sample/jogl/src.rpf/jp/nyatla/nyartoolkit/rpf/sample/Test_NyARRealityGl_ARMarker.java

   1 /* \r
   2  * PROJECT: NyARToolkit JOGL sample program.\r
   3  * --------------------------------------------------------------------------------\r
   4  * The MIT License\r
   5  * Copyright (c) 2008-2011 nyatla\r
   6  * airmail(at)ebony.plala.or.jp\r
   7  * http://nyatla.jp/nyartoolkit/\r
   8  * \r
   9  * Permission is hereby granted, free of charge, to any person obtaining a copy\r
  10  * of this software and associated documentation files (the "Software"), to deal\r
  11  * in the Software without restriction, including without limitation the rights\r
  12  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\r
  13  * copies of the Software, and to permit persons to whom the Software is\r
  14  * furnished to do so, subject to the following conditions:\r
  15  * The above copyright notice and this permission notice shall be included in\r
  16  * all copies or substantial portions of the Software.\r
  17  * \r
  18  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\r
  19  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\r
  20  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\r
  21  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\r
  22  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\r
  23  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\r
  24  * THE SOFTWARE.\r
  25  * \r
  26  */\r
  27 package jp.nyatla.nyartoolkit.rpf.sample;\r
  28 \r
  29 import java.awt.Color;\r
  30 import java.awt.Font;\r
  31 import java.awt.Frame;\r
  32 import java.awt.Insets;\r
  33 import java.awt.event.WindowAdapter;\r
  34 import java.awt.event.WindowEvent;\r
  35 \r
  36 import javax.media.Buffer;\r
  37 import javax.media.opengl.*;\r
  38 \r
  39 \r
  40 import jp.nyatla.nyartoolkit.NyARException;\r
  41 import jp.nyatla.nyartoolkit.core.param.NyARParam;\r
  42 \r
  43 import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint2d;\r
  44 import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix44;\r
  45 import jp.nyatla.nyartoolkit.rpf.mklib.ARTKMarkerTable;\r
  46 import jp.nyatla.nyartoolkit.rpf.reality.nyartk.NyARRealityTarget;\r
  47 import jp.nyatla.nyartoolkit.rpf.reality.nyartk.NyARRealityTargetList;\r
  48 import jp.nyatla.nyartoolkit.rpf.realitysource.nyartk.NyARRealitySource_Jmf;\r
  49 import jp.nyatla.nyartoolkit.jmf.utils.JmfCaptureDevice;\r
  50 import jp.nyatla.nyartoolkit.jmf.utils.JmfCaptureDeviceList;\r
  51 import jp.nyatla.nyartoolkit.jmf.utils.JmfCaptureListener;\r
  52 import jp.nyatla.nyartoolkit.jogl.utils.NyARGLDrawUtil;\r
  53 import jp.nyatla.nyartoolkit.rpf.reality.nyartk.gl.NyARRealityGl;\r
  54 \r
  55 import com.sun.opengl.util.Animator;\r
  56 \r
  57 /**\r
  58  * NyARRealityシステムのサンプル。\r
  59  * ARToolkitスタイルのマーカの上に、立方体を表示します。\r
  60  * 取り扱うマーカの種類は２種類(Hiro,Kanji)です。\r
  61  * パターンの種類によっては、内側のパターンを誤認識する場合があります。\r
  62  * @author nyatla\r
  63  *\r
  64  */\r
  65 public class Test_NyARRealityGl_ARMarker implements GLEventListener, JmfCaptureListener\r
  66 {\r
  67 \r
  68         private final static int SCREEN_X = 640;\r
  69         private final static int SCREEN_Y = 480;\r
  70 \r
  71         private Animator _animator;\r
  72         private JmfCaptureDevice _capture;\r
  73 \r
  74         private GL _gl;\r
  75 \r
  76         private Object _sync_object=new Object();\r
  77 \r
  78         NyARRealityGl _reality;\r
  79         NyARRealitySource_Jmf _src;\r
  80         ARTKMarkerTable _mklib;\r
  81 \r
  82         public Test_NyARRealityGl_ARMarker(NyARParam i_param) throws NyARException\r
  83         {\r
  84                 Frame frame = new Frame("NyARToolkit+RPF["+this.getClass().getName()+"]");\r
  85                 \r
  86                 // キャプチャの準備\r
  87                 JmfCaptureDeviceList devlist = new JmfCaptureDeviceList();\r
  88                 this._capture = devlist.getDevice(0);\r
