sample/sandbox/jp/nyatla/nyartoolkit/sandbox/x2/SingleARMarkerProcesser_X2.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.sandbox.x2;\r
  26 \r
  27 import jp.nyatla.nyartoolkit.NyARException;\r
  28 import jp.nyatla.nyartoolkit.core.*;\r
  29 import jp.nyatla.nyartoolkit.core.analyzer.threshold.NyARRasterThresholdAnalyzerBuilder_Threshold;\r
  30 import jp.nyatla.nyartoolkit.core.match.*;\r
  31 import jp.nyatla.nyartoolkit.core.param.*;\r
  32 import jp.nyatla.nyartoolkit.core.pickup.*;\r
  33 import jp.nyatla.nyartoolkit.core.raster.*;\r
  34 import jp.nyatla.nyartoolkit.core.raster.rgb.*;\r
  35 import jp.nyatla.nyartoolkit.core.transmat.*;\r
  36 import jp.nyatla.nyartoolkit.core.rasterfilter.gs2bin.*;\r
  37 import jp.nyatla.nyartoolkit.core.rasterfilter.rgb2bin.NyARRasterFilterBuilder_RgbToBin;\r
  38 import jp.nyatla.nyartoolkit.core.rasterfilter.rgb2bin.NyARRasterFilter_ARToolkitThreshold;\r
  39 import jp.nyatla.nyartoolkit.core.types.*;\r
  40 import jp.nyatla.nyartoolkit.core.squaredetect.*;\r
  41 \r
  42 /**\r
  43  * このクラスは、同時に１個のマーカを処理することのできる、アプリケーションプロセッサです。\r
  44  * マーカの出現・移動・消滅を、イベントで通知することができます。\r
  45  * クラスには複数のマーカを登録できます。一つのマーカが見つかると、プロセッサは継続して同じマーカを\r
  46  * １つだけ認識し続け、見失うまでの間は他のマーカを認識しません。\r
  47  * \r
  48  * イベントは、 OnEnter→OnUpdate[n]→OnLeaveの順で発生します。\r
  49  * マーカが見つかるとまずOnEnterが１度発生して、何番のマーカが発見されたかがわかります。\r
  50  * 次にOnUpdateにより、現在の変換行列が連続して渡されます。最後にマーカを見失うと、OnLeave\r
  51  * イベントが発生します。\r
  52  * \r
  53  */\r
  54 public abstract class SingleARMarkerProcesser_X2\r
  55 {\r
  56         /**selectARCodeIndexFromListが値を返す時に使う変数型です。\r
  57          */\r
  58 \r
  59         private class TResult_selectARCodeIndex\r
  60         {\r
  61                 public int direction;\r
  62 \r
  63                 public double confidence;\r
  64 \r
  65                 public int code_index;\r
  66         }\r
  67         /**オーナーが自由に使えるタグ変数です。\r
  68          */\r
  69         public Object tag;\r
  70 \r
  71         private int _lost_delay_count = 0;\r
  72 \r
  73         private int _lost_delay = 5;\r
  74 \r
  75         private INyARSquareContourDetector _square_detect;\r
  76 \r
  77         //<X2 patch>\r
  78         protected NyARTransMat_X2 _transmat;\r
  79         //</X2 patch>\r
  80         private double _marker_width;\r
  81 \r
  82         private NyARMatchPatt_Color_WITHOUT_PCA[] _match_patt;\r
  83 \r
  84         private NyARSquareStack _square_list = new NyARSquareStack(100);\r
  85 \r
  86         private INyARColorPatt _patt = null;\r
  87 \r
  88         private double _cf_threshold_new = 0.30;\r
  89         private double _cf_threshold_exist = 0.15;\r
  90         \r
  91         private int _threshold = 110;\r
  92         // [AR]検出結果の保存用\r
  93         private NyARBinRaster _bin_raster;\r
  94 \r
  95         private NyARRasterFilter_ARToolkitThreshold _tobin_filter;\r
  96 \r
  97         protected int _current_arcode_index = -1;\r
  98 \r
  99         private NyARMatchPattDeviationColorData _deviation_data;\r
 100         private NyARRasterThresholdAnalyzerBuilder_Threshold _threshold_detect;\r
 101         \r
 102         protected SingleARMarkerProcesser_X2()\r
 103         {\r
 104                 return;\r
 105         }\r
 106 \r
 107 \r
 108         protected void initInstance(NyARParam i_param,int i_raster_type) throws NyARException\r
 109         {\r
 110                 NyARIntSize scr_size = i_param.getScreenSize();\r
 111                 // 解析オブジェクトを作る\r
 112 //<X2 patch>\r
 113                 this._square_detect = new NyARSquareDetector_X2(i_param.getDistortionFactor(), scr_size);\r
 114                 this._transmat = new NyARTransMat_X2(i_param);\r
 115 //</X2 patch>\r
 116 \r
 117                 this._tobin_filter=new NyARRasterFilter_ARToolkitThreshold(110,i_raster_type);\r
 118 \r
 119                 // ２値画像バッファを作る\r
 120                 this._bin_raster = new NyARBinRaster(scr_size.w, scr_size.h);\r
 121                 this._threshold_detect=new NyARRasterThresholdAnalyzerBuilder_Threshold(15,i_raster_type,4);\r
 122                 return;\r
 123         }\r
