tags/2.5.0/sample/sandbox/jp/nyatla/nyartoolkit/sandbox/qrcode/NyARQrCodeDetector.java

   1 package jp.nyatla.nyartoolkit.sandbox.qrcode;\r
   2 \r
   3 import jp.nyatla.nyartoolkit.NyARException;\r
   4 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingImage;\r
   5 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabel;\r
   6 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabelStack;\r
   7 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabeling_ARToolKit;\r
   8 import jp.nyatla.nyartoolkit.core.param.NyARCameraDistortionFactor;\r
   9 import jp.nyatla.nyartoolkit.core.raster.NyARBinRaster;\r
  10 import jp.nyatla.nyartoolkit.core.squaredetect.NyARContourPickup;\r
  11 import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquareContourDetector;\r
  12 import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquare;\r
  13 import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquareStack;\r
  14 import jp.nyatla.nyartoolkit.core.squaredetect.NyARCoord2Linear;\r
  15 import jp.nyatla.nyartoolkit.core.types.*;\r
  16 \r
  17 public class NyARQrCodeDetector extends NyARSquareContourDetector\r
  18 {\r
  19         private NyARQrCodeSymbolBinder _binder;\r
  20 \r
  21         private static final int AR_AREA_MAX = 10000;\r
  22 \r
  23         private static final int AR_AREA_MIN = 50;\r
  24 \r
  25         private final int _width;\r
  26 \r
  27         private final int _height;\r
  28 \r
  29         private final NyARLabeling_ARToolKit _labeling;\r
  30 \r
  31         private final NyARLabelingImage _limage;\r
  32 \r
  33         private final NyARCoord2Linear _sqconvertor;\r
  34         private final NyARContourPickup _cpickup=new NyARContourPickup();\r
  35         \r
  36         /**\r
  37          * 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
  38          * \r
  39          * @param i_param\r
  40          */\r
  41         public NyARQrCodeDetector(NyARCameraDistortionFactor i_dist_factor_ref, NyARIntSize i_size) throws NyARException\r
  42         {\r
  43                 this._width = i_size.w;\r
  44                 this._height = i_size.h;\r
  45                 this._labeling = new NyARLabeling_ARToolKit();\r
  46                 this._limage = new NyARLabelingImage(this._width, this._height);\r
  47                 this._binder=new NyARQrCodeSymbolBinder(i_dist_factor_ref);\r
  48                 this._sqconvertor=new NyARCoord2Linear(i_size,i_dist_factor_ref);\r
  49 \r
  50                 // 輪郭の最大長はMAX_COORD_NUMの2倍に制限\r
  51                 int number_of_coord = MAX_COORD_NUM* 2;\r
  52 \r
  53                 // 輪郭バッファはnumber_of_coordの2倍\r
  54                 this._max_coord = number_of_coord;\r
  55                 this._xcoord = new int[number_of_coord * 2];\r
  56                 this._ycoord = new int[number_of_coord * 2];\r
  57                 \r
  58         }\r
  59 \r
  60         private final int _max_coord;\r
  61 \r
  62         private final int[] _xcoord;\r
  63 \r
  64         private final int[] _ycoord;\r
  65 \r
  66 \r
  67         /**\r
  68          * ARMarkerInfo2 *arDetectMarker2( ARInt16 *limage, int label_num, int *label_ref,int *warea, double *wpos, int *wclip,int area_max, int area_min, double\r
  69          * factor, int *marker_num ) 関数の代替品 ラベリング情報からマーカー一覧を作成してo_marker_listを更新します。 関数はo_marker_listに重なりを除外したマーカーリストを作成します。\r
  70          * \r
  71          * @param i_raster\r
  72          * 解析する２値ラスタイメージを指定します。\r
  73          * @param o_square_stack\r
  74          * 抽出した正方形候補を格納するリスト\r
  75          * @throws NyARException\r
  76          */\r
  77         public final void detectMarker(NyARBinRaster i_raster, NyARSquareStack o_square_stack) throws NyARException\r
  78         {\r
  79                 final NyARLabelingImage limage = this._limage;\r
  80 \r
  81                 // 初期化\r
  82 \r
  83                 // マーカーホルダをリセット\r
  84                 o_square_stack.clear();\r
  85 \r
  86                 // ラベリング\r
  87                 this._labeling.labeling(i_raster,limage);\r
  88 \r
  89                 // ラベル数が0ならここまで\r
  90                 final int label_num = limage.getLabelStack().getLength();\r
  91                 if (label_num < 1) {\r
  92                         return;\r
  93                 }\r
  94 \r
  95                 final NyARLabelingLabelStack stack = limage.getLabelStack();\r
  96                 // ラベルを大きい順に整列\r
  97                 stack.sortByArea();\r
  98 \r
  99                 final NyARLabelingLabel[] labels = stack.getArray();\r
 100                 // デカいラベルを読み飛ばし\r
 101                 int i;\r
 102                 for (i = 0; i < label_num; i++) {\r
