tags/2.4.2/test/jp/nyatla/nyartoolkit/dev/OptimizeCompareTest.java

   1 /* \r
   2  * PROJECT: NyARToolkit JOGL sample program.\r
   3  * --------------------------------------------------------------------------------\r
   4  * The MIT License\r
   5  * Copyright (c) 2008 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.dev;\r
  28 \r
  29 import java.awt.event.*;\r
  30 import java.awt.*;\r
  31 import javax.media.Buffer;\r
  32 import javax.media.opengl.*;\r
  33 import com.sun.opengl.util.*;\r
  34 import jp.nyatla.nyartoolkit.*;\r
  35 import jp.nyatla.nyartoolkit.core.*;\r
  36 import jp.nyatla.nyartoolkit.core.param.*;\r
  37 import jp.nyatla.nyartoolkit.core.transmat.*;\r
  38 import jp.nyatla.nyartoolkit.detector.*;\r
  39 import jp.nyatla.nyartoolkit.jmf.utils.*;\r
  40 import jp.nyatla.nyartoolkit.jogl.utils.*;\r
  41 /**\r
  42  * 2種類の最適化アルゴリズムを比較するテストプログラム\r
  43  *\r
  44  */\r
  45 \r
  46 class Program implements JmfCaptureListener\r
  47 {\r
  48         private OptimizeCompareTest _view1;\r
  49         private OptimizeCompareTest _view2;\r
  50         public Object _sync_object=new Object();        \r
  51         public NyARParam _ar_param;\r
  52         public NyARCode _ar_code;\r
  53         private final static int SCREEN_X = 320;\r
  54         private final static int SCREEN_Y = 240;\r
  55         private JmfCaptureDevice _capture;\r
  56         public GLNyARRaster_RGB _cap_image;\r
  57         public Program(NyARParam i_param, NyARCode i_ar_code) throws NyARException\r
  58         {\r
  59                 // キャプチャの準備\r
  60                 JmfCaptureDeviceList devlist = new JmfCaptureDeviceList();\r
  61                 this._capture = devlist.getDevice(0);\r
  62                 if (!this._capture.setCaptureFormat(SCREEN_X, SCREEN_Y, 30.0f)) {\r
  63                         throw new NyARException();\r
  64                 }\r
  65                 this._ar_param=i_param;\r
  66                 this._ar_code=i_ar_code;\r
  67                 this._capture.setOnCapture(this);\r
  68                 // GL対応のRGBラスタオブジェクト\r
  69                 this._cap_image = new GLNyARRaster_RGB(i_param, this._capture.getCaptureFormat());      \r
  70                 this._view1=new OptimizeCompareTest(this,NyARSingleDetectMarker.PF_NYARTOOLKIT);\r
  71                 this._view2=new OptimizeCompareTest(this,NyARSingleDetectMarker.PF_NYARTOOLKIT_ARTOOLKIT_FITTING);\r
  72                 this._capture.start();\r
  73                 return;\r
  74         }\r
  75         public void onUpdateBuffer(Buffer i_buffer)\r
  76         {\r
  77                 try {\r
  78                         synchronized (this._sync_object) {\r
  79                                 this._cap_image.setBuffer(i_buffer);\r
  80                                 this._view1.updateCapture(this._cap_image);\r
  81                                 this._view2.updateCapture(this._cap_image);\r
  82                         }\r
  83                 } catch (Exception e) {\r
  84                         e.printStackTrace();\r
  85                 }\r
  86         }\r
  87         //GL API\r
  88         void glDrawCube(GL i_gl)\r
  89         {\r
  90                 // Colour cube data.\r
  91                 int polyList = 0;\r
  92                 float fSize = 0.5f;// マーカーサイズに対して0.5倍なので、4cmの立方体\r
  93                 int f, i;\r
  94                 float[][] cube_vertices = new float[][] { { 1.0f, 1.0f, 1.0f }, { 1.0f, -1.0f, 1.0f }, { -1.0f, -1.0f, 1.0f }, { -1.0f, 1.0f, 1.0f }, { 1.0f, 1.0f, -1.0f }, { 1.0f, -1.0f, -1.0f }, { -1.0f, -1.0f, -1.0f }, { -1.0f, 1.0f, -1.0f } };\r
  95                 float[][] cube_vertex_colors = new float[][] { { 1.0f, 1.0f, 1.0f }, { 1.0f, 1.0f, 0.0f }, { 0.0f, 1.0f, 0.0f }, { 0.0f, 1.0f, 1.0f }, { 1.0f, 0.0f, 1.0f }, { 1.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, 1.0f } };\r
  96                 int cube_num_faces = 6;\r
  97                 short[][] cube_faces = new short[][] { { 3, 2, 1, 0 }, { 2, 3, 7, 6 }, { 0, 1, 5, 4 }, { 3, 0, 4, 7 }, { 1, 2, 6, 5 }, { 4, 5, 6, 7 } };\r
  98 \r
  99                 if (polyList == 0) {\r
 100                         polyList = i_gl.glGenLists(1);\r
 101                         i_gl.glNewList(polyList, GL.GL_COMPILE);\r
 102                         i_gl.glBegin(GL.GL_QUADS);\r
 103                         for (f = 0; f < cube_num_faces; f++)\r
 104                                 for (i = 0; i < 4; i++) {\r
 105                                         i_gl.glColor3f(cube_vertex_colors[cube_faces[f][i]][0], cube_vertex_colors[cube_faces[f][i]][1], cube_vertex_colors[cube_faces[f][i]][2]);\r
