test/jp/nyatla/nyartoolkit/dev/CopyOfLabelingCamera.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 import jp.nyatla.nyartoolkit.core.*;
  15 import jp.nyatla.nyartoolkit.toys.x2.NyARLabeling_ARToolKit_X2;
  16 import jp.nyatla.nyartoolkit.toys.x2.NyARTransMat_X2;
  17
  18 import java.awt.*;
  19
  20 import jp.nyatla.nyartoolkit.core.INyARSquareDetector;
  21 import jp.nyatla.nyartoolkit.core.labeling.*;
  22 import jp.nyatla.nyartoolkit.core.match.*;
  23 import jp.nyatla.nyartoolkit.core.param.*;
  24 import jp.nyatla.nyartoolkit.core.pickup.*;
  25 import jp.nyatla.nyartoolkit.core.raster.*;
  26 import jp.nyatla.nyartoolkit.core.raster.rgb.INyARRgbRaster;
  27 import jp.nyatla.nyartoolkit.core.rasterfilter.*;
  28 import jp.nyatla.nyartoolkit.core2.rasteranalyzer.*;
  29 import jp.nyatla.nyartoolkit.core2.rasteranalyzer.threshold.*;
  30 import jp.nyatla.nyartoolkit.core2.rasterfilter.gs2bin.*;
  31 import jp.nyatla.nyartoolkit.core2.rasterfilter.rgb2gs.NyARRasterFilter_RgbAve;
  32 import jp.nyatla.utils.NyObjectStack;
  33 import jp.nyatla.utils.j2se.LabelingBufferdImage;
  34 import jp.nyatla.nyartoolkit.core.rasterfilter.rgb2bin.*;
  35 import jp.nyatla.nyartoolkit.core.transmat.*;
  36 import jp.nyatla.nyartoolkit.core.types.*;
  37
  38
  39 class NyARMkVertexStack extends NyObjectStack
  40 {
  41         public NyARMkVertexStack(int i_length)
  42         {
  43                 super(new NyARIntPoint[i_length][]);
  44
  45         }
  46
  47         protected void onReservRequest(int i_start, int i_end, Object[] i_buffer)
  48         {
  49                 for (int i = i_start; i < i_end; i++) {
  50                         i_buffer[i] = NyARIntPoint.createArray(4);
  51                 }
  52         }
  53 }
  54 /**
  55  * QRコードのシンボルを結びつける偉いクラス
  56  *
  57  */
  58 class NyQrCodeSymbolBinder
  59 {
  60         LabelingBufferdImage bimg;
  61
  62         NyARIntPoint[][] _sqare;
  63         /**
  64          * 最小の三角形を構成する頂点セットを得る
  65          * @param i_s0
  66          * @param i_s1
  67          * @param i_s2
  68          * @param o_vertex
  69          */
  70         public static void getMinimumTriangleVertex(NyARIntPoint[][] i_sqare,int[] o_vertex_id)
  71         {
  72                 //辺の長さが最小になる頂点の組合せを探す
  73                 int d;
  74                 int x,y;
  75                 int dmax=0x7fffffff;
  76                 for(int i=0;i<4;i++)
  77                 {
  78                         for(int i2=0;i2<4;i2++)
  79                         {
  80                                 for(int i3=0;i3<4;i3++){
  81                                         x=i_sqare[0][i].x-i_sqare[2][i3].x;
  82                                         y=i_sqare[0][i].y-i_sqare[2][i3].y;
  83                                         d=x*x+y*y;
  84                                         x=i_sqare[1][i2].x-i_sqare[2][i3].x;
  85                                         y=i_sqare[1][i2].y-i_sqare[2][i3].y;
  86                                         d+=x*x+y*y;
  87                                         x=i_sqare[1][i2].x-i_sqare[0][i].x;
  88                                         y=i_sqare[1][i2].y-i_sqare[0][i].y;
  89                                         d+=x*x+y*y;
  90                                         if(d<dmax){
  91                                                 dmax=d;
  92                                                 o_vertex_id[0]=i;
  93                                                 o_vertex_id[1]=i2;
  94                                                 o_vertex_id[2]=i3;
  95                                         }
  96                                 }
  97                         }
  98                 }
  99                 return;
 100         }
 101         /**
 102          * 2矩形の頂点距離が最低の組合せを探す
 103          * @param i_sqare
 104          * @param o_vertex_id
 105          */
 106         public static void getMinimumLineVertex(NyARIntPoint[] i_sqare0,NyARIntPoint[] i_sqare1,int[] o_vertex_id)
 107         {
 108                 //辺の長さが最小になる頂点の組合せを探す
 109                 int d;
 110                 int x,y;
 111                 int dmax=0x7fffffff;
 112                 for(int i=0;i<4;i++)
 113                 {
 114                         for(int i2=0;i2<4;i2++)
 115                         {
 116                                 x=i_sqare1[i2].x-i_sqare0[i].x;
 117                                 y=i_sqare1[i2].y-i_sqare0[i].y;
 118                                 d=x*x+y*y;
 119                                 if(d<dmax){
 120                                         dmax=d;
 121                                         o_vertex_id[0]=i;
 122                                         o_vertex_id[1]=i2;
 123                                 }
 124                         }
 125                 }
 126                 return;
 127         }
 128
 129         /**
 130          * キーシンボルのインデックスを得る
 131          * @param i_sqare