 124 \r
 125         /**検出するマーカコードの配列を指定します。 検出状態でこの関数を実行すると、\r
 126          * オブジェクト状態に強制リセットがかかります。\r
 127          */\r
 128         public void setARCodeTable(NyARCode[] i_ref_code_table, int i_code_resolution, double i_marker_width)\r
 129         {\r
 130                 if (this._current_arcode_index != -1) {\r
 131                         // 強制リセット\r
 132                         reset(true);\r
 133                 }\r
 134                 //検出するマーカセット、情報、検出器を作り直す。(1ピクセル4ポイントサンプリング,マーカのパターン領域は50%)\r
 135                 this._patt = new NyARColorPatt_Perspective_O2(i_code_resolution, i_code_resolution,4,25);\r
 136                 this._deviation_data=new NyARMatchPattDeviationColorData(i_code_resolution, i_code_resolution);\r
 137                 this._marker_width = i_marker_width;\r
 138 \r
 139                 this._match_patt = new NyARMatchPatt_Color_WITHOUT_PCA[i_ref_code_table.length];\r
 140                 for(int i=0;i<i_ref_code_table.length;i++){\r
 141                         this._match_patt[i]=new NyARMatchPatt_Color_WITHOUT_PCA(i_ref_code_table[i]);\r
 142                 }\r
 143                 return;\r
 144         }\r
 145 \r
 146         public void reset(boolean i_is_force)\r
 147         {\r
 148                 if (this._current_arcode_index != -1 && i_is_force == false) {\r
 149                         // 強制書き換えでなければイベントコール\r
 150                         this.onLeaveHandler();\r
 151                 }\r
 152                 // カレントマーカをリセット\r
 153                 this._current_arcode_index = -1;\r
 154                 return;\r
 155         }\r
 156 \r
 157         public void detectMarker(INyARRgbRaster i_raster) throws NyARException\r
 158         {\r
 159                 // サイズチェック\r
 160                 assert(this._bin_raster.getSize().isEqualSize(i_raster.getSize().w, i_raster.getSize().h));\r
 161 \r
 162                 // コードテーブルが無ければここで終わり\r
 163                 if (this._match_patt== null) {\r
 164                         return;\r
 165                 }\r
 166 \r
 167                 // ラスタを(1/4の画像の)２値イメージに変換する.\r
 168                 this._tobin_filter.setThreshold(this._threshold);\r
 169                 this._tobin_filter.doFilter(i_raster, this._bin_raster);\r
 170 \r
 171                 NyARSquareStack square_stack = this._square_list;\r
 172                 // スクエアコードを探す\r
 173                 this._square_detect.detectMarkerCB(this._bin_raster, square_stack);\r
 174                 // 認識処理\r
 175                 if (this._current_arcode_index == -1) { // マーカ未認識\r
 176                         detectNewMarker(i_raster, square_stack);\r
 177                 } else { // マーカ認識中\r
 178                         detectExistMarker(i_raster, square_stack, this._current_arcode_index);\r
 179                 }\r
 180                 return;\r
 181         }\r
 182 \r
 183         \r
 184         private final NyARMatchPattResult __detectMarkerLite_mr=new NyARMatchPattResult();\r
 185         \r
 186         /**ARCodeのリストから、最も一致するコード番号を検索します。\r
 187          */\r
 188         private boolean selectARCodeIndexFromList(INyARRgbRaster i_raster, NyARSquare i_square, TResult_selectARCodeIndex o_result) throws NyARException\r
 189         {\r
 190                 // 現在コードテーブルはアクティブ？\r
 191                 if (this._match_patt==null) {\r
 192                         return false;\r
 193                 }\r
 194                 // 評価基準になるパターンをイメージから切り出す\r
 195                 if (!this._patt.pickFromRaster(i_raster, i_square.imvertex)) {\r
 196                         return false;\r
 197                 }\r
 198                 //評価データを作成して、評価器にセット\r
 199                 this._deviation_data.setRaster(this._patt);             \r
 200                 final NyARMatchPattResult mr=this.__detectMarkerLite_mr;\r
 201                 int code_index = 0;\r
 202                 int dir = 0;\r
 203                 double c1 = 0;\r
 204                 // コードと比較する\r
 205                 for (int i = 0; i < this._match_patt.length; i++) {\r
 206                         this._match_patt[i].evaluate(this._deviation_data,mr);\r
