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

   1 package jp.nyatla.nyartoolkit.core.squaredetect;\r
   2 \r
   3 import jp.nyatla.nyartoolkit.NyARException;\r
   4 import jp.nyatla.nyartoolkit.core.NyARSquare;\r
   5 import jp.nyatla.nyartoolkit.core.NyARVertexCounter;\r
   6 import jp.nyatla.nyartoolkit.core.param.NyARCameraDistortionFactor;\r
   7 import jp.nyatla.nyartoolkit.core.param.NyARObserv2IdealMap;\r
   8 import jp.nyatla.nyartoolkit.core.pca2d.INyARPca2d;\r
   9 import jp.nyatla.nyartoolkit.core.pca2d.NyARPca2d_MatrixPCA_O2;\r
  10 import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint2d;\r
  11 import jp.nyatla.nyartoolkit.core.types.NyARIntPoint2d;\r
  12 import jp.nyatla.nyartoolkit.core.types.NyARIntSize;\r
  13 import jp.nyatla.nyartoolkit.core.types.NyARLinear;\r
  14 import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix22;\r
  15 \r
  16 public class SquareContourDetector\r
  17 {\r
  18         private static final double VERTEX_FACTOR = 1.0;// 線検出のファクタ     \r
  19         private final double[] _xpos;\r
  20         private final double[] _ypos;   \r
  21         private final int[] __detectMarker_mkvertex = new int[5];\r
  22         private final NyARVertexCounter __getSquareVertex_wv1 = new NyARVertexCounter();\r
  23         private final NyARVertexCounter __getSquareVertex_wv2 = new NyARVertexCounter();\r
  24         private final INyARPca2d _pca;\r
  25         private final NyARDoubleMatrix22 __getSquareLine_evec=new NyARDoubleMatrix22();\r
  26         private final NyARDoublePoint2d __getSquareLine_mean=new NyARDoublePoint2d();\r
  27         private final NyARDoublePoint2d __getSquareLine_ev=new NyARDoublePoint2d();     \r
  28         private final NyARObserv2IdealMap _dist_factor;\r
  29         public SquareContourDetector(NyARIntSize i_size,NyARCameraDistortionFactor i_distfactor_ref)\r
  30         {\r
  31                 //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
  32                 //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
  33                 this._dist_factor = new NyARObserv2IdealMap(i_distfactor_ref,i_size);\r
  34 \r
  35 \r
  36                 // 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
  37                 this._pca=new NyARPca2d_MatrixPCA_O2();\r
  38                 this._xpos=new double[i_size.w+i_size.h];//最大辺長はthis._width+this._height\r
  39                 this._ypos=new double[i_size.w+i_size.h];//最大辺長はthis._width+this._height\r
  40                 return;\r
  41         }\r
  42 \r
  43         public boolean coordToSquare(int[] i_xcoord,int[] i_ycoord,int i_st_index,int i_coord_num,int i_label_area,NyARSquare o_square) throws NyARException\r
  44         {\r
  45 \r
  46                 final int[] mkvertex = this.__detectMarker_mkvertex;\r
  47 \r
  48                 // 頂点情報を取得\r
  49                 if (!getSquareVertex(i_xcoord, i_ycoord, i_st_index, i_coord_num, i_label_area, mkvertex)) {\r
  50                         // 頂点の取得が出来なかったので破棄\r
  51                         return false;\r
  52                 }\r
  53                 // マーカーを検出\r
  54                 if (!getSquareLine(mkvertex, i_xcoord, i_ycoord, o_square)){\r
  55                         // 矩形が成立しなかった。\r
  56                         return false;\r
  57                 }\r
  58                 return true;\r
  59         }\r
  60         \r
  61         private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square) throws NyARException\r
  62         {\r
  63                 final NyARLinear[] l_line = o_square.line;\r
  64                 final NyARDoubleMatrix22 evec=this.__getSquareLine_evec;\r
  65                 final NyARDoublePoint2d mean=this.__getSquareLine_mean;\r
  66                 final NyARDoublePoint2d ev=this.__getSquareLine_ev;\r
  67         \r
  68                 \r
  69                 for (int i = 0; i < 4; i++) {\r
  70                         final double w1 = (double) (i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5;\r
  71                         final int st = (int) (i_mkvertex[i] + w1);\r
  72                         final int ed = (int) (i_mkvertex[i + 1] - w1);\r
  73                         final int n = ed - st + 1;\r
  74                         if (n < 2) {\r
  75                                 // 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
  76                                 return false;\r
  77                         }\r
  78                         //配列作成\r
  79                         this._dist_factor.observ2IdealBatch(i_xcoord, i_ycoord, st, n,this._xpos,this._ypos);\r
  80                         \r
  81                         //主成分分析する。\r
  82                         this._pca.pca(this._xpos,this._ypos,n,evec, ev,mean);\r
  83                         final NyARLinear l_line_i = l_line[i];\r
  84                         l_line_i.run = evec.m01;// line[i][0] = evec->m[1];\r
  85                         l_line_i.rise = -evec.m00;// line[i][1] = -evec->m[0];\r
  86                         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]);\r
  87                 }\r
  88 \r
  89                 final NyARDoublePoint2d[] l_sqvertex = o_square.sqvertex;\r
  90                 final NyARIntPoint2d[] l_imvertex = o_square.imvertex;\r
  91                 for (int i = 0; i < 4; i++) {\r
  92                         final NyARLinear l_line_i = l_line[i];\r
  93                         final NyARLinear l_line_2 = l_line[(i + 3) % 4];\r
  94                         final double w1 = l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise;\r
  95                         if (w1 == 0.0) {\r
  96                                 return false;\r
  97                         }\r
  98                         l_sqvertex[i].x = (l_line_2.rise * l_line_i.intercept - l_line_i.rise * l_line_2.intercept) / w1;\r
  99                         l_sqvertex[i].y = (l_line_i.run * l_line_2.intercept - l_line_2.run * l_line_i.intercept) / w1;\r
 100                         // 頂点インデクスから頂点座標を得て保存\r
