import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabelStack;\r
import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabeling_ARToolKit;\r
import jp.nyatla.nyartoolkit.core.param.NyARCameraDistortionFactor;\r
-import jp.nyatla.nyartoolkit.core.pca2d.*;\r
import jp.nyatla.nyartoolkit.core.raster.NyARBinRaster;\r
+import jp.nyatla.nyartoolkit.core.squaredetect.ContourPickup;\r
import jp.nyatla.nyartoolkit.core.squaredetect.INyARSquareDetector;\r
import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquare;\r
import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquareStack;\r
-import jp.nyatla.nyartoolkit.core.squaredetect.NyARVertexCounter;\r
+import jp.nyatla.nyartoolkit.core.squaredetect.SquareContourDetector;\r
import jp.nyatla.nyartoolkit.core.types.*;\r
-import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix22;\r
\r
public class NyARQrCodeDetector implements INyARSquareDetector\r
{\r
private NyARQrCodeSymbolBinder _binder;\r
- private static final double VERTEX_FACTOR = 2.0;// 線検出のファクタ\r
\r
private static final int AR_AREA_MAX = 10000;\r
\r
\r
private final NyARLabelingImage _limage;\r
\r
- private final NyARCameraDistortionFactor _dist_factor_ref;\r
- private final double[] _xpos;\r
- private final double[] _ypos;\r
+ private final SquareContourDetector _sqconvertor;\r
+ private final ContourPickup _cpickup=new ContourPickup();\r
+ \r
/**\r
* 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
* \r
{\r
this._width = i_size.w;\r
this._height = i_size.h;\r
- this._dist_factor_ref = i_dist_factor_ref;\r
this._labeling = new NyARLabeling_ARToolKit();\r
this._limage = new NyARLabelingImage(this._width, this._height);\r
- this._labeling.attachDestination(this._limage);\r
this._binder=new NyARQrCodeSymbolBinder(i_dist_factor_ref);\r
+ this._sqconvertor=new SquareContourDetector(i_size,i_dist_factor_ref);\r
\r
// 輪郭の最大長はMAX_COORD_NUMの2倍に制限\r
int number_of_coord = MAX_COORD_NUM* 2;\r
this._max_coord = number_of_coord;\r
this._xcoord = new int[number_of_coord * 2];\r
this._ycoord = new int[number_of_coord * 2];\r
- this._xpos=new double[this._width+this._height];//最大辺長はthis._width+this._height\r
- this._ypos=new double[this._width+this._height];//最大辺長はthis._width+this._height\r
\r
}\r
\r
\r
private final int[] _ycoord;\r
\r
- private void normalizeCoord(int[] i_coord_x, int[] i_coord_y, int i_index, int i_coord_num)\r
- {\r
- // vertex1を境界にして、後方に配列を連結\r
- System.arraycopy(i_coord_x, 1, i_coord_x, i_coord_num, i_index);\r
- System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, i_index);\r
- }\r
-\r
- private final int[] __detectMarker_mkvertex = new int[5];\r
\r
/**\r
* ARMarkerInfo2 *arDetectMarker2( ARInt16 *limage, int label_num, int *label_ref,int *warea, double *wpos, int *wclip,int area_max, int area_min, double\r
*/\r
public final void detectMarker(NyARBinRaster i_raster, NyARSquareStack o_square_stack) throws NyARException\r
{\r
- final NyARLabeling_ARToolKit labeling_proc = this._labeling;\r
final NyARLabelingImage limage = this._limage;\r
\r
// 初期化\r
o_square_stack.clear();\r
\r
// ラベリング\r
- labeling_proc.labeling(i_raster);\r
+ this._labeling.labeling(i_raster,limage);\r
\r
// ラベル数が0ならここまで\r
final int label_num = limage.getLabelStack().getLength();\r
final int[] xcoord = this._xcoord;\r
final int[] ycoord = this._ycoord;\r
final int coord_max = this._max_coord;\r
- final int[] mkvertex = this.__detectMarker_mkvertex;\r
final int[] buf = (int[]) limage.getBufferReader().getBuffer();\r
final int[] indextable = limage.getIndexArray();\r
- int coord_num;\r
+\r
int label_area;\r
NyARLabelingLabel label_pt;\r
NyARSquareStack wk_stack=new NyARSquareStack(10);\r
if (!hasQrEdgeFeature(buf, indextable, label_pt)) {\r
continue;\r
}\r
-\r
// 輪郭を取得\r
- coord_num = limage.getContour(i, coord_max, xcoord, ycoord);\r
+ final int coord_num = _cpickup.getContour(limage,limage.getTopClipTangentX(label_pt),label_pt.clip_t, coord_max, xcoord, ycoord);\r
if (coord_num == coord_max) {\r
// 輪郭が大きすぎる。\r
continue;\r
}\r
- // 頂点候補のインデクスを取得\r
- final int vertex1 = scanVertex(xcoord, ycoord, coord_num);\r
-\r
- // 頂点候補(vertex1)を先頭に並べなおした配列を作成する。\r
- normalizeCoord(xcoord, ycoord, vertex1, coord_num);\r
-\r
- // 頂点情報を取得\r
- if (!getSquareVertex(xcoord, ycoord, vertex1, coord_num, label_area, mkvertex)) {\r
- continue;\r
- }\r
- NyARSquare square=(NyARSquare)wk_stack.prePush();\r
- //矩形からラインと観察座標を取得\r
- if(!getSquareLine(mkvertex,xcoord,ycoord,square.line,square.imvertex)){\r
- wk_stack.pop();\r
- continue;\r
+ //輪郭分析用に正規化する。\r
+ final int vertex1 = SquareContourDetector.normalizeCoord(xcoord, ycoord, coord_num);\r
+\r
+ //ここから先が輪郭分析\r
+ NyARSquare square_ptr = o_square_stack.prePush();\r
+ if(!this._sqconvertor.coordToSquare(xcoord,ycoord,vertex1,coord_num,label_area,square_ptr)){\r
+ o_square_stack.pop();// 頂点の取得が出来なかったので破棄\r
+ continue; \r
}\r
}\r
//シンボルの関連付け\r
return;\r
}\r
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)\r
- private final INyARPca2d _pca=new NyARPca2d_MatrixPCA_O2();\r
- private final NyARDoubleMatrix22 __getSquareLine_evec=new NyARDoubleMatrix22();\r
- private final NyARDoublePoint2d __getSquareLine_mean=new NyARDoublePoint2d();\r
- private final NyARDoublePoint2d __getSquareLine_ev=new NyARDoublePoint2d();\r
- /**\r
- * 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\r
- * @param i_cparam\r
- * @return\r
- * @throws NyARException\r
- */\r
- private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARLinear[] o_line,NyARIntPoint2d[] o_imvertex) throws NyARException\r
- {\r
- final NyARDoubleMatrix22 evec=this.__getSquareLine_evec;\r
- final NyARDoublePoint2d mean=this.__getSquareLine_mean;\r
- final NyARDoublePoint2d ev=this.__getSquareLine_ev;\r
- \r
- \r
- for (int i = 0; i < 4; i++) {\r
- final double w1 = (double) (i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5;\r
- final int st = (int) (i_mkvertex[i] + w1);\r
- final int ed = (int) (i_mkvertex[i + 1] - w1);\r
- final int n = ed - st + 1;\r
- if (n < 2 || n>MAX_COORD_NUM) {\r
- // nが2以下、又はMAX_COORD_NUM以上なら主成分分析をしない。\r
- return false;\r
- }\r
- //配列作成\r
- this._dist_factor_ref.observ2IdealBatch(i_xcoord, i_ycoord, st, n,this._xpos,this._ypos);\r
- \r
- //主成分分析する。\r
- this._pca.pca(this._xpos,this._ypos,n,evec, ev,mean);\r
- final NyARLinear l_line_i = o_line[i];\r
- l_line_i.run = evec.m01;// line[i][0] = evec->m[1];\r
- l_line_i.rise = -evec.m00;// line[i][1] = -evec->m[0];\r
- 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
- }\r
- for (int i = 0; i < 4; i++) {\r
- final NyARLinear l_line_i = o_line[i];\r
- final NyARLinear l_line_2 = o_line[(i + 3) % 4];\r
- final double w1 = l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise;\r
- if (w1 == 0.0) {\r
- return false;\r
- }\r
- // 頂点インデクスから頂点座標を得て保存\r
- o_imvertex[i].x = i_xcoord[i_mkvertex[i]];\r
- o_imvertex[i].y = i_ycoord[i_mkvertex[i]];\r
- }\r
- return true;\r
- }\r
- /**\r
- * 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。\r
- * \r
- * @param i_xcoord\r
- * @param i_ycoord\r
- * @param i_coord_num\r
- * @return\r
- */\r
- private int scanVertex(int[] i_xcoord, int[] i_ycoord, int i_coord_num)\r
- {\r
- final int sx = i_xcoord[0];\r
- final int sy = i_ycoord[0];\r
- int d = 0;\r
- int w, x, y;\r
- int ret = 0;\r
- for (int i = 1; i < i_coord_num; i++) {\r
- x = i_xcoord[i] - sx;\r
- y = i_ycoord[i] - sy;\r
- w = x * x + y * y;\r
- if (w > d) {\r
- d = w;\r
- ret = i;\r
- }\r
- // ここでうまく終了条件入れられないかな。\r
- }\r
- return ret;\r