 132          * @param i_vertex_id
 133          * 最小三角形の頂点IDセット
 134          * @return
 135          */
 136         public static int getKeySymble(NyARIntPoint[][] i_sqare,int[] i_vertex_id)
 137         {
 138                 //シンボルグループの重心を計算
 139                 int cx,cy;
 140                 cx=cy=0;
 141                 for(int i=0;i<3;i++)
 142                 {
 143                         final NyARIntPoint[] sq_ptr=i_sqare[i];
 144                         cx+=sq_ptr[0].x;
 145                         cx+=sq_ptr[1].x;
 146                         cx+=sq_ptr[2].x;
 147                         cx+=sq_ptr[3].x;
 148                         cy+=sq_ptr[0].y;
 149                         cy+=sq_ptr[1].y;
 150                         cy+=sq_ptr[2].y;
 151                         cy+=sq_ptr[3].y;
 152                 }
 153                 cx/=12;
 154                 cy/=12;
 155                 //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
 156                 int key_symble_idx=0;
 157                 int x=i_sqare[0][i_vertex_id[0]].x-cx;
 158                 int y=i_sqare[0][i_vertex_id[0]].y-cy;
 159                 int dmax=x*x+y*y;
 160                 for(int i=1;i<3;i++){
 161                         x=i_sqare[i][i_vertex_id[i]].x-cx;
 162                         y=i_sqare[i][i_vertex_id[i]].y-cy;
 163                         final int d=x*x+y*y;
 164                         if(d<dmax){
 165                                 dmax=d;
 166                                 key_symble_idx=i;
 167                         }
 168                 }
 169                 return key_symble_idx;
 170         }
 171         public void getLineFromVertex(NyARIntPoint i_v1,NyARIntPoint i_v2)
 172         {
 173                 double sx=i_v1.x-i_v2.x;
 174                 double sy=i_v1.y-i_v2.y;
 175                 double k=sy/sx;
 176                 double b=i_v2.y-k*i_v2.x;
 177                 Graphics g=this.bimg.getGraphics();
 178                 g.setColor(Color.red);
 179                 g.drawLine(0,(int)b,320,(int)(k*320+b));
 180
 181         }
 182         /**
 183          *
 184          * @param i_sq
 185          * @param o_sq
 186          * @return
 187          */
 188         public boolean margeEdge(NyARIntPoint[][] i_sq,NyARSquare o_sq)
 189         {
 190                 int[] minimum_triangle_vertex=new int[3];
 191                 int[] minimum_line_vertex=new int[2];
 192
 193                 //辺の長さが最小になる頂点の組合せを探す
 194                 getMinimumTriangleVertex(i_sq,minimum_triangle_vertex);
 195
 196                 //キーシンボルのインデクス番号を得る
 197                 int key_simble_idx=getKeySymble(i_sq,minimum_triangle_vertex);
 198
 199                 //エッジシンボルのインデックス番号を決める
 200                 int symbol_e1_idx=(key_simble_idx+1)%3;
 201                 int symbol_e2_idx=(key_simble_idx+2)%3;
 202
 203                 //エッジシンボル間で最短距離を取る頂点ペアを取る
 204                 //(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)
 205                 getMinimumLineVertex(i_sq[symbol_e1_idx],i_sq[symbol_e2_idx],minimum_line_vertex);
 206
 207                 //内対角を外対角に変換
 208                 int lv1=(minimum_line_vertex[0]+2)%4;
 209                 int lv2=(minimum_line_vertex[1]+2)%4;
 210                 int kv =(minimum_triangle_vertex[key_simble_idx]+2)%4;
 211
 212                 getLineFromVertex(i_sq[symbol_e1_idx][(lv1+1)%4],i_sq[symbol_e1_idx][lv1]);
 213                 getLineFromVertex(i_sq[symbol_e1_idx][(lv1+3)%4],i_sq[symbol_e1_idx][lv1]);
 214                 getLineFromVertex(i_sq[symbol_e2_idx][(lv2+1)%4],i_sq[symbol_e2_idx][lv2]);
 215                 getLineFromVertex(i_sq[symbol_e2_idx][(lv2+3)%4],i_sq[symbol_e2_idx][lv2]);
 216                 getLineFromVertex(i_sq[key_simble_idx][(kv+2)%4],i_sq[key_simble_idx][kv]);
 217
 218
 219                 Graphics g=this.bimg.getGraphics();
 220                 //内対角に緑の点を打つ
 221                 g.setColor(Color.green);
 222                 g.fillRect(i_sq[key_simble_idx][minimum_triangle_vertex[key_simble_idx]].x-2,i_sq[key_simble_idx][minimum_triangle_vertex[key_simble_idx]].y-2,4,4);
 223                 g.fillRect(i_sq[symbol_e1_idx][minimum_line_vertex[0]].x-2,i_sq[symbol_e1_idx][minimum_line_vertex[0]].y-2,4,4);
 224                 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);
 225
 226
 227                 //中央の中心エッジから最も遠い点が
 228                 //両端のエッジも探す
 229
 230
 231
 232
 233 //              this.bimg.getGraphics().fillRect(i_sq[edge1_id][vid1_id].x,i_sq[edge1_id][vid1_id].y,5,5);
 234
 235                 for (int i = 0; i <3; i++) {
 236                         int[] xp=new int[4];
 237                         int[] yp=new int[4];
 238                         for(int i2=0;i2<4;i2++){
 239                                 xp[i2]=i_sq[i][i2].x;
 240                                 yp[i2]=i_sq[i][i2].y;
 241                         }
 242                         this.bimg.getGraphics().setColor(Color.RED);
