src/jp/nyatla/nyartoolkit/core/squaredetect/NyARSquareDetector_ARToolKit.java

   1 /* \r
   2  * PROJECT: NyARToolkit\r
   3  * --------------------------------------------------------------------------------\r
   4  * This work is based on the original ARToolKit developed by\r
   5  *   Hirokazu Kato\r
   6  *   Mark Billinghurst\r
   7  *   HITLab, University of Washington, Seattle\r
   8  * http://www.hitl.washington.edu/artoolkit/\r
   9  *\r
  10  * The NyARToolkit is Java edition ARToolKit class library.\r
  11  * Copyright (C)2008-2009 Ryo Iizuka\r
  12  *\r
  13  * This program is free software: you can redistribute it and/or modify\r
  14  * it under the terms of the GNU General Public License as published by\r
  15  * the Free Software Foundation, either version 3 of the License, or\r
  16  * (at your option) any later version.\r
  17  * \r
  18  * This program is distributed in the hope that it will be useful,\r
  19  * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  20  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
  21  * GNU General Public License for more details.\r
  22  *\r
  23  * You should have received a copy of the GNU General Public License\r
  24  * along with this program.  If not, see <http://www.gnu.org/licenses/>.\r
  25  * \r
  26  * For further information please contact.\r
  27  *      http://nyatla.jp/nyatoolkit/\r
  28  *      <airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>\r
  29  * \r
  30  */\r
  31 package jp.nyatla.nyartoolkit.core.squaredetect;\r
  32 \r
  33 import jp.nyatla.nyartoolkit.NyARException;\r
  34 import jp.nyatla.nyartoolkit.core.labeling.LabelOverlapChecker;\r
  35 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingImage;\r
  36 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabel;\r
  37 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabelStack;\r
  38 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabeling_ARToolKit;\r
  39 import jp.nyatla.nyartoolkit.core.param.NyARCameraDistortionFactor;\r
  40 import jp.nyatla.nyartoolkit.core.raster.NyARBinRaster;\r
  41 import jp.nyatla.nyartoolkit.core.types.NyARIntSize;\r
  42 \r
  43 \r
  44 \r
  45 public class NyARSquareDetector_ARToolKit implements INyARSquareDetector\r
  46 {\r
  47         private static final int AR_AREA_MAX = 100000;// #define AR_AREA_MAX 100000\r
  48         private static final int AR_AREA_MIN = 70;// #define AR_AREA_MIN 70\r
  49         private final int _width;\r
  50         private final int _height;\r
  51 \r
  52         private final NyARLabeling_ARToolKit _labeling;\r
  53 \r
  54         private final NyARLabelingImage _limage;\r
  55 \r
  56         private final LabelOverlapChecker<NyARLabelingLabel> _overlap_checker = new LabelOverlapChecker<NyARLabelingLabel>(32,NyARLabelingLabel.class);\r
  57         private final SquareContourDetector _sqconvertor;\r
  58         private final ContourPickup _cpickup=new ContourPickup();\r
  59         \r
  60         private final int _max_coord;\r
  61         private final int[] _xcoord;\r
  62         private final int[] _ycoord;    \r
  63         /**\r
  64          * 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
  65          * \r
  66          * @param i_param\r
  67          */\r
  68         public NyARSquareDetector_ARToolKit(NyARCameraDistortionFactor i_dist_factor_ref,NyARIntSize i_size) throws NyARException\r
  69         {\r
  70                 this._width = i_size.w;\r
  71                 this._height = i_size.h;\r
  72                 this._labeling = new NyARLabeling_ARToolKit();\r
  73                 this._sqconvertor=new SquareContourDetector(i_size,i_dist_factor_ref);\r
  74                 this._limage = new NyARLabelingImage(this._width, this._height);\r
  75 \r
  76                 // 輪郭の最大長は画面に映りうる最大の長方形サイズ。\r
  77                 int number_of_coord = (this._width + this._height) * 2;\r
  78 \r
  79                 // 輪郭バッファは頂点変換をするので、輪郭バッファの２倍取る。\r
  80                 this._max_coord = number_of_coord;\r
  81                 this._xcoord = new int[number_of_coord];\r
  82                 this._ycoord = new int[number_of_coord];\r
  83                 return;\r
  84         }\r
  85 \r
  86         /**\r
  87          * arDetectMarker2を基にした関数\r
