tags/2.4.2/src/jp/nyatla/nyartoolkit/processor/SingleARMarkerProcesser.java

   1 /* \r
   2  * Capture Test NyARToolkitCSサンプルプログラム\r
   3  * --------------------------------------------------------------------------------\r
   4  * The NyARToolkit is Java edition ARToolKit class library.\r
   5  * Copyright (C)2008-2009 Ryo Iizuka\r
   6  *\r
   7  * This program is free software: you can redistribute it and/or modify\r
   8  * it under the terms of the GNU General Public License as published by\r
   9  * the Free Software Foundation, either version 3 of the License, or\r
  10  * (at your option) any later version.\r
  11  * \r
  12  * This program is distributed in the hope that it will be useful,\r
  13  * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
  15  * GNU General Public License for more details.\r
  16  *\r
  17  * You should have received a copy of the GNU General Public License\r
  18  * along with this program.  If not, see <http://www.gnu.org/licenses/>.\r
  19  * \r
  20  * For further information please contact.\r
  21  *      http://nyatla.jp/nyatoolkit/\r
  22  *      <airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>\r
  23  * \r
  24  */\r
  25 package jp.nyatla.nyartoolkit.processor;\r
  26 \r
  27 import jp.nyatla.nyartoolkit.NyARException;\r
  28 import jp.nyatla.nyartoolkit.core.*;\r
  29 import jp.nyatla.nyartoolkit.core.analyzer.raster.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.rgb2bin.NyARRasterFilter_ARToolkitThreshold;\r
  37 import jp.nyatla.nyartoolkit.core.types.*;\r
  38 import jp.nyatla.nyartoolkit.core.squaredetect.*;\r
  39 \r
  40 /**\r
  41  * 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
  42  * 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
  43  * 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
  44  * 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
  45  * \r
  46  * イベントは、 OnEnter→OnUpdate[n]→OnLeaveの順で発生します。\r
  47  * 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
  48  * 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
  49  * イベントが発生します。\r
  50  * \r
  51  */\r
  52 public abstract class SingleARMarkerProcesser\r
  53 {\r
  54         /**\r
  55          * detectMarkerのコールバック関数\r
  56          */\r
  57         private class DetectSquareCB implements INyARSquareContourDetector.DetectMarkerCallback\r
  58         {\r
  59                 //公開プロパティ\r
  60                 public final NyARSquare square=new NyARSquare();\r
  61                 public double confidence=0.0;\r
  62                 public int code_index=-1;               \r
  63                 public double cf_threshold_new = 0.30;\r
  64                 public double cf_threshold_exist = 0.15;\r
  65                 \r
  66                 //参照\r
  67                 private INyARRgbRaster _ref_raster;\r
  68                 //所有インスタンス\r
  69                 private INyARColorPatt _inst_patt;\r
  70                 private NyARMatchPattDeviationColorData _deviation_data;\r
  71                 private NyARMatchPatt_Color_WITHOUT_PCA[] _match_patt;\r
  72                 private final NyARMatchPattResult __detectMarkerLite_mr=new NyARMatchPattResult();\r
  73                 private Coord2Linear _coordline;\r
  74                 \r
  75                 public DetectSquareCB(NyARParam i_param)\r
  76                 {\r
  77                         this._match_patt=null;\r
  78                         this._coordline=new Coord2Linear(i_param.getScreenSize(),i_param.getDistortionFactor());\r
  79                         return;\r
  80                 }\r
  81                 public void setNyARCodeTable(NyARCode[] i_ref_code,int i_code_resolution)\r
  82                 {\r
  83                         /*unmanagedで実装するときは、ここでリソース解放をすること。*/\r
  84                         this._deviation_data=new NyARMatchPattDeviationColorData(i_code_resolution,i_code_resolution);\r
  85                         this._inst_patt=new NyARColorPatt_Perspective_O2(i_code_resolution,i_code_resolution,4,25);\r
  86                         this._match_patt = new NyARMatchPatt_Color_WITHOUT_PCA[i_ref_code.length];\r
  87                         for(int i=0;i<i_ref_code.length;i++){\r
  88                                 this._match_patt[i]=new NyARMatchPatt_Color_WITHOUT_PCA(i_ref_code[i]);\r
  89                         }\r
  90                 }\r
  91                 private NyARIntPoint2d[] __tmp_vertex=NyARIntPoint2d.createArray(4);\r
  92                 /**\r