 207                         double c2 = mr.confidence;\r
 208                         if (c1 < c2) {\r
 209                                 code_index = i;\r
 210                                 c1 = c2;\r
 211                                 dir = mr.direction;\r
 212                         }\r
 213                 }\r
 214                 o_result.code_index = code_index;\r
 215                 o_result.direction = dir;\r
 216                 o_result.confidence = c1;\r
 217                 return true;\r
 218         }\r
 219 \r
 220         private TResult_selectARCodeIndex __detect_X_Marker_detect_result = new TResult_selectARCodeIndex();\r
 221 \r
 222         /**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
 223          */\r
 224         private void detectNewMarker(INyARRgbRaster i_raster, NyARSquareStack i_stack) throws NyARException\r
 225         {\r
 226                 int number_of_square = i_stack.getLength();\r
 227                 double cf = 0;\r
 228                 int dir = 0;\r
 229                 int code_index = -1;\r
 230                 int square_index = 0;\r
 231                 TResult_selectARCodeIndex detect_result = this.__detect_X_Marker_detect_result;\r
 232                 for (int i = 0; i < number_of_square; i++) {\r
 233                         if (!selectARCodeIndexFromList(i_raster, (i_stack.getItem(i)), detect_result)) {\r
 234                                 // 見つからない。\r
 235                                 return;\r
 236                         }\r
 237                         if (detect_result.confidence < this._cf_threshold_new) {\r
 238                                 continue;\r
 239                         }\r
 240                         if (detect_result.confidence < cf) {\r
 241                                 // 一致度が低い。\r
 242                                 continue;\r
 243                         }\r
 244                         cf = detect_result.confidence;\r
 245                         code_index = detect_result.code_index;\r
 246                         square_index = i;\r
 247                         dir = detect_result.direction;\r
 248                 }\r
 249                 // 認識状態を更新\r
 250                 final boolean is_id_found=updateStatus(this._square_list.getItem(square_index), code_index, cf, dir);\r
 251                 //閾値フィードバック(detectExistMarkerにもあるよ)\r
 252                 if(!is_id_found){\r
 253                         //マーカがなければ、探索+DualPTailで基準輝度検索\r
 254                         this._threshold_detect.analyzeRaster(i_raster);\r
 255                         this._threshold=(this._threshold+this._threshold_detect.getThreshold())/2;\r
 256                 }\r
 257         }\r
 258 \r
 259         /**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
 260          * （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
 261          */\r
 262         private void detectExistMarker(INyARRgbRaster i_raster, NyARSquareStack i_stack, int i_current_id) throws NyARException\r
 263         {\r
 264                 int number_of_square = i_stack.getLength();\r
 265                 double cf = 0;\r
 266                 int dir = 0;\r
 267                 int code_index = -1;\r
 268                 int square_index = 0;\r
 269                 TResult_selectARCodeIndex detect_result = this.__detect_X_Marker_detect_result;\r
 270                 for (int i = 0; i < number_of_square; i++) {\r
 271                         if (!selectARCodeIndexFromList(i_raster,i_stack.getItem(i), detect_result)) {\r
 272                                 // 見つからない。\r
 273                                 return;\r
 274                         }\r
 275                         // 現在のマーカを認識したか？\r
 276                         if (detect_result.code_index != i_current_id) {\r
 277                                 // 認識中のマーカではないので無視\r
 278                                 continue;\r
 279                         }\r
 280                         if (detect_result.confidence < this._cf_threshold_exist) {\r
 281                                 continue;\r
 282                         }\r
