trunk/src/jp/nyatla/nyartoolkit/core/squaredetect/NyARSquareDetector_ARToolKit.java

   1 package jp.nyatla.nyartoolkit.core.squaredetect;\r
   2 \r
   3 import jp.nyatla.nyartoolkit.NyARException;\r
   4 import jp.nyatla.nyartoolkit.core.INyARSquareDetector;\r
   5 import jp.nyatla.nyartoolkit.core.NyARSquare;\r
   6 import jp.nyatla.nyartoolkit.core.NyARSquareStack;\r
   7 import jp.nyatla.nyartoolkit.core.labeling.LabelOverlapChecker;\r
   8 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingImage;\r
   9 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabel;\r
  10 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabelStack;\r
  11 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabeling_ARToolKit;\r
  12 import jp.nyatla.nyartoolkit.core.param.NyARCameraDistortionFactor;\r
  13 import jp.nyatla.nyartoolkit.core.raster.NyARBinRaster;\r
  14 import jp.nyatla.nyartoolkit.core.types.NyARIntSize;\r
  15 \r
  16 \r
  17 \r
  18 public class NyARSquareDetector_ARToolKit implements INyARSquareDetector\r
  19 {\r
  20         private static final int AR_AREA_MAX = 100000;// #define AR_AREA_MAX 100000\r
  21         private static final int AR_AREA_MIN = 70;// #define AR_AREA_MIN 70\r
  22         private final int _width;\r
  23         private final int _height;\r
  24 \r
  25         private final NyARLabeling_ARToolKit _labeling;\r
  26 \r
  27         private final NyARLabelingImage _limage;\r
  28 \r
  29         private final LabelOverlapChecker<NyARLabelingLabel> _overlap_checker = new LabelOverlapChecker<NyARLabelingLabel>(32,NyARLabelingLabel.class);\r
  30         private final SquareContourDetector _sqconvertor;\r
  31         private final ContourPickup _cpickup=new ContourPickup();\r
  32         \r
  33         private final int _max_coord;\r
  34         private final int[] _xcoord;\r
  35         private final int[] _ycoord;    \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 NyARSquareDetector_ARToolKit(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                 //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
  46                 //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
  47                 this._labeling = new NyARLabeling_ARToolKit();\r
  48                 this._sqconvertor=new SquareContourDetector(i_size,i_dist_factor_ref);\r
  49                 this._limage = new NyARLabelingImage(this._width, this._height);\r
  50 \r
  51                 // 輪郭の最大長は画面に映りうる最大の長方形サイズ。\r
  52                 int number_of_coord = (this._width + this._height) * 2;\r
  53 \r
  54                 // 輪郭バッファは頂点変換をするので、輪郭バッファの２倍取る。\r
  55                 this._max_coord = number_of_coord;\r
  56                 this._xcoord = new int[number_of_coord * 2];\r
  57                 this._ycoord = new int[number_of_coord * 2];\r
  58                 return;\r
  59         }\r
  60 \r
  61         /**\r
  62          * arDetectMarker2を基にした関数\r
  63          * この関数はNyARSquare要素のうち、directionを除くパラメータを取得して返します。\r
  64          * directionの確定は行いません。\r
  65          * @param i_raster\r
  66          * 解析する２値ラスタイメージを指定します。\r
  67          * @param o_square_stack\r
  68          * 抽出した正方形候補を格納するリスト\r
  69          * @throws NyARException\r
  70          */\r
  71         public final void detectMarker(NyARBinRaster i_raster, NyARSquareStack o_square_stack) throws NyARException\r
  72         {\r
  73                 final NyARLabelingImage limage = this._limage;\r
  74 \r
  75                 // 初期化\r
  76 \r
  77                 // マーカーホルダをリセット\r
  78                 o_square_stack.clear();\r
  79 \r
  80                 // ラベル数が0ならここまで(Labeling内部でソートするようにした。)\r
  81                 final int label_num = this._labeling.labeling(i_raster,this._limage);\r
  82                 if (label_num < 1) {\r
  83                         return;\r
  84                 }\r
  85 \r
  86                 final NyARLabelingLabelStack stack = limage.getLabelStack();\r
  87                 final NyARLabelingLabel[] labels = stack.getArray();\r
  88 \r
  89                 // デカいラベルを読み飛ばし\r
  90                 int i;\r
  91                 for (i = 0; i < label_num; i++) {\r
  92                         // 検査対象内のラベルサイズになるまで無視\r
  93                         if (labels[i].area <= AR_AREA_MAX) {\r
  94                                 break;\r
  95                         }\r
  96                 }\r
  97 \r
  98                 final int xsize = this._width;\r
  99                 final int ysize = this._height;\r
 100                 final int[] xcoord = this._xcoord;\r
 101                 final int[] ycoord = this._ycoord;\r
 102                 final int coord_max = this._max_coord;\r
 103                 final LabelOverlapChecker<NyARLabelingLabel> overlap = this._overlap_checker;\r
 104 \r
 105                 //重なりチェッカの最大数を設定\r
 106                 overlap.setMaxLabels(label_num);\r
 107 \r
 108                 for (; i < label_num; i++) {\r
 109                         final NyARLabelingLabel label_pt = labels[i];\r
 110                         final int label_area = label_pt.area;\r
 111                         // 検査対象サイズよりも小さくなったら終了\r
 112                         if (label_area < AR_AREA_MIN) {\r
 113                                 break;\r
 114                         }\r
 115                         // クリップ領域が画面の枠に接していれば除外\r
 116                         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
 117                                 continue;\r
 118                         }\r
 119                         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
 120                                 continue;\r
 121                         }\r
 122                         // 既に検出された矩形との重なりを確認\r
 123                         if (!overlap.check(label_pt)) {\r
 124                                 // 重なっているようだ。\r
 125                                 continue;\r
 126                         }\r
 127                         // 輪郭を取得\r
 128                         final int coord_num = _cpickup.getContour(limage,limage.getTopClipTangentX(label_pt),label_pt.clip_t, coord_max, xcoord, ycoord);\r
 129                         if (coord_num == coord_max) {\r
 130                                 // 輪郭が大きすぎる。\r
 131                                 continue;\r
 132                         }\r
 133                         //輪郭分析用に正規化する。\r
 134                         final int vertex1 = SquareContourDetector.normalizeCoord(xcoord, ycoord, coord_num);\r
 135 \r
 136                         //ここから先が輪郭分析\r
 137                         NyARSquare square_ptr = o_square_stack.prePush();\r
 138                         if(!this._sqconvertor.coordToSquare(xcoord,ycoord,vertex1,coord_num,label_area,square_ptr)){\r
 139                                 o_square_stack.pop();// 頂点の取得が出来なかったので破棄\r
 140                                 continue;                               \r
 141                         }\r
 142                         // 検出済の矩形の属したラベルを重なりチェックに追加する。\r
 143                         overlap.push(label_pt);\r
 144                 }\r
 145                 return;\r
 146         }\r
 147 \r
 148 }\r
 149 \r
 150 \r
 151 \r