  93                  * Initialize call back handler.\r
  94                  */\r
  95                 public void init(INyARRgbRaster i_raster)\r
  96                 {\r
  97                         this._ref_raster=i_raster;\r
  98                         this.code_index=-1;\r
  99                         this.confidence=Double.MIN_NORMAL;\r
 100                 }\r
 101 \r
 102                 /**\r
 103                  * 矩形が見付かるたびに呼び出されます。\r
 104                  * 発見した矩形のパターンを検査して、方位を考慮した頂点データを確保します。\r
 105                  */\r
 106                 public void onSquareDetect(INyARSquareContourDetector i_sender,int[] i_coordx,int[] i_coordy,int i_coor_num,int[] i_vertex_index) throws NyARException\r
 107                 {\r
 108                         if (this._match_patt==null) {\r
 109                                 return;\r
 110                         }\r
 111                         //輪郭座標から頂点リストに変換\r
 112                         NyARIntPoint2d[] vertex=this.__tmp_vertex;\r
 113                         vertex[0].x=i_coordx[i_vertex_index[0]];\r
 114                         vertex[0].y=i_coordy[i_vertex_index[0]];\r
 115                         vertex[1].x=i_coordx[i_vertex_index[1]];\r
 116                         vertex[1].y=i_coordy[i_vertex_index[1]];\r
 117                         vertex[2].x=i_coordx[i_vertex_index[2]];\r
 118                         vertex[2].y=i_coordy[i_vertex_index[2]];\r
 119                         vertex[3].x=i_coordx[i_vertex_index[3]];\r
 120                         vertex[3].y=i_coordy[i_vertex_index[3]];\r
 121                 \r
 122                         //画像を取得\r
 123                         if (!this._inst_patt.pickFromRaster(this._ref_raster,vertex)){\r
 124                                 return;//取得失敗\r
 125                         }\r
 126                         //取得パターンをカラー差分データに変換して評価する。\r
 127                         this._deviation_data.setRaster(this._inst_patt);\r
 128 \r
 129                         \r
 130                         //code_index,dir,c1にデータを得る。\r
 131                         final NyARMatchPattResult mr=this.__detectMarkerLite_mr;\r
 132                         int lcode_index = 0;\r
 133                         int dir = 0;\r
 134                         double c1 = 0;\r
 135                         for (int i = 0; i < this._match_patt.length; i++) {\r
 136                                 this._match_patt[i].evaluate(this._deviation_data,mr);\r
 137                                 double c2 = mr.confidence;\r
 138                                 if (c1 < c2) {\r
 139                                         lcode_index = i;\r
 140                                         c1 = c2;\r
 141                                         dir = mr.direction;\r
 142                                 }\r
 143                         }\r
 144                         \r
 145                         //認識処理\r
 146                         if (this.code_index == -1) { // マーカ未認識\r
 147                                 //現在は未認識\r
 148                                 if (c1 < this.cf_threshold_new) {\r
 149                                         return;\r
 150                                 }\r
 151                                 if (this.confidence > c1) {\r
 152                                         // 一致度が低い。\r
 153                                         return;\r
 154                                 }\r
 155                                 //認識しているマーカIDを保存\r
 156                                 this.code_index=lcode_index;\r
 157                         }else{\r
 158                                 //現在はマーカ認識中                           \r
 159                                 // 現在のマーカを認識したか？\r
 160                                 if (lcode_index != this.code_index) {\r
 161                                         // 認識中のマーカではないので無視\r
 162                                         return;\r
 163                                 }\r
 164                                 //認識中の閾値より大きいか？\r
 165                                 if (c1 < this.cf_threshold_exist) {\r
 166                                         return;\r
 167                                 }\r
 168                                 //現在の候補よりも一致度は大きいか？\r
 169                                 if (this.confidence>c1) {\r
 170                                         return;\r
 171                                 }\r
 172                         }\r
 173                         //新しく認識、または継続認識中に更新があったときだけ、Square情報を更新する。\r
