 return;\r
 125         }\r
 126         /**\r
 127          * キーシンボルのインデックスを得る\r
 128          * @param i_sqare\r
 129          * @param i_vertex_id\r
 130          * 最小三角形の頂点IDセット\r
 131          * @return\r
 132          */\r
 133         private static int getKeySymble(NyARSquare[] i_sqare,NyARIntPoint2d i_center,int[] i_vertex_id)\r
 134         {\r
 135                 //シンボルグループの重心を計算\r
 136                 final int cx=i_center.x;\r
 137                 final int cy=i_center.y;        \r
 138                 //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\r
 139                 int key_symble_idx=0;\r
 140                 int x=i_sqare[0].imvertex[i_vertex_id[0]].x-cx;\r
 141                 int y=i_sqare[0].imvertex[i_vertex_id[0]].y-cy;\r
 142                 int dmax=x*x+y*y;\r
 143                 for(int i=1;i<3;i++){\r
 144                         x=i_sqare[i].imvertex[i_vertex_id[i]].x-cx;\r
 145                         y=i_sqare[i].imvertex[i_vertex_id[i]].y-cy;\r
 146                         final int d=x*x+y*y;\r
 147                         if(d<dmax){\r
 148                                 dmax=d;\r
 149                                 key_symble_idx=i;\r
 150                         }\r
 151                 }\r
 152                 return key_symble_idx;\r
 153         }\r
 154         private NyARDoublePoint2d __bindSquare_ideal_vertex=new NyARDoublePoint2d();\r
 155         /**\r
 156          * 2つの対角にある矩形から、それらを対角とする矩形を作る。\r
 157          * @param i_sq1\r
 158          * @param i_lv1\r
 159          * @param i_sq2\r
 160          * @param i_lv2\r
 161          */\r
 162         private void bindSquare(NyARSquare i_sq1,int i_lv1,NyARSquare i_sq2,int i_lv2,NyARSquare o_qr_square)\r
 163         {\r
 164                 //4辺の式を計算\r
 165                 o_qr_square.line[0].copyFrom(i_sq1.line[(i_lv1+3)%4]);\r
 166                 o_qr_square.line[1].copyFrom(i_sq1.line[(i_lv1+0)%4]);\r
 167                 o_qr_square.line[2].copyFrom(i_sq2.line[(i_lv2+3)%4]);\r
 168                 o_qr_square.line[3].copyFrom(i_sq2.line[(i_lv2+0)%4]);\r
 169                 //歪み無しの座標系を計算\r
 170                 final NyARDoublePoint2d[] l_sqvertex = o_qr_square.sqvertex;\r
 171                 final NyARIntPoint2d[] imvertex_ptr = o_qr_square.imvertex;\r
 172 \r
 173                 final NyARLinear[] l_line = o_qr_square.line;\r
 174                 final NyARDoublePoint2d ideal_vertex=this.__bindSquare_ideal_vertex;\r
 175                 for (int i = 0; i < 4; i++) {\r
 176                         final NyARLinear l_line_i = l_line[i];\r
 177                         final NyARLinear l_line_2 = l_line[(i + 3) % 4];\r
 178                         final double w1 = l_line_2.dy * l_line_i.dx - l_line_i.dy * l_line_2.dx;\r
 179                         if (w1 == 0.0) {\r
 180                                 return;\r
 181                         }\r
 182                         l_sqvertex[i].x = (l_line_2.dx * l_line_i.c - l_line_i.dx * l_line_2.c) / w1;\r
 183                         l_sqvertex[i].y = (l_line_i.dy * l_line_2.c - l_line_2.dy * l_line_i.c) / w1;\r
 184                         _distfactor.ideal2Observ(l_sqvertex[i], ideal_vertex);\r
 185                         //Ideal→observに変換して、画面上の座標とする。\r
 186                         imvertex_ptr[i].x=(int)l_sqvertex[i].x;\r
 187                         imvertex_ptr[i].y=(int)l_sqvertex[i].y;\r
 188                 }       \r
 189 //              Graphics g=this.bimg.getGraphics();\r
 190 //              g.setColor(Color.red);\r
 191 //              int[] x=new int[4];\r
 192 //              int[] y=new int[4];\r
 193 //              for(int i=0;i<4;i++){\r
 194 //                      x[i]=(int)l_sqvertex[i].x;\r
 195 //                      y[i]=(int)l_sqvertex[i].y;\r
 196 //              }\r
 197 //              g.drawPolygon(x,y,4);\r
 198                 return;\r
 199                 //基準点はVertexをそのまま採用\r