 243                         this.bimg.getGraphics().drawPolygon(xp, yp,4);
 244                 }
 245
 246
 247                 return false;
 248
 249
 250
 251
 252
 253
 254         }
 255
 256
 257
 258
 259 }
 260
 261
 262 /**
 263  * 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
 264  *
 265  */
 266 class NyARQRCodeDetector implements INyARSquareDetector
 267 {
 268         LabelingBufferdImage bimg;
 269         private static final double VERTEX_FACTOR = 2.0;// 線検出のファクタ
 270
 271         private static final int AR_AREA_MAX = 100000;// #define AR_AREA_MAX 100000
 272
 273         private static final int AR_AREA_MIN = 70;// #define AR_AREA_MIN 70
 274
 275         private final int _width;
 276
 277         private final int _height;
 278
 279         private final NyARLabeling_ARToolKit_X2 _labeling;
 280
 281         private final NyARLabelingImage _limage;
 282
 283         private final NyARCameraDistortionFactor _dist_factor_ref;
 284
 285         /**
 286          * 最大i_squre_max個のマーカーを検出するクラスを作成する。
 287          *
 288          * @param i_param
 289          */
 290         public NyARQRCodeDetector(NyARCameraDistortionFactor i_dist_factor_ref, NyARIntSize i_size) throws NyARException
 291         {
 292                 this._width = i_size.w;
 293                 this._height = i_size.h;
 294                 this._dist_factor_ref = i_dist_factor_ref;
 295                 this._labeling = new NyARLabeling_ARToolKit_X2();
 296                 this._limage = new NyARLabelingImage(this._width, this._height);
 297                 this._labeling.attachDestination(this._limage);
 298
 299                 // 輪郭の最大長は画面に映りうる最大の長方形サイズ。
 300                 int number_of_coord = (this._width + this._height) * 2;
 301
 302                 // 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。
 303                 this._max_coord = number_of_coord;
 304                 this._xcoord = new int[number_of_coord * 2];
 305                 this._ycoord = new int[number_of_coord * 2];
 306         }
 307
 308         private final int _max_coord;
 309
 310         private final int[] _xcoord;
 311
 312         private final int[] _ycoord;
 313
 314         private void normalizeCoord(int[] i_coord_x, int[] i_coord_y, int i_index, int i_coord_num)
 315         {
 316                 // vertex1を境界にして、後方に配列を連結
 317                 System.arraycopy(i_coord_x, 1, i_coord_x, i_coord_num, i_index);
 318                 System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, i_index);
 319         }
 320
 321         private final int[] __detectMarker_mkvertex = new int[5];
 322
 323         /**
 324          * ARMarkerInfo2 *arDetectMarker2( ARInt16 *limage, int label_num, int *label_ref,int *warea, double *wpos, int *wclip,int area_max, int area_min, double
 325          * 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。
 326          *
 327          * @param i_raster
 328          * 解析する２値ラスタイメージを指定します。
 329          * @param o_square_stack
 330          * 抽出した正方形候補を格納するリスト
 331          * @throws NyARException
 332          */
 333         public final void detectMarker(NyARBinRaster i_raster, NyARSquareStack o_square_stack) throws NyARException
 334         {
 335                 final INyARLabeling labeling_proc = this._labeling;
 336                 final NyARLabelingImage limage = this._limage;
 337
 338                 // 初期化
 339
 340                 // マーカーホルダをリセット
 341                 o_square_stack.clear();
 342
 343                 // ラベリング
 344                 labeling_proc.labeling(i_raster);
 345
 346                 // ラベル数が0ならここまで
 347                 final int label_num = limage.getLabelStack().getLength();
 348                 if (label_num < 1) {
 349                         return;
 350                 }
 351
 352                 final NyARLabelingLabelStack stack = limage.getLabelStack();
 353                 final NyARLabelingLabel[] labels = (NyARLabelingLabel[]) stack.getArray();
 354
 355                 // ラベルを大きい順に整列
 356                 stack.sortByArea();
 357
 358                 // デカいラベルを読み飛ばし
 359                 int i;
 360                 for (i = 0; i < label_num; i++) {
 361                         // 検査対象内のラベルサイズになるまで無視
 362                         if (labels[i].area <= AR_AREA_MAX) {
 363                                 break;
 364                         }
 365                 }
 366
 367                 final int xsize = this._width;
 368                 final int ysize = this._height;
 369                 final int[] xcoord = this._xcoord;
 370                 final int[] ycoord = this._ycoord;
 371                 final int coord_max = this._max_coord;
 372                 final int[] mkvertex = this.__detectMarker_mkvertex;
 373                 final int[][] buf = (int[][]) limage.getBufferReader().getBuffer();
 374                 final int[] indextable = limage.getIndexArray();
 375                 int coord_num;