  89                 if (!this._capture.setCaptureFormat(SCREEN_X, SCREEN_Y, 30.0f)) {\r
  90                         throw new NyARException();\r
  91                 }\r
  92                 this._capture.setOnCapture(this);\r
  93                 //Realityの構築\r
  94                 i_param.changeScreenSize(SCREEN_X, SCREEN_Y);   \r
  95                 //キャプチャ画像と互換性のあるRealitySourceを構築(樽型歪みの少ないカメラの時は、distortionFactorをnullにすること。)\r
  96 //              this._src=new NyARRealitySource_Jmf(this._capture.getCaptureFormat(),i_param.getDistortionFactor(),2,100);\r
  97                 this._src=new NyARRealitySource_Jmf(this._capture.getCaptureFormat(),null,2,100);\r
  98                 //OpenGL互換のRealityを構築               \r
  99                 this._reality=new NyARRealityGl(i_param.getPerspectiveProjectionMatrix(),i_param.getScreenSize(),10,10000,3,10);\r
 100                 //マーカライブラリ(ARTKId)の構築\r
 101                 this._mklib= new ARTKMarkerTable(10,16,16,25,25,4);\r
 102                 //マーカテーブルの作成（２種類）\r
 103                 this._mklib.addMarkerFromARPattFile(PATT_HIRO,0,"HIRO",80,80);\r
 104                 this._mklib.addMarkerFromARPattFile(PATT_KANJI,1,"KANJI",80,80);\r
 105                                 \r
 106                 // 3Dを描画するコンポーネント\r
 107                 GLCanvas canvas = new GLCanvas();\r
 108                 frame.add(canvas);\r
 109                 canvas.addGLEventListener(this);\r
 110                 frame.addWindowListener(new WindowAdapter() {\r
 111                         public void windowClosing(WindowEvent e)\r
 112                         {\r
 113                                 System.exit(0);\r
 114                         }\r
 115                 });\r
 116 \r
 117                 frame.setVisible(true);\r
 118                 Insets ins = frame.getInsets();\r
 119                 frame.setSize(SCREEN_X + ins.left + ins.right, SCREEN_Y + ins.top + ins.bottom);\r
 120                 canvas.setBounds(ins.left, ins.top, SCREEN_X, SCREEN_Y);\r
 121         }\r
 122 \r
 123         public void init(GLAutoDrawable drawable)\r
 124         {\r
 125                 this._gl = drawable.getGL();\r
 126                 this._gl.glEnable(GL.GL_DEPTH_TEST);\r
 127                 this._gl.glClearColor(0.0f, 0.0f, 0.0f, 0.0f);\r
 128                 NyARGLDrawUtil.setFontStyle("SansSerif",Font.BOLD,24);\r
 129                 // NyARToolkitの準備\r
 130                 try {\r
 131                         // キャプチャ開始\r
 132                         _capture.start();\r
 133                 } catch (Exception e) {\r
 134                         e.printStackTrace();\r
 135                 }\r
 136                 this._animator = new Animator(drawable);\r
 137                 this._animator.start();\r
 138                 return;\r
 139         }\r
 140 \r
 141         public void reshape(GLAutoDrawable drawable, int x, int y, int width, int height)\r
 142         {\r
 143                 _gl.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT);\r
 144                 _gl.glViewport(0, 0, width, height);\r
 145 \r
 146                 // 視体積の設定\r
 147                 _gl.glMatrixMode(GL.GL_PROJECTION);\r
 148                 _gl.glLoadIdentity();\r
 149                 // 見る位置\r
 150                 _gl.glMatrixMode(GL.GL_MODELVIEW);\r
 151                 _gl.glLoadIdentity();\r
 152         }\r
 153 \r
 154         public void display(GLAutoDrawable drawable)\r
 155         {\r
 156                 //RealitySourceにデータが処理する。\r
 157                 if(!this._src.isReady())\r
 158                 {\r
 159                         return;\r
 160                 }\r
 161                 \r
 162                 // 背景を書く\r
 163                 this._gl.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.\r
 164                 try{\r
 165                         synchronized(this._sync_object){\r
 166                                 \r
