src/jp/androidgroup/nyartoolkit/ARToolkitDrawer.java

   1 /*
   2  * PROJECT: NyARToolkit for Android SDK
   3  * --------------------------------------------------------------------------------
   4  * This work is based on the original ARToolKit developed by
   5  *   Hirokazu Kato
   6  *   Mark Billinghurst
   7  *   HITLab, University of Washington, Seattle
   8  * http://www.hitl.washington.edu/artoolkit/
   9  *
  10  * NyARToolkit for Android SDK
  11  *   Copyright (C)2010 NyARToolkit for Android team
  12  *   Copyright (C)2010 R.Iizuka(nyatla)
  13  *
  14  * This program is free software: you can redistribute it and/or modify
  15  * it under the terms of the GNU General Public License as published by
  16  * the Free Software Foundation, either version 3 of the License, or
  17  * (at your option) any later version.
  18  *
  19  * This program is distributed in the hope that it will be useful,
  20  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  21  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  22  * GNU General Public License for more details.
  23  *
  24  * You should have received a copy of the GNU General Public License
  25  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  26  *
  27  * For further information please contact.
  28  *  http://sourceforge.jp/projects/nyartoolkit-and/
  29  *
  30  * This work is based on the NyARToolKit developed by
  31  *  R.Iizuka (nyatla)
  32  *    http://nyatla.jp/nyatoolkit/
  33  *
  34  * contributor(s)
  35  *  Atsuo Igarashi
  36  */
  37
  38 package jp.androidgroup.nyartoolkit;
  39
  40 import android.graphics.Bitmap;
  41 import android.graphics.BitmapFactory;
  42 import android.media.MediaPlayer;
  43 import android.os.SystemClock;
  44 import android.util.Log;
  45
  46 import java.io.InputStream;
  47 import java.util.ArrayList;
  48
  49 import min3d.core.Renderer;
  50
  51 import jp.nyatla.nyartoolkit.NyARException;
  52 import jp.nyatla.nyartoolkit.core.NyARCode;
  53 import jp.nyatla.nyartoolkit.core.param.NyARParam;
  54 import jp.nyatla.nyartoolkit.core.raster.rgb.NyARRgbRaster_RGB;
  55 import jp.nyatla.nyartoolkit.core.transmat.NyARTransMatResult;
  56 import jp.nyatla.nyartoolkit.core.types.NyARBufferType;
  57 import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix44;
  58 import jp.nyatla.nyartoolkit.detector.NyARDetectMarker;
  59 import jp.nyatla.nyartoolkit.jogl.utils.NyARGLUtil;
  60
  61 /**
  62  * ARToolKit Drawer
  63  *  マーカー認識部分などが含まれたクラス
  64  */
  65 public class ARToolkitDrawer
  66 {
  67         /**
  68          * マーカーのパターン数
  69          */
  70         private int mNumPatt;
  71
  72         /**
  73          * 一回の処理で検出できる最大のマーカー数。誤認識分も含まれるので少なすぎても駄目、多すぎると処理負荷増
  74          */
  75         private static final int MARKER_MAX = 8;
  76
  77         /**
  78          * @see jp.nyatla.nyartoolkit.detector.NyARDetectMarker
  79          */
  80         private NyARDetectMarker nya = null;
  81
  82         /**
  83          * @see jp.nyatla.nyartoolkit.core.raster.rgb.NyARRgbRaster_RGB
  84          */
  85         private NyARRgbRaster_RGB raster = null;
  86
  87         /**
  88          * カメラパラメータを保持するクラス
  89          * @see jp.nyatla.nyartoolkit.core.param.NyARParam
  90          */
  91         private NyARParam ar_param = null;
  92
  93         /**
  94          * マーカーのパターン情報を管理するクラス
  95          * @see jp.nyatla.nyartoolkit.core.param.NyARParam
  96          */
  97         private NyARCode[] ar_code;
  98
  99         /**
 100          * マーカーの幅
 101          */
 102         private double marker_width[];
 103
 104         /**
 105          * 検出したマーカーの座標変換行列
 106          * @see jp.nyatla.nyartoolkit.core.transmat.NyARTransMatResult
 107          */
 108         private NyARTransMatResult ar_transmat_result = new NyARTransMatResult();
 109
 110
 111         // Renderer for metasequoia model
 112 //      private ModelRenderer mRenderer = null;
 113         // Renderer of min3d
 114     private Renderer mRenderer;
 115
 116         private MediaPlayer mMediaPlayer = null;
 117
 118         static {
 119                 System.loadLibrary("yuv420sp2rgb");
 120         }
 121         public static native void decodeYUV420SP(int[] rgb, byte[] yuv420sp, int width, int height, int type);
 122         public static native void decodeYUV420SP(byte[] rgb, byte[] yuv420sp, int width, int height, int type);
 123
 124         /**
 125          * Constructor
 126          *
 127          * @param camePara
 128          * @param patt
 129          * @param mRenderer
 130          * @param mTranslucentBackground
 131          * @param isYuv420spPreviewFormat