 376                 int label_area;
 377                 NyARLabelingLabel label_pt;
 378                 NyARMkVertexStack vertex_stack=new NyARMkVertexStack(100);
 379
 380                 for (; i < label_num; i++) {
 381                         label_pt = labels[i];
 382                         label_area = label_pt.area;
 383                         // 検査対象サイズよりも小さくなったら終了
 384                         if (label_area < AR_AREA_MIN) {
 385                                 break;
 386                         }
 387                         // クリップ領域が画面の枠に接していれば除外
 388                         if (label_pt.clip_l == 1 || label_pt.clip_r == xsize - 2) {// if(wclip[i*4+0] == 1 || wclip[i*4+1] ==xsize-2){
 389                                 continue;
 390                         }
 391                         if (label_pt.clip_t == 1 || label_pt.clip_b == ysize - 2) {// if( wclip[i*4+2] == 1 || wclip[i*4+3] ==ysize-2){
 392                                 continue;
 393                         }
 394                         // 特徴点候補であるかを確認する。
 395                         if (!hasQrEdgeFeature(buf, indextable, label_pt)) {
 396                                 continue;
 397                         }
 398
 399                         // 輪郭を取得
 400                         coord_num = limage.getContour(i, coord_max, xcoord, ycoord);
 401                         if (coord_num == coord_max) {
 402                                 // 輪郭が大きすぎる。
 403                                 continue;
 404                         }
 405                         // 頂点候補のインデクスを取得
 406                         final int vertex1 = scanVertex(xcoord, ycoord, coord_num);
 407
 408                         // 頂点候補(vertex1)を先頭に並べなおした配列を作成する。
 409                         normalizeCoord(xcoord, ycoord, vertex1, coord_num);
 410
 411
 412                         // 頂点情報を取得
 413                         if (!getSquareVertex(xcoord, ycoord, vertex1, coord_num, label_area, mkvertex)) {
 414 //                              o_square_stack.pop();// 頂点の取得が出来なかったので破棄
 415                                 continue;
 416                         }
 417                         // 領域を準備する。
 418                         NyARIntPoint[] vertex_ptr = (NyARIntPoint[]) vertex_stack.prePush();
 419                         vertex_ptr[0].x=xcoord[mkvertex[0]];
 420                         vertex_ptr[0].y=ycoord[mkvertex[0]];
 421                         vertex_ptr[1].x=xcoord[mkvertex[1]];
 422                         vertex_ptr[1].y=ycoord[mkvertex[1]];
 423                         vertex_ptr[2].x=xcoord[mkvertex[2]];
 424                         vertex_ptr[2].y=ycoord[mkvertex[2]];
 425                         vertex_ptr[3].x=xcoord[mkvertex[3]];
 426                         vertex_ptr[3].y=ycoord[mkvertex[3]];
 427
 428 //                      // 頂点情報からライン情報を作っちゃう
 429 //                      getSquare(mkvertex, xcoord, ycoord, vertex_ptr);
 430                 }
 431                 bindQrcodeEdge(vertex_stack);
 432                 //エッジ同士の相関関係をしらべる。
 433
 434                 return;
 435         }
 436         /**
 437          *
 438          * @param i_sq
 439          * @param o_sq
 440          * @return
 441          */
 442         public boolean margeEdge(NyARIntPoint[][] i_sq,NyARSquare o_sq)
 443         {
 444                 NyQrCodeSymbolBinder binder=new NyQrCodeSymbolBinder();
 445                 binder.bimg=this.bimg;
 446                 binder.margeEdge(i_sq, o_sq);
 447
 448                 return false;
 449
 450
 451
 452
 453         }
 454         /**
 455          * QRコードのエッジペアを作る
 456          * @param i_square_stack
 457          */
 458         public void bindQrcodeEdge(NyARMkVertexStack i_square_stack)
 459         {
 460
 461                 NyARIntPoint[] sq_ptr1,sq_ptr2,sq_ptr3;
 462                 int number_of_edge=i_square_stack.getLength();
 463                 if(number_of_edge<3){
 464                         return;
 465                 }
 466                 NyARIntPoint[][] sa=(NyARIntPoint[][])i_square_stack.getArray();
 467                 for(int i=0;i<number_of_edge;i++)
 468                 {
 469                         for(int i2=i+1;i2<number_of_edge;i2++)
 470                         {
 471                                 sq_ptr2=sa[i2];
 472                                 for(int i3=i2+1;i3<number_of_edge;i3++){
 473                                         sq_ptr3=sa[i3];
 474                                         //3個のエッジの関連性を確認する。
 475                                         margeEdge(sa,null);
 476                                 }
 477                                 //
 478                         }
 479                 }
 480         }
 481         /**
 482          * ２つの頂点座標を結ぶ直線から、NyARLinearを計算する。
 483          *
 484          * @param i_v1
 485          * @param i_v2
 486          * @param o_line
 487          */