- }\r
-\r
- private final NyARVertexCounter __getSquareVertex_wv1 = new NyARVertexCounter();\r
- private final NyARVertexCounter __getSquareVertex_wv2 = new NyARVertexCounter();\r
\r
/**\r
- * 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。\r
- * \r
- * @param i_x_coord\r
- * @param i_y_coord\r
- * @param i_vertex1_index\r
- * @param i_coord_num\r
- * @param i_area\r
- * @param o_vertex\r
- * 要素数はint[4]である事\r
- * @return\r
- */\r
- 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
- {\r
- final NyARVertexCounter wv1 = this.__getSquareVertex_wv1;\r
- final NyARVertexCounter wv2 = this.__getSquareVertex_wv2;\r
- final int end_of_coord = i_vertex1_index + i_coord_num - 1;\r
- final int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];\r
- final int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];\r
- int dmax = 0;\r
- int v1 = i_vertex1_index;\r
- for (int i = 1 + i_vertex1_index; i < end_of_coord; i++) {// for(i=1;i<marker_info2->coord_num-1;i++)\r
- // {\r
- final int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);\r
- if (d > dmax) {\r
- dmax = d;\r
- v1 = i;\r
- }\r
- }\r
- final double thresh = (i_area / 0.75) * 0.01 * VERTEX_FACTOR;\r
-\r
- o_vertex[0] = i_vertex1_index;\r
-\r
- 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
- // 0 ) {\r
- return false;\r
- }\r
- 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
- // < 0) {\r
- return false;\r
- }\r
-\r
- int v2;\r
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {// if(wvnum1 == 1 && wvnum2== 1) {\r
- o_vertex[1] = wv1.vertex[0];\r
- o_vertex[2] = v1;\r
- o_vertex[3] = wv2.vertex[0];\r
- } else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0) {// }else if( wvnum1 > 1 && wvnum2== 0) {\r
- // 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
- v2 = (v1 - i_vertex1_index) / 2 + i_vertex1_index;\r
- if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh)) {\r
- return false;\r
- }\r
- if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh)) {\r
- return false;\r
- }\r
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {\r
- o_vertex[1] = wv1.vertex[0];\r
- o_vertex[2] = wv2.vertex[0];\r
- o_vertex[3] = v1;\r
- } else {\r
- return false;\r
- }\r
- } else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1) {\r
- // v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;\r
- v2 = (v1 + end_of_coord) / 2;\r
-\r
- if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh)) {\r
- return false;\r
- }\r
- if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh)) {\r
- return false;\r
- }\r
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {\r
- o_vertex[1] = v1;\r
- o_vertex[2] = wv1.vertex[0];\r
- o_vertex[3] = wv2.vertex[0];\r
- } else {\r
- return false;\r
- }\r
- } else {\r
- return false;\r
- }\r
- o_vertex[4] = end_of_coord;\r
- return true;\r
- }\r
- /**\r
* 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\r
* @param buf\r
* @param index_table\r
import jp.nyatla.nyartoolkit.NyARException;
import jp.nyatla.nyartoolkit.jmf.utils.*;
-import jp.nyatla.nyartoolkit.core.*;
import java.awt.*;
-import jp.nyatla.nyartoolkit.core.labeling.*;
import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingImage;
import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabeling_ARToolKit;
import jp.nyatla.nyartoolkit.core.param.*;
// 画像3
NyARLabelingImage limage = new NyARLabelingImage(320, 240);
NyARLabeling_ARToolKit labeling = new NyARLabeling_ARToolKit();
- labeling.attachDestination(limage);
- labeling.labeling(_binraster1);
+ labeling.labeling(_binraster1,limage);
this._bimg.drawImage(this._gsraster1);
NyARSquareStack stack = new NyARSquareStack(100);
package jp.nyatla.nyartoolkit.sandbox.quadx2;\r
import jp.nyatla.nyartoolkit.NyARException;\r
import jp.nyatla.nyartoolkit.core.labeling.*;\r
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingImage;\r
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabel;\r
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabelStack;\r
+import jp.nyatla.nyartoolkit.core.labeling.artoolkit.*;\r
import jp.nyatla.nyartoolkit.core.raster.*;\r
+import jp.nyatla.nyartoolkit.core.squaredetect.ContourPickup;\r
import jp.nyatla.nyartoolkit.core.squaredetect.INyARSquareDetector;\r
import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquare;\r
import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquareStack;\r
-import jp.nyatla.nyartoolkit.core.squaredetect.NyARVertexCounter;\r
+import jp.nyatla.nyartoolkit.core.squaredetect.SquareContourDetector;\r
import jp.nyatla.nyartoolkit.core.types.*;\r
import jp.nyatla.nyartoolkit.core.param.*;\r
\r
-\r
-import jp.nyatla.nyartoolkit.core2.types.NyARI64Linear;\r
-import jp.nyatla.nyartoolkit.core2.types.NyARI64Point2d;\r
-import jp.nyatla.nyartoolkit.core2.types.matrix.NyARI64Matrix22;\r
-import jp.nyatla.nyartoolkit.core.*;\r
import jp.nyatla.nyartoolkit.sandbox.x2.*;\r
\r
\r
*/\r
public class NyARSquareDetector_Quad implements INyARSquareDetector\r
{\r
- private static int PCA_LENGTH = 20;\r
- private static double VERTEX_FACTOR = 1.0;// 線検出のファクタ\r
-\r
private static int AR_AREA_MAX = 25000;// #define AR_AREA_MAX 100000\r
\r
private static int AR_AREA_MIN = 20;// #define AR_AREA_MIN 70\r
private int _width;\r
private int _height;\r
\r
- private NyARLabeling_ARToolKit_X2 _labeling;\r
+ private NyARLabeling_ARToolKit _labeling;\r
\r
private NyARLabelingImage _limage;\r
\r
- private OverlapChecker _overlap_checker = new OverlapChecker();\r
- private NyARFixedFloatObserv2IdealMap _dist_factor;\r
+ private final LabelOverlapChecker<NyARLabelingLabel> _overlap_checker = new LabelOverlapChecker<NyARLabelingLabel>(32,NyARLabelingLabel.class);\r
+ private final SquareContourDetector _sqconvertor;\r
+ private final ContourPickup _cpickup=new ContourPickup();\r
/**\r
* 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
* \r
{\r
this._width = i_size.w / 2;\r
this._height = i_size.h / 2;\r
- this._labeling = new NyARLabeling_ARToolKit_X2();\r
+ this._labeling = new NyARLabeling_ARToolKit();\r
this._limage = new NyARLabelingImage(this._width, this._height);\r
- this._labeling.attachDestination(this._limage);\r
+ this._sqconvertor=new SquareContourDetector(i_size,i_dist_factor_ref); \r
\r
// 輪郭の最大長は画面に映りうる最大の長方形サイズ。\r
int number_of_coord = (this._width + this._height) * 2;\r
NyARCameraDistortionFactor quadfactor = new NyARCameraDistortionFactor();\r
quadfactor.copyFrom(i_dist_factor_ref);\r
quadfactor.changeScale(0.5);\r
- this._dist_factor = new NyARFixedFloatObserv2IdealMap(quadfactor, i_size);\r
- //PCA\r
- this._pca = new NyARFixedFloatPca2d();\r
- this._xpos = new int[PCA_LENGTH];//最大辺長はthis._width+this._height\r
- this._ypos = new int[PCA_LENGTH];//最大辺長はthis._width+this._height\r
-\r
}\r
\r
private int _max_coord;\r
private int[] _xcoord;\r
private int[] _ycoord;\r
\r
- private void normalizeCoord(int[] i_coord_x, int[] i_coord_y, int i_index, int i_coord_num)\r
- {\r
- // vertex1を境界にして、後方に配列を連結\r
- System.arraycopy(i_coord_x, 1, i_coord_x, i_coord_num, i_index);\r
- System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, i_index);\r
- }\r
-\r
- private int[] __detectMarker_mkvertex = new int[5];\r
-\r
/**\r
* arDetectMarker2を基にした関数\r
* 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
*/\r
public void detectMarker(NyARBinRaster i_raster, NyARSquareStack o_square_stack) throws NyARException\r
{\r
- NyARLabeling_ARToolKit_X2 labeling_proc = this._labeling;\r
NyARLabelingImage limage = this._limage;\r
\r
