1 package jp.nyatla.nyartoolkit.sandbox.qrcode;
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3 import jp.nyatla.nyartoolkit.NyARException;
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4 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingImage;
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5 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabel;
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6 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabelStack;
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7 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabeling_ARToolKit;
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8 import jp.nyatla.nyartoolkit.core.param.NyARCameraDistortionFactor;
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9 import jp.nyatla.nyartoolkit.core.pca2d.*;
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10 import jp.nyatla.nyartoolkit.core.raster.NyARBinRaster;
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11 import jp.nyatla.nyartoolkit.core.squaredetect.INyARSquareDetector;
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12 import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquare;
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13 import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquareStack;
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14 import jp.nyatla.nyartoolkit.core.squaredetect.NyARVertexCounter;
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15 import jp.nyatla.nyartoolkit.core.types.*;
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16 import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix22;
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18 public class NyARQrCodeDetector implements INyARSquareDetector
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20 private NyARQrCodeSymbolBinder _binder;
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21 private static final double VERTEX_FACTOR = 2.0;// 線検出のファクタ
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23 private static final int AR_AREA_MAX = 10000;
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25 private static final int AR_AREA_MIN = 50;
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27 private final int _width;
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29 private final int _height;
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31 private final NyARLabeling_ARToolKit _labeling;
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33 private final NyARLabelingImage _limage;
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35 private final NyARCameraDistortionFactor _dist_factor_ref;
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36 private final double[] _xpos;
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37 private final double[] _ypos;
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39 * 最大i_squre_max個のマーカーを検出するクラスを作成する。
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43 public NyARQrCodeDetector(NyARCameraDistortionFactor i_dist_factor_ref, NyARIntSize i_size) throws NyARException
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45 this._width = i_size.w;
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46 this._height = i_size.h;
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47 this._dist_factor_ref = i_dist_factor_ref;
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48 this._labeling = new NyARLabeling_ARToolKit();
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49 this._limage = new NyARLabelingImage(this._width, this._height);
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50 this._labeling.attachDestination(this._limage);
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51 this._binder=new NyARQrCodeSymbolBinder(i_dist_factor_ref);
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53 // 輪郭の最大長はMAX_COORD_NUMの2倍に制限
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54 int number_of_coord = MAX_COORD_NUM* 2;
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56 // 輪郭バッファはnumber_of_coordの2倍
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57 this._max_coord = number_of_coord;
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58 this._xcoord = new int[number_of_coord * 2];
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59 this._ycoord = new int[number_of_coord * 2];
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60 this._xpos=new double[this._width+this._height];//最大辺長はthis._width+this._height
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61 this._ypos=new double[this._width+this._height];//最大辺長はthis._width+this._height
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65 private final int _max_coord;
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67 private final int[] _xcoord;
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69 private final int[] _ycoord;
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71 private void normalizeCoord(int[] i_coord_x, int[] i_coord_y, int i_index, int i_coord_num)
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73 // vertex1を境界にして、後方に配列を連結
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74 System.arraycopy(i_coord_x, 1, i_coord_x, i_coord_num, i_index);
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75 System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, i_index);
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78 private final int[] __detectMarker_mkvertex = new int[5];
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81 * ARMarkerInfo2 *arDetectMarker2( ARInt16 *limage, int label_num, int *label_ref,int *warea, double *wpos, int *wclip,int area_max, int area_min, double
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82 * 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。
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85 * 解析する2値ラスタイメージを指定します。
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86 * @param o_square_stack
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88 * @throws NyARException
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90 public final void detectMarker(NyARBinRaster i_raster, NyARSquareStack o_square_stack) throws NyARException
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92 final NyARLabeling_ARToolKit labeling_proc = this._labeling;
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93 final NyARLabelingImage limage = this._limage;
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98 o_square_stack.clear();
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101 labeling_proc.labeling(i_raster);
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104 final int label_num = limage.getLabelStack().getLength();
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105 if (label_num < 1) {
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109 final NyARLabelingLabelStack stack = limage.getLabelStack();
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110 final NyARLabelingLabel[] labels = stack.getArray();
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113 stack.sortByArea();
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117 for (i = 0; i < label_num; i++) {
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118 // 検査対象内のラベルサイズになるまで無視
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119 if (labels[i].area <= AR_AREA_MAX) {
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124 final int xsize = this._width;
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125 final int ysize = this._height;
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126 final int[] xcoord = this._xcoord;
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127 final int[] ycoord = this._ycoord;
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128 final int coord_max = this._max_coord;
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129 final int[] mkvertex = this.__detectMarker_mkvertex;
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130 final int[] buf = (int[]) limage.getBufferReader().getBuffer();
