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

   1 /* \r
   2  * Capture Test NyARToolkitCSサンプルプログラム\r
   3  * --------------------------------------------------------------------------------\r
   4  * Copyright (C)2008 R.Iizuka\r
   5  *\r
   6  * This program is free software; you can redistribute it and/or\r
   7  * modify it under the terms of the GNU General Public License\r
   8  * as published by the Free Software Foundation; either version 2\r
   9  * of the License, or (at your option) any later version.\r
  10  * \r
  11  * This program is distributed in the hope that it will be useful,\r
  12  * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
  14  * GNU General Public License for more details.\r
  15  * \r
  16  * You should have received a copy of the GNU General Public License\r
  17  * along with this framework; if not, write to the Free Software\r
  18  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA\r
  19  * \r
  20  * For further information please contact.\r
  21  *      http://nyatla.jp/nyatoolkit/\r
  22  *      <airmail(at)ebony.plala.or.jp>\r
  23  * \r
  24  */\r
  25 package jp.nyatla.nyartoolkit.processor;\r
  26 \r
  27 import jp.nyatla.nyartoolkit.NyARException;\r
  28 import jp.nyatla.nyartoolkit.core.*;\r
  29 import jp.nyatla.nyartoolkit.core.param.*;\r
  30 import jp.nyatla.nyartoolkit.core.raster.*;\r
  31 import jp.nyatla.nyartoolkit.core.raster.rgb.*;\r
  32 import jp.nyatla.nyartoolkit.core.transmat.*;\r
  33 import jp.nyatla.nyartoolkit.core.rasterfilter.rgb2bin.*;\r
  34 import jp.nyatla.nyartoolkit.core.rasterreader.INyARBufferReader;\r
  35 import jp.nyatla.nyartoolkit.core.types.*;\r
  36 import jp.nyatla.nyartoolkit.nyidmarker.*;\r
  37 import jp.nyatla.nyartoolkit.nyidmarker.data.*;\r
  38 import jp.nyatla.nyartoolkit.core2.rasteranalyzer.threshold.*;\r
  39 \r
  40 public abstract class SingleNyIdMarkerProcesser\r
  41 {\r
  42         /**\r
  43          * オーナーが自由に使えるタグ変数です。\r
  44          */\r
  45         public Object tag;\r
  46 \r
  47         /**\r
  48          * ロスト遅延の管理\r
  49          */\r
  50         private int _lost_delay_count = 0;\r
  51         private int _lost_delay = 5;\r
  52 \r
  53         private NyARSquareDetector _square_detect;\r
  54         protected NyARTransMat _transmat;\r
  55         private double _marker_width=100;\r
  56 \r
  57         private NyARSquareStack _square_list = new NyARSquareStack(100);\r
  58         private INyIdMarkerDataEncoder _encoder;\r
  59         private boolean _is_active;\r
  60         private INyIdMarkerData _data_temp;\r
  61         private INyIdMarkerData _data_current;\r
  62 \r
  63         private int _current_threshold;\r
  64         // [AR]検出結果の保存用\r
  65         private NyARBinRaster _bin_raster;\r
  66 \r
  67         private NyARRasterFilter_ARToolkitThreshold _tobin_filter = new NyARRasterFilter_ARToolkitThreshold(110);\r
  68 \r
  69         private NyIdMarkerPickup _id_pickup = new NyIdMarkerPickup();\r
  70 \r
  71 \r
  72         protected SingleNyIdMarkerProcesser(NyARParam i_param,INyIdMarkerDataEncoder i_encoder,int i_raster_format) throws NyARException\r
  73         {\r
  74                 NyARIntSize scr_size = i_param.getScreenSize();\r
  75                 // 解析オブジェクトを作る\r
  76                 this._square_detect = new NyARSquareDetector(i_param.getDistortionFactor(), scr_size);\r
  77                 this._transmat = new NyARTransMat(i_param);\r
  78                 this._encoder=i_encoder;\r
  79 \r
  80                 // ２値画像バッファを作る\r
  81                 this._bin_raster = new NyARBinRaster(scr_size.w, scr_size.h);\r
  82                 //ワーク用のデータオブジェクトを２個作る\r
  83                 this._is_active=false;\r
  84                 this._data_temp=i_encoder.createDataInstance();\r
  85                 this._data_current=i_encoder.createDataInstance();\r
  86                 this._threshold_detect=new NyARRasterThresholdAnalyzer_SlidePTile(15,i_raster_format);\r
  87                 return;\r
  88         }\r
  89 \r
  90         public void setMarkerWidth(int i_width)\r
  91         {\r
  92                 this._marker_width=i_width;\r
  93                 return;\r
  94         }\r
  95 \r
  96         public void reset(boolean i_is_force)\r
  97         {\r
  98                 if (this._data_current!=null && i_is_force == false) {\r
  99                         // 強制書き換えでなければイベントコール\r
 100                         this.onLeaveHandler();\r
 101                 }\r
 102                 // カレントマーカをリセット\r
