package jp.nyatla.nyartoolkit.sandbox.quadx2;\r
import jp.nyatla.nyartoolkit.NyARException;\r
import jp.nyatla.nyartoolkit.core.labeling.*;\r
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingImage;\r
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabel;\r
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabelStack;\r
+import jp.nyatla.nyartoolkit.core.labeling.artoolkit.*;\r
import jp.nyatla.nyartoolkit.core.raster.*;\r
+import jp.nyatla.nyartoolkit.core.squaredetect.ContourPickup;\r
import jp.nyatla.nyartoolkit.core.squaredetect.INyARSquareDetector;\r
import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquare;\r
import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquareStack;\r
+import jp.nyatla.nyartoolkit.core.squaredetect.SquareContourDetector;\r
import jp.nyatla.nyartoolkit.core.types.*;\r
import jp.nyatla.nyartoolkit.core.param.*;\r
\r
-\r
-import jp.nyatla.nyartoolkit.core2.types.NyARI64Linear;\r
-import jp.nyatla.nyartoolkit.core2.types.NyARI64Point2d;\r
-import jp.nyatla.nyartoolkit.core2.types.matrix.NyARI64Matrix22;\r
-import jp.nyatla.nyartoolkit.core.*;\r
import jp.nyatla.nyartoolkit.sandbox.x2.*;\r
\r
\r
*/\r
public class NyARSquareDetector_Quad implements INyARSquareDetector\r
{\r
- private static int PCA_LENGTH = 20;\r
- private static double VERTEX_FACTOR = 1.0;// 線検出のファクタ\r
-\r
private static int AR_AREA_MAX = 25000;// #define AR_AREA_MAX 100000\r
\r
private static int AR_AREA_MIN = 20;// #define AR_AREA_MIN 70\r
private int _width;\r
private int _height;\r
\r
- private NyARLabeling_ARToolKit_X2 _labeling;\r
+ private NyARLabeling_ARToolKit _labeling;\r
\r
private NyARLabelingImage _limage;\r
\r
- private OverlapChecker _overlap_checker = new OverlapChecker();\r
- private NyARFixedFloatObserv2IdealMap _dist_factor;\r
+ private final LabelOverlapChecker<NyARLabelingLabel> _overlap_checker = new LabelOverlapChecker<NyARLabelingLabel>(32,NyARLabelingLabel.class);\r
+ private final SquareContourDetector _sqconvertor;\r
+ private final ContourPickup _cpickup=new ContourPickup();\r
/**\r
* 最大i_squre_max個のマーカーを検出するクラスを作成する。\r
* \r
{\r
this._width = i_size.w / 2;\r
this._height = i_size.h / 2;\r
- this._labeling = new NyARLabeling_ARToolKit_X2();\r
+ this._labeling = new NyARLabeling_ARToolKit();\r
this._limage = new NyARLabelingImage(this._width, this._height);\r
- this._labeling.attachDestination(this._limage);\r
+ this._sqconvertor=new SquareContourDetector(i_size,i_dist_factor_ref); \r
\r
// 輪郭の最大長は画面に映りうる最大の長方形サイズ。\r
int number_of_coord = (this._width + this._height) * 2;\r
NyARCameraDistortionFactor quadfactor = new NyARCameraDistortionFactor();\r
quadfactor.copyFrom(i_dist_factor_ref);\r
quadfactor.changeScale(0.5);\r
- this._dist_factor = new NyARFixedFloatObserv2IdealMap(quadfactor, i_size);\r
- //PCA\r
- this._pca = new NyARFixedFloatPca2d();\r
- this._xpos = new int[PCA_LENGTH];//最大辺長はthis._width+this._height\r
- this._ypos = new int[PCA_LENGTH];//最大辺長はthis._width+this._height\r
-\r
}\r
\r
private int _max_coord;\r
private int[] _xcoord;\r
private int[] _ycoord;\r
\r
- private void normalizeCoord(int[] i_coord_x, int[] i_coord_y, int i_index, int i_coord_num)\r
- {\r
- // vertex1を境界にして、後方に配列を連結\r
- System.arraycopy(i_coord_x, 1, i_coord_x, i_coord_num, i_index);\r
- System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, i_index);\r
- }\r
-\r
- private int[] __detectMarker_mkvertex = new int[5];\r
-\r
/**\r
* arDetectMarker2を基にした関数\r