 283                         if (detect_result.confidence < cf) {\r
 284                                 // 一致度が高い方を選ぶ\r
 285                                 continue;\r
 286                         }\r
 287                         cf = detect_result.confidence;\r
 288                         code_index = detect_result.code_index;\r
 289                         dir = detect_result.direction;\r
 290                         square_index = i;\r
 291                 }\r
 292                 // 認識状態を更新\r
 293                 final boolean is_id_found=updateStatus(this._square_list.getItem(square_index), code_index, cf, dir);\r
 294                 //閾値フィードバック(detectExistMarkerにもあるよ)\r
 295                 if(!is_id_found){\r
 296                         //マーカがなければ、探索+DualPTailで基準輝度検索\r
 297                         this._threshold_detect.analyzeRaster(i_raster);\r
 298                         this._threshold=(this._threshold+this._threshold_detect.getThreshold())/2;\r
 299                 }\r
 300                 \r
 301         }\r
 302 \r
 303         private NyARTransMatResult __NyARSquare_result = new NyARTransMatResult();\r
 304 \r
 305         /**     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
 306          *      戻り値は、「実際にマーカを発見する事ができたか」です。クラスの状態とは異なります。\r
 307          */\r
 308         private boolean updateStatus(NyARSquare i_square, int i_code_index, double i_cf, int i_dir)  throws NyARException\r
 309         {\r
 310                 NyARTransMatResult result = this.__NyARSquare_result;\r
 311                 if (this._current_arcode_index < 0) {// 未認識中\r
 312                         if (i_code_index < 0) {// 未認識から未認識の遷移\r
 313                                 // なにもしないよーん。\r
 314                                 return false;\r
 315                         } else {// 未認識から認識の遷移\r
 316                                 this._current_arcode_index = i_code_index;\r
 317                                 // イベント生成\r
 318                                 // OnEnter\r
 319                                 this.onEnterHandler(i_code_index);\r
 320                                 // 変換行列を作成\r
 321                                 this._transmat.transMat(i_square, i_dir, this._marker_width, result);\r
 322                                 // OnUpdate\r
 323                                 this.onUpdateHandler(i_square, result);\r
 324                                 this._lost_delay_count = 0;\r
 325                                 return true;\r
 326                         }\r
 327                 } else {// 認識中\r
 328                         if (i_code_index < 0) {// 認識から未認識の遷移\r
 329                                 this._lost_delay_count++;\r
 330                                 if (this._lost_delay < this._lost_delay_count) {\r
 331                                         // OnLeave\r
 332                                         this._current_arcode_index = -1;\r
 333                                         this.onLeaveHandler();\r
 334                                 }\r
 335                                 return false;\r
 336                         } else if (i_code_index == this._current_arcode_index) {// 同じARCodeの再認識\r
 337                                 // イベント生成\r
 338                                 // 変換行列を作成\r
 339                                 this._transmat.transMat(i_square, i_dir, this._marker_width, result);\r
 340                                 // OnUpdate\r
 341                                 this.onUpdateHandler(i_square, result);\r
 342                                 this._lost_delay_count = 0;\r
 343                                 return true;\r
 344                         } else {// 異なるコードの認識→今はサポートしない。\r
 345                                 throw new  NyARException();\r
 346                         }\r
 347                 }\r
 348         }\r
 349 \r
 350         protected abstract void onEnterHandler(int i_code);\r
 351 \r
 352         protected abstract void onLeaveHandler();\r
 353 \r
 354         protected abstract void onUpdateHandler(NyARSquare i_square, NyARTransMatResult result);\r
 355 }\r