trunk/src/jp/nyatla/nyartoolkit/processor/SingleNyIdMarkerProcesser.java

   1 /* \r
   2  * Capture Test NyARToolkitサンプルプログラム\r
   3  * --------------------------------------------------------------------------------\r
   4  * The NyARToolkit is Java edition ARToolKit class library.\r
   5  * Copyright (C)2008-2009 Ryo Iizuka\r
   6  *\r
   7  * This program is free software: you can redistribute it and/or modify\r
   8  * it under the terms of the GNU General Public License as published by\r
   9  * the Free Software Foundation, either version 3 of the License, or\r
  10  * (at your option) any later version.\r
  11  * \r
  12  * This program is distributed in the hope that it will be useful,\r
  13  * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
  15  * GNU General Public License for more details.\r
  16  *\r
  17  * You should have received a copy of the GNU General Public License\r
  18  * along with this program.  If not, see <http://www.gnu.org/licenses/>.\r
  19  * \r
  20  * For further information please contact.\r
  21  *      http://nyatla.jp/nyatoolkit/\r
  22  *      <airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>\r
  23  * \r
  24  */\r
  25 package jp.nyatla.nyartoolkit.processor;\r
  26 \r
  27 import jp.nyatla.nyartoolkit.NyARException;\r
  28 import jp.nyatla.nyartoolkit.core.analyzer.raster.threshold.*;\r
  29 import jp.nyatla.nyartoolkit.core.param.*;\r
  30 import jp.nyatla.nyartoolkit.core.raster.*;\r
  31 import jp.nyatla.nyartoolkit.core.raster.rgb.*;\r
  32 import jp.nyatla.nyartoolkit.core.transmat.*;\r
  33 import jp.nyatla.nyartoolkit.core.rasterfilter.rgb2bin.NyARRasterFilter_ARToolkitThreshold;\r
  34 import jp.nyatla.nyartoolkit.core.types.*;\r
  35 import jp.nyatla.nyartoolkit.nyidmarker.*;\r
  36 import jp.nyatla.nyartoolkit.nyidmarker.data.*;\r
  37 import jp.nyatla.nyartoolkit.core.squaredetect.*;\r
  38 \r
  39 public abstract class SingleNyIdMarkerProcesser\r
  40 {\r
  41         /**\r
  42          * detectMarkerのコールバック関数\r
  43          */\r
  44         private class DetectSquareCB implements NyARSquareContourDetector.IDetectMarkerCallback\r
  45         {\r
  46                 //公開プロパティ\r
  47                 public final NyARSquare square=new NyARSquare();\r
  48                 public INyIdMarkerData marker_data;\r
  49                 public int threshold;\r
  50 \r
  51                 \r
  52                 //参照\r
  53                 private INyARRgbRaster _ref_raster;\r
  54                 //所有インスタンス\r
  55                 private INyIdMarkerData _current_data;\r
  56                 private final NyIdMarkerPickup _id_pickup = new NyIdMarkerPickup();\r
  57                 private NyARCoord2Linear _coordline;\r
  58                 private INyIdMarkerDataEncoder _encoder;\r
  59 \r
  60                 \r
  61                 private INyIdMarkerData _data_temp;\r
  62                 private INyIdMarkerData _prev_data;\r
  63                 \r
  64                 public DetectSquareCB(NyARParam i_param,INyIdMarkerDataEncoder i_encoder)\r
  65                 {\r
  66                         this._coordline=new NyARCoord2Linear(i_param.getScreenSize(),i_param.getDistortionFactor());\r
  67                         this._data_temp=i_encoder.createDataInstance();\r
  68                         this._current_data=i_encoder.createDataInstance();\r
  69                         this._encoder=i_encoder;\r
  70                         return;\r
  71                 }\r
  72                 private NyARIntPoint2d[] __tmp_vertex=NyARIntPoint2d.createArray(4);\r
  73                 /**\r
  74                  * Initialize call back handler.\r
  75                  */\r
  76                 public void init(INyARRgbRaster i_raster,INyIdMarkerData i_prev_data)\r
  77                 {\r
  78                         this.marker_data=null;\r