// 初期化\r
o_square_stack.clear();\r
\r
// ラベリング\r
- labeling_proc.labeling(i_raster);\r
+ this._labeling.labeling(i_raster,limage);\r
\r
// ラベル数が0ならここまで\r
int label_num = limage.getLabelStack().getLength();\r
int[] xcoord = this._xcoord;\r
int[] ycoord = this._ycoord;\r
int coord_max = this._max_coord;\r
- int[] mkvertex = this.__detectMarker_mkvertex;\r
- OverlapChecker overlap = this._overlap_checker;\r
- int coord_num;\r
+ final LabelOverlapChecker<NyARLabelingLabel> overlap = this._overlap_checker;\r
+\r
int label_area;\r
NyARLabelingLabel label_pt;\r
\r
//重なりチェッカの最大数を設定\r
- overlap.reset(label_num);\r
+ overlap.setMaxLabels(label_num);\r
\r
for (; i < label_num; i++)\r
{\r
// 重なっているようだ。\r
continue;\r
}\r
-\r
- // 輪郭を取得\r
- coord_num = limage.getContour(i, coord_max, xcoord, ycoord);\r
- if (coord_num == coord_max)\r
- {\r
- // 輪郭が大きすぎる。\r
- continue;\r
- }\r
- //頂点候補のインデクスを取得\r
- int vertex1 = scanVertex(xcoord, ycoord, coord_num);\r
-\r
- // 頂点候補(vertex1)を先頭に並べなおした配列を作成する。\r
- normalizeCoord(xcoord, ycoord, vertex1, coord_num);\r
-\r
- // 領域を準備する。\r
- NyARSquare square_ptr = (NyARSquare)o_square_stack.prePush();\r
-\r
- // 頂点情報を取得\r
- if (!getSquareVertex(xcoord, ycoord, vertex1, coord_num, label_area, mkvertex))\r
- {\r
- o_square_stack.pop();// 頂点の取得が出来なかったので破棄\r
- continue;\r
- }\r
- // マーカーを検出\r
- if (!getSquareLine(mkvertex, xcoord, ycoord, square_ptr))\r
- {\r
- // 矩形が成立しなかった。\r
- o_square_stack.pop();\r
- continue;\r
- }\r
+ // 既に検出された矩形との重なりを確認\r
+ if (!overlap.check(label_pt)) {\r
+ // 重なっているようだ。\r
+ continue;\r
+ }\r
+ // 輪郭を取得\r
+ final int coord_num = _cpickup.getContour(limage,limage.getTopClipTangentX(label_pt),label_pt.clip_t, coord_max, xcoord, ycoord);\r
+ if (coord_num == coord_max) {\r
+ // 輪郭が大きすぎる。\r
+ continue;\r
+ }\r
+ //輪郭分析用に正規化する。\r
+ final int vertex1 = SquareContourDetector.normalizeCoord(xcoord, ycoord, coord_num);\r
+\r
+ //ここから先が輪郭分析\r
+ NyARSquare square_ptr = o_square_stack.prePush();\r
+ if(!this._sqconvertor.coordToSquare(xcoord,ycoord,vertex1,coord_num,label_area,square_ptr)){\r
+ o_square_stack.pop();// 頂点の取得が出来なかったので破棄\r
+ continue; \r
+ }\r
+ \r
// 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
overlap.push(label_pt);\r
}\r
return;\r
}\r
-\r
- /**\r
- * 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。\r
- * \r
- * @param i_xcoord\r
- * @param i_ycoord\r
- * @param i_coord_num\r
- * @return\r
- */\r
- private int scanVertex(int[] i_xcoord, int[] i_ycoord, int i_coord_num)\r
- {\r
- int sx = i_xcoord[0];\r
- int sy = i_ycoord[0];\r
- int d = 0;\r
- int w, x, y;\r
- int ret = 0;\r
- for (int i = 1; i < i_coord_num; i++)\r
- {\r
- x = i_xcoord[i] - sx;\r
- y = i_ycoord[i] - sy;\r
- w = x * x + y * y;\r
- if (w > d)\r
- {\r
- d = w;\r
- ret = i;\r
- }\r
- // ここでうまく終了条件入れられないかな。\r
- }\r
- return ret;\r
- }\r
-\r
- private NyARVertexCounter __getSquareVertex_wv1 = new NyARVertexCounter();\r
-\r
- private NyARVertexCounter __getSquareVertex_wv2 = new NyARVertexCounter();\r
-\r
- /**\r
- * 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。\r
- * \r
- * @param i_x_coord\r
- * @param i_y_coord\r
- * @param i_vertex1_index\r
- * @param i_coord_num\r
- * @param i_area\r
- * @param o_vertex\r
- * 要素数はint[4]である事\r
- * @return\r
- */\r
- 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
- {\r
- NyARVertexCounter wv1 = this.__getSquareVertex_wv1;\r
- NyARVertexCounter wv2 = this.__getSquareVertex_wv2;\r
- int end_of_coord = i_vertex1_index + i_coord_num - 1;\r
- int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];\r
- int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];\r
- int dmax = 0;\r
- int v1 = i_vertex1_index;\r
- for (int i = 1 + i_vertex1_index; i < end_of_coord; i++)\r
- {// for(i=1;i<marker_info2->coord_num-1;i++)\r
- // {\r
- int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);\r
- if (d > dmax)\r
- {\r
- dmax = d;\r
- v1 = i;\r
- }\r
- }\r
- double thresh = (i_area / 0.75) * 0.01 * VERTEX_FACTOR;\r
-\r
- o_vertex[0] = i_vertex1_index;\r
-\r
- if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v1, thresh))\r
- { // if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,0,v1,thresh,wv1,&wvnum1)<\r
- // 0 ) {\r
- return false;\r
- }\r
- if (!wv2.getVertex(i_x_coord, i_y_coord, v1, end_of_coord, thresh))\r
- {// if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,v1,marker_info2->coord_num-1,thresh,wv2,&wvnum2)\r
- // < 0) {\r
- return false;\r
- }\r
-\r
- int v2;\r
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1)\r
- {// if(wvnum1 == 1 && wvnum2== 1) {\r
- o_vertex[1] = wv1.vertex[0];\r
- o_vertex[2] = v1;\r
- o_vertex[3] = wv2.vertex[0];\r
- }\r
- else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0)\r
- {// }else if( wvnum1 > 1 && wvnum2== 0) {\r
- //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
- v2 = (v1 - i_vertex1_index) / 2 + i_vertex1_index;\r
- if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh))\r
- {\r
- return false;\r
- }\r
- if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh))\r
- {\r
- return false;\r
- }\r
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1)\r
- {\r
- o_vertex[1] = wv1.vertex[0];\r
- o_vertex[2] = wv2.vertex[0];\r
- o_vertex[3] = v1;\r
- }\r
- else\r
- {\r
- return false;\r
- }\r
- }\r
- else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1)\r
- {\r
- //v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;\r
- v2 = (v1 + end_of_coord) / 2;\r
-\r
- if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh))\r
- {\r
- return false;\r
- }\r
- if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh))\r
- {\r
- return false;\r
- }\r
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1)\r
- {\r
- o_vertex[1] = v1;\r
- o_vertex[2] = wv1.vertex[0];\r
- o_vertex[3] = wv2.vertex[0];\r
- }\r
- else\r
- {\r
- return false;\r
- }\r
- }\r
- else\r
- {\r
- return false;\r
- }\r
- o_vertex[4] = end_of_coord;\r
- return true;\r
- }\r
- private int[] _xpos;\r
- private int[] _ypos;\r
- private NyARFixedFloatPca2d _pca;\r
- private NyARI64Matrix22 __getSquareLine_evec = new NyARI64Matrix22();\r
- private NyARI64Point2d __getSquareLine_mean = new NyARI64Point2d();\r
- private NyARI64Point2d __getSquareLine_ev = new NyARI64Point2d();\r
- private NyARI64Linear[] __getSquareLine_i64liner = NyARI64Linear.createArray(4);\r
- /**\r
- * arGetLine(int x_coord[], int y_coord[], int coord_num,int vertex[], double line[4][3], double v[4][2]) arGetLine2(int x_coord[], int y_coord[], int\r
- * coord_num,int vertex[], double line[4][3], double v[4][2], double *dist_factor) の２関数の合成品です。 マーカーのvertex,lineを計算して、結果をo_squareに保管します。\r
- * Optimize:STEP[424->391]\r
- * \r
- * @param i_cparam\r
- * @return\r
- * @throws NyARException\r
- */\r
- private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square) throws NyARException\r
- {\r
- NyARLinear[] l_line = o_square.line;\r
- NyARI64Matrix22 evec = this.__getSquareLine_evec;\r
- NyARI64Point2d mean = this.__getSquareLine_mean;\r
- NyARI64Point2d ev = this.__getSquareLine_ev;\r
- NyARI64Linear[] i64liner = this.__getSquareLine_i64liner;\r
-\r
-\r
- for (int i = 0; i < 4; i++)\r
- {\r
- double w1 = (double)(i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5;\r
- int st = (int)(i_mkvertex[i] + w1);\r
- int ed = (int)(i_mkvertex[i + 1] - w1);\r
- int n = ed - st + 1;\r
- if (n < 2)\r
- {\r
- // 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
- return false;\r
- }\r
- //配列作成\r