 200                 //２個の想定点は座標を逆変換して設定\r
 201         }\r
 202         /**\r
 203          * directionはキーシンボルのインデックスでARToolKitの頂点座標じゃないので注意すること。\r
 204          * @param i_sq\r
 205          * @param o_sq\r
 206          * @return\r
 207          */\r
 208         public boolean composeSquare(NyARSquare[] i_sq,NyARSquare o_sq)\r
 209         {\r
 210                 int[] minimum_triangle_vertex=new int[3];\r
 211                 int[] minimum_line_vertex=new int[2];\r
 212                 \r
 213                 NyARIntPoint2d center=new NyARIntPoint2d();\r
 214 \r
 215                 //辺の長さが最小になる頂点の組合せを探す\r
 216                 getMinimumTriangleVertex(i_sq,minimum_triangle_vertex);\r
 217                 \r
 218                 //中心位置を計算する。\r
 219                 getSymbolGroupCenter(i_sq,center);\r
 220                 \r
 221                 //キーシンボルのインデクス番号を得る\r
 222                 int key_simble_idx=getKeySymble(i_sq,center,minimum_triangle_vertex);\r
 223                 \r
 224                 //対角シンボルのインデックス番号を決める\r
 225                 int symbol_e1_idx=(key_simble_idx+1)%3;\r
 226                 int symbol_e2_idx=(key_simble_idx+2)%3;\r
 227                 \r
 228                 //対角シンボル間で最短距離を取る頂点ペアを取る\r
 229                 //(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)\r
 230                 getMinimumLineVertex(i_sq[symbol_e1_idx].imvertex,i_sq[symbol_e2_idx].imvertex,minimum_line_vertex);\r
 231                 \r
 232                 //内対角を外対角に変換\r
 233                 int lv1=(minimum_line_vertex[0]+2)%4;\r
 234                 int lv2=(minimum_line_vertex[1]+2)%4;\r
 235                 int kv =(minimum_triangle_vertex[key_simble_idx]+2)%4;\r
 236                 //矩形の合成\r
 237                 bindSquare(i_sq[symbol_e1_idx],lv1,i_sq[symbol_e2_idx],lv2,o_sq);\r
 238                 \r
 239                 //方位判定          \r
 240                 int direction=getDirection(o_sq,i_sq[key_simble_idx].imvertex[kv],center);\r
 241                 if(direction==-1){\r
 242                         return false;\r
 243                 }\r
 244                 o_sq.direction=direction;\r
 245                 \r
 246                 return true;\r
 247         }       \r
 248         /**\r
 249          * この関数はあんまり頂点ズレがひどいと失敗する\r
 250          * @param i_square\r
 251          * @param i_vertex\r
 252          * @param i_center\r
 253          * @return\r
 254          */\r
 255         private int getDirection(NyARSquare i_square,NyARIntPoint2d i_vertex,NyARIntPoint2d i_center)\r
 256         {\r
 257                 //開始点(中央シンボル)までの頂点のシフト数を決める\r
 258                 int x,y;\r
 259                 x=i_square.imvertex[0].x-i_vertex.x;\r
 260                 y=i_square.imvertex[0].y-i_vertex.y;\r
 261                 int v1=x*x+y*y;\r
 262                 x=i_square.imvertex[2].x-i_vertex.x;\r
 263                 y=i_square.imvertex[2].y-i_vertex.y;\r
 264                 int v2=x*x+y*y;\r
 265                 int shift;\r
 266                 int v;\r
 267                 if(v1<v2){\r
 268                         shift=0;\r
 269                         v=v1;\r
 270                 }else{\r
 271                         shift=2;\r
 272                         v=v2;\r
 273                 }\r
 274                 //小さい方の対角線が64(8x8)より大きくずれてたら認識ミスとみなす\r
 275                 if(v>64){\r
 276                         return -1;\r
 277                 }\r
 278                 //シンボルがどの象限にあるか確認する\r
 279                 x=i_vertex.x=i_center.x;\r
 280                 y=i_vertex.y=i_center.y;\r
 281                 int dir;\r
 282                 if(x<0){\r
 283                         dir=2;//dir=y<0?1:2;\r
 284                 }else{\r
 285                         dir=4;//dir=y<0?3:4;\r
 286                 }\r
 287                 return (dir+shift)%4;\r
 288         }\r
 289         \r
 290         \r
 291         \r
 292 }