 132          */
 133         // Renderer for metasequoia model
 134 //      public ARToolkitDrawer(InputStream camePara, int[] width, ArrayList<InputStream> patt, ModelRenderer mRenderer) {
 135         // Renderer of min3d
 136         public ARToolkitDrawer(InputStream camePara, int[] width, ArrayList<InputStream> patt, Renderer mRenderer) {
 137                 this.mRenderer = mRenderer;
 138
 139                 this.initialization(camePara, width, patt);
 140         }
 141
 142         /**
 143          * 初期化処理
 144          * マーカーパターン、カメラパラメータはここで読み込む
 145          */
 146         private void initialization(InputStream camePara, int[] width, ArrayList<InputStream> patt) {
 147                 mNumPatt = patt.size();
 148                 marker_width = new double[mNumPatt];
 149                 ar_code = new NyARCode[mNumPatt];
 150                 try {
 151                         for (int i = 0; i < mNumPatt; i++) {
 152                                 // マーカーの幅
 153                                 marker_width[i] = width[i];
 154
 155                                 // マーカーの分割数
 156                                 ar_code[i] = new NyARCode(16, 16);
 157                                 ar_code[i].loadARPatt(patt.get(i));
 158                         }
 159
 160                         ar_param = new NyARParam();
 161                         ar_param.loadARParam(camePara);
 162                 } catch (Exception e) {
 163                         Log.e("nyar", "resource loading failed", e);
 164                 }
 165         }
 166
 167         /**
 168          * NyARToolKitの初期化
 169          *  カメラパラメータの読み込み
 170          *
 171          * @param w スクリーンサイズ(width)
 172          * @param h スクリーンサイズ(height)
 173          */
 174         private void createNyARTool(int w, int h) {
 175                 // NyARToolkit setting.
 176                 try {
 177                         if (nya == null) {
 178                                 ar_param.changeScreenSize(w, h);
 179
 180                                 // マーカーの枠線幅を変えることは可能。
 181                                 // NyARDetectMarker 内にコメントを追加したのでその部分を参照のこと
 182                                 nya = new NyARDetectMarker(ar_param, ar_code, marker_width, mNumPatt, NyARBufferType.BYTE1D_B8G8R8_24);
 183                                 nya.setContinueMode(true);
 184                         }
 185                         Log.d("nyar", "resources have been loaded");
 186                 } catch (Exception e) {
 187                         Log.e("nyar", "resource loading failed", e);
 188                 }
 189
 190         }
 191
 192         /**
 193          *
 194          * @param mediaplayer
 195          */
 196         public void setMediaPlayer(MediaPlayer mediaplayer) {
 197                 this.mMediaPlayer = mediaplayer;
 198         }
 199
 200         /**
 201          * NyARGLUtil.toCameraFrustumRH()の出力double[]をfloat[]に変換する
 202          * @param i_arparam
 203          * @param o_gl_projection
 204          */
 205         public static void toCameraFrustumRHf(NyARParam i_arparam, float[] o_gl_projection)
 206         {
 207                 double[] mf = new double[16];
 208                 NyARGLUtil.toCameraFrustumRH(i_arparam, NyARGLUtil.SCALE_FACTOR_toCameraFrustumRH_NYAR2, 10, 10000, mf);
 209
 210                 for (int i = 0; i < mf.length; i++) {
 211                         o_gl_projection[i] = (float) mf[i];
 212                 }
 213         }
 214
 215         /**
 216          * NyARGLUtil.toCameraViewRH()の出力double[]をfloat[]に変換する
 217          * @param i_ny_result
 218          * @param o_gl_result
 219          */
 220         public static void toCameraViewRHf(NyARDoubleMatrix44 i_ny_result, float[] o_gl_result)
 221         {
 222                 double[] mf = new double[16];
 223                 NyARGLUtil.toCameraViewRH(i_ny_result, NyARGLUtil.SCALE_FACTOR_toCameraViewRH_NYAR2, mf);
 224
 225                 for (int i = 0; i < mf.length; i++) {
 226                         o_gl_result[i] = (float) mf[i];
 227                 }
 228         }
 229
 230         /**
 231          * 描画処理部分
 232          *  メインループ処理と読み替えても良い
 233          * @param data
 234          */
 235         public void draw(byte[] data) {
 236
 237                 if(data == null) {
 238                         Log.d("AR draw", "data= null");
 239                         return;
 240                 }
 241                 Log.d("AR draw", "data.length= " + data.length);
 242                 int width = 320;
 243                 int height = 240;
 244
 245                 // start coordinates calculation.