  79                         this._prev_data=i_prev_data;\r
  80                         this._ref_raster=i_raster;\r
  81                 }\r
  82                 private final NyIdMarkerParam _marker_param=new NyIdMarkerParam();\r
  83                 private final NyIdMarkerPattern _marker_data=new NyIdMarkerPattern();\r
  84 \r
  85                 /**\r
  86                  * 矩形が見付かるたびに呼び出されます。\r
  87                  * 発見した矩形のパターンを検査して、方位を考慮した頂点データを確保します。\r
  88                  */\r
  89                 public void onSquareDetect(NyARSquareContourDetector i_sender,int[] i_coordx,int[] i_coordy,int i_coor_num,int[] i_vertex_index) throws NyARException\r
  90                 {\r
  91                         //既に発見済なら終了\r
  92                         if(this.marker_data!=null){\r
  93                                 return;\r
  94                         }\r
  95                         //輪郭座標から頂点リストに変換\r
  96                         NyARIntPoint2d[] vertex=this.__tmp_vertex;\r
  97                         vertex[0].x=i_coordx[i_vertex_index[0]];\r
  98                         vertex[0].y=i_coordy[i_vertex_index[0]];\r
  99                         vertex[1].x=i_coordx[i_vertex_index[1]];\r
 100                         vertex[1].y=i_coordy[i_vertex_index[1]];\r
 101                         vertex[2].x=i_coordx[i_vertex_index[2]];\r
 102                         vertex[2].y=i_coordy[i_vertex_index[2]];\r
 103                         vertex[3].x=i_coordx[i_vertex_index[3]];\r
 104                         vertex[3].y=i_coordy[i_vertex_index[3]];\r
 105                 \r
 106                         NyIdMarkerParam param=this._marker_param;\r
 107                         NyIdMarkerPattern patt_data  =this._marker_data;                        \r
 108                         // 評価基準になるパターンをイメージから切り出す\r
 109                         if (!this._id_pickup.pickFromRaster(this._ref_raster,vertex, patt_data, param)){\r
 110                                 return;\r
 111                         }\r
 112                         //エンコード\r
 113                         if(!this._encoder.encode(patt_data,this._data_temp)){\r
 114                                 return;\r
 115                         }\r
 116 \r
 117                         //継続認識要求されている？\r
 118                         if (this._prev_data==null){\r
 119                                 //継続認識要求なし\r
 120                                 this._current_data.copyFrom(this._data_temp);\r
 121                         }else{\r
 122                                 //継続認識要求あり\r
 123                                 if(!this._prev_data.isEqual((this._data_temp))){\r
 124                                         return;//認識請求のあったIDと違う。\r
 125                                 }\r
 126                         }\r
 127                         //新しく認識、または継続認識中に更新があったときだけ、Square情報を更新する。\r
 128                         //ココから先はこの条件でしか実行されない。\r
 129                         NyARSquare sq=this.square;\r
 130                         //directionを考慮して、squareを更新する。\r
 131                         for(int i=0;i<4;i++){\r
 132                                 int idx=(i+4 - param.direction) % 4;\r
 133                                 this._coordline.coord2Line(i_vertex_index[idx],i_vertex_index[(idx+1)%4],i_coordx,i_coordy,i_coor_num,sq.line[i]);\r
 134                         }\r
 135                         for (int i = 0; i < 4; i++) {\r
 136                                 //直線同士の交点計算\r
 137                                 if(!NyARLinear.crossPos(sq.line[i],sq.line[(i + 3) % 4],sq.sqvertex[i])){\r
 138                                         throw new NyARException();//ここのエラー復帰するならダブルバッファにすればOK\r
 139                                 }\r
 140                         }\r
 141                         this.threshold=param.threshold;\r
 142                         this.marker_data=this._current_data;//みつかった。\r