 103                 this._data_current = null;\r
 104                 return;\r
 105         }\r
 106 \r
 107         public void detectMarker(INyARRgbRaster i_raster) throws NyARException\r
 108         {\r
 109                 // サイズチェック\r
 110                 if (!this._bin_raster.getSize().isEqualSize(i_raster.getSize().w, i_raster.getSize().h)) {\r
 111                         throw new NyARException();\r
 112                 }\r
 113                 // ラスタを２値イメージに変換する.\r
 114                 this._tobin_filter.setThreshold(this._current_threshold);\r
 115                 this._tobin_filter.doFilter(i_raster, this._bin_raster);\r
 116 \r
 117                 NyARSquareStack square_stack = this._square_list;\r
 118                 // スクエアコードを探す\r
 119                 this._square_detect.detectMarker(this._bin_raster, square_stack);\r
 120                 // 認識処理\r
 121                 if (!this._is_active) {\r
 122                         // マーカ未認識→新規認識\r
 123                         detectNewMarker(i_raster, square_stack);\r
 124                 } else {\r
 125                         // マーカ認識依頼→継続認識\r
 126                         detectExistMarker(i_raster, square_stack);\r
 127                 }\r
 128                 System.out.println(this._current_threshold);\r
 129                 return;\r
 130         }\r
 131 \r
 132         \r
 133         private final NyIdMarkerPattern _marker_data=new NyIdMarkerPattern();\r
 134         private final NyIdMarkerParam _marker_param=new NyIdMarkerParam();\r
 135         private final NyARRasterThresholdAnalyzer_SlidePTile _threshold_detect;\r
 136         \r
 137         /**新規マーカ検索 現在認識中のマーカがないものとして、最も認識しやすいマーカを１個認識します。\r
 138          */\r
 139         private void detectNewMarker(INyARRgbRaster i_raster, NyARSquareStack i_stack) throws NyARException\r
 140         {\r
 141                 NyIdMarkerParam param=this._marker_param;\r
 142                 NyIdMarkerPattern patt_data  =this._marker_data;\r
 143                 int number_of_square = i_stack.getLength();\r
 144                 int square_index = 0;\r
 145                 INyIdMarkerData marker_id=null;\r
 146                 for (int i = 0; i < number_of_square; i++) {\r
 147                         // 評価基準になるパターンをイメージから切り出す\r
 148                         if (!this._id_pickup.pickFromRaster(i_raster, (NyARSquare) i_stack.getItem(i), patt_data, param)) {\r
 149                                 continue;\r
 150                         }\r
 151                         //エンコード\r
 152                         if(!this._encoder.encode(patt_data,this._data_temp)){\r
 153                                 continue;\r
 154                         }\r
 155                         //認識率が一番高いもの（占有面積が一番大きいもの）を選択する(省略)\r
 156                         //id認識が成功したら終了\r
 157                         marker_id=this._data_temp;\r
 158                         break;\r
 159                 }\r
 160                 \r
 161                 // 認識状態を更新\r
 162                 final boolean is_id_found=updateStatus((NyARSquare) this._square_list.getItem(square_index),marker_id, param);\r
 163 \r
 164                 //閾値フィードバック(detectExistMarkerにもあるよ)\r
 165                 if(is_id_found){\r
 166                         //マーカがあれば、マーカの周辺閾値を反映\r
 167                         this._current_threshold=(this._current_threshold+param.threshold)/2;\r
 168                 }else{\r
 169                         //マーカがなければ、探索+DualPTailで基準輝度検索\r
 170                         this._threshold_detect.analyzeRaster(i_raster);\r
 171                         this._current_threshold=(this._current_threshold+this._threshold_detect.getThreshold())/2;\r
 172                 }\r
 173                 return;\r
 174         }\r
 175 \r
 176         /**マーカの継続認識 現在認識中のマーカを優先して認識します。 \r
 177          * （注）この機能はたぶん今後いろいろ発展するからNewと混ぜないこと。\r
 178          */\r
 179         private void detectExistMarker(INyARRgbRaster i_raster, NyARSquareStack i_stack) throws NyARException\r
 180         {\r
 181                 NyIdMarkerParam param=this._marker_param;\r
 182                 NyIdMarkerPattern patt_data  =this._marker_data;\r
 183                 int number_of_square = i_stack.getLength();\r
 184                 int square_index = 0;\r
 185                 INyIdMarkerData marker_id=null;\r
 186                 for (int i = 0; i < number_of_square; i++){\r
 187                         //idマーカを認識\r
 188                         if (!this._id_pickup.pickFromRaster(i_raster, (NyARSquare) i_stack.getItem(i), patt_data, param)) {\r