* この関数はNyARSquare要素のうち、directionを除くパラメータを取得して返します。\r
*/\r
public void detectMarker(NyARBinRaster i_raster, NyARSquareStack o_square_stack) throws NyARException\r
{\r
- NyARLabeling_ARToolKit_X2 labeling_proc = this._labeling;\r
NyARLabelingImage limage = this._limage;\r
\r
// 初期化\r
o_square_stack.clear();\r
\r
// ラベリング\r
- labeling_proc.labeling(i_raster);\r
+ this._labeling.labeling(i_raster,limage);\r
\r
// ラベル数が0ならここまで\r
int label_num = limage.getLabelStack().getLength();\r
int[] xcoord = this._xcoord;\r
int[] ycoord = this._ycoord;\r
int coord_max = this._max_coord;\r
- int[] mkvertex = this.__detectMarker_mkvertex;\r
- OverlapChecker overlap = this._overlap_checker;\r
- int coord_num;\r
+ final LabelOverlapChecker<NyARLabelingLabel> overlap = this._overlap_checker;\r
+\r
int label_area;\r
NyARLabelingLabel label_pt;\r
\r
//重なりチェッカの最大数を設定\r
- overlap.reset(label_num);\r
+ overlap.setMaxLabels(label_num);\r
\r
for (; i < label_num; i++)\r
{\r
// 重なっているようだ。\r
continue;\r
}\r
-\r
- // 輪郭を取得\r
- coord_num = limage.getContour(i, coord_max, xcoord, ycoord);\r
- if (coord_num == coord_max)\r
- {\r
- // 輪郭が大きすぎる。\r
- continue;\r
- }\r
- //頂点候補のインデクスを取得\r
- int vertex1 = scanVertex(xcoord, ycoord, coord_num);\r
-\r
- // 頂点候補(vertex1)を先頭に並べなおした配列を作成する。\r
- normalizeCoord(xcoord, ycoord, vertex1, coord_num);\r
-\r
- // 領域を準備する。\r
- NyARSquare square_ptr = (NyARSquare)o_square_stack.prePush();\r
-\r
- // 頂点情報を取得\r
- if (!getSquareVertex(xcoord, ycoord, vertex1, coord_num, label_area, mkvertex))\r
- {\r
- o_square_stack.pop();// 頂点の取得が出来なかったので破棄\r
- continue;\r
- }\r
- // マーカーを検出\r
- if (!getSquareLine(mkvertex, xcoord, ycoord, square_ptr))\r
- {\r
- // 矩形が成立しなかった。\r
- o_square_stack.pop();\r
- continue;\r
- }\r
+ // 既に検出された矩形との重なりを確認\r
+ if (!overlap.check(label_pt)) {\r
+ // 重なっているようだ。\r
+ continue;\r
+ }\r
+ // 輪郭を取得\r
+ final int coord_num = _cpickup.getContour(limage,limage.getTopClipTangentX(label_pt),label_pt.clip_t, coord_max, xcoord, ycoord);\r
+ if (coord_num == coord_max) {\r
+ // 輪郭が大きすぎる。\r
+ continue;\r
+ }\r
+ //輪郭分析用に正規化する。\r
+ final int vertex1 = SquareContourDetector.normalizeCoord(xcoord, ycoord, coord_num);\r
+\r
+ //ここから先が輪郭分析\r
+ NyARSquare square_ptr = o_square_stack.prePush();\r
+ if(!this._sqconvertor.coordToSquare(xcoord,ycoord,vertex1,coord_num,label_area,square_ptr)){\r
+ o_square_stack.pop();// 頂点の取得が出来なかったので破棄\r
+ continue; \r
+ }\r
+ \r
// 検出済の矩形の属したラベルを重なりチェックに追加する。\r
overlap.push(label_pt);\r
}\r
return;\r
}\r
-\r
- /**\r
- * 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。\r
- * \r
- * @param i_xcoord\r
- * @param i_ycoord\r
- * @param i_coord_num\r
- * @return\r
- */\r
- private int scanVertex(int[] i_xcoord, int[] i_ycoord, int i_coord_num)\r
- {\r
- int sx = i_xcoord[0];\r
- int sy = i_ycoord[0];\r
- int d = 0;\r
- int w, x, y;\r
- int ret = 0;\r
- for (int i = 1; i < i_coord_num; i++)\r
- {\r
- x = i_xcoord[i] - sx;\r
- y = i_ycoord[i] - sy;\r
- w = x * x + y * y;\r
- if (w > d)\r
- {\r
- d = w;\r
- ret = i;\r
- }\r
- // ここでうまく終了条件入れられないかな。\r
- }\r
- return ret;\r
- }\r
-\r
- private NyARVertexCounter __getSquareVertex_wv1 = new NyARVertexCounter();\r
-\r
- private NyARVertexCounter __getSquareVertex_wv2 = new NyARVertexCounter();\r
-\r
- /**\r
- * 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。\r
- * \r
- * @param i_x_coord\r
- * @param i_y_coord\r
- * @param i_vertex1_index\r
- * @param i_coord_num\r
- * @param i_area\r
- * @param o_vertex\r