 106                                         i_gl.glVertex3f(cube_vertices[cube_faces[f][i]][0] * fSize, cube_vertices[cube_faces[f][i]][1] * fSize, cube_vertices[cube_faces[f][i]][2] * fSize);\r
 107                                 }\r
 108                         i_gl.glEnd();\r
 109                         i_gl.glColor3f(0.0f, 0.0f, 0.0f);\r
 110                         for (f = 0; f < cube_num_faces; f++) {\r
 111                                 i_gl.glBegin(GL.GL_LINE_LOOP);\r
 112                                 for (i = 0; i < 4; i++)\r
 113                                         i_gl.glVertex3f(cube_vertices[cube_faces[f][i]][0] * fSize, cube_vertices[cube_faces[f][i]][1] * fSize, cube_vertices[cube_faces[f][i]][2] * fSize);\r
 114                                 i_gl.glEnd();\r
 115                         }\r
 116                         i_gl.glEndList();\r
 117                 }\r
 118 \r
 119                 i_gl.glPushMatrix(); // Save world coordinate system.\r
 120                 i_gl.glTranslatef(0.0f, 0.0f, 0.5f); // Place base of cube on marker surface.\r
 121                 i_gl.glRotatef(0.0f, 0.0f, 0.0f, 1.0f); // Rotate about z axis.\r
 122                 i_gl.glDisable(GL.GL_LIGHTING); // Just use colours.\r
 123                 i_gl.glCallList(polyList); // Draw the cube.\r
 124                 i_gl.glPopMatrix(); // Restore world coordinate system.\r
 125                 return;\r
 126         }\r
 127         \r
 128 }\r
 129 /**\r
 130  * simpleLiteと同じようなテストプログラム 出来る限りARToolKitのサンプルと似せて作ってあります。 最も一致する"Hiro"マーカーを一つ選択して、その上に立方体を表示します。\r
 131  * \r
 132  */\r
 133 public class OptimizeCompareTest implements GLEventListener\r
 134 {\r
 135         private final static int SCREEN_X = 320;\r
 136 \r
 137         private final static int SCREEN_Y = 240;\r
 138 \r
 139         private Animator _animator;\r
 140         \r
 141         private Program _parent;\r
 142 \r
 143 \r
 144 //      private JmfCaptureDevice _capture;\r
 145 \r
 146         private GL _gl;\r
 147         private NyARGLUtil _glnya;\r
 148 \r
 149         // NyARToolkit関係\r
 150         private NyARSingleDetectMarker _nya;\r
 151         private NyARParam _ar_param;\r
 152 \r
 153         private double[] _camera_projection = new double[16];\r
 154 \r
 155 \r
 156         public OptimizeCompareTest(Program i_program,int i_pf) throws NyARException\r
 157         {\r
 158                 this._parent=i_program;\r
 159                 this._ar_param = i_program._ar_param;\r
 160 \r
 161                 Frame frame = new Frame("["+i_pf+"]");\r
 162 \r
 163                 // NyARToolkitの準備\r
 164                 this._nya = new NyARSingleDetectMarker(this._ar_param, i_program._ar_code, 80.0,i_program._cap_image.getBufferReader().getBufferType(),i_pf);\r
 165                 this._nya.setContinueMode(true);// ここをtrueにすると、transMatContinueモード（History計算）になります。\r
 166                 \r
 167                 // 3Dを描画するコンポーネント\r
 168                 GLCanvas canvas = new GLCanvas();\r
 169                 frame.add(canvas);\r
 170                 canvas.addGLEventListener(this);\r
 171                 frame.addWindowListener(new WindowAdapter() {\r
 172                         public void windowClosing(WindowEvent e)\r
 173                         {\r
 174                                 System.exit(0);\r
 175                         }\r
 176                 });\r
 177 \r
 178                 frame.setVisible(true);\r
 179                 Insets ins = frame.getInsets();\r
 180                 frame.setSize(SCREEN_X + ins.left + ins.right, SCREEN_Y + ins.top + ins.bottom);\r
 181                 canvas.setBounds(ins.left, ins.top, SCREEN_X, SCREEN_Y);\r
 182         }\r
 183 \r
 184         public void init(GLAutoDrawable drawable)\r
 185         {\r
 186                 this._gl = drawable.getGL();\r
 187                 this._gl.glEnable(GL.GL_DEPTH_TEST);\r
 188                 this._gl.glClearColor(0.0f, 0.0f, 0.0f, 0.0f);\r
 189                 // NyARToolkitの準備\r
 190                 try {\r
 191                         // NyARToolkit用の支援クラス\r
 192                         _glnya = new NyARGLUtil(_gl);\r
 193                 } catch (Exception e) {\r
 194                         e.printStackTrace();\r
 195                 }\r
 196                 // カメラパラメータの計算\r
 197                 this._glnya.toCameraFrustumRH(this._ar_param,this._camera_projection);\r
 198                 this._animator = new Animator(drawable);\r