 189                                 continue;\r
 190                         }\r
 191                         if(!this._encoder.encode(patt_data,this._data_temp)){\r
 192                                 continue;\r
 193                         }\r
 194                         //現在認識中のidか確認\r
 195                         if(!this._data_current.isEqual((this._data_temp))){\r
 196                                 continue;\r
 197                         }\r
 198                         //現在認識中のものであれば、終了\r
 199                         marker_id=this._data_temp;\r
 200                         break;\r
 201                 }\r
 202                 // 認識状態を更新\r
 203                 final boolean is_id_found=updateStatus((NyARSquare) this._square_list.getItem(square_index),marker_id,param);\r
 204 \r
 205                 //閾値フィードバック(detectExistMarkerにもあるよ)\r
 206                 if(is_id_found){\r
 207                         //マーカがあれば、マーカの周辺閾値を反映\r
 208                         this._current_threshold=(this._current_threshold+param.threshold)/2;\r
 209                 }else{\r
 210                         //マーカがなければ、探索+DualPTailで基準輝度検索\r
 211                         this._threshold_detect.analyzeRaster(i_raster);\r
 212                         this._current_threshold=(this._current_threshold+this._threshold_detect.getThreshold())/2;\r
 213                 }\r
 214                 return;\r
 215         }\r
 216 \r
 217         private NyARTransMatResult __NyARSquare_result = new NyARTransMatResult();\r
 218 \r
 219         /**オブジェクトのステータスを更新し、必要に応じてハンドル関数を駆動します。\r
 220          */\r
 221         private boolean updateStatus(NyARSquare i_square, INyIdMarkerData i_marker_data,NyIdMarkerParam i_param)  throws NyARException\r
 222         {\r
 223                 boolean is_id_found=false;\r
 224                 NyARTransMatResult result = this.__NyARSquare_result;\r
 225                 if (!this._is_active) {// 未認識中\r
 226                         if (i_marker_data==null) {// 未認識から未認識の遷移\r
 227                                 // なにもしないよーん。\r
 228                                 this._is_active=false;\r
 229                         } else {// 未認識から認識の遷移\r
 230                                 this._data_current.copyFrom(i_marker_data);\r
 231                                 // イベント生成\r
 232                                 // OnEnter\r
 233                                 this.onEnterHandler(this._data_current);\r
 234                                 // 変換行列を作成\r
 235                                 this._transmat.transMat(i_square,i_param.direction, this._marker_width, result);\r
 236                                 // OnUpdate\r
 237                                 this.onUpdateHandler(i_square, result);\r
 238                                 this._lost_delay_count = 0;\r
 239                                 this._is_active=true;\r
 240                                 is_id_found=true;\r
 241                         }\r
 242                 } else {// 認識中\r
 243                         if (i_marker_data==null) {\r
 244                                 // 認識から未認識の遷移\r
 245                                 this._lost_delay_count++;\r
 246                                 if (this._lost_delay < this._lost_delay_count) {\r
 247                                         // OnLeave\r
 248                                         this.onLeaveHandler();\r
 249                                         this._is_active=false;\r
 250                                 }\r
 251                         } else if(this._data_current.isEqual(i_marker_data)) {\r
 252                                 //同じidの再認識\r
 253                                 this._transmat.transMat(i_square, i_param.direction, this._marker_width, result);\r
 254                                 // OnUpdate\r
 255                                 this.onUpdateHandler(i_square, result);\r
 256                                 this._lost_delay_count = 0;\r
 257                                 is_id_found=true;\r
 258                         } else {// 異なるコードの認識→今はサポートしない。\r
 259                                 throw new  NyARException();\r
 260                         }\r
 261                 }\r
 262                 return is_id_found;\r
 263         }       \r
 264         //通知ハンドラ\r
 265         protected abstract void onEnterHandler(INyIdMarkerData i_code);\r
 266         protected abstract void onLeaveHandler();\r
 267         protected abstract void onUpdateHandler(NyARSquare i_square, NyARTransMatResult result);\r
 268 }\r