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

   1 /* \r
   2  * Capture Test NyARToolkitサンプルプログラム\r
   3  * --------------------------------------------------------------------------------\r
   4  * The NyARToolkit is Java edition ARToolKit class library.\r
   5  * Copyright (C)2008-2009 Ryo Iizuka\r
   6  *\r
   7  * This program is free software: you can redistribute it and/or modify\r
   8  * it under the terms of the GNU General Public License as published by\r
   9  * the Free Software Foundation, either version 3 of the License, or\r
  10  * (at your option) any later version.\r
  11  * \r
  12  * This program is distributed in the hope that it will be useful,\r
  13  * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
  15  * GNU General Public License for more details.\r
  16  *\r
  17  * You should have received a copy of the GNU General Public License\r
  18  * along with this program.  If not, see <http://www.gnu.org/licenses/>.\r
  19  * \r
  20  * For further information please contact.\r
  21  *      http://nyatla.jp/nyatoolkit/\r
  22  *      <airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.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.analyzer.raster.threshold.*;\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.NyARRasterFilter_ARToolkitThreshold;\r
  34 import jp.nyatla.nyartoolkit.core.types.*;\r
  35 import jp.nyatla.nyartoolkit.nyidmarker.*;\r
  36 import jp.nyatla.nyartoolkit.nyidmarker.data.*;\r
  37 import jp.nyatla.nyartoolkit.core.squaredetect.*;\r
  38 \r
  39 public abstract class SingleNyIdMarkerProcesser\r
  40 {\r
  41         /**\r
  42          * オーナーが自由に使えるタグ変数です。\r
  43          */\r
  44         public Object tag;\r
  45 \r
  46         /**\r
  47          * ロスト遅延の管理\r
  48          */\r
  49         private int _lost_delay_count = 0;\r
  50         private int _lost_delay = 5;\r
  51 \r
  52         private NyARSquareDetector_Rle _square_detect;\r
  53         protected INyARTransMat _transmat;\r
  54         private double _marker_width=100;\r
  55 \r
  56         private NyARSquareStack _square_list = new NyARSquareStack(100);\r
  57         private INyIdMarkerDataEncoder _encoder;\r
  58         private boolean _is_active;\r
  59         private INyIdMarkerData _data_temp;\r
  60         private INyIdMarkerData _data_current;\r
  61 \r
  62         private int _current_threshold=110;\r
  63         // [AR]検出結果の保存用\r
  64         private NyARBinRaster _bin_raster;\r
  65 \r
  66         private NyARRasterFilter_ARToolkitThreshold _tobin_filter;\r
  67 \r
  68         private NyIdMarkerPickup _id_pickup = new NyIdMarkerPickup();\r
  69 \r
  70 \r
  71         protected SingleNyIdMarkerProcesser()\r
  72         {\r
  73                 return;\r
  74         }\r
  75         private boolean _initialized=false;\r
  76         protected void initInstance(NyARParam i_param,INyIdMarkerDataEncoder i_encoder,int i_raster_format) throws NyARException\r
  77         {\r
  78                 //初期化済？\r
  79                 assert this._initialized==false;\r
  80                 \r
  81                 NyARIntSize scr_size = i_param.getScreenSize();\r
  82                 // 解析オブジェクトを作る\r
  83                 this._square_detect = new NyARSquareDetector_Rle(i_param.getDistortionFactor(), scr_size);\r
  84                 this._transmat = new NyARTransMat(i_param);\r
  85                 this._encoder=i_encoder;\r
  86 \r
  87                 // ２値画像バッファを作る\r
  88                 this._bin_raster = new NyARBinRaster(scr_size.w, scr_size.h);\r
  89                 //ワーク用のデータオブジェクトを２個作る\r
  90                 this._is_active=false;\r
  91                 this._data_temp=i_encoder.createDataInstance();\r
  92                 this._data_current=i_encoder.createDataInstance();\r
  93                 this._tobin_filter =new NyARRasterFilter_ARToolkitThreshold(110,i_raster_format);\r
  94                 this._threshold_detect=new NyARRasterThresholdAnalyzer_SlidePTile(15,i_raster_format,4);\r
  95                 this._initialized=true;\r
  96                 return;\r
  97                 \r
  98         }\r
  99 \r
 100         public void setMarkerWidth(int i_width)\r
 101         {\r
 102                 this._marker_width=i_width;\r
 103                 return;\r
 104         }\r
 105 \r
 106         public void reset(boolean i_is_force)\r
 107         {\r
 108                 if (this._data_current!=null && i_is_force == false) {\r
 109                         // 強制書き換えでなければイベントコール\r
 110                         this.onLeaveHandler();\r