  88          * 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
  89          * directionの確定は行いません。\r
  90          * @param i_raster\r
  91          * 解析する２値ラスタイメージを指定します。\r
  92          * @param o_square_stack\r
  93          * 抽出した正方形候補を格納するリスト\r
  94          * @throws NyARException\r
  95          */\r
  96         public final void detectMarker(NyARBinRaster i_raster, NyARSquareStack o_square_stack) throws NyARException\r
  97         {\r
  98                 final NyARLabelingImage limage = this._limage;\r
  99 \r
 100                 // 初期化\r
 101 \r
 102                 // マーカーホルダをリセット\r
 103                 o_square_stack.clear();\r
 104 \r
 105                 // ラベル数が0ならここまで(Labeling内部でソートするようにした。)\r
 106                 final int label_num = this._labeling.labeling(i_raster,this._limage);\r
 107                 if (label_num < 1) {\r
 108                         return;\r
 109                 }\r
 110 \r
 111                 final NyARLabelingLabelStack stack = limage.getLabelStack();\r
 112                 //ラベルをソートしておく\r
 113                 stack.sortByArea();\r
 114                 //\r
 115                 final NyARLabelingLabel[] labels = stack.getArray();\r
 116 \r
 117                 // デカいラベルを読み飛ばし\r
 118                 int i;\r
 119                 for (i = 0; i < label_num; i++) {\r
 120                         // 検査対象内のラベルサイズになるまで無視\r
 121                         if (labels[i].area <= AR_AREA_MAX) {\r
 122                                 break;\r
 123                         }\r
 124                 }\r
 125 \r
 126                 final int xsize = this._width;\r
 127                 final int ysize = this._height;\r
 128                 final int[] xcoord = this._xcoord;\r
 129                 final int[] ycoord = this._ycoord;\r
 130                 final int coord_max = this._max_coord;\r
 131                 final LabelOverlapChecker<NyARLabelingLabel> overlap = this._overlap_checker;\r
 132 \r
 133                 //重なりチェッカの最大数を設定\r
 134                 overlap.setMaxLabels(label_num);\r
 135 \r
 136                 for (; i < label_num; i++) {\r
 137                         final NyARLabelingLabel label_pt = labels[i];\r
 138                         final int label_area = label_pt.area;\r
 139                         // 検査対象サイズよりも小さくなったら終了\r
 140                         if (label_area < AR_AREA_MIN) {\r
 141                                 break;\r
 142                         }\r
 143                         // クリップ領域が画面の枠に接していれば除外\r
 144                         if (label_pt.clip_l == 1 || label_pt.clip_r == xsize - 2) {// if(wclip[i*4+0] == 1 || wclip[i*4+1] ==xsize-2){\r
 145                                 continue;\r
 146                         }\r
 147                         if (label_pt.clip_t == 1 || label_pt.clip_b == ysize - 2) {// if( wclip[i*4+2] == 1 || wclip[i*4+3] ==ysize-2){\r
 148                                 continue;\r
 149                         }\r
 150                         // 既に検出された矩形との重なりを確認\r
 151                         if (!overlap.check(label_pt)) {\r
 152                                 // 重なっているようだ。\r
 153                                 continue;\r
 154                         }\r
 155                         // 輪郭を取得\r
 156                         final int coord_num = _cpickup.getContour(limage,limage.getTopClipTangentX(label_pt),label_pt.clip_t, coord_max, xcoord, ycoord);\r
 157                         if (coord_num == coord_max) {\r
 158                                 // 輪郭が大きすぎる。\r
 159                                 continue;\r
 160                         }\r
 161                         //ここから先が輪郭分析\r
 162                         NyARSquare square_ptr = o_square_stack.prePush();\r
 163                         if(!this._sqconvertor.coordToSquare(xcoord,ycoord,coord_num,label_area,square_ptr)){\r
 164                                 o_square_stack.pop();// 頂点の取得が出来なかったので破棄\r
 165                                 continue;                               \r
 166                         }\r
 167                         // 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
 168                         overlap.push(label_pt);\r
 169                 }\r
 170                 return;\r
 171         }\r
 172 \r
 173 }\r
 174 \r
 175 \r
 176 \r