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131 final int[] indextable = limage.getIndexArray();
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134 NyARLabelingLabel label_pt;
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135 NyARSquareStack wk_stack=new NyARSquareStack(10);
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138 for (; i < label_num; i++) {
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139 label_pt = labels[i];
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140 label_area = label_pt.area;
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141 // 検査対象サイズよりも小さくなったら終了
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142 if (label_area < AR_AREA_MIN) {
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145 // クリップ領域が画面の枠に接していれば除外
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146 if (label_pt.clip_l == 1 || label_pt.clip_r == xsize - 2) {// if(wclip[i*4+0] == 1 || wclip[i*4+1] ==xsize-2){
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149 if (label_pt.clip_t == 1 || label_pt.clip_b == ysize - 2) {// if( wclip[i*4+2] == 1 || wclip[i*4+3] ==ysize-2){
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153 if (!hasQrEdgeFeature(buf, indextable, label_pt)) {
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158 coord_num = limage.getContour(i, coord_max, xcoord, ycoord);
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159 if (coord_num == coord_max) {
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164 final int vertex1 = scanVertex(xcoord, ycoord, coord_num);
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166 // 頂点候補(vertex1)を先頭に並べなおした配列を作成する。
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167 normalizeCoord(xcoord, ycoord, vertex1, coord_num);
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170 if (!getSquareVertex(xcoord, ycoord, vertex1, coord_num, label_area, mkvertex)) {
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173 NyARSquare square=(NyARSquare)wk_stack.prePush();
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175 if(!getSquareLine(mkvertex,xcoord,ycoord,square.line,square.imvertex)){
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181 bindQrcodeEdge(wk_stack,o_square_stack);
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189 * @param i_square_stack
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191 public void bindQrcodeEdge(NyARSquareStack i_square_stack,NyARSquareStack o_square_stack) throws NyARException
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193 NyARSquare[] group=new NyARSquare[3];
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194 int number_of_edge=i_square_stack.getLength();
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195 if(number_of_edge<3){
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198 NyARSquare[] sa=i_square_stack.getArray();
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199 for(int i=0;i<number_of_edge-2;i++)
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202 for(int i2=i+1;i2<number_of_edge-1;i2++)
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205 for(int i3=i2+1;i3<number_of_edge;i3++){
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208 NyARSquare new_square=(NyARSquare)o_square_stack.prePush();
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209 if(!this._binder.composeSquare(group,new_square)){
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210 o_square_stack.pop();
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217 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)
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218 private final INyARPca2d _pca=new NyARPca2d_MatrixPCA_O2();
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219 private final NyARDoubleMatrix22 __getSquareLine_evec=new NyARDoubleMatrix22();
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220 private final NyARDoublePoint2d __getSquareLine_mean=new NyARDoublePoint2d();
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221 private final NyARDoublePoint2d __getSquareLine_ev=new NyARDoublePoint2d();
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223 * 頂点インデクスと輪郭配列から、Ideal座標系とLineを作成して変数に返す
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226 * @throws NyARException
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228 private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARLinear[] o_line,NyARIntPoint2d[] o_imvertex) throws NyARException
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230 final NyARDoubleMatrix22 evec=this.__getSquareLine_evec;
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231 final NyARDoublePoint2d mean=this.__getSquareLine_mean;
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232 final NyARDoublePoint2d ev=this.__getSquareLine_ev;
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235 for (int i = 0; i < 4; i++) {
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236 final double w1 = (double) (i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5;
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237 final int st = (int) (i_mkvertex[i] + w1);
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238 final int ed = (int) (i_mkvertex[i + 1] - w1);
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239 final int n = ed - st + 1;
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240 if (n < 2 || n>MAX_COORD_NUM) {
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241 // nが2以下、又はMAX_COORD_NUM以上なら主成分分析をしない。
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245 this._dist_factor_ref.observ2IdealBatch(i_xcoord, i_ycoord, st, n,this._xpos,this._ypos);
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248 this._pca.pca(this._xpos,this._ypos,n,evec, ev,mean);
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249 final NyARLinear l_line_i = o_line[i];
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250 l_line_i.run = evec.m01;// line[i][0] = evec->m[1];
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251 l_line_i.rise = -evec.m00;// line[i][1] = -evec->m[0];
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252 l_line_i.intercept = -(l_line_i.run * mean.x + l_line_i.rise * mean.y);// line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]);
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254 for (int i = 0; i < 4; i++) {
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255 final NyARLinear l_line_i = o_line[i];
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256 final NyARLinear l_line_2 = o_line[(i + 3) % 4];
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257 final double w1 = l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise;
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261 // 頂点インデクスから頂点座標を得て保存
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262 o_imvertex[i].x = i_xcoord[i_mkvertex[i]];
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263 o_imvertex[i].y = i_ycoord[i_mkvertex[i]];
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268 * 辺からの対角線が最長になる点を対角線候補として返す。
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272 * @param i_coord_num
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275 private int scanVertex(int[] i_xcoord, int[] i_ycoord, int i_coord_num)
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277 final int sx = i_xcoord[0];
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278 final int sy = i_ycoord[0];
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282 for (int i = 1; i < i_coord_num; i++) {
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283 x = i_xcoord[i] - sx;
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284 y = i_ycoord[i] - sy;
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290 // ここでうまく終了条件入れられないかな。
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295 private final NyARVertexCounter __getSquareVertex_wv1 = new NyARVertexCounter();
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296 private final NyARVertexCounter __getSquareVertex_wv2 = new NyARVertexCounter();
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299 * static int arDetectMarker2_check_square( int area, ARMarkerInfo2 *marker_info2, double factor ) 関数の代替関数 OPTIMIZED STEP [450->415] o_squareに頂点情報をセットします。