 111                 }\r
 112                 // カレントマーカをリセット\r
 113                 this._data_current = null;\r
 114                 return;\r
 115         }\r
 116 \r
 117         public void detectMarker(INyARRgbRaster i_raster) throws NyARException\r
 118         {\r
 119                 // サイズチェック\r
 120                 if (!this._bin_raster.getSize().isEqualSize(i_raster.getSize().w, i_raster.getSize().h)) {\r
 121                         throw new NyARException();\r
 122                 }\r
 123                 // ラスタを２値イメージに変換する.\r
 124                 this._tobin_filter.setThreshold(this._current_threshold);\r
 125                 this._tobin_filter.doFilter(i_raster, this._bin_raster);\r
 126 \r
 127                 NyARSquareStack square_stack = this._square_list;\r
 128                 // スクエアコードを探す\r
 129                 this._square_detect.detectMarker(this._bin_raster, square_stack);\r
 130                 // 認識処理\r
 131                 if (!this._is_active) {\r
 132                         // マーカ未認識→新規認識\r
 133                         detectNewMarker(i_raster, square_stack);\r
 134                 } else {\r
 135                         // マーカ認識依頼→継続認識\r
 136                         detectExistMarker(i_raster, square_stack);\r
 137                 }\r
 138                 return;\r
 139         }\r
 140 \r
 141         \r
 142         private final NyIdMarkerPattern _marker_data=new NyIdMarkerPattern();\r
 143         private final NyIdMarkerParam _marker_param=new NyIdMarkerParam();\r
 144         private NyARRasterThresholdAnalyzer_SlidePTile _threshold_detect;\r
 145         \r
 146         /**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
 147          */\r
 148         private void detectNewMarker(INyARRgbRaster i_raster, NyARSquareStack i_stack) throws NyARException\r
 149         {\r
 150                 NyIdMarkerParam param=this._marker_param;\r
 151                 NyIdMarkerPattern patt_data  =this._marker_data;\r
 152                 int number_of_square = i_stack.getLength();\r
 153                 NyARSquare current_square=null;\r
 154                 INyIdMarkerData marker_id=null;\r
 155                 for (int i = 0; i < number_of_square; i++) {\r
 156                         // 評価基準になるパターンをイメージから切り出す\r
 157                         current_square=i_stack.getItem(i);\r
 158                         if (!this._id_pickup.pickFromRaster(i_raster,current_square, patt_data, param)) {\r
 159                                 continue;\r
 160                         }\r
 161                         //エンコード\r
 162                         if(!this._encoder.encode(patt_data,this._data_temp)){\r
 163                                 continue;\r
 164                         }\r
 165                         //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
 166                         //id認識が成功したら終了\r
 167                         marker_id=this._data_temp;\r
 168                         break;\r
 169                 }\r
 170                 \r
 171                 // 認識状態を更新\r
 172                 final boolean is_id_found=updateStatus(current_square,marker_id, param);\r
 173 \r
 174                 //閾値フィードバック(detectExistMarkerにもあるよ)\r
 175                 if(is_id_found){\r
 176                         //マーカがあれば、マーカの周辺閾値を反映\r
 177                         this._current_threshold=(this._current_threshold+param.threshold)/2;\r
 178                 }else{\r
 179                         //マーカがなければ、探索+DualPTailで基準輝度検索\r
 180                         int th=this._threshold_detect.analyzeRaster(i_raster);\r
 181                         this._current_threshold=(this._current_threshold+th)/2;\r
 182                 }\r
 183                 return;\r
 184         }\r
 185 \r
 186         /**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
 187          * （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
 188          */\r
 189         private void detectExistMarker(INyARRgbRaster i_raster, NyARSquareStack i_stack) throws NyARException\r
 190         {\r
 191                 NyIdMarkerParam param=this._marker_param;\r
 192                 NyIdMarkerPattern patt_data  =this._marker_data;\r
 193                 int number_of_square = i_stack.getLength();\r
 194                 NyARSquare current_square=null;\r
 195                 INyIdMarkerData marker_id=null;\r
 196                 for (int i = 0; i < number_of_square; i++){\r
 197                         //idマーカを認識\r
 198                         current_square=i_stack.getItem(i);\r