 174                         //ココから先はこの条件でしか実行されない。\r
 175                         \r
 176                         //一致率の高い矩形があれば、方位を考慮して頂点情報を作成\r
 177                         this.confidence=c1;\r
 178                         NyARSquare sq=this.square;\r
 179                         //directionを考慮して、squareを更新する。\r
 180                         for(int i=0;i<4;i++){\r
 181                                 int idx=(i+4 - dir) % 4;\r
 182                                 sq.imvertex[i].x=vertex[idx].x;\r
 183                                 sq.imvertex[i].y=vertex[idx].y;\r
 184                                 this._coordline.coord2Line(i_vertex_index[idx],i_vertex_index[(idx+1)%4],i_coordx,i_coordy,i_coor_num,sq.line[i]);\r
 185                         }\r
 186                         for (int i = 0; i < 4; i++) {\r
 187                                 //直線同士の交点計算\r
 188                                 if(!NyARLinear.crossPos(sq.line[i],sq.line[(i + 3) % 4],sq.sqvertex[i])){\r
 189                                         throw new NyARException();//ここのエラー復帰するならダブルバッファにすればOK\r
 190                                 }\r
 191                         }\r
 192                 }\r
 193         }       \r
 194         /**オーナーが自由に使えるタグ変数です。\r
 195          */\r
 196         public Object tag;\r
 197 \r
 198         private int _lost_delay_count = 0;\r
 199 \r
 200         private int _lost_delay = 5;\r
 201 \r
 202         private INyARSquareContourDetector _square_detect;\r
 203 \r
 204         protected INyARTransMat _transmat;\r
 205 \r
 206         private double _marker_width;\r
 207         private int _threshold = 110;\r
 208         // [AR]検出結果の保存用\r
 209         private NyARBinRaster _bin_raster;\r
 210 \r
 211         private NyARRasterFilter_ARToolkitThreshold _tobin_filter;\r
 212 \r
 213         protected int _current_arcode_index = -1;\r
 214 \r
 215         private NyARRasterThresholdAnalyzer_SlidePTile _threshold_detect;\r
 216         \r
 217         protected SingleARMarkerProcesser()\r
 218         {\r
 219                 return;\r
 220         }\r
 221 \r
 222         private boolean _initialized=false;\r
 223 \r
 224         protected void initInstance(NyARParam i_param,int i_raster_type) throws NyARException\r
 225         {\r
 226                 //初期化済？\r
 227                 assert this._initialized==false;\r
 228                 \r
 229                 NyARIntSize scr_size = i_param.getScreenSize();\r
 230                 // 解析オブジェクトを作る\r
 231                 this._square_detect = new NyARSquareContourDetector_Rle(i_param.getDistortionFactor(), scr_size);\r
 232                 this._transmat = new NyARTransMat(i_param);\r
 233                 this._tobin_filter=new NyARRasterFilter_ARToolkitThreshold(110,i_raster_type);\r
 234 \r
 235                 // ２値画像バッファを作る\r
 236                 this._bin_raster = new NyARBinRaster(scr_size.w, scr_size.h);\r
 237                 this._threshold_detect=new NyARRasterThresholdAnalyzer_SlidePTile(15,i_raster_type,4);\r
 238                 this._initialized=true;\r
 239                 //コールバックハンドラ\r
 240                 this._detectmarker_cb=new DetectSquareCB(i_param);\r
 241                 \r
 242                 return;\r
 243         }\r
 244 \r
 245         /*自動・手動の設定が出来ないので、コメントアウト\r
 246         public void setThreshold(int i_threshold)\r
 247         {\r
 248                 this._threshold = i_threshold;\r
 249                 return;\r
 250         }*/\r
 251 \r
 252         /**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
 253          * オブジェクト状態に強制リセットがかかります。\r
 254          */\r
 255         public void setARCodeTable(NyARCode[] i_ref_code_table, int i_code_resolution, double i_marker_width)\r
 256         {\r
 257                 if (this._current_arcode_index != -1) {\r
 258                         // 強制リセット\r
 259                         reset(true);\r
 260                 }\r
 261                 //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
 262                 this._detectmarker_cb.setNyARCodeTable(i_ref_code_table,i_code_resolution);\r
 263                 this._marker_width = i_marker_width;\r
 264                 return;\r
 265         }\r
 266 \r
 267         public void reset(boolean i_is_force)\r
 268         {\r
 269                 if (this._current_arcode_index != -1 && i_is_force == false) {\r
 270                         // 強制書き換えでなければイベントコール\r
 271                         this.onLeaveHandler();\r
 272                 }\r