- n = this._dist_factor.observ2IdealSampling(i_xcoord, i_ycoord, st, n, this._xpos, this._ypos, PCA_LENGTH);\r
-\r
- //主成分分析する。\r
- this._pca.pcaF16(this._xpos, this._ypos, n, evec, ev, mean);\r
- NyARI64Linear l_line_i = i64liner[i];\r
- l_line_i.run = evec.m01;// line[i][0] = evec->m[1];\r
- l_line_i.rise = -evec.m00;// line[i][1] = -evec->m[0];\r
- l_line_i.intercept = -((l_line_i.run * mean.x + l_line_i.rise * mean.y) >> 16);// line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]);\r
- }\r
-\r
- NyARDoublePoint2d[] l_sqvertex = o_square.sqvertex;\r
- NyARIntPoint2d[] l_imvertex = o_square.imvertex;\r
- for (int i = 0; i < 4; i++)\r
- {\r
- NyARI64Linear l_line_i = i64liner[i];\r
- NyARI64Linear l_line_2 = i64liner[(i + 3) % 4];\r
- long w1 = (l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise) >> 16;\r
- if (w1 == 0)\r
- {\r
- return false;\r
- }\r
- l_sqvertex[i].x = (double)((l_line_2.rise * l_line_i.intercept - l_line_i.rise * l_line_2.intercept) / w1) *2/ 65536.0;\r
- l_sqvertex[i].y = (double)((l_line_i.run * l_line_2.intercept - l_line_2.run * l_line_i.intercept) / w1) *2/ 65536.0;\r
- // 頂点インデクスから頂点座標を得て保存\r
- l_imvertex[i].x = i_xcoord[i_mkvertex[i]]*2;\r
- l_imvertex[i].y = i_ycoord[i_mkvertex[i]]*2;\r
- l_line[i].run = (double)l_line_i.run / 65536.0;\r
- l_line[i].rise = (double)l_line_i.rise / 65536.0;\r
- l_line[i].intercept = (double)l_line_i.intercept*2 / 65536.0;\r
- }\r
- return true;\r
- }\r
-}\r
-\r
-\r
-/**\r
- * ラベル同士の重なり（内包関係）を調べるクラスです。 \r
- * ラベルリストに内包するラベルを蓄積し、それにターゲットのラベルが内包されているか を確認します。\r
- */\r
-class OverlapChecker\r
-{\r
- private NyARLabelingLabel[] _labels = new NyARLabelingLabel[32];\r
-\r
- private int _length;\r
-\r
- /**\r
- * 最大i_max_label個のラベルを蓄積できるようにオブジェクトをリセットする\r
- * \r
- * @param i_max_label\r
- */\r
- public void reset(int i_max_label)\r
- {\r
- if (i_max_label > this._labels.length)\r
- {\r
- this._labels = new NyARLabelingLabel[i_max_label];\r
- }\r
- this._length = 0;\r
- }\r
-\r
- /**\r
- * チェック対象のラベルを追加する。\r
- * \r
- * @param i_label_ref\r
- */\r
- public void push(NyARLabelingLabel i_label_ref)\r
- {\r
- this._labels[this._length] = i_label_ref;\r
- this._length++;\r
- }\r
-\r
- /**\r
- * 現在リストにあるラベルと重なっているかを返す。\r
- * \r
- * @param i_label\r
- * @return 何れかのラベルの内側にあるならばfalse,独立したラベルである可能性が高ければtrueです．\r
- */\r
- public boolean check(NyARLabelingLabel i_label)\r
- {\r
- // 重なり処理かな？\r
- NyARLabelingLabel[] label_pt = this._labels;\r
- int px1 = (int)i_label.pos_x;\r
- int py1 = (int)i_label.pos_y;\r
- for (int i = this._length - 1; i >= 0; i--)\r
- {\r
- int px2 = (int)label_pt[i].pos_x;\r
- int py2 = (int)label_pt[i].pos_y;\r
- int d = (px1 - px2) * (px1 - px2) + (py1 - py2) * (py1 - py2);\r
- if (d < label_pt[i].area / 4)\r
- {\r
- // 対象外\r
- return false;\r
- }\r
- }\r
- // 対象\r
- return true;\r
- }\r
}\r
\r
\r
package jp.nyatla.nyartoolkit.sandbox.vertexdetect;\r
import jp.nyatla.nyartoolkit.NyARException;\r
import jp.nyatla.nyartoolkit.core.labeling.*;\r
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingImage;\r
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabel;\r
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabelStack;\r
+import jp.nyatla.nyartoolkit.core.labeling.artoolkit.*;\r
import jp.nyatla.nyartoolkit.core.raster.*;\r
-import jp.nyatla.nyartoolkit.core.squaredetect.INyARSquareDetector;\r
-import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquare;\r
-import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquareStack;\r
+import jp.nyatla.nyartoolkit.core.squaredetect.*;\r
import jp.nyatla.nyartoolkit.core.types.*;\r
import jp.nyatla.nyartoolkit.core.param.*;\r
-import jp.nyatla.nyartoolkit.core.*;\r
-import jp.nyatla.nyartoolkit.sandbox.x2.*;\r
/**\r
* PCAではなく、頂点座標そのものからSquare位置を計算するクラス\r
*\r
*/\r
public class NyARVertexDetector implements INyARSquareDetector\r
{\r
- private static final double VERTEX_FACTOR = 1.0;// 線検出のファクタ\r
-\r
private static final int AR_AREA_MAX = 100000;// #define AR_AREA_MAX 100000\r
\r
private static final int AR_AREA_MIN = 70;// #define AR_AREA_MIN 70\r
private final int _width;\r
private final int _height;\r
\r
- private final NyARLabeling_ARToolKit_X2 _labeling;\r
+ private final NyARLabeling_ARToolKit _labeling;\r
\r
private final NyARLabelingImage _limage;\r
\r
- private final OverlapChecker _overlap_checker = new OverlapChecker();\r
- private final NyARObserv2IdealMap _dist_factor_ref;\r
+ private final LabelOverlapChecker<NyARLabelingLabel> _overlap_checker = new LabelOverlapChecker<NyARLabelingLabel>(32,NyARLabelingLabel.class);\r
+ private final SquareContourDetector _sqconvertor;\r
+ private final ContourPickup _cpickup=new ContourPickup();\r
\r
/**\r
* 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
* \r
* @param i_param\r
*/\r
- public NyARVertexDetector(NyARObserv2IdealMap i_dist_factor_ref,NyARIntSize i_size) throws NyARException\r
+ public NyARVertexDetector(NyARCameraDistortionFactor i_dist_factor_ref,NyARIntSize i_size) throws NyARException\r
{\r
this._width = i_size.w;\r
this._height = i_size.h;\r
- this._dist_factor_ref = i_dist_factor_ref;\r
- this._labeling = new NyARLabeling_ARToolKit_X2();\r
+ this._labeling = new NyARLabeling_ARToolKit();\r
this._limage = new NyARLabelingImage(this._width, this._height);\r
- this._labeling.attachDestination(this._limage);\r
+ this._sqconvertor=new SquareContourDetector(i_size,i_dist_factor_ref); \r
\r
// 輪郭の最大長は画面に映りうる最大の長方形サイズ。\r
int number_of_coord = (this._width + this._height) * 2;\r
private final int[] _xcoord;\r
private final int[] _ycoord;\r
\r
- private void normalizeCoord(int[] i_coord_x, int[] i_coord_y, int i_index, int i_coord_num)\r
- {\r
- // vertex1を境界にして、後方に配列を連結\r
- System.arraycopy(i_coord_x, 1, i_coord_x, i_coord_num, i_index);\r
- System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, i_index);\r
- }\r
-\r
- private final int[] __detectMarker_mkvertex = new int[5];\r
-\r
/**\r
* ARMarkerInfo2 *arDetectMarker2( ARInt16 *limage, int label_num, int *label_ref,int *warea, double *wpos, int *wclip,int area_max, int area_min, double\r
* 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。\r
*/\r
public final void detectMarker(NyARBinRaster i_raster, NyARSquareStack o_square_stack) throws NyARException\r
{\r
- final NyARLabeling_ARToolKit_X2 labeling_proc = this._labeling;\r
final NyARLabelingImage limage = this._limage;\r
\r
// 初期化\r
o_square_stack.clear();\r
\r
// ラベリング\r
- labeling_proc.labeling(i_raster);\r
+ this._labeling.labeling(i_raster,this._limage);\r
\r
// ラベル数が0ならここまで\r
final int label_num = limage.getLabelStack().getLength();\r
final int[] xcoord = this._xcoord;\r
final int[] ycoord = this._ycoord;\r
final int coord_max = this._max_coord;\r
- final int[] mkvertex = this.__detectMarker_mkvertex;\r
- final OverlapChecker overlap = this._overlap_checker;\r
- int coord_num;\r
+ final LabelOverlapChecker<NyARLabelingLabel> overlap = this._overlap_checker;\r
int label_area;\r
NyARLabelingLabel label_pt;\r
\r
//重なりチェッカの最大数を設定\r
- overlap.reset(label_num);\r
+ overlap.setMaxLabels(label_num);\r
\r
for (; i < label_num; i++) {\r
label_pt = labels[i];\r
// 重なっているようだ。\r
continue;\r
}\r
-\r
// 輪郭を取得\r
- coord_num = limage.getContour(i, coord_max, xcoord, ycoord);\r
+ final int coord_num = _cpickup.getContour(limage,limage.getTopClipTangentX(label_pt),label_pt.clip_t, coord_max, xcoord, ycoord);\r
if (coord_num == coord_max) {\r
// 輪郭が大きすぎる。\r
continue;\r
}\r
- //頂点候補のインデクスを取得\r
- final int vertex1 = scanVertex(xcoord, ycoord, coord_num);\r
-\r