 199                         if (!this._id_pickup.pickFromRaster(i_raster, current_square, patt_data, param)) {\r
 200                                 continue;\r
 201                         }\r
 202                         if(!this._encoder.encode(patt_data,this._data_temp)){\r
 203                                 continue;\r
 204                         }\r
 205                         //現在認識中のidか確認\r
 206                         if(!this._data_current.isEqual((this._data_temp))){\r
 207                                 continue;\r
 208                         }\r
 209                         //現在認識中のものであれば、終了\r
 210                         marker_id=this._data_temp;\r
 211                         break;\r
 212                 }\r
 213                 // 認識状態を更新\r
 214                 final boolean is_id_found=updateStatus(current_square,marker_id,param);\r
 215 \r
 216                 //閾値フィードバック(detectExistMarkerにもあるよ)\r
 217                 if(is_id_found){\r
 218                         //マーカがあれば、マーカの周辺閾値を反映\r
 219                         this._current_threshold=(this._current_threshold+param.threshold)/2;\r
 220                 }else{\r
 221                         //マーカがなければ、探索+DualPTailで基準輝度検索\r
 222                         int th=this._threshold_detect.analyzeRaster(i_raster);\r
 223                         this._current_threshold=(this._current_threshold+th)/2;\r
 224                 }\r
 225                 return;\r
 226         }\r
 227 \r
 228         private NyARTransMatResult __NyARSquare_result = new NyARTransMatResult();\r
 229 \r
 230         /**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
 231          */\r
 232         private boolean updateStatus(NyARSquare i_square, INyIdMarkerData i_marker_data,NyIdMarkerParam i_param)  throws NyARException\r
 233         {\r
 234                 boolean is_id_found=false;\r
 235                 NyARTransMatResult result = this.__NyARSquare_result;\r
 236                 if (!this._is_active) {// 未認識中\r
 237                         if (i_marker_data==null) {// 未認識から未認識の遷移\r
 238                                 // なにもしないよーん。\r
 239                                 this._is_active=false;\r
 240                         } else {// 未認識から認識の遷移\r
 241                                 this._data_current.copyFrom(i_marker_data);\r
 242                                 // イベント生成\r
 243                                 // OnEnter\r
 244                                 this.onEnterHandler(this._data_current);\r
 245                                 // 変換行列を作成\r
 246                                 this._transmat.transMat(i_square,i_param.direction, this._marker_width, result);\r
 247                                 // OnUpdate\r
 248                                 this.onUpdateHandler(i_square, result);\r
 249                                 this._lost_delay_count = 0;\r
 250                                 this._is_active=true;\r
 251                                 is_id_found=true;\r
 252                         }\r
 253                 } else {// 認識中\r
 254                         if (i_marker_data==null) {\r
 255                                 // 認識から未認識の遷移\r
 256                                 this._lost_delay_count++;\r
 257                                 if (this._lost_delay < this._lost_delay_count) {\r
 258                                         // OnLeave\r
 259                                         this.onLeaveHandler();\r
 260                                         this._is_active=false;\r
 261                                 }\r
 262                         } else if(this._data_current.isEqual(i_marker_data)) {\r
 263                                 //同じidの再認識\r
 264                                 this._transmat.transMat(i_square, i_param.direction, this._marker_width, result);\r
 265                                 // OnUpdate\r
 266                                 this.onUpdateHandler(i_square, result);\r
 267                                 this._lost_delay_count = 0;\r
 268                                 is_id_found=true;\r
 269                         } else {// 異なるコードの認識→今はサポートしない。\r
 270                                 throw new  NyARException();\r
 271                         }\r
 272                 }\r
 273                 return is_id_found;\r
 274         }       \r
 275         //通知ハンドラ\r
 276         protected abstract void onEnterHandler(INyIdMarkerData i_code);\r
 277         protected abstract void onLeaveHandler();\r
 278         protected abstract void onUpdateHandler(NyARSquare i_square, NyARTransMatResult result);\r
 279 }\r