trunk/src/jp/nyatla/nyartoolkit/core/squaredetect/NyARCoord2Linear.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.param.NyARCameraDistortionFactor;\r
  35 import jp.nyatla.nyartoolkit.core.param.NyARObserv2IdealMap;\r
  36 import jp.nyatla.nyartoolkit.core.pca2d.INyARPca2d;\r
  37 import jp.nyatla.nyartoolkit.core.pca2d.NyARPca2d_MatrixPCA_O2;\r
  38 import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint2d;\r
  39 import jp.nyatla.nyartoolkit.core.types.NyARIntPoint2d;\r
  40 import jp.nyatla.nyartoolkit.core.types.NyARIntSize;\r
  41 import jp.nyatla.nyartoolkit.core.types.NyARLinear;\r
  42 import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix22;\r
  43 \r
  44 \r
  45 \r
  46 /**\r
  47  * 頂点集合を一次方程式のパラメータに変換します。\r
  48  * \r
  49  *\r
  50  */\r
  51 public class NyARCoord2Linear\r
  52 {\r
  53         private final double[] _xpos;\r
  54         private final double[] _ypos;   \r
  55         private final INyARPca2d _pca;\r
  56         private final NyARDoubleMatrix22 __getSquareLine_evec=new NyARDoubleMatrix22();\r
  57         private final double[] __getSquareLine_mean=new double[2];\r
  58         private final double[] __getSquareLine_ev=new double[2];\r
  59         private final NyARObserv2IdealMap _dist_factor;\r
  60         public NyARCoord2Linear(NyARIntSize i_size,NyARCameraDistortionFactor i_distfactor_ref)\r
  61         {\r
  62                 //歪み計算テーブルを作ると、8*width/height*2の領域を消費します。\r
  63                 //領域を取りたくない場合は、i_dist_factor_refの値をそのまま使ってください。\r
  64                 this._dist_factor = new NyARObserv2IdealMap(i_distfactor_ref,i_size);\r
  65 \r
  66 \r
  67                 // 輪郭バッファ\r
  68                 this._pca=new NyARPca2d_MatrixPCA_O2();\r
  69                 this._xpos=new double[i_size.w+i_size.h];//最大辺長はthis._width+this._height\r
  70                 this._ypos=new double[i_size.w+i_size.h];//最大辺長はthis._width+this._height\r
  71                 return;\r
  72         }\r
  73 \r
  74 \r
  75         /**\r
  76          * 輪郭点集合からay+bx+c=0の直線式を計算します。\r
  77          * @param i_st\r
  78          * @param i_ed\r
  79          * @param i_xcoord\r
  80          * @param i_ycoord\r
  81          * @param i_cood_num\r
  82          * @param o_line\r
  83          * @return\r
  84          * @throws NyARException\r
  85          */\r
  86         public boolean coord2Line(int i_st,int i_ed,int[] i_xcoord, int[] i_ycoord,int i_cood_num, NyARLinear o_line) throws NyARException\r
  87         {\r
  88                 //頂点を取得\r
  89                 int n,st,ed;\r
  90                 double w1;\r
  91         \r
  92                 //探索区間の決定\r
  93                 if(i_ed>=i_st){\r
  94                         //頂点[i]から頂点[i+1]までの輪郭が、1区間にあるとき\r
  95                         w1 = (double) (i_ed - i_st + 1) * 0.05 + 0.5;\r
  96                         //探索区間の決定\r
  97                         st = (int) (i_st+w1);\r
  98                         ed = (int) (i_ed - w1);\r
  99                 }else{\r
 100                         //頂点[i]から頂点[i+1]までの輪郭が、2区間に分かれているとき\r
 101                         w1 = (double) (i_ed+i_cood_num-i_st+1)%i_cood_num * 0.05 + 0.5;\r
 102                         //探索区間の決定\r
 103                         st = (int) (i_st+w1)%i_cood_num;\r
 104                         ed = (int) (i_ed+i_cood_num-w1)%i_cood_num;\r
 105                 }\r
 106                 //探索区間数を確認\r
 107                 if(st<=ed){\r
 108                         //探索区間は1区間\r
 109                         n = ed - st + 1;\r
 110                         this._dist_factor.observ2IdealBatch(i_xcoord, i_ycoord, st, n,this._xpos,this._ypos,0);\r
 111                 }else{\r
 112                         //探索区間は2区間\r
 113                         n=ed+1+i_cood_num-st;\r
 114                         this._dist_factor.observ2IdealBatch(i_xcoord, i_ycoord, st,i_cood_num-st,this._xpos,this._ypos,0);\r
 115                         this._dist_factor.observ2IdealBatch(i_xcoord, i_ycoord, 0,ed+1,this._xpos,this._ypos,i_cood_num-st);\r
 116                 }\r
 117                 //要素数の確認\r
 118                 if (n < 2) {\r
 119                         // nが2以下でmatrix.PCAを計算することはできないので、エラー\r
 120                         return false;\r
 121                 }\r
 122                 //主成分分析する。\r
 123                 final NyARDoubleMatrix22 evec=this.__getSquareLine_evec;\r
 124                 final double[] mean=this.__getSquareLine_mean;\r
 125 \r
 126                 \r
 127                 this._pca.pca(this._xpos,this._ypos,n,evec, this.__getSquareLine_ev,mean);\r
 128                 o_line.dy = evec.m01;// line[i][0] = evec->m[1];\r
 129                 o_line.dx = -evec.m00;// line[i][1] = -evec->m[0];\r
 130                 o_line.c = -(o_line.dy * mean[0] + o_line.dx * mean[1]);// line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]);\r
 131 \r
 132                 return true;\r
 133         }\r
 134 }