- // 頂点候補(vertex1)を先頭に並べなおした配列を作成する。\r
- normalizeCoord(xcoord, ycoord, vertex1, coord_num);\r
+ //輪郭分析用に正規化する。\r
+ final int vertex1 = SquareContourDetector.normalizeCoord(xcoord, ycoord, coord_num);\r
\r
- // 領域を準備する。\r
- NyARSquare square_ptr = (NyARSquare)o_square_stack.prePush();\r
-\r
- // 頂点情報を取得\r
- if (!getSquareVertex(xcoord, ycoord, vertex1, coord_num, label_area, mkvertex)) {\r
+ //ここから先が輪郭分析\r
+ NyARSquare square_ptr = o_square_stack.prePush();\r
+ if(!this._sqconvertor.coordToSquare(xcoord,ycoord,vertex1,coord_num,label_area,square_ptr)){\r
o_square_stack.pop();// 頂点の取得が出来なかったので破棄\r
- continue;\r
+ continue; \r
}\r
- //頂点情報からライン情報を作っちゃう\r
- getSquare(mkvertex, xcoord, ycoord, square_ptr);\r
- \r
// 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
overlap.push(label_pt);\r
} \r
return;\r
}\r
- /**\r
- * ２つの頂点座標を結ぶ直線から、NyARLinearを計算する。\r
- * @param i_v1\r
- * @param i_v2\r
- * @param o_line\r
- */\r
- final private void getLine(NyARDoublePoint2d i_v1,NyARDoublePoint2d i_v2,NyARLinear o_line)\r
- {\r
- final double x=i_v1.x-i_v2.x;\r
- final double y=i_v1.y-i_v2.y;\r
- final double x2=x*x;\r
- final double y2=y*y;\r
- final double rise_=Math.sqrt(x2/(x2+y2));\r
- o_line.rise=rise_;\r
- o_line.run=Math.sqrt(y2/(x2+y2));\r
- if(x<0){\r
- if(y<0){\r
- o_line.rise=-o_line.rise;\r
- }else{\r
- o_line.rise=-o_line.rise;\r
- o_line.run=-o_line.run;\r
- }\r
- }else{\r
- if(y<0){\r
- o_line.rise=-o_line.rise;\r
- o_line.run=-o_line.run;\r
- }else{\r
- o_line.rise=-o_line.rise;\r
- } \r
- }\r
- o_line.intercept=(i_v1.y+(o_line.run/o_line.rise)*(i_v1.x))*rise_;\r
- \r
- }\r
-\r
- private void getSquare(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square)\r
- {\r
- final NyARObserv2IdealMap dist_factor=this._dist_factor_ref; \r
- final NyARDoublePoint2d[] vertex=o_square.sqvertex;\r
- //歪み補正\r
- for(int i=0;i<4;i++)\r
- {\r
- final int idx=i_mkvertex[i];\r
- o_square.imvertex[i].x=i_xcoord[idx];\r
- o_square.imvertex[i].y=i_ycoord[idx];\r
- dist_factor.observ2Ideal(i_xcoord[idx], i_ycoord[idx],vertex[i]);\r
- }\r
- //ライン計算\r
- getLine(vertex[1],vertex[0],o_square.line[0]);\r
- getLine(vertex[2],vertex[1],o_square.line[1]);\r
- getLine(vertex[3],vertex[2],o_square.line[2]);\r
- getLine(vertex[0],vertex[3],o_square.line[3]); \r
- return;\r
- }\r
-\r
- /**\r
- * 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。\r
- * \r
- * @param i_xcoord\r
- * @param i_ycoord\r
- * @param i_coord_num\r
- * @return\r
- */\r
- private int scanVertex(int[] i_xcoord, int[] i_ycoord, int i_coord_num)\r
- {\r
- final int sx = i_xcoord[0];\r
- final int sy = i_ycoord[0];\r
- int d = 0;\r
- int w, x, y;\r
- int ret = 0;\r
- for (int i = 1; i < i_coord_num; i++) {\r
- x = i_xcoord[i] - sx;\r
- y = i_ycoord[i] - sy;\r
- w = x * x + y * y;\r
- if (w > d) {\r
- d = w;\r
- ret = i;\r
- }\r
- // ここでうまく終了条件入れられないかな。\r
- }\r
- return ret;\r
- }\r
-\r
- private final NyARVertexCounter __getSquareVertex_wv1 = new NyARVertexCounter();\r
-\r
- private final NyARVertexCounter __getSquareVertex_wv2 = new NyARVertexCounter();\r
-\r
- /**\r
- * 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。\r
- * \r
- * @param i_x_coord\r
- * @param i_y_coord\r
- * @param i_vertex1_index\r
- * @param i_coord_num\r
- * @param i_area\r
- * @param o_vertex\r
- * 要素数はint[4]である事\r
- * @return\r
- */\r
- 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
- {\r
- final NyARVertexCounter wv1 = this.__getSquareVertex_wv1;\r
- final NyARVertexCounter wv2 = this.__getSquareVertex_wv2;\r
- final int end_of_coord = i_vertex1_index + i_coord_num - 1;\r
- final int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];\r
- final int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];\r
- int dmax = 0;\r
- int v1 = i_vertex1_index;\r
- for (int i = 1 + i_vertex1_index; i < end_of_coord; i++) {// for(i=1;i<marker_info2->coord_num-1;i++)\r
- // {\r
- final int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);\r
- if (d > dmax) {\r
- dmax = d;\r
- v1 = i;\r
- }\r
- }\r
- final double thresh = (i_area / 0.75) * 0.01 * VERTEX_FACTOR;\r
-\r
- o_vertex[0] = i_vertex1_index;\r
-\r
- 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
- // 0 ) {\r
- return false;\r
- }\r
- 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
- // < 0) {\r
- return false;\r
- }\r
-\r
- int v2;\r
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {// if(wvnum1 == 1 && wvnum2== 1) {\r
- o_vertex[1] = wv1.vertex[0];\r
- o_vertex[2] = v1;\r
- o_vertex[3] = wv2.vertex[0];\r
- } else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0) {// }else if( wvnum1 > 1 && wvnum2== 0) {\r
- //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
- v2 = (v1-i_vertex1_index)/2+i_vertex1_index;\r
- if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh)) {\r
- return false;\r
- }\r
- if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh)) {\r
- return false;\r
- }\r
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {\r
- o_vertex[1] = wv1.vertex[0];\r
- o_vertex[2] = wv2.vertex[0];\r
- o_vertex[3] = v1;\r
- } else {\r
- return false;\r
- }\r
- } else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1) {\r
- //v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;\r
- v2 = (v1+ end_of_coord)/2;\r
-\r
- if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh)) {\r
- return false;\r
- }\r
- if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh)) {\r
- return false;\r
- }\r
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {\r
- o_vertex[1] = v1;\r
- o_vertex[2] = wv1.vertex[0];\r
- o_vertex[3] = wv2.vertex[0];\r
- } else {\r
- return false;\r
- }\r
- } else {\r
- return false;\r
- }\r
- o_vertex[4] = end_of_coord;\r
- return true;\r
- }\r
-}\r
-\r
-/**\r
- * get_vertex関数を切り離すためのクラス\r
- * \r
- */\r
-final class NyARVertexCounter\r
-{\r
- public final int[] vertex = new int[10];// 5まで削れる\r
-\r
- public int number_of_vertex;\r
-\r
- private double thresh;\r
-\r
- private int[] x_coord;\r
-\r
- private int[] y_coord;\r
-\r
- public boolean getVertex(int[] i_x_coord, int[] i_y_coord, int st, int ed, double i_thresh)\r
- {\r
- this.number_of_vertex = 0;\r
- this.thresh = i_thresh;\r
- this.x_coord = i_x_coord;\r
- this.y_coord = i_y_coord;\r
- return get_vertex(st, ed);\r
- }\r
-\r
- /**\r
- * static int get_vertex( int x_coord[], int y_coord[], int st, int ed,double thresh, int vertex[], int *vnum) 関数の代替関数\r
- * \r
- * @param x_coord\r
- * @param y_coord\r
- * @param st\r
- * @param ed\r
- * @param thresh\r
- * @return\r
- */\r
- private boolean get_vertex(int st, int ed)\r
- {\r
- int v1 = 0;\r
- final int[] lx_coord = this.x_coord;\r
- final int[] ly_coord = this.y_coord;\r
- final double a = ly_coord[ed] - ly_coord[st];\r
- final double b = lx_coord[st] - lx_coord[ed];\r
- final double c = lx_coord[ed] * ly_coord[st] - ly_coord[ed] * lx_coord[st];\r
- double dmax = 0;\r
- for (int i = st + 1; i < ed; i++) {\r
- final double d = a * lx_coord[i] + b * ly_coord[i] + c;\r
- if (d * d > dmax) {\r
- dmax = d * d;\r
- v1 = i;\r
- }\r
- }\r
- if (dmax / (a * a + b * b) > thresh) {\r
- if (!get_vertex(st, v1)) {\r
- return false;\r
- }\r
- if (number_of_vertex > 5) {\r
- return false;\r
- }\r
- vertex[number_of_vertex] = v1;// vertex[(*vnum)] = v1;\r
- number_of_vertex++;// (*vnum)++;\r
-\r
- if (!get_vertex(v1, ed)) {\r
- return false;\r
- }\r
- }\r
- return true;\r
- }\r
-}\r
\r
-/**\r
- * ラベル同士の重なり（内包関係）を調べるクラスです。 ラベルリストに内包するラベルを蓄積し、それにターゲットのラベルが内包されているか を確認します。\r
- */\r