 143                 }\r
 144         }       \r
 145         /**\r
 146          * オーナーが自由に使えるタグ変数です。\r
 147          */\r
 148         public Object tag;\r
 149 \r
 150         /**\r
 151          * ロスト遅延の管理\r
 152          */\r
 153         private int _lost_delay_count = 0;\r
 154         private int _lost_delay = 5;\r
 155 \r
 156         private NyARSquareContourDetector_Rle _square_detect;\r
 157         protected INyARTransMat _transmat;\r
 158         private NyARRectOffset _offset; \r
 159         private boolean _is_active;\r
 160         private int _current_threshold=110;\r
 161         // [AR]検出結果の保存用\r
 162         private NyARBinRaster _bin_raster;\r
 163         private NyARRasterFilter_ARToolkitThreshold _tobin_filter;\r
 164         private DetectSquareCB _callback;\r
 165         private INyIdMarkerData _data_current;\r
 166 \r
 167 \r
 168         protected SingleNyIdMarkerProcesser()\r
 169         {\r
 170                 return;\r
 171         }\r
 172         private boolean _initialized=false;\r
 173         protected void initInstance(NyARParam i_param,INyIdMarkerDataEncoder i_encoder,double i_marker_width,int i_raster_format) throws NyARException\r
 174         {\r
 175                 //初期化済？\r
 176                 assert(this._initialized==false);\r
 177                 \r
 178                 NyARIntSize scr_size = i_param.getScreenSize();\r
 179                 // 解析オブジェクトを作る\r
 180                 this._square_detect = new NyARSquareContourDetector_Rle(scr_size);\r
 181                 this._transmat = new NyARTransMat(i_param);\r
 182                 this._callback=new DetectSquareCB(i_param,i_encoder);\r
 183 \r
 184                 // ２値画像バッファを作る\r
 185                 this._bin_raster = new NyARBinRaster(scr_size.w, scr_size.h);\r
 186                 //ワーク用のデータオブジェクトを２個作る\r
 187                 this._data_current=i_encoder.createDataInstance();\r
 188                 this._tobin_filter =new NyARRasterFilter_ARToolkitThreshold(110,i_raster_format);\r
 189                 this._threshold_detect=new NyARRasterThresholdAnalyzer_SlidePTile(15,i_raster_format,4);\r
 190                 this._initialized=true;\r
 191                 this._is_active=false;\r
 192                 this._offset=new NyARRectOffset();\r
 193                 this._offset.setSquare(i_marker_width);\r
 194                 return;\r
 195                 \r
 196         }\r
 197 \r
 198         public void setMarkerWidth(int i_width)\r
 199         {\r
 200                 this._offset.setSquare(i_width);\r
 201                 return;\r
 202         }\r
 203 \r
 204         public void reset(boolean i_is_force)\r
 205         {\r
 206                 if (i_is_force == false && this._is_active){\r
 207                         // 強制書き換えでなければイベントコール\r
 208                         this.onLeaveHandler();\r
 209                 }\r
 210                 //マーカ無効\r
 211                 this._is_active=false;\r
 212                 return;\r
 213         }\r
 214 \r
 215         public void detectMarker(INyARRgbRaster i_raster) throws NyARException\r
 216         {\r
 217                 // サイズチェック\r
 218                 if (!this._bin_raster.getSize().isEqualSize(i_raster.getSize().w, i_raster.getSize().h)) {\r
 219                         throw new NyARException();\r
 220                 }\r
 221                 // ラスタを２値イメージに変換する.\r
 222                 this._tobin_filter.setThreshold(this._current_threshold);\r
 223                 this._tobin_filter.doFilter(i_raster, this._bin_raster);\r
 224 \r
 225                 // スクエアコードを探す(第二引数に指定したマーカ、もしくは新しいマーカを探す。)\r
 226                 this._callback.init(i_raster,this._is_active?this._data_current:null);\r
 227                 this._square_detect.detectMarkerCB(this._bin_raster, this._callback);\r
 228 \r
 229                 // 認識状態を更新(マーカを発見したなら、current_dataを渡すかんじ)\r