 103                         // 検査対象内のラベルサイズになるまで無視\r
 104                         if (labels[i].area <= AR_AREA_MAX) {\r
 105                                 break;\r
 106                         }\r
 107                 }\r
 108                 \r
 109                 final int xsize = this._width;\r
 110                 final int ysize = this._height;\r
 111                 final int[] xcoord = this._xcoord;\r
 112                 final int[] ycoord = this._ycoord;\r
 113                 final int coord_max = this._max_coord;\r
 114                 final int[] buf = (int[]) limage.getBuffer();\r
 115                 final int[] indextable = limage.getIndexArray();\r
 116 \r
 117                 int label_area;\r
 118                 NyARLabelingLabel label_pt;\r
 119                 NyARSquareStack wk_stack=new NyARSquareStack(10);\r
 120                 wk_stack.clear();\r
 121 \r
 122                 for (; i < label_num; i++) {\r
 123                         label_pt = labels[i];\r
 124                         label_area = label_pt.area;\r
 125                         // 検査対象サイズよりも小さくなったら終了\r
 126                         if (label_area < AR_AREA_MIN) {\r
 127                                 break;\r
 128                         }\r
 129                         // クリップ領域が画面の枠に接していれば除外\r
 130                         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
 131                                 continue;\r
 132                         }\r
 133                         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
 134                                 continue;\r
 135                         }\r
 136                         // 特徴点候補であるかを確認する。\r
 137                         if (!hasQrEdgeFeature(buf, indextable, label_pt)) {\r
 138                                 continue;\r
 139                         }\r
 140                         // 輪郭を取得\r
 141                         final int coord_num = _cpickup.getContour(limage,limage.getTopClipTangentX(label_pt),label_pt.clip_t, coord_max, xcoord, ycoord);\r
 142                         if (coord_num == coord_max) {\r
 143                                 // 輪郭が大きすぎる。\r
 144                                 continue;\r
 145                         }\r
 146                         //輪郭分析用に正規化する。\r
 147                         final int vertex1 = NyARCoord2Linear.normalizeCoord(xcoord, ycoord, coord_num);\r
 148 \r
 149                         //ここから先が輪郭分析\r
 150                         NyARSquare square_ptr = o_square_stack.prePush();\r
 151                         if(!this._sqconvertor.coordToSquare(xcoord,ycoord,vertex1,coord_num,label_area,square_ptr)){\r
 152                                 o_square_stack.pop();// 頂点の取得が出来なかったので破棄\r
 153                                 continue;                               \r
 154                         }\r
 155                 }\r
 156                 //シンボルの関連付け\r
 157                 bindQrcodeEdge(wk_stack,o_square_stack);\r
 158                 //エッジ同士の相関関係をしらべる。\r
 159 \r
 160                 return;\r
 161         }\r
 162 \r
 163         /**\r
 164          * QRコードのエッジグループを作る\r
 165          * @param i_square_stack\r
 166          */\r
 167         public void bindQrcodeEdge(NyARSquareStack i_square_stack,NyARSquareStack o_square_stack) throws NyARException\r
 168         {\r
 169                 NyARSquare[] group=new NyARSquare[3];\r
 170                 int number_of_edge=i_square_stack.getLength();\r
 171                 if(number_of_edge<3){\r
 172                         return;\r
 173                 }\r
 174                 NyARSquare[] sa=i_square_stack.getArray();\r
 175                 for(int i=0;i<number_of_edge-2;i++)\r
 176                 {       \r
 177                         group[0]=sa[i];\r
 178                         for(int i2=i+1;i2<number_of_edge-1;i2++)\r
 179                         {\r
 180                                 group[1]=sa[i2];\r
 181                                 for(int i3=i2+1;i3<number_of_edge;i3++){\r
 182                                         group[2]=sa[i3];\r
 183                                         //3個のエッジの関連性を確認する。\r
 184                                         NyARSquare new_square=(NyARSquare)o_square_stack.prePush();\r
 185                                         if(!this._binder.composeSquare(group,new_square)){\r
 186                                                 o_square_stack.pop();\r
 187                                         }\r
 188                                 }\r
 189                         }\r
 190                 }\r
 191                 return;\r
 192         }\r