-class OverlapChecker\r
-{\r
- private NyARLabelingLabel[] _labels = new NyARLabelingLabel[32];\r
-\r
- private int _length;\r
-\r
- /**\r
- * 最大i_max_label個のラベルを蓄積できるようにオブジェクトをリセットする\r
- * \r
- * @param i_max_label\r
- */\r
- public void reset(int i_max_label)\r
- {\r
- if (i_max_label > this._labels.length) {\r
- this._labels = new NyARLabelingLabel[i_max_label];\r
- }\r
- this._length = 0;\r
- }\r
-\r
- /**\r
- * チェック対象のラベルを追加する。\r
- * \r
- * @param i_label_ref\r
- */\r
- public void push(NyARLabelingLabel i_label_ref)\r
- {\r
- this._labels[this._length] = i_label_ref;\r
- this._length++;\r
- }\r
-\r
- /**\r
- * 現在リストにあるラベルと重なっているかを返す。\r
- * \r
- * @param i_label\r
- * @return 何れかのラベルの内側にあるならばfalse,独立したラベルである可能性が高ければtrueです．\r
- */\r
- public boolean check(NyARLabelingLabel i_label)\r
- {\r
- // 重なり処理かな？\r
- final NyARLabelingLabel[] label_pt = this._labels;\r
- final int px1 = (int) i_label.pos_x;\r
- final int py1 = (int) i_label.pos_y;\r
- for (int i = this._length - 1; i >= 0; i--) {\r
- final int px2 = (int) label_pt[i].pos_x;\r
- final int py2 = (int) label_pt[i].pos_y;\r
- final int d = (px1 - px2) * (px1 - px2) + (py1 - py2) * (py1 - py2);\r
- if (d < label_pt[i].area / 4) {\r
- // 対象外\r
- return false;\r
- }\r
- }\r
- // 対象\r
- return true;\r
- }\r
}
\ No newline at end of file
NyARCode ar_code = new NyARCode(16, 16);\r
_ar_param.loadARParamFromFile(PARAM_FILE);\r
_ar_param.changeScreenSize(SCREEN_X, SCREEN_Y);\r
- _nya.setContinueMode(false);//ここをtrueにすると、transMatContinueモード（History計算）になります。\r
ar_code.loadARPattFromFile(CARCODE_FILE);\r
//NyARToolkit用の支援クラス\r
_glnya = new NyARGLUtil(_gl);\r
//GL対応のRGBラスタオブジェクト\r
_cap_image = new GLNyARRaster_RGB(_ar_param,_capture.getCaptureFormat());\r
_nya = new NyARSingleDetectMarker_X2(_ar_param, ar_code, 80.0,this._cap_image.getBufferReader().getBufferType());\r
+ _nya.setContinueMode(false);//ここをtrueにすると、transMatContinueモード（History計算）になります。\r
//キャプチャ開始\r
_capture.start();\r
} catch (Exception e) {\r
+++ /dev/null
-/* \r
- * PROJECT: NyARToolkit\r
- * --------------------------------------------------------------------------------\r
- * This work is based on the original ARToolKit developed by\r
- * Hirokazu Kato\r
- * Mark Billinghurst\r
- * HITLab, University of Washington, Seattle\r
- * http://www.hitl.washington.edu/artoolkit/\r
- *\r
- * The NyARToolkit is Java version ARToolkit class library.\r
- * Copyright (C)2008 R.Iizuka\r
- *\r
- * This program is free software; you can redistribute it and/or\r
- * modify it under the terms of the GNU General Public License\r
- * as published by the Free Software Foundation; either version 2\r
- * of the License, or (at your option) any later version.\r
- * \r
- * This program is distributed in the hope that it will be useful,\r
- * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
- * GNU General Public License for more details.\r
- * \r
- * You should have received a copy of the GNU General Public License\r
- * along with this framework; if not, write to the Free Software\r
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
- * \r
- * For further information please contact.\r
- * http://nyatla.jp/nyatoolkit/\r
- * <airmail(at)ebony.plala.or.jp>\r
- * \r
- */\r
-package jp.nyatla.nyartoolkit.sandbox.x2;\r
-\r
-import jp.nyatla.nyartoolkit.NyARException;\r
-import jp.nyatla.nyartoolkit.core.raster.*;\r
-import jp.nyatla.nyartoolkit.core.types.*;\r
-import jp.nyatla.nyartoolkit.core.labeling.*;\r
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingImage;\r
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabel;\r
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabelStack;\r
-\r
-/**\r
- * 計算部から浮動小数点計算を除外したNyARLabeling_ARToolKit\r
- * NyARLabeling_ARToolKitと同じ処理をするけど、エリア計算にintを使う。 \r
- * 画面サイズが1600ｘ1600を超えると挙動が怪しくなる。\r
- * \r
- */\r
-public class NyARLabeling_ARToolKit_X2\r
-{\r
- private static final int WORK_SIZE = 1024 * 32;// #define WORK_SIZE 1024*32\r
-\r
- private final NyARWorkHolder work_holder = new NyARWorkHolder(WORK_SIZE);\r
-\r
- private NyARIntSize _dest_size;\r
-\r
- private NyARLabelingImage _out_image;\r
-\r
- public void attachDestination(NyARLabelingImage i_destination_image) throws NyARException\r
- {\r
- // サイズチェック\r
- NyARIntSize size = i_destination_image.getSize();\r
- this._out_image = i_destination_image;\r
-\r
- // NyLabelingImageのイメージ初期化(枠書き)\r
- int[] img = (int[])i_destination_image.getBufferReader().getBuffer();\r
- int bottom_ptr=(size.h - 1)*size.w;\r
- for (int i = 0; i < size.w; i++) {\r
- img[i] = 0;\r
- img[bottom_ptr+i] = 0;\r
- }\r
- for (int i = 0; i < size.h; i++) {\r
- img[i*size.w] = 0;\r
- img[(i+1)*size.w - 1] = 0;\r
- }\r
-\r
- // サイズ(参照値)を保存\r
- this._dest_size = size;\r
- return;\r
- }\r
-\r
- public NyARLabelingImage getAttachedDestination()\r
- {\r
- return this._out_image;\r
- }\r
-\r
- /**\r
- * static ARInt16 *labeling2( ARUint8 *image, int thresh,int *label_num, int **area, double **pos, int **clip,int **label_ref, int LorR ) 関数の代替品\r
- * ラスタimageをラベリングして、結果を保存します。 Optimize:STEP[1514->1493]\r
- * \r
- * @param i_raster\r
- * @throws NyARException\r
- */\r
- public void labeling(NyARBinRaster i_raster) throws NyARException\r
- {\r
- int m, n; /* work */\r
- int i, j, k;\r
- NyARLabelingImage out_image = this._out_image;\r
-\r
- // サイズチェック\r
- NyARIntSize in_size = i_raster.getSize();\r
- this._dest_size.isEqualSize(in_size);\r
-\r
- final int lxsize = in_size.w;// lxsize = arUtil_c.arImXsize;\r
- final int lysize = in_size.h;// lysize = arUtil_c.arImYsize;\r
- int[] label_img = (int[])out_image.getBufferReader().getBuffer();\r
-\r
- // 枠作成はインスタンスを作った直後にやってしまう。\r
- \r
- //ラベリング情報のリセット（ラベリングインデックスを使用）\r
- out_image.reset(true);\r
- \r
- int[] label_idxtbl=out_image.getIndexArray();\r
-\r
- int[] work2_pt;\r
- int wk_max = 0;\r
-\r
- int label_pixel;\r
- int[] raster_buf=(int[])i_raster.getBufferReader().getBuffer();\r
- int line_ptr;\r
- int[][] work2 = this.work_holder.work2;\r
- int label_img_ptr0, label_img_ptr1;\r
- for (j = 1; j < lysize - 1; j++) {// for (int j = 1; j < lysize - 1;j++, pnt += poff*2, pnt2 += 2) {\r
- line_ptr=j*lxsize;\r
- label_img_ptr0=j*lxsize;//label_img_pt0 = label_img[j];\r
- label_img_ptr1=label_img_ptr0-lxsize;//label_img_pt1 = label_img[j - 1];\r
- for (i = 1; i < lxsize - 1; i++) {// for(int i = 1; i < lxsize-1;i++, pnt+=poff, pnt2++) {\r
- // RGBの合計値が閾値より小さいかな？\r
- if (raster_buf[line_ptr+i]==0) {\r
- // pnt1 = ShortPointer.wrap(pnt2, -lxsize);//pnt1 =&(pnt2[-lxsize]);\r
- if (label_img[label_img_ptr1+i] > 0) {//if (label_img_pt1[i] > 0) {// if( *pnt1 > 0 ) {\r
- label_pixel = label_img[label_img_ptr1+i];//label_pixel = label_img_pt1[i];// *pnt2 = *pnt1;\r
-\r
- work2_pt = work2[label_pixel - 1];\r
- work2_pt[0]++;// work2[((*pnt2)-1)*7+0] ++;\r
- work2_pt[1] += i;// work2[((*pnt2)-1)*7+1] += i;\r
- work2_pt[2] += j;// work2[((*pnt2)-1)*7+2] += j;\r
- work2_pt[6] = j;// work2[((*pnt2)-1)*7+6] = j;\r
- } else if (label_img[label_img_ptr1+i + 1] > 0) {//} else if (label_img_pt1[i + 1] > 0) {// }else if(*(pnt1+1) > 0 ) {\r
- if (label_img[label_img_ptr1+i - 1] > 0) {//if (label_img_pt1[i - 1] > 0) {// if( *(pnt1-1) > 0 ) {\r
- m = label_idxtbl[label_img[label_img_ptr1+i + 1] - 1];//m = label_idxtbl[label_img_pt1[i + 1] - 1];// m =work[*(pnt1+1)-1];\r
- n = label_idxtbl[label_img[label_img_ptr1+i - 1] - 1];//n = label_idxtbl[label_img_pt1[i - 1] - 1];// n =work[*(pnt1-1)-1];\r
- if (m > n) {\r
- label_pixel = n;// *pnt2 = n;\r