 488         final private void getLine(NyARDoublePoint2d i_v1, NyARDoublePoint2d i_v2, NyARLinear o_line)
 489         {
 490                 final double x = i_v1.x - i_v2.x;
 491                 final double y = i_v1.y - i_v2.y;
 492                 final double x2 = x * x;
 493                 final double y2 = y * y;
 494                 final double rise_ = Math.sqrt(x2 / (x2 + y2));
 495                 o_line.rise = rise_;
 496                 o_line.run = Math.sqrt(y2 / (x2 + y2));
 497                 if (x < 0) {
 498                         if (y < 0) {
 499                                 o_line.rise = -o_line.rise;
 500                         } else {
 501                                 o_line.rise = -o_line.rise;
 502                                 o_line.run = -o_line.run;
 503                         }
 504                 } else {
 505                         if (y < 0) {
 506                                 o_line.rise = -o_line.rise;
 507                                 o_line.run = -o_line.run;
 508                         } else {
 509                                 o_line.rise = -o_line.rise;
 510                         }
 511                 }
 512                 o_line.intercept = (i_v1.y + (o_line.run / o_line.rise) * (i_v1.x)) * rise_;
 513
 514         }
 515
 516         private void getSquare(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square)
 517         {
 518                 final NyARCameraDistortionFactor dist_factor = this._dist_factor_ref;
 519                 final NyARDoublePoint2d[] vertex = o_square.sqvertex;
 520
 521                 NyARIntPoint[] imvertex_ptr=o_square.imvertex;
 522                 NyARIntPoint wk_vertex;
 523                 //頂点座標取得
 524                 for (int i = 0; i < 4; i++) {
 525                         final int idx = i_mkvertex[i];
 526                         imvertex_ptr[i].x = i_xcoord[idx];
 527                         imvertex_ptr[i].y = i_ycoord[idx];
 528                 }
 529                 // 歪み補正
 530                 for (int i = 0; i < 4; i++) {
 531                         dist_factor.observ2Ideal(imvertex_ptr[i].x,imvertex_ptr[i].y, vertex[i]);
 532                 }
 533                 // ライン計算
 534                 getLine(vertex[1], vertex[0], o_square.line[0]);
 535                 getLine(vertex[2], vertex[1], o_square.line[1]);
 536                 getLine(vertex[3], vertex[2], o_square.line[2]);
 537                 getLine(vertex[0], vertex[3], o_square.line[3]);
 538                 return;
 539         }
 540
 541         /**
 542          * 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。
 543          *
 544          * @param i_xcoord
 545          * @param i_ycoord
 546          * @param i_coord_num
 547          * @return
 548          */
 549         private int scanVertex(int[] i_xcoord, int[] i_ycoord, int i_coord_num)
 550         {
 551                 final int sx = i_xcoord[0];
 552                 final int sy = i_ycoord[0];
 553                 int d = 0;
 554                 int w, x, y;
 555                 int ret = 0;
 556                 for (int i = 1; i < i_coord_num; i++) {
 557                         x = i_xcoord[i] - sx;
 558                         y = i_ycoord[i] - sy;
 559                         w = x * x + y * y;
 560                         if (w > d) {
 561                                 d = w;
 562                                 ret = i;
 563                         }
 564                         // ここでうまく終了条件入れられないかな。
 565                 }
 566                 return ret;
 567         }
 568
 569         private final NyARVertexCounter __getSquareVertex_wv1 = new NyARVertexCounter();
 570
 571         private final NyARVertexCounter __getSquareVertex_wv2 = new NyARVertexCounter();
 572
 573         /**
 574          * 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。
 575          *
 576          * @param i_x_coord
 577          * @param i_y_coord
 578          * @param i_vertex1_index
 579          * @param i_coord_num
 580          * @param i_area
 581          * @param o_vertex
 582          * 要素数はint[4]である事
 583          * @return
 584          */
 585         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)
 586         {
 587                 final NyARVertexCounter wv1 = this.__getSquareVertex_wv1;
 588                 final NyARVertexCounter wv2 = this.__getSquareVertex_wv2;
 589                 final int end_of_coord = i_vertex1_index + i_coord_num - 1;
 590                 final int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];
 591                 final int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];
 592                 int dmax = 0;
 593                 int v1 = i_vertex1_index;
 594                 for (int i = 1 + i_vertex1_index; i < end_of_coord; i++) {// for(i=1;i<marker_info2->coord_num-1;i++)
 595                         // {
 596                         final int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);