 193         private static int MAX_COORD_NUM=(320+240)*2;//サイズの1/2の長方形の編程度が目安(VGAなら(320+240)*2)\r
 194 \r
 195         /**\r
 196          * QRコードのシンボル特徴を持つラベルであるかを調べる\r
 197          * @param buf\r
 198          * @param index_table\r
 199          * @param i_label\r
 200          * @return\r
 201          */\r
 202         private boolean hasQrEdgeFeature(int[] buf, int[] index_table, NyARLabelingLabel i_label)\r
 203         {\r
 204                 int tx, bx;\r
 205                 int w;\r
 206                 int i_label_id = i_label.id;\r
 207                 int limage_j_ptr;\r
 208                 final int clip_l = i_label.clip_l;\r
 209                 final int clip_b = i_label.clip_b;\r
 210                 final int clip_r = i_label.clip_r;\r
 211                 final int clip_t = i_label.clip_t;\r
 212 \r
 213                 tx = bx = 0;\r
 214                 // 上接点(→)\r
 215                 limage_j_ptr = clip_t*this._width;\r
 216                 for (int i = clip_l; i <= clip_r; i++) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {\r
 217                         w = buf[limage_j_ptr+i];\r
 218                         if (w > 0 && index_table[w - 1] == i_label_id) {\r
 219                                 tx = i;\r
 220                                 break;\r
 221                         }\r
 222                 }\r
 223                 // 下接点(←)\r
 224                 limage_j_ptr = clip_b*this._width;\r
 225                 for (int i = clip_r; i >= clip_l; i--) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {\r
 226                         w = buf[limage_j_ptr+i];\r
 227                         if (w > 0 && index_table[w - 1] == i_label_id) {\r
 228                                 bx = i;\r
 229                                 break;\r
 230                         }\r
 231                 }\r
 232                 final int cx = (clip_l + clip_r) / 2;\r
 233                 final int cy = (clip_t + clip_b) / 2;\r
 234                 // 横断チェック(中心から線を引いて、010になるかしらべる)\r
 235                 if (!checkDiagonalLine(buf, cx, cy, bx, clip_b)) {\r
 236                         return false;\r
 237                 }\r
 238                 if (!checkDiagonalLine(buf, tx, clip_t, cx, cy)) {\r
 239                         return false;\r
 240                 }\r
 241                 return true;\r
 242         }\r
 243 \r
 244         /**\r
 245          * シンボルのパターン特徴を調べる関数\r
 246          * 対角線の一部が010になってるか調べる。\r
 247          * \r
 248          * @param buf\r
 249          * @param i_px1\r
 250          * @param i_py1\r
 251          * @param i_px2\r
 252          * @param i_py2\r
 253          * @return\r
 254          */\r
 255         private boolean checkDiagonalLine(int[] buf, int i_px1, int i_py1, int i_px2, int i_py2)\r
 256         {\r
 257                 int sub_y = i_py2 - i_py1;\r
 258                 int sub_x = i_px2 - i_px1;\r
 259                 // 黒\r
 260                 int i = 0;\r
 261                 for (; i < sub_y; i++) {\r
 262                         int yp = i_py1 + i;\r
 263                         int xp = i_px1 + i * sub_x / sub_y;\r
 264                         if (buf[yp*this._width+xp] == 0 && buf[yp*this._width+(xp-1)] == 0 && buf[yp*this._width+(xp+1)] == 0) {\r
 265                                 break;\r
 266                         }\r
 267 \r
 268                 }\r
 269                 if (i == sub_y) {\r
 270                         return false;\r
 271                 }\r
 272                 // 白\r
 273                 for (; i < sub_y; i++) {\r
 274                         int yp = i_py1 + i;\r
 275                         int xp = i_px1 + i * sub_x / sub_y;\r
 276                         if (buf[yp*this._width+xp] != 0 && buf[yp*this._width+(xp-1)] != 0 && buf[yp*this._width+(xp+1)] != 0) {\r
 277                                 break;\r
 278                         }\r
 279 \r
 280                 }\r
 281                 if (i == sub_y) {\r
 282                         return false;\r
 283                 }\r
 284                 // 黒\r
 285                 for (; i < sub_y; i++) {\r
 286                         int yp = i_py1 + i;\r
 287                         int xp = i_px1 + i * sub_x / sub_y;\r
 288                         if (buf[yp*this._width+xp] == 0 && buf[yp*this._width+(xp-1)] == 0 && buf[yp*this._width+(xp+1)] == 0) {\r
 289                                 break;\r
 290                         }\r
 291 \r
 292                 }\r
 293                 if (i != sub_y) {\r
 294                         return false;\r
 295                 }\r
 296                 // 端まで到達したらOK\r
 297                 return true;\r
 298         }\r
 299 \r
 300 }\r