- * 要素数はint[4]である事\r
- * @return\r
- */\r
- 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)\r
- {\r
- NyARVertexCounter wv1 = this.__getSquareVertex_wv1;\r
- NyARVertexCounter wv2 = this.__getSquareVertex_wv2;\r
- int end_of_coord = i_vertex1_index + i_coord_num - 1;\r
- int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];\r
- int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];\r
- int dmax = 0;\r
- int v1 = i_vertex1_index;\r
- for (int i = 1 + i_vertex1_index; i < end_of_coord; i++)\r
- {// for(i=1;i<marker_info2->coord_num-1;i++)\r
- // {\r
- int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);\r
- if (d > dmax)\r
- {\r
- dmax = d;\r
- v1 = i;\r
- }\r
- }\r
- double thresh = (i_area / 0.75) * 0.01 * VERTEX_FACTOR;\r
-\r
- o_vertex[0] = i_vertex1_index;\r
-\r
- if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v1, thresh))\r
- { // if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,0,v1,thresh,wv1,&wvnum1)<\r
- // 0 ) {\r
- return false;\r
- }\r
- if (!wv2.getVertex(i_x_coord, i_y_coord, v1, end_of_coord, thresh))\r
- {// if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,v1,marker_info2->coord_num-1,thresh,wv2,&wvnum2)\r
- // < 0) {\r
- return false;\r
- }\r
-\r
- int v2;\r
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1)\r
- {// if(wvnum1 == 1 && wvnum2== 1) {\r
- o_vertex[1] = wv1.vertex[0];\r
- o_vertex[2] = v1;\r
- o_vertex[3] = wv2.vertex[0];\r
- }\r
- else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0)\r
- {// }else if( wvnum1 > 1 && wvnum2== 0) {\r
- //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。\r
- v2 = (v1 - i_vertex1_index) / 2 + i_vertex1_index;\r
- if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh))\r
- {\r
- return false;\r
- }\r
- if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh))\r
- {\r
- return false;\r
- }\r
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1)\r
- {\r
- o_vertex[1] = wv1.vertex[0];\r
- o_vertex[2] = wv2.vertex[0];\r
- o_vertex[3] = v1;\r
- }\r
- else\r
- {\r
- return false;\r
- }\r
- }\r
- else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1)\r
- {\r
- //v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;\r
- v2 = (v1 + end_of_coord) / 2;\r
-\r
- if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh))\r
- {\r
- return false;\r
- }\r
- if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh))\r
- {\r
- return false;\r
- }\r
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1)\r
- {\r
- o_vertex[1] = v1;\r
- o_vertex[2] = wv1.vertex[0];\r
- o_vertex[3] = wv2.vertex[0];\r
- }\r
- else\r
- {\r
- return false;\r
- }\r
- }\r
- else\r
- {\r
- return false;\r
- }\r
- o_vertex[4] = end_of_coord;\r
- return true;\r
- }\r
- private int[] _xpos;\r
- private int[] _ypos;\r
- private NyARFixedFloatPca2d _pca;\r
- private NyARI64Matrix22 __getSquareLine_evec = new NyARI64Matrix22();\r
- private NyARI64Point2d __getSquareLine_mean = new NyARI64Point2d();\r
- private NyARI64Point2d __getSquareLine_ev = new NyARI64Point2d();\r
- private NyARI64Linear[] __getSquareLine_i64liner = NyARI64Linear.createArray(4);\r
- /**\r
- * 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\r
- * 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。\r
- * Optimize:STEP[424->391]\r
- * \r
- * @param i_cparam\r
- * @return\r
- * @throws NyARException\r
- */\r
- private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square) throws NyARException\r
- {\r
- NyARLinear[] l_line = o_square.line;\r