 597                         if (d > dmax) {
 598                                 dmax = d;
 599                                 v1 = i;
 600                         }
 601                 }
 602                 final double thresh = (i_area / 0.75) * 0.01 * VERTEX_FACTOR;
 603
 604                 o_vertex[0] = i_vertex1_index;
 605
 606                 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)<
 607                         // 0 ) {
 608                         return false;
 609                 }
 610                 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)
 611                         // < 0) {
 612                         return false;
 613                 }
 614
 615                 int v2;
 616                 if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {// if(wvnum1 == 1 && wvnum2== 1) {
 617                         o_vertex[1] = wv1.vertex[0];
 618                         o_vertex[2] = v1;
 619                         o_vertex[3] = wv2.vertex[0];
 620                 } else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0) {// }else if( wvnum1 > 1 && wvnum2== 0) {
 621                         // 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。
 622                         v2 = (v1 - i_vertex1_index) / 2 + i_vertex1_index;
 623                         if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh)) {
 624                                 return false;
 625                         }
 626                         if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh)) {
 627                                 return false;
 628                         }
 629                         if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {
 630                                 o_vertex[1] = wv1.vertex[0];
 631                                 o_vertex[2] = wv2.vertex[0];
 632                                 o_vertex[3] = v1;
 633                         } else {
 634                                 return false;
 635                         }
 636                 } else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1) {
 637                         // v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;
 638                         v2 = (v1 + end_of_coord) / 2;
 639
 640                         if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh)) {
 641                                 return false;
 642                         }
 643                         if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh)) {
 644                                 return false;
 645                         }
 646                         if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {
 647                                 o_vertex[1] = v1;
 648                                 o_vertex[2] = wv1.vertex[0];
 649                                 o_vertex[3] = wv2.vertex[0];
 650                         } else {
 651                                 return false;
 652                         }
 653                 } else {
 654                         return false;
 655                 }
 656                 o_vertex[4] = end_of_coord;
 657                 return true;
 658         }
 659         /**
 660          * QRコードのエッジ特徴を持つラベルであるかを調べる
 661          * @param buf
 662          * @param index_table
 663          * @param i_label
 664          * @return
 665          */
 666         private boolean hasQrEdgeFeature(int buf[][], int[] index_table, NyARLabelingLabel i_label)
 667         {
 668                 int tx, bx;
 669                 int w;
 670                 int i_label_id = i_label.id;
 671                 int[] limage_j;
 672                 final int clip_l = i_label.clip_l;
 673                 final int clip_b = i_label.clip_b;
 674                 final int clip_r = i_label.clip_r;
 675                 final int clip_t = i_label.clip_t;
 676
 677                 tx = bx = 0;
 678                 // 上接点(→)
 679                 limage_j = buf[clip_t];
 680                 for (int i = clip_l; i <= clip_r; i++) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {
 681                         w = limage_j[i];
 682                         if (w > 0 && index_table[w - 1] == i_label_id) {
 683                                 tx = i;
 684                                 break;
 685                         }
 686                 }
 687                 // 下接点(←)
 688                 limage_j = buf[clip_b];
 689                 for (int i = clip_r; i >= clip_l; i--) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {
 690                         w = limage_j[i];
 691                         if (w > 0 && index_table[w - 1] == i_label_id) {
 692                                 bx = i;
 693                                 break;
 694                         }
 695                 }
 696                 final int cx = (clip_l + clip_r) / 2;
 697                 final int cy = (clip_t + clip_b) / 2;
 698                 // 横断チェック(中心から線を引いて、101になるかしらべる)