 199                 this._animator.start();\r
 200                 return;\r
 201         }\r
 202 \r
 203         public void reshape(GLAutoDrawable drawable, int x, int y, int width, int height)\r
 204         {\r
 205                 _gl.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT);\r
 206                 _gl.glViewport(0, 0, width, height);\r
 207 \r
 208                 // 視体積の設定\r
 209                 _gl.glMatrixMode(GL.GL_PROJECTION);\r
 210                 _gl.glLoadIdentity();\r
 211                 // 見る位置\r
 212                 _gl.glMatrixMode(GL.GL_MODELVIEW);\r
 213                 _gl.glLoadIdentity();\r
 214         }\r
 215 \r
 216         private boolean _is_marker_exist=false;\r
 217         private NyARTransMatResult __display_transmat_result = new NyARTransMatResult();\r
 218 \r
 219         private double[] __display_wk = new double[16];\r
 220 \r
 221         public void display(GLAutoDrawable drawable)\r
 222         {\r
 223                 NyARTransMatResult transmat_result = __display_transmat_result;\r
 224                 if (!this._parent._cap_image.hasData()) {\r
 225                         return;\r
 226                 }\r
 227                 // 背景を書く\r
 228                 this._gl.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.\r
 229                 this._glnya.drawBackGround(this._parent._cap_image, 1.0);                       \r
 230                 try{\r
 231                         synchronized(this._parent._sync_object){\r
 232                                 // マーカーがあれば、立方体を描画\r
 233                                 if (this._is_marker_exist){\r
 234                                         // マーカーの一致度を調査するならば、ここでnya.getConfidence()で一致度を調べて下さい。\r
 235                                         // Projection transformation.\r
 236                                         _gl.glMatrixMode(GL.GL_PROJECTION);\r
 237                                         _gl.glLoadMatrixd(_camera_projection, 0);\r
 238                                         _gl.glMatrixMode(GL.GL_MODELVIEW);\r
 239                                         // Viewing transformation.\r
 240                                         _gl.glLoadIdentity();\r
 241                                         // 変換行列を取得\r
 242                                         _nya.getTransmationMatrix(transmat_result);\r
 243                                         // 変換行列をOpenGL形式に変換\r
 244                                         _glnya.toCameraViewRH(transmat_result, __display_wk);\r
 245                                         _gl.glLoadMatrixd(__display_wk, 0);\r
 246                 \r
 247                                         // All other lighting and geometry goes here.\r
 248                                         this._parent.glDrawCube(_gl);\r
 249                                 }\r
 250                         }\r
 251                         Thread.sleep(1);// タスク実行権限を一旦渡す\r
 252                 }catch(Exception e){\r
 253                         e.printStackTrace();\r
 254                 }\r
 255 \r
 256         }\r
 257 \r
 258         public void updateCapture(GLNyARRaster_RGB i_img)\r
 259         {\r
 260                 try {\r
 261                         synchronized (this._parent._sync_object) {\r
 262                                 this._is_marker_exist =this._nya.detectMarkerLite(i_img, 110);\r
 263                         }\r
 264                 } catch (Exception e) {\r
 265                         e.printStackTrace();\r
 266                 }\r
 267         }\r
 268 \r
 269         public void displayChanged(GLAutoDrawable drawable, boolean modeChanged, boolean deviceChanged)\r
 270         {\r
 271         }\r
 272 \r
 273         private final static String CARCODE_FILE = "../Data/patt.hiro";\r
 274 \r
 275         private final static String PARAM_FILE = "../Data/camera_para.dat";\r
 276 \r
 277         public static void main(String[] args)\r
 278         {\r
 279                 try {\r
 280                         NyARParam param = new NyARParam();\r
 281                         param.loadARParamFromFile(PARAM_FILE);\r
 282                         param.changeScreenSize(SCREEN_X, SCREEN_Y);\r
 283 \r
 284                         NyARCode code = new NyARCode(16, 16);\r
 285                         code.loadARPattFromFile(CARCODE_FILE);\r
 286 \r
 287                         new Program(param, code);\r
 288                 } catch (Exception e) {\r
 289                         e.printStackTrace();\r
 290                 }\r
 291                 return;\r
 292         }\r
 293 }\r