 101                         l_imvertex[i].x = i_xcoord[i_mkvertex[i]];\r
 102                         l_imvertex[i].y = i_ycoord[i_mkvertex[i]];\r
 103                 }\r
 104                 return true;\r
 105         }       \r
 106         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)\r
 107         {\r
 108                 final NyARVertexCounter wv1 = this.__getSquareVertex_wv1;\r
 109                 final NyARVertexCounter wv2 = this.__getSquareVertex_wv2;\r
 110                 final int end_of_coord = i_vertex1_index + i_coord_num - 1;\r
 111                 final int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];\r
 112                 final int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];\r
 113                 int dmax = 0;\r
 114                 int v1 = i_vertex1_index;\r
 115                 for (int i = 1 + i_vertex1_index; i < end_of_coord; i++) {// for(i=1;i<marker_info2->coord_num-1;i++)\r
 116                         // {\r
 117                         final int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);\r
 118                         if (d > dmax) {\r
 119                                 dmax = d;\r
 120                                 v1 = i;\r
 121                         }\r
 122                 }\r
 123                 final double thresh = (i_area / 0.75) * 0.01 * VERTEX_FACTOR;\r
 124 \r
 125                 o_vertex[0] = i_vertex1_index;\r
 126 \r
 127                 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)<\r
 128                                                                                                                                                                         // 0 ) {\r
 129                         return false;\r
 130                 }\r
 131                 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)\r
 132                         // < 0) {\r
 133                         return false;\r
 134                 }\r
 135 \r
 136                 int v2;\r
 137                 if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {// if(wvnum1 == 1 && wvnum2== 1) {\r
 138                         o_vertex[1] = wv1.vertex[0];\r
 139                         o_vertex[2] = v1;\r
 140                         o_vertex[3] = wv2.vertex[0];\r
 141                 } else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0) {// }else if( wvnum1 > 1 && wvnum2== 0) {\r
 142                         //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。\r
 143                         v2 = (v1-i_vertex1_index)/2+i_vertex1_index;\r
 144                         if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh)) {\r
 145                                 return false;\r
 146                         }\r
 147                         if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh)) {\r
 148                                 return false;\r
 149                         }\r
 150                         if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {\r
 151                                 o_vertex[1] = wv1.vertex[0];\r
 152                                 o_vertex[2] = wv2.vertex[0];\r
 153                                 o_vertex[3] = v1;\r
 154                         } else {\r
 155                                 return false;\r
 156                         }\r
 157                 } else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1) {\r
 158                         //v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;\r
 159                         v2 = (v1+ end_of_coord)/2;\r
 160 \r
 161                         if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh)) {\r
 162                                 return false;\r
 163                         }\r
 164                         if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh)) {\r
 165                                 return false;\r
 166                         }\r
 167                         if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {\r
 168                                 o_vertex[1] = v1;\r
 169                                 o_vertex[2] = wv1.vertex[0];\r
 170                                 o_vertex[3] = wv2.vertex[0];\r
 171                         } else {\r
 172                                 return false;\r
 173                         }\r
 174                 } else {\r
 175                         return false;\r
 176                 }\r
 177                 o_vertex[4] = end_of_coord;\r
 178                 return true;\r
 179         }\r
 180         \r
 181         /**\r
 182          * 輪郭線の矩形検出開始ポイントを特定して、座標を並べ替えます。\r
 183          * 輪郭線の先頭から、対角線が最長になる点を１点検索し、それより前の区間をバッファの後方に接続します。\r
 184          * 戻り値は対角線が最長になった点です。関数終了後、返却値+i_coord_numの要素が有効になります。\r
 185          * @param i_xcoord\r
 186          * @param i_ycoord\r
 187          * @param i_coord_num\r
 188          * @return\r
 189          */\r
 190         public static int normalizeCoord(int[] i_coord_x, int[] i_coord_y,int i_coord_num)\r
 191         {\r
 192                 //\r
 193                 final int sx = i_coord_x[0];\r
 194                 final int sy = i_coord_y[0];\r
 195                 int d = 0;\r
 196                 int w, x, y;\r
 197                 int ret = 0;\r
 198                 for (int i = 1; i < i_coord_num; i++) {\r
 199                         x = i_coord_x[i] - sx;\r
 200                         y = i_coord_y[i] - sy;\r
 201                         w = x * x + y * y;\r
 202                         if (w > d) {\r
 203                                 d = w;\r
 204                                 ret = i;\r
 205                         }\r
 206                         // ここでうまく終了条件入れられないかな。\r
 207                 }               \r
 208                 // vertex1を境界にして、後方に配列を連結\r
 209                 System.arraycopy(i_coord_x, 1, i_coord_x, i_coord_num, ret);\r
 210                 System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, ret);\r
 211                 return ret;\r
 212         }       \r
 213         \r
 214 }