lib/src.rpf/jp/nyatla/nyartoolkit/rpf/utils/LineBaseVertexDetector.java

   1 package jp.nyatla.nyartoolkit.rpf.utils;\r
   2 \r
   3 import jp.nyatla.nyartoolkit.NyARException;\r
   4 import jp.nyatla.nyartoolkit.core.types.*;\r
   5 \r
   6 /**\r
   7  * このクラスは、4本の直線式から、凸包の頂点を計算する機能を提供します。\r
   8  */\r
   9 public class LineBaseVertexDetector\r
  10 {\r
  11         /** 頂点の組合せテーブル(4,5頂点用)*/\r
  12         private final static int[][] _45vertextable={\r
  13                         {1,2,4,3},{0,2,5,3},{0,1,5,4},{0,1,5,4},{0,2,5,3},{1,2,4,3}};\r
  14         /** 頂点組合せテーブル。(6頂点用)*/\r
  15         private final static int[][] _order_table={{0,1,5,4},{0,2,5,3},{1,2,4,3}};\r
  16         /** ワーク変数*/\r
  17         private NyARDoublePoint2d[] __wk_v=NyARDoublePoint2d.createArray(6);\r
  18         /**\r
  19          * ４直線の交点から、凸包の頂点座標を計算します。\r
  20          * @param i_line\r
  21          * 直線式の配列です。要素数は4である必要があります。\r
  22          * @param o_point\r
  23          * 検出した頂点の座標です。要素数は4である必要があります。\r
  24          * @return\r
  25          * 凸包を計算できると、trueを返します。\r
  26          * @throws NyARException\r
  27          */\r
  28         public boolean line2SquareVertex(VecLinearCoordinates.VecLinearCoordinatePoint[] i_line,NyARDoublePoint2d[] o_point) throws NyARException\r
  29         {\r
  30                 \r
  31                 NyARDoublePoint2d[] v=this.__wk_v;\r
  32                 int number_of_vertex=0;\r
  33                 int non_vertexid=0;\r
  34                 int ptr=0;\r
  35                 for(int i=0;i<3;i++){\r
  36                         for(int i2=i+1;i2<4;i2++){\r
  37                                 if(i_line[i].crossPos(i_line[i2],v[ptr])){\r
  38                                         number_of_vertex++;\r
  39                                 }else{\r
  40                                         non_vertexid=ptr;\r
  41                                 }\r
  42                                 ptr++;\r
  43                         }\r
  44                 }\r
  45                 int num_of_plus=-1;\r
  46                 int[] target_order;\r
  47                 switch(number_of_vertex){\r
  48                 case 4:\r
  49                 case 5:\r
  50                         //正の外積の数を得る。0,4ならば、目的の図形\r
  51                         num_of_plus=countPlusExteriorProduct(v,_45vertextable[non_vertexid]);\r
  52                         target_order=_45vertextable[non_vertexid];\r
  53                         break;\r
  54                 case 6:\r
  55                         //(0-5),(1-4),(2-3)の頂点ペアの組合せを試す。頂点の検索順は、(0,1,5,4),(0,2,5,3),(1,2,4,3)\r
  56                         //3パターンについて、正の外積の数を得る。0,4のものがあればOK\r
  57                         int order_id=-1;\r
  58                         num_of_plus=-1;\r
  59                         for(int i=0;i<3;i++){\r
  60                                 num_of_plus=countPlusExteriorProduct(v,_order_table[i]);\r
  61                                 if(num_of_plus%4==0){\r
  62                                         order_id=i;\r
  63                                         break;\r
  64                                 }\r
  65                         }\r
  66                         if(order_id==-1){\r
  67                                 return false;\r
  68                         }\r
  69                         target_order=_order_table[order_id];\r
  70                         break;\r
  71                 default:\r
  72                         //他の頂点数の時はNG\r
  73                         return false;\r
  74                 }\r
  75                 //回転方向の正規化(ここパラメータ化しようよ)\r
  76                 switch(num_of_plus){\r
  77                 case  0:\r
  78                         //逆回転で検出した場合\r
  79                         for(int i=0;i<4;i++){\r
  80                                 o_point[i].setValue(v[target_order[3-i]]);\r
  81                         }\r
  82                         break;\r
  83                 case  4:\r
  84                         //正回転で検出した場合\r
  85                         for(int i=0;i<4;i++){\r
  86                                 o_point[i].setValue(v[target_order[i]]);\r
  87                         }\r
  88                         break;\r
  89                 default:\r
  90                         return false;\r
  91                 }\r
  92                 return true;\r
  93         }\r
  94 \r
  95         /**\r
  96          * 4頂点を巡回して、正の外積数を数えます。\r
  97          * @param p\r
  98          * 頂点配列。4要素である事。\r
  99          * @param order\r
 100          * 頂点のインデクス配列。4要素である事。\r
 101          * @return\r
 102          * 正の外積数\r
 103          */\r
 104         private final static int countPlusExteriorProduct(NyARDoublePoint2d[] p,int[] order)\r
 105         {\r
 106                 int ret=0;\r
 107                 for(int i=0;i<4;i++){\r
 108                         if(0<NyARDoublePoint2d.crossProduct3Point(p[order[i+0]],p[order[(i+1)%4]],p[order[(i+2)%4]])){\r
 109                                 ret++;\r
 110                         }\r
 111                 }\r
 112                 return ret;\r
 113         }\r
 114 }