- // wk=IntPointer.wrap(work, 0);//wk =\r
- // &(work[0]);\r
- for (k = 0; k < wk_max; k++) {\r
- if (label_idxtbl[k] == m) {// if( *wk == m )\r
- label_idxtbl[k] = n;// *wk = n;\r
- }\r
- }\r
- } else if (m < n) {\r
- label_pixel = m;// *pnt2 = m;\r
- // wk=IntPointer.wrap(work,0);//wk = &(work[0]);\r
- for (k = 0; k < wk_max; k++) {\r
- if (label_idxtbl[k] == n) {// if( *wk == n ){\r
- label_idxtbl[k] = m;// *wk = m;\r
- }\r
- }\r
- } else {\r
- label_pixel = m;// *pnt2 = m;\r
- }\r
- work2_pt = work2[label_pixel - 1];\r
- work2_pt[0]++;\r
- work2_pt[1] += i;\r
- work2_pt[2] += j;\r
- work2_pt[6] = j;\r
- } else if ((label_img[label_img_ptr0+i - 1]) > 0) {//} else if ((label_img_pt0[i - 1]) > 0) {// }else if(*(pnt2-1) > 0) {\r
- m = label_idxtbl[label_img[label_img_ptr1+i + 1] - 1];//m = label_idxtbl[label_img_pt1[i + 1] - 1];// m =work[*(pnt1+1)-1];\r
- n = label_idxtbl[label_img[label_img_ptr0+i - 1] - 1];//n = label_idxtbl[label_img_pt0[i - 1] - 1];// n =work[*(pnt2-1)-1];\r
- if (m > n) {\r
-\r
- label_pixel = n;// *pnt2 = n;\r
- for (k = 0; k < wk_max; k++) {\r
- if (label_idxtbl[k] == m) {// if( *wk == m ){\r
- label_idxtbl[k] = n;// *wk = n;\r
- }\r
- }\r
- } else if (m < n) {\r
- label_pixel = m;// *pnt2 = m;\r
- for (k = 0; k < wk_max; k++) {\r
- if (label_idxtbl[k] == n) {// if( *wk == n ){\r
- label_idxtbl[k] = m;// *wk = m;\r
- }\r
- }\r
- } else {\r
- label_pixel = m;// *pnt2 = m;\r
- }\r
- work2_pt = work2[label_pixel - 1];\r
- work2_pt[0]++;// work2[((*pnt2)-1)*7+0] ++;\r
- work2_pt[1] += i;// work2[((*pnt2)-1)*7+1] += i;\r
- work2_pt[2] += j;// work2[((*pnt2)-1)*7+2] += j;\r
- } else {\r
-\r
- label_pixel = label_img[label_img_ptr1+i + 1];//label_pixel = label_img_pt1[i + 1];// *pnt2 =\r
- // *(pnt1+1);\r
-\r
- work2_pt = work2[label_pixel - 1];\r
- work2_pt[0]++;// work2[((*pnt2)-1)*7+0] ++;\r
- work2_pt[1] += i;// work2[((*pnt2)-1)*7+1] += i;\r
- work2_pt[2] += j;// work2[((*pnt2)-1)*7+2] += j;\r
- if (work2_pt[3] > i) {// if(\r
- // work2[((*pnt2)-1)*7+3] >\r
- // i ){\r
- work2_pt[3] = i;// work2[((*pnt2)-1)*7+3] = i;\r
- }\r
- work2_pt[6] = j;// work2[((*pnt2)-1)*7+6] = j;\r
- }\r
- } else if ((label_img[label_img_ptr1+i - 1]) > 0) {//} else if ((label_img_pt1[i - 1]) > 0) {// }else if(\r
- // *(pnt1-1) > 0 ) {\r
- label_pixel = label_img[label_img_ptr1+i - 1];//label_pixel = label_img_pt1[i - 1];// *pnt2 =\r
- // *(pnt1-1);\r
-\r
- work2_pt = work2[label_pixel - 1];\r
- work2_pt[0]++;// work2[((*pnt2)-1)*7+0] ++;\r
- work2_pt[1] += i;// work2[((*pnt2)-1)*7+1] += i;\r
- work2_pt[2] += j;// work2[((*pnt2)-1)*7+2] += j;\r
- if (work2_pt[4] < i) {// if( work2[((*pnt2)-1)*7+4] <i ){\r
- work2_pt[4] = i;// work2[((*pnt2)-1)*7+4] = i;\r
- }\r
- work2_pt[6] = j;// work2[((*pnt2)-1)*7+6] = j;\r
- } else if (label_img[label_img_ptr0+i - 1] > 0) {//} else if (label_img_pt0[i - 1] > 0) {// }else if(*(pnt2-1) > 0) {\r
- label_pixel = label_img[label_img_ptr0+i - 1];//label_pixel = label_img_pt0[i - 1];// *pnt2 =*(pnt2-1);\r
-\r
- work2_pt = work2[label_pixel - 1];\r
- work2_pt[0]++;// work2[((*pnt2)-1)*7+0] ++;\r
- work2_pt[1] += i;// work2[((*pnt2)-1)*7+1] += i;\r
- work2_pt[2] += j;// work2[((*pnt2)-1)*7+2] += j;\r
- if (work2_pt[4] < i) {// if( work2[((*pnt2)-1)*7+4] <i ){\r
- work2_pt[4] = i;// work2[((*pnt2)-1)*7+4] = i;\r
- }\r
- } else {\r
- // 現在地までの領域を予約\r
- this.work_holder.reserv(wk_max);\r
- wk_max++;\r
- label_idxtbl[wk_max - 1] = wk_max;\r
- label_pixel = wk_max;// work[wk_max-1] = *pnt2 = wk_max;\r
- work2_pt = work2[wk_max - 1];\r
- work2_pt[0] = 1;\r
- work2_pt[1] = i;\r
- work2_pt[2] = j;\r
- work2_pt[3] = i;\r
- work2_pt[4] = i;\r
- work2_pt[5] = j;\r
- work2_pt[6] = j;\r
- }\r
- label_img[label_img_ptr0+i] = label_pixel;//label_img_pt0[i] = label_pixel;\r
- } else {\r
- label_img[label_img_ptr0+i] = 0;//label_img_pt0[i] = 0;// *pnt2 = 0;\r
- }\r
- }\r
- }\r
- // インデックステーブルとラベル数の計算\r
- int wlabel_num = 1;// *label_num = *wlabel_num = j - 1;\r
-\r
- for (i = 0; i < wk_max; i++) {// for(int i = 1; i <= wk_max; i++,wk++) {\r
- label_idxtbl[i] = (label_idxtbl[i] == i + 1) ? wlabel_num++ : label_idxtbl[label_idxtbl[i] - 1];// *wk=(*wk==i)?j++:work[(*wk)-1];\r
- }\r
- wlabel_num -= 1;// *label_num = *wlabel_num = j - 1;\r
- if (wlabel_num == 0) {// if( *label_num == 0 ) {\r
- // 発見数0\r
- out_image.getLabelStack().clear();\r
- return;\r
- }\r
- // ラベルの整理\r
- updateLabelStackLarge(out_image.getLabelStack(), label_idxtbl, in_size, work2, wk_max, wlabel_num);\r
-\r
- return;\r
- }\r
- private int[][] __updateLabelStackLarge_temp=new int[64][7];/*area,x,y,l,r,t,b*/\r
-\r
- /* 構造が変わるから、ハイスピード版実装するときに使う。 */\r
- private void updateLabelStackLarge(NyARLabelingLabelStack i_stack, int[] i_lindex, NyARIntSize i_size, int[][] i_work, int i_work_max, int i_number_of_label) throws NyARException\r
- {\r
- //計算用のワークを確保\r
- int[][] temp=this.__updateLabelStackLarge_temp;\r
- if(temp.length<i_number_of_label){\r
- temp=new int[i_number_of_label+64][7];\r
- this.__updateLabelStackLarge_temp=temp;\r
- }\r
- \r
- // ラベルバッファを予約\r
- i_stack.reserv(i_number_of_label);\r
- // エリアと重心、クリップ領域を計算\r
- final NyARLabelingLabel[] labels = i_stack.getArray();\r
- for (int i = 0; i < i_number_of_label; i++) {\r
- final int[] temp_ptr = temp[i];\r
- temp_ptr[0]=0;//area\r
- temp_ptr[1]=0;//x\r
- temp_ptr[2]=0;//y\r
- temp_ptr[3]=i_size.w;//l\r
- temp_ptr[4]=0;//r\r
- temp_ptr[5]=i_size.h;//t\r
- temp_ptr[6]=0;//b\r
- }\r
- //計算！\r
-\r
- for (int i = 0; i < i_work_max; i++) {\r
- final int temp_ptr[] = temp[i_lindex[i] - 1];\r
- final int[] work2_pt = i_work[i];\r
- temp_ptr[0] += work2_pt[0];\r
- temp_ptr[1] += work2_pt[1];\r
- temp_ptr[2] += work2_pt[2];\r
- if (temp_ptr[3] > work2_pt[3]) {\r
- temp_ptr[3] = work2_pt[3];\r
- }\r
- if (temp_ptr[4] < work2_pt[4]) {\r
- temp_ptr[4] = work2_pt[4];\r
- }\r
- if (temp_ptr[5] > work2_pt[5]) {\r
- temp_ptr[5] = work2_pt[5];\r
- }\r
- if (temp_ptr[6] < work2_pt[6]) {\r
- temp_ptr[6] = work2_pt[6];\r
- }\r
- }\r
- //ストア\r
- for (int i = 0; i < i_number_of_label; i++) {// for(int i = 0; i < *label_num; i++ ) {\r
- final NyARLabelingLabel label_pt = labels[i];\r
- final int temp_ptr[] = temp[i];\r
- label_pt.id=i+1;\r
- label_pt.area=temp_ptr[0]; \r
- label_pt.pos_x= (double)temp_ptr[1]/label_pt.area;\r
- label_pt.pos_y= (double)temp_ptr[2]/label_pt.area;\r
- label_pt.clip_l= temp_ptr[3];\r
- label_pt.clip_r= temp_ptr[4];\r
- label_pt.clip_t= temp_ptr[5];\r
- label_pt.clip_b= temp_ptr[6];\r
- }\r
- return;\r
- }\r
-}\r
-\r
-/**\r
- * NyARLabeling_O2のworkとwork2を可変長にするためのクラス\r
- * \r
- * \r
- */\r
-final class NyARWorkHolder\r
-{\r
- private final static int ARRAY_APPEND_STEP = 256;\r
-\r
- public final int[] work;\r
-\r
- public final int[][] work2;\r
-\r
- private int allocate_size;\r
-\r
- /**\r
- * 最大i_holder_size個の動的割り当てバッファを準備する。\r
- * \r
- * @param i_holder_size\r
- */\r
- public NyARWorkHolder(int i_holder_size)\r
- {\r
- // ポインタだけははじめに確保しておく\r
- this.work = new int[i_holder_size];\r
- this.work2 = new int[i_holder_size][];\r
- this.allocate_size = 0;\r
- }\r
-\r
- /**\r
- * i_indexで指定した番号までのバッファを準備する。\r
- * \r
- * @param i_index\r
- */\r
- public final void reserv(int i_index) throws NyARException\r
- {\r
- // アロケート済みなら即リターン\r
- if (this.allocate_size > i_index) {\r
- return;\r
- }\r
- // 要求されたインデクスは範囲外\r
- if (i_index >= this.work.length) {\r
- throw new NyARException();\r
- }\r
- // 追加アロケート範囲を計算\r
- int range = i_index + ARRAY_APPEND_STEP;\r
- if (range >= this.work.length) {\r