 230                 final boolean is_id_found=updateStatus(this._callback.square,this._callback.marker_data);\r
 231 \r
 232                 //閾値フィードバック(detectExistMarkerにもあるよ)\r
 233                 if(is_id_found){\r
 234                         //マーカがあれば、マーカの周辺閾値を反映\r
 235                         this._current_threshold=(this._current_threshold+this._callback.threshold)/2;\r
 236                 }else{\r
 237                         //マーカがなければ、探索+DualPTailで基準輝度検索\r
 238                         int th=this._threshold_detect.analyzeRaster(i_raster);\r
 239                         this._current_threshold=(this._current_threshold+th)/2;\r
 240                 }               \r
 241                 return;\r
 242         }\r
 243 \r
 244         \r
 245         private NyARRasterThresholdAnalyzer_SlidePTile _threshold_detect;\r
 246         private NyARTransMatResult __NyARSquare_result = new NyARTransMatResult();\r
 247 \r
 248         /**オブジェクトのステータスを更新し、必要に応じてハンドル関数を駆動します。\r
 249          */\r
 250         private boolean updateStatus(NyARSquare i_square, INyIdMarkerData i_marker_data)  throws NyARException\r
 251         {\r
 252                 boolean is_id_found=false;\r
 253                 NyARTransMatResult result = this.__NyARSquare_result;\r
 254                 if (!this._is_active) {// 未認識中\r
 255                         if (i_marker_data==null) {// 未認識から未認識の遷移\r
 256                                 // なにもしないよーん。\r
 257                                 this._is_active=false;\r
 258                         } else {// 未認識から認識の遷移\r
 259                                 this._data_current.copyFrom(i_marker_data);\r
 260                                 // イベント生成\r
 261                                 // OnEnter\r
 262                                 this.onEnterHandler(this._data_current);\r
 263                                 // 変換行列を作成\r
 264                                 this._transmat.transMat(i_square, this._offset, result);\r
 265                                 // OnUpdate\r
 266                                 this.onUpdateHandler(i_square, result);\r
 267                                 this._lost_delay_count = 0;\r
 268                                 this._is_active=true;\r
 269                                 is_id_found=true;\r
 270                         }\r
 271                 } else {// 認識中\r
 272                         if (i_marker_data==null) {\r
 273                                 // 認識から未認識の遷移\r
 274                                 this._lost_delay_count++;\r
 275                                 if (this._lost_delay < this._lost_delay_count) {\r
 276                                         // OnLeave\r
 277                                         this.onLeaveHandler();\r
 278                                         this._is_active=false;\r
 279                                 }\r
 280                         } else if(this._data_current.isEqual(i_marker_data)) {\r
 281                                 //同じidの再認識\r
 282                                 this._transmat.transMatContinue(i_square, this._offset, result);\r
 283                                 // OnUpdate\r
 284                                 this.onUpdateHandler(i_square, result);\r
 285                                 this._lost_delay_count = 0;\r
 286                                 is_id_found=true;\r
 287                         } else {// 異なるコードの認識→今はサポートしない。\r
 288                                 throw new  NyARException();\r
 289                         }\r
 290                 }\r
 291                 return is_id_found;\r
 292         }       \r
 293         //通知ハンドラ\r
 294         protected abstract void onEnterHandler(INyIdMarkerData i_code);\r
 295         protected abstract void onLeaveHandler();\r
 296         protected abstract void onUpdateHandler(NyARSquare i_square, NyARTransMatResult result);\r
 297 }\r