 246                 byte[] buf = new byte[width * height * 3];
 247
 248                 // assume YUV420SP
 249                 long time1 = SystemClock.uptimeMillis();
 250                 // convert YUV420SP to RGB24
 251                 decodeYUV420SP(buf, data, width, height, 1);
 252                 long time2 = SystemClock.uptimeMillis();
 253                 Log.d("ARToolkitDrawer", "RGB decode time: " + (time2 - time1) + "ms");
 254
 255                 float[][] resultf = new float[MARKER_MAX][16];
 256
 257                 int found_markers;
 258                 int ar_code_index[] = new int[MARKER_MAX];
 259
 260                 createNyARTool(width, height);
 261                 // Marker detection
 262                 try {
 263                         Log.d("AR draw", "Marker detection.");
 264                         raster = new NyARRgbRaster_RGB(width, height);
 265                         raster.wrapBuffer(buf);
 266                         found_markers = nya.detectMarkerLite(raster, 100);
 267                 } catch (NyARException e) {
 268                         Log.e("AR draw", "marker detection failed", e);
 269                         return;
 270                 }
 271
 272                 boolean isDetect = false;
 273
 274                 // An OpenGL object will be drawn if matched.
 275                 if (found_markers > 0) {
 276                         Log.d("AR draw", "!!!!!!!!!!!exist marker." + found_markers + "!!!!!!!!!!!");
 277                         // Projection transformation.
 278                         float[] cameraRHf = new float[16];
 279                         toCameraFrustumRHf(ar_param, cameraRHf);
 280
 281                         if (found_markers > MARKER_MAX)
 282                                 found_markers = MARKER_MAX;
 283                         for (int i = 0; i < found_markers; i++) {
 284                                 if (nya.getConfidence(i) < 0.60f)
 285                                         continue;
 286                                 try {
 287                                         ar_code_index[i] = nya.getARCodeIndex(i);
 288                                         NyARTransMatResult transmat_result = ar_transmat_result;
 289                                         nya.getTransmationMatrix(i, transmat_result);
 290                                         toCameraViewRHf(transmat_result, resultf[i]);
 291                                         isDetect = true;
 292                                 } catch (NyARException e) {
 293                                         Log.e("AR draw", "getCameraViewRH failed", e);
 294                                         return;
 295                                 }
 296                         }
 297                         mRenderer.objectPointChanged(found_markers, ar_code_index, resultf, cameraRHf);
 298                 } else {
 299                         Log.d("AR draw", "not exist marker.");
 300
 301                         mRenderer.objectClear();
 302                 }
 303                 if (isDetect) {
 304                         if (mMediaPlayer != null) {
 305                                 if (!mMediaPlayer.isPlaying())
 306                                         mMediaPlayer.start();
 307                         }
 308                 }
 309                 else {
 310                         if (mMediaPlayer != null) {
 311                                 if (mMediaPlayer.isPlaying())
 312                                         mMediaPlayer.pause();
 313                         }
 314                 }
 315         }
 316 }