 699                 if (!checkDiagonalLine(buf, cx, cy, bx, clip_b)) {
 700                         return false;
 701                 }
 702                 if (!checkDiagonalLine(buf, tx, clip_t, cx, cy)) {
 703                         return false;
 704                 }
 705                 return true;
 706         }
 707
 708         /**
 709          * 対角線のパターンを調べる。
 710          *
 711          * @param buf
 712          * @param i_px1
 713          * @param i_py1
 714          * @param i_px2
 715          * @param i_py2
 716          * @return
 717          */
 718         private boolean checkDiagonalLine(int[][] buf, int i_px1, int i_py1, int i_px2, int i_py2)
 719         {
 720                 int sub_y = i_py2 - i_py1;
 721                 int sub_x = i_px2 - i_px1;
 722                 // 黒
 723                 int i = 0;
 724                 for (; i < sub_y; i++) {
 725                         int yp = i_py1 + i;
 726                         int xp = i_px1 + i * sub_x / sub_y;
 727                         if (buf[yp][xp] == 0 && buf[yp][xp-1] == 0 && buf[yp][xp+1] == 0) {
 728                                 break;
 729                         }
 730
 731                 }
 732                 if (i == sub_y) {
 733                         return false;
 734                 }
 735                 // 白
 736                 for (; i < sub_y; i++) {
 737                         int yp = i_py1 + i;
 738                         int xp = i_px1 + i * sub_x / sub_y;
 739                         if (buf[yp][xp] != 0 && buf[yp][xp-1] != 0 && buf[yp][xp+1] != 0) {
 740                                 break;
 741                         }
 742
 743                 }
 744                 if (i == sub_y) {
 745                         return false;
 746                 }
 747                 // 黒
 748                 for (; i < sub_y; i++) {
 749                         int yp = i_py1 + i;
 750                         int xp = i_px1 + i * sub_x / sub_y;
 751                         if (buf[yp][xp] == 0 && buf[yp][xp-1] == 0 && buf[yp][xp+1] == 0) {
 752                                 break;
 753                         }
 754
 755                 }
 756                 if (i != sub_y) {
 757                         return false;
 758                 }
 759                 // 端まで到達したらOK
 760                 return true;
 761         }
 762
 763 }
 764
 765
 766 public class CopyOfLabelingCamera extends Frame implements JmfCaptureListener
 767 {
 768         private final String camera_file = "../Data/camera_para.dat";
 769
 770         private JmfNyARRaster_RGB _raster;
 771
 772         private JmfCameraCapture capture;
 773         private NyARParam ap;
 774         public CopyOfLabelingCamera() throws NyARException, NyARException
 775         {
 776                 setBounds(0, 0, 640 + 64, 720 + 64);
 777                 // キャプチャの準備
 778                 capture = new JmfCameraCapture(320, 240, 30f, JmfCameraCapture.PIXEL_FORMAT_RGB);
 779                 capture.setCaptureListener(this);
 780
 781                 // キャプチャイメージ用のラスタを準備
 782                 this._raster = new JmfNyARRaster_RGB(320, 240);
 783
 784                 // AR用カメラパラメタファイルをロード
 785                 ap = new NyARParam();
 786                 ap.loadARParamFromFile(camera_file);
 787                 ap.changeScreenSize(320, 240);
 788
 789
 790         }
 791
 792         // そのラベルが特徴点候補か返す。
 793
 794         private NyARBinRaster _binraster1 = new NyARBinRaster(320, 240);
 795
 796         private NyARGlayscaleRaster _gsraster1 = new NyARGlayscaleRaster(320, 240);
 797
 798         private NyARLabelingImage _limage = new NyARLabelingImage(320, 240);
 799
 800         private LabelingBufferdImage _bimg = new LabelingBufferdImage(320, 240);
 801
 802         private NyARRasterFilter_ARToolkitThreshold filter_gs2bin;
 803
 804         public void onUpdateBuffer(Buffer i_buffer)
 805         {
 806                 NyARRasterFilter_AreaAverage gs2bin=new NyARRasterFilter_AreaAverage();
 807
 808                 try {
 809                         // キャプチャしたバッファをラスタにセット
 810                         _raster.setBuffer(i_buffer);
 811
 812                         Graphics g = getGraphics();
 813                         // キャプチャ画像
 814                         BufferToImage b2i = new BufferToImage((VideoFormat) i_buffer.getFormat());
 815                         Image img = b2i.createImage(i_buffer);
 816                         this.getGraphics().drawImage(img, 32, 32, this);
 817
 818                         // 画像1
 819                         INyARRasterFilter_RgbToGs filter_rgb2gs = new NyARRasterFilter_RgbAve();
 820                         filter_rgb2gs.doFilter(_raster, _gsraster1);
 821                         this._bimg.drawImage(this._gsraster1);
 822                         this.getGraphics().drawImage(this._bimg, 32 + 320, 32, 320 + 320 + 32, 240 + 32, 0, 240, 320, 0, this);
 823