 167                                 this._reality.glDrawRealitySource(this._gl,this._src);\r
 168                                 // Projection transformation.\r
 169                                 this._gl.glMatrixMode(GL.GL_PROJECTION);\r
 170                                 this._reality.glLoadCameraFrustum(this._gl);\r
 171                                 //ターゲットリストを走査して、画面に内容を反映\r
 172                                 NyARRealityTargetList tl=this._reality.refTargetList();\r
 173                                 for(int i=tl.getLength()-1;i>=0;i--){\r
 174                                         NyARRealityTarget t=tl.getItem(i);\r
 175                                         switch(t.getTargetType())\r
 176                                         {\r
 177                                         case NyARRealityTarget.RT_KNOWN:\r
 178                                                 //立方体の描画\r
 179                                                 this._gl.glMatrixMode(GL.GL_MODELVIEW);\r
 180                                                 this._gl.glLoadIdentity();\r
 181                                                 NyARDoubleMatrix44 m=t.refTransformMatrix();\r
 182                                                 this._reality.glLoadModelViewMatrix(this._gl,m);\r
 183                                                 _gl.glPushMatrix(); // Save world coordinate system.\r
 184                                                 _gl.glTranslatef(0f,0,20f); // Place base of cube on marker surface.\r
 185                                                 _gl.glDisable(GL.GL_LIGHTING); // Just use colours.\r
 186                                                 NyARGLDrawUtil.drawColorCube(this._gl,40f);\r
 187                                                 _gl.glPopMatrix(); // Restore world coordinate system.\r
 188                                                 //マーカ情報の描画\r
 189                                                 _gl.glPushMatrix(); // Save world coordinate system.\r
 190                                                 this._reality.glLoadModelViewMatrix(this._gl,m);\r
 191                                                 _gl.glTranslatef(0,0,90f); // Place base of cube on marker surface.\r
 192                                                 _gl.glRotatef(90,1.0f,0.0f,0.0f); // Place base of cube on marker surface.\r
 193                                                 NyARGLDrawUtil.setFontColor(t.getGrabbRate()<50?Color.RED:Color.BLUE);\r
 194                                                 ARTKMarkerTable.GetBestMatchTargetResult d=((ARTKMarkerTable.GetBestMatchTargetResult)(t.tag));\r
 195                                                 NyARGLDrawUtil.drawText("Name:"+d.name+" GRUB:"+t.grab_rate+"%",0.5f);\r
 196                                                 _gl.glPopMatrix();\r
 197                                                 \r
 198                                                 break;\r
 199                                         case NyARRealityTarget.RT_UNKNOWN:\r
 200                                                 NyARDoublePoint2d[] p=t.refTargetVertex();                                              \r
 201                                                 NyARGLDrawUtil.beginScreenCoordinateSystem(this._gl,SCREEN_X,SCREEN_Y,true);\r
 202                                                 _gl.glLineWidth(2);\r
 203                                                 _gl.glColor3f(1.0f,0.0f,0.0f);\r
 204                                                 _gl.glBegin(GL.GL_LINE_LOOP);\r
 205                                                 _gl.glVertex2d(p[0].x,p[0].y);\r
 206                                                 _gl.glVertex2d(p[1].x,p[1].y);\r
 207                                                 _gl.glVertex2d(p[2].x,p[2].y);\r
 208                                                 _gl.glVertex2d(p[3].x,p[3].y);\r