- NyARI64Matrix22 evec = this.__getSquareLine_evec;\r
- NyARI64Point2d mean = this.__getSquareLine_mean;\r
- NyARI64Point2d ev = this.__getSquareLine_ev;\r
- NyARI64Linear[] i64liner = this.__getSquareLine_i64liner;\r
-\r
-\r
- for (int i = 0; i < 4; i++)\r
- {\r
- double w1 = (double)(i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5;\r
- int st = (int)(i_mkvertex[i] + w1);\r
- int ed = (int)(i_mkvertex[i + 1] - w1);\r
- int n = ed - st + 1;\r
- if (n < 2)\r
- {\r
- // 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\r
- return false;\r
- }\r
- //配列作成\r
- n = this._dist_factor.observ2IdealSampling(i_xcoord, i_ycoord, st, n, this._xpos, this._ypos, PCA_LENGTH);\r
-\r
- //主成分分析する。\r
- this._pca.pcaF16(this._xpos, this._ypos, n, evec, ev, mean);\r
- NyARI64Linear l_line_i = i64liner[i];\r
- l_line_i.run = evec.m01;// line[i][0] = evec->m[1];\r
- l_line_i.rise = -evec.m00;// line[i][1] = -evec->m[0];\r
- l_line_i.intercept = -((l_line_i.run * mean.x + l_line_i.rise * mean.y) >> 16);// line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]);\r
- }\r
-\r
- NyARDoublePoint2d[] l_sqvertex = o_square.sqvertex;\r
- NyARIntPoint2d[] l_imvertex = o_square.imvertex;\r
- for (int i = 0; i < 4; i++)\r
- {\r
- NyARI64Linear l_line_i = i64liner[i];\r
- NyARI64Linear l_line_2 = i64liner[(i + 3) % 4];\r
- long w1 = (l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise) >> 16;\r
- if (w1 == 0)\r
- {\r
- return false;\r
- }\r
- l_sqvertex[i].x = (double)((l_line_2.rise * l_line_i.intercept - l_line_i.rise * l_line_2.intercept) / w1) *2/ 65536.0;\r
- l_sqvertex[i].y = (double)((l_line_i.run * l_line_2.intercept - l_line_2.run * l_line_i.intercept) / w1) *2/ 65536.0;\r
- // 頂点インデクスから頂点座標を得て保存\r
- l_imvertex[i].x = i_xcoord[i_mkvertex[i]]*2;\r
- l_imvertex[i].y = i_ycoord[i_mkvertex[i]]*2;\r
- l_line[i].run = (double)l_line_i.run / 65536.0;\r
- l_line[i].rise = (double)l_line_i.rise / 65536.0;\r
- l_line[i].intercept = (double)l_line_i.intercept*2 / 65536.0;\r
- }\r
- return true;\r
- }\r
-}\r
-\r
-\r
-/**\r
- * ラベル同士の重なり（内包関係）を調べるクラスです。 \r
- * ラベルリストに内包するラベルを蓄積し、それにターゲットのラベルが内包されているか を確認します。\r
- */\r
-class OverlapChecker\r
-{\r
- private NyARLabelingLabel[] _labels = new NyARLabelingLabel[32];\r
-\r
- private int _length;\r
-\r
- /**\r
- * 最大i_max_label個のラベルを蓄積できるようにオブジェクトをリセットする\r
- * \r
- * @param i_max_label\r
- */\r
- public void reset(int i_max_label)\r
- {\r
- if (i_max_label > this._labels.length)\r
- {\r
- this._labels = new NyARLabelingLabel[i_max_label];\r
- }\r
- this._length = 0;\r
- }\r
-\r
- /**\r
- * チェック対象のラベルを追加する。\r
- * \r
- * @param i_label_ref\r
- */\r
- public void push(NyARLabelingLabel i_label_ref)\r
- {\r
- this._labels[this._length] = i_label_ref;\r
- this._length++;\r
- }\r
-\r
- /**\r
- * 現在リストにあるラベルと重なっているかを返す。\r
- * \r
- * @param i_label\r
- * @return 何れかのラベルの内側にあるならばfalse,独立したラベルである可能性が高ければtrueです．\r
- */\r
- public boolean check(NyARLabelingLabel i_label)\r
- {\r
- // 重なり処理かな？\r
- NyARLabelingLabel[] label_pt = this._labels;\r
- int px1 = (int)i_label.pos_x;\r
- int py1 = (int)i_label.pos_y;\r
- for (int i = this._length - 1; i >= 0; i--)\r
- {\r
- int px2 = (int)label_pt[i].pos_x;\r
- int py2 = (int)label_pt[i].pos_y;\r
- int d = (px1 - px2) * (px1 - px2) + (py1 - py2) * (py1 - py2);\r
- if (d < label_pt[i].area / 4)\r
- {\r
- // 対象外\r
- return false;\r
- }\r
- }\r
- // 対象\r
- return true;\r
- }\r
}\r
\r
\r
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