 824
 825                         // 画像2
 826                         gs2bin.doFilter(_gsraster1, _binraster1);
 827                         this._bimg.drawImage(_binraster1);
 828                         this.getGraphics().drawImage(this._bimg, 32, 32 + 240, 320 + 32, 240 + 32 + 240, 0, 240, 320, 0, this);
 829
 830                         // 画像3
 831                         NyARLabelingImage limage = new NyARLabelingImage(320, 240);
 832                         NyARLabeling_ARToolKit labeling = new NyARLabeling_ARToolKit();
 833                         labeling.attachDestination(limage);
 834                         labeling.labeling(_binraster1);
 835                         this._bimg.drawImage(this._gsraster1);
 836                         NyARLabelingLabel[] labels = (NyARLabelingLabel[]) limage.getLabelStack().getArray();
 837
 838                         NyARSquareStack stack = new NyARSquareStack(100);
 839                         NyARQRCodeDetector detect = new NyARQRCodeDetector(ap.getDistortionFactor(), new NyARIntSize(320,240));
 840                         detect.bimg=this._bimg;
 841
 842                         detect.detectMarker(_binraster1, stack);
 843                         for (int i = 0; i < stack.getLength(); i++) {
 844                                 NyARSquare[] square_ptr = (NyARSquare[]) stack.getArray();
 845                                 int[] xp=new int[4];
 846                                 int[] yp=new int[4];
 847                                 for(int i2=0;i2<4;i2++){
 848                                         xp[i2]=square_ptr[i].imvertex[i2].x;
 849                                         yp[i2]=square_ptr[i].imvertex[i2].y;
 850                                 }
 851                                 this._bimg.getGraphics().setColor(Color.RED);
 852                                 this._bimg.getGraphics().drawPolygon(xp, yp,2);
 853                         }
 854                         this.getGraphics().drawImage(this._bimg, 32 + 320, 32 + 240, 320 + 32 + 320, 240 + 32 + 240, 0, 240, 320, 0, this);
 855
 856                         // 画像3
 857                         // threshold.debugDrawHistgramMap(_workraster, _workraster2);
 858                         // this._bimg2.setImage(this._workraster2);
 859                         // this.getGraphics().drawImage(this._bimg2, 32+320, 32+240,320+32+320,240+32+240,0,240,320,0, this);
 860
 861                         // 画像4
 862                         // NyARRasterThresholdAnalyzer_SlidePTile threshold=new NyARRasterThresholdAnalyzer_SlidePTile(15);
 863                         // threshold.analyzeRaster(_gsraster1);
 864                         // filter_gs2bin=new NyARRasterFilter_AreaAverage();
 865                         // filter_gs2bin.doFilter(_gsraster1, _binraster1);
 866                         // this._bimg.drawImage(_binraster1);
 867
 868                         // NyARRasterDetector_QrCodeEdge detector=new NyARRasterDetector_QrCodeEdge(10000);
 869                         // detector.analyzeRaster(_binraster1);
 870
 871                         // this._bimg.overlayData(detector.geResult());
 872
 873                         // this.getGraphics().drawImage(this._bimg, 32, 32+480,320+32,480+32+240,0,240,320,0, this);
 874                         // 画像5
 875
 876                         /*
 877                          * threshold2.debugDrawHistgramMap(_workraster, _workraster2); this._bimg2.drawImage(this._workraster2); this.getGraphics().drawImage(this._bimg2,
 878                          * 32+320, 32+480,320+32+320,480+32+240,0,240,320,0, this);
 879                          */
 880
 881                         // this.getGraphics().drawImage(this._bimg, 32, 32, this);
 882
 883                 } catch (Exception e) {
 884                         e.printStackTrace();
 885                 }
 886
 887         }
 888
 889         private INyARLabeling labelingFactory(int i_idx)
 890         {
 891                 // switch(i_idx){
 892                 // case 0:{NyARLabeling_ARToolKit l=new NyARLabeling_ARToolKit();l.setThresh(4);return l;}
 893                 // case 1:{return new NyLineLabeling();}
 894                 // }
 895                 return null;
 896
 897         }
 898
 899         private void startCapture()
 900         {
 901                 try {
 902                         capture.start();
 903                 } catch (Exception e) {
 904                         e.printStackTrace();
 905                 }
 906         }
 907
 908         public static void main(String[] args)
 909         {
 910                 try {
 911                         CopyOfLabelingCamera mainwin = new CopyOfLabelingCamera();
 912                         mainwin.setVisible(true);
 913                         mainwin.startCapture();
 914                 } catch (Exception e) {
 915                         e.printStackTrace();
 916                 }
 917
 918         }
 919
 920 }