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303 * @param i_vertex1_index
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304 * @param i_coord_num
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310 private boolean getSquareVertex(int[] i_x_coord, int[] i_y_coord, int i_vertex1_index, int i_coord_num, int i_area, int[] o_vertex)
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312 final NyARVertexCounter wv1 = this.__getSquareVertex_wv1;
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313 final NyARVertexCounter wv2 = this.__getSquareVertex_wv2;
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314 final int end_of_coord = i_vertex1_index + i_coord_num - 1;
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315 final int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];
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316 final int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];
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318 int v1 = i_vertex1_index;
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319 for (int i = 1 + i_vertex1_index; i < end_of_coord; i++) {// for(i=1;i<marker_info2->coord_num-1;i++)
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321 final int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);
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327 final double thresh = (i_area / 0.75) * 0.01 * VERTEX_FACTOR;
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329 o_vertex[0] = i_vertex1_index;
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331 if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v1, thresh)) { // if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,0,v1,thresh,wv1,&wvnum1)<
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335 if (!wv2.getVertex(i_x_coord, i_y_coord, v1, end_of_coord, thresh)) {// if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,v1,marker_info2->coord_num-1,thresh,wv2,&wvnum2)
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341 if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {// if(wvnum1 == 1 && wvnum2== 1) {
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342 o_vertex[1] = wv1.vertex[0];
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344 o_vertex[3] = wv2.vertex[0];
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345 } else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0) {// }else if( wvnum1 > 1 && wvnum2== 0) {
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346 // 頂点位置を、起点から対角点の間の1/2にあると予想して、検索する。
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347 v2 = (v1 - i_vertex1_index) / 2 + i_vertex1_index;
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348 if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh)) {
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351 if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh)) {
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354 if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {
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355 o_vertex[1] = wv1.vertex[0];
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356 o_vertex[2] = wv2.vertex[0];
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361 } else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1) {
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362 // v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;
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363 v2 = (v1 + end_of_coord) / 2;
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365 if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh)) {
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368 if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh)) {
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371 if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {
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373 o_vertex[2] = wv1.vertex[0];
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374 o_vertex[3] = wv2.vertex[0];
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381 o_vertex[4] = end_of_coord;
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385 * 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
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387 * @param index_table
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391 private boolean hasQrEdgeFeature(int[] buf, int[] index_table, NyARLabelingLabel i_label)
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395 int i_label_id = i_label.id;
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397 final int clip_l = i_label.clip_l;
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398 final int clip_b = i_label.clip_b;
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399 final int clip_r = i_label.clip_r;
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400 final int clip_t = i_label.clip_t;
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404 limage_j_ptr = clip_t*this._width;
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405 for (int i = clip_l; i <= clip_r; i++) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {
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406 w = buf[limage_j_ptr+i];
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407 if (w > 0 && index_table[w - 1] == i_label_id) {
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413 limage_j_ptr = clip_b*this._width;
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414 for (int i = clip_r; i >= clip_l; i--) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {
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415 w = buf[limage_j_ptr+i];
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416 if (w > 0 && index_table[w - 1] == i_label_id) {
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421 final int cx = (clip_l + clip_r) / 2;
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422 final int cy = (clip_t + clip_b) / 2;
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423 // 横断チェック(中心から線を引いて、010になるかしらべる)
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424 if (!checkDiagonalLine(buf, cx, cy, bx, clip_b)) {
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427 if (!checkDiagonalLine(buf, tx, clip_t, cx, cy)) {
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434 * シンボルのパターン特徴を調べる関数
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435 * 対角線の一部が010になってるか調べる。
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444 private boolean checkDiagonalLine(int[] buf, int i_px1, int i_py1, int i_px2, int i_py2)
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446 int sub_y = i_py2 - i_py1;
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447 int sub_x = i_px2 - i_px1;
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450 for (; i < sub_y; i++) {
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451 int yp = i_py1 + i;
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452 int xp = i_px1 + i * sub_x / sub_y;
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453 if (buf[yp*this._width+xp] == 0 && buf[yp*this._width+(xp-1)] == 0 && buf[yp*this._width+(xp+1)] == 0) {
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462 for (; i < sub_y; i++) {
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463 int yp = i_py1 + i;
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464 int xp = i_px1 + i * sub_x / sub_y;
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465 if (buf[yp*this._width+xp] != 0 && buf[yp*this._width+(xp-1)] != 0 && buf[yp*this._width+(xp+1)] != 0) {
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474 for (; i < sub_y; i++) {
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475 int yp = i_py1 + i;
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476 int xp = i_px1 + i * sub_x / sub_y;
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477 if (buf[yp*this._width+xp] == 0 && buf[yp*this._width+(xp-1)] == 0 && buf[yp*this._width+(xp+1)] == 0) {
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