 273                 // カレントマーカをリセット\r
 274                 this._current_arcode_index = -1;\r
 275                 return;\r
 276         }\r
 277         private DetectSquareCB _detectmarker_cb;\r
 278         public void detectMarker(INyARRgbRaster i_raster) throws NyARException\r
 279         {\r
 280                 // サイズチェック\r
 281                 assert(this._bin_raster.getSize().isEqualSize(i_raster.getSize().w, i_raster.getSize().h));\r
 282 \r
 283                 //BINイメージへの変換\r
 284                 this._tobin_filter.setThreshold(this._threshold);\r
 285                 this._tobin_filter.doFilter(i_raster, this._bin_raster);\r
 286 \r
 287                 // スクエアコードを探す\r
 288                 this._detectmarker_cb.init(i_raster);\r
 289                 this._square_detect.detectMarkerCB(this._bin_raster,this._detectmarker_cb);\r
 290                 \r
 291                 // 認識状態を更新\r
 292                 final boolean is_id_found=updateStatus(this._detectmarker_cb.square,this._detectmarker_cb.code_index);\r
 293                 //閾値フィードバック(detectExistMarkerにもあるよ)\r
 294                 if(!is_id_found){\r
 295                         //マーカがなければ、探索+DualPTailで基準輝度検索\r
 296                         int th=this._threshold_detect.analyzeRaster(i_raster);\r
 297                         this._threshold=(this._threshold+th)/2;\r
 298                 }\r
 299                 \r
 300                 \r
 301                 return;\r
 302         }\r
 303 \r
 304         private NyARTransMatResult __NyARSquare_result = new NyARTransMatResult();\r
 305 \r
 306         /**     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
 307          *      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
 308          */\r
 309         private boolean updateStatus(NyARSquare i_square, int i_code_index)  throws NyARException\r
 310         {\r
 311                 NyARTransMatResult result = this.__NyARSquare_result;\r
 312                 if (this._current_arcode_index < 0) {// 未認識中\r
 313                         if (i_code_index < 0) {// 未認識から未認識の遷移\r
 314                                 // なにもしないよーん。\r
 315                                 return false;\r
 316                         } else {// 未認識から認識の遷移\r
 317                                 this._current_arcode_index = i_code_index;\r
 318                                 // イベント生成\r
 319                                 // OnEnter\r
 320                                 this.onEnterHandler(i_code_index);\r
 321                                 // 変換行列を作成\r
 322                                 this._transmat.transMat(i_square, this._marker_width, result);\r
 323                                 // OnUpdate\r
 324                                 this.onUpdateHandler(i_square, result);\r
 325                                 this._lost_delay_count = 0;\r
 326                                 return true;\r
 327                         }\r
 328                 } else {// 認識中\r
 329                         if (i_code_index < 0) {// 認識から未認識の遷移\r
 330                                 this._lost_delay_count++;\r
 331                                 if (this._lost_delay < this._lost_delay_count) {\r
 332                                         // OnLeave\r
 333                                         this._current_arcode_index = -1;\r
 334                                         this.onLeaveHandler();\r
 335                                 }\r
 336                                 return false;\r
 337                         } else if (i_code_index == this._current_arcode_index) {// 同じARCodeの再認識\r
 338                                 // イベント生成\r
 339                                 // 変換行列を作成\r
 340                                 this._transmat.transMat(i_square, this._marker_width, result);\r
 341                                 // OnUpdate\r
 342                                 this.onUpdateHandler(i_square, result);\r
 343                                 this._lost_delay_count = 0;\r
 344                                 return true;\r
 345                         } else {// 異なるコードの認識→今はサポートしない。\r
 346                                 throw new  NyARException();\r
 347                         }\r
 348                 }\r
 349         }\r
 350 \r
 351         protected abstract void onEnterHandler(int i_code);\r
 352 \r
 353         protected abstract void onLeaveHandler();\r
 354 \r
 355         protected abstract void onUpdateHandler(NyARSquare i_square, NyARTransMatResult result);\r
 356 }\r