 209                                                 _gl.glEnd();\r
 210                                                 NyARGLDrawUtil.endScreenCoordinateSystem(this._gl);\r
 211                                                 \r
 212                                                 break;\r
 213                                         }\r
 214                                 }\r
 215                         }\r
 216                         Thread.sleep(1);// タスク実行権限を一旦渡す\r
 217                 }catch(Exception e){\r
 218                         e.printStackTrace();\r
 219                 }\r
 220 \r
 221         }\r
 222 \r
 223         /**\r
 224          * カメラのキャプチャした画像を非同期に受け取る関数。\r
 225          * 画像を受け取ると、同期を取ってRealityを1サイクル進めます。\r
 226          */\r
 227         public void onUpdateBuffer(Buffer i_buffer)\r
 228         {\r
 229                 try {\r
 230                         synchronized (this._sync_object)\r
 231                         {\r
 232                                 this._src.setImage(i_buffer);\r
 233                                 this._reality.progress(this._src);\r
 234                                 //UnknownTargetを1個取得して、遷移を試す。\r
 235                                 NyARRealityTarget t=this._reality.selectSingleUnknownTarget();\r
 236                                 if(t==null){\r
 237                                         return;\r
 238                                 }\r
 239                                 //ターゲットに一致するデータを検索\r
 240                                 ARTKMarkerTable.GetBestMatchTargetResult r=new ARTKMarkerTable.GetBestMatchTargetResult();\r
 241                                 if(this._mklib.getBestMatchTarget(t,this._src,r)){\r
 242                                         if(r.confidence<0.6)\r
 243                                         {       //一致率が低すぎる。\r
 244                                                 return;\r
 245                                         }\r
 246                                         //既に認識しているターゲットの内側のものでないか確認する？(この処理をすれば、二重認識は無くなる。)\r
 247                                         \r
 248                                         //一致度を確認して、80%以上ならKnownターゲットへ遷移\r
 249                                         if(!this._reality.changeTargetToKnown(t,r.artk_direction,r.marker_width)){\r
 250                                         //遷移の成功チェック\r
 251                                                 return;//失敗\r
 252                                         }\r
 253                                         //遷移に成功したので、tagにResult情報をコピーしておく。（後で表示に使う）\r
 254                                         t.tag=r;\r
 255                                 }else{\r
 256                                         //一致しないので、このターゲットは捨てる。\r
 257                                         this._reality.changeTargetToDead(t,15);\r
 258                                 }\r
 259                         }\r
 260                 } catch (Exception e) {\r
 261                         e.printStackTrace();\r
 262                 }\r
 263         }\r
 264 \r
 265         public void displayChanged(GLAutoDrawable drawable, boolean modeChanged, boolean deviceChanged)\r
 266         {\r
 267         }\r
 268         \r
 269         private final static String PARAM_FILE = "../../Data/camera_para.dat";\r
 270         private final static String PATT_HIRO = "../../Data/patt.hiro";\r
 271         private final static String PATT_KANJI = "../../Data/patt.kanji";\r
 272 \r
 273         public static void main(String[] args)\r
 274         {\r
 275                 try {\r
 276                         NyARParam param = new NyARParam();\r
 277                         param.loadARParamFromFile(PARAM_FILE);\r
 278                         new Test_NyARRealityGl_ARMarker(param);\r
 279                 } catch (Exception e) {\r
 280                         e.printStackTrace();\r
 281                 }\r
 282                 return;\r
 283         }\r
 284 \r
 285 }\r