- range = this.work.length;\r
- }\r
- // アロケート\r
- for (int i = this.allocate_size; i < range; i++) {\r
- this.work2[i] = new int[8];\r
- }\r
- this.allocate_size = range;\r
- }\r
-}\r
public NyARSingleDetectMarker_X2(NyARParam i_param, NyARCode i_code, double i_marker_width,int i_raster_type) throws NyARException\r
{\r
final NyARIntSize scr_size=i_param.getScreenSize(); \r
- final NyARFixedFloatObserv2IdealMap dist_map = new NyARFixedFloatObserv2IdealMap(i_param.getDistortionFactor(), scr_size);\r
- \r
// 解析オブジェクトを作る\r
- this._square_detect = new NyARSquareDetector_X2(dist_map,scr_size);\r
+ this._square_detect = new NyARSquareDetector_X2(i_param.getDistortionFactor(),scr_size);\r
this._transmat = new NyARTransMat_X2(i_param);\r
this._marker_width = i_marker_width;\r
int cw=i_code.getWidth();\r
package jp.nyatla.nyartoolkit.sandbox.x2;\r
import jp.nyatla.nyartoolkit.NyARException;\r
import jp.nyatla.nyartoolkit.core.labeling.*;\r
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingImage;\r
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabel;\r
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabelStack;\r
+import jp.nyatla.nyartoolkit.core.labeling.rlelabeling.*;\r
import jp.nyatla.nyartoolkit.core.raster.*;\r
-import jp.nyatla.nyartoolkit.core.squaredetect.INyARSquareDetector;\r
-import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquare;\r
-import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquareStack;\r
+import jp.nyatla.nyartoolkit.core.squaredetect.*;\r
import jp.nyatla.nyartoolkit.core.types.*;\r
-import jp.nyatla.nyartoolkit.core2.types.*;\r
-import jp.nyatla.nyartoolkit.core2.types.matrix.NyARI64Matrix22;\r
-import jp.nyatla.nyartoolkit.core.*;\r
+import jp.nyatla.nyartoolkit.core.param.*;\r
\r
\r
\r
private final int _width;\r
private final int _height;\r
\r
- private final NyARLabeling_ARToolKit_X2 _labeling;\r
-\r
- private final NyARLabelingImage _limage;\r
-\r
- private final OverlapChecker _overlap_checker = new OverlapChecker();\r
- private final NyARFixedFloatObserv2IdealMap _dist_factor_ref;\r
-// private final NyARFixFloatCameraDistortionFactorMap _dist_factor_ref;\r
- private final NyARFixedFloatPca2d _pca;\r
-// private final INyARPca2d _pca;\r
+ private final LabelOverlapChecker<RleLabelFragmentInfoStack.RleLabelFragmentInfo> _overlap_checker = new LabelOverlapChecker<RleLabelFragmentInfoStack.RleLabelFragmentInfo>(32,RleLabelFragmentInfoStack.RleLabelFragmentInfo.class);\r
+ private final SquareContourDetector_X2 _sqconvertor;\r
+ private final ContourPickup _cpickup=new ContourPickup();\r
+ private final RleLabelFragmentInfoStack _stack;\r
\r
+ \r
+ \r
+ private final NyARLabeling_Rle _labeling;\r
/**\r
* 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
* \r
* @param i_param\r
*/\r
- public NyARSquareDetector_X2(NyARFixedFloatObserv2IdealMap i_dist_factor_ref,NyARIntSize i_size) throws NyARException\r
+ public NyARSquareDetector_X2(NyARCameraDistortionFactor i_dist_factor_ref,NyARIntSize i_size) throws NyARException\r
{\r
this._width = i_size.w;\r
this._height = i_size.h;\r
- this._dist_factor_ref = i_dist_factor_ref;\r
- this._labeling = new NyARLabeling_ARToolKit_X2();\r
- this._limage = new NyARLabelingImage(this._width, this._height);\r
- this._labeling.attachDestination(this._limage);\r
+ this._labeling = new NyARLabeling_Rle(this._width);\r
+ this._sqconvertor=new SquareContourDetector_X2(i_size,i_dist_factor_ref);\r
+ this._stack=new RleLabelFragmentInfoStack(i_size.w*i_size.h*2048/(320*240)+32);//検出可能な最大ラベル数\r
+ \r
\r
// 輪郭の最大長は画面に映りうる最大の長方形サイズ。\r
int number_of_coord = (this._width + this._height) * 2;\r
this._max_coord = number_of_coord;\r
this._xcoord = new int[number_of_coord * 2];\r
this._ycoord = new int[number_of_coord * 2];\r
- //PCA\r
-\r
- this._pca=new NyARFixedFloatPca2d();\r
}\r
- private final int PCA_LENGTH=20;\r
-\r
private final int _max_coord;\r
private final int[] _xcoord;\r
private final int[] _ycoord;\r
- private final int[] _xpos=new int[PCA_LENGTH];\r
- private final int[] _ypos=new int[PCA_LENGTH];\r
- \r
- private void normalizeCoord(int[] i_coord_x, int[] i_coord_y, int i_index, int i_coord_num)\r
- {\r
- // vertex1を境界にして、後方に配列を連結\r
- System.arraycopy(i_coord_x, 1, i_coord_x, i_coord_num, i_index);\r
- System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, i_index);\r
- }\r
\r
- private final int[] __detectMarker_mkvertex = new int[5];\r
\r
/**\r
* arDetectMarker2を基にした関数\r
*/\r
public final void detectMarker(NyARBinRaster i_raster, NyARSquareStack o_square_stack) throws NyARException\r
{\r
- final NyARLabeling_ARToolKit_X2 labeling_proc = this._labeling;\r
- final NyARLabelingImage limage = this._limage;\r
+ final RleLabelFragmentInfoStack flagment=this._stack;\r
+ final LabelOverlapChecker<RleLabelFragmentInfoStack.RleLabelFragmentInfo> overlap = this._overlap_checker;\r
\r
// 初期化\r
\r
// マーカーホルダをリセット\r
o_square_stack.clear();\r
\r
- // ラベリング\r
- labeling_proc.labeling(i_raster);\r
-\r
- // ラベル数が0ならここまで\r
- final int label_num = limage.getLabelStack().getLength();\r
+ // 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
+ final int label_num=this._labeling.labeling(i_raster, 0, i_raster.getHeight(), flagment);\r
if (label_num < 1) {\r
return;\r
}\r
\r
- final NyARLabelingLabelStack stack = limage.getLabelStack();\r
- final NyARLabelingLabel[] labels = stack.getArray();\r
- \r
- \r
- // ラベルを大きい順に整列\r
- stack.sortByArea();\r
+ RleLabelFragmentInfoStack.RleLabelFragmentInfo[] labels=flagment.getArray();\r
\r
// デカいラベルを読み飛ばし\r
int i;\r
final int[] xcoord = this._xcoord;\r
final int[] ycoord = this._ycoord;\r
final int coord_max = this._max_coord;\r
- final int[] mkvertex = this.__detectMarker_mkvertex;\r
- final OverlapChecker overlap = this._overlap_checker;\r
- int coord_num;\r
- int label_area;\r
- NyARLabelingLabel label_pt;\r
\r
//重なりチェッカの最大数を設定\r
- overlap.reset(label_num);\r
+ overlap.setMaxLabels(label_num);\r
\r
for (; i < label_num; i++) {\r
- label_pt = labels[i];\r
- label_area = label_pt.area;\r
+ final RleLabelFragmentInfoStack.RleLabelFragmentInfo label_pt=labels[i];\r
+ final int label_area = label_pt.area;\r
// 検査対象サイズよりも小さくなったら終了\r
- if (label_area < AR_AREA_MIN) {\r
+ if (label_pt.area < AR_AREA_MIN) {\r
break;\r
}\r
+ \r
// クリップ領域が画面の枠に接していれば除外\r
- 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
+ if (label_pt.clip_l == 0 || label_pt.clip_r == xsize-1){\r
continue;\r
}\r
- 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
+ if (label_pt.clip_t == 0 || label_pt.clip_b == ysize-1){\r
continue;\r
}\r
// 既に検出された矩形との重なりを確認\r
// 重なっているようだ。\r
continue;\r
}\r
-\r
+ \r
// 輪郭を取得\r
- coord_num = limage.getContour(i, coord_max, xcoord, ycoord);\r
+ final int coord_num = _cpickup.getContour(i_raster,label_pt.entry_x,label_pt.clip_t, coord_max, xcoord, ycoord);\r
if (coord_num == coord_max) {\r
// 輪郭が大きすぎる。\r
continue;\r
}\r
- //頂点候補のインデクスを取得\r
- final int vertex1 = scanVertex(xcoord, ycoord, coord_num);\r
+ //輪郭分析用に正規化する。\r
+ final int vertex1 = SquareContourDetector_X2.normalizeCoord(xcoord, ycoord, coord_num);\r
\r
- // 頂点候補(vertex1)を先頭に並べなおした配列を作成する。\r
- normalizeCoord(xcoord, ycoord, vertex1, coord_num);\r
-\r
- // 領域を準備する。\r
- NyARSquare square_ptr = (NyARSquare)o_square_stack.prePush();\r
-\r
- // 頂点情報を取得\r
- if (!getSquareVertex(xcoord, ycoord, vertex1, coord_num, label_area, mkvertex)) {\r
+ //ここから先が輪郭分析\r
+ NyARSquare square_ptr = o_square_stack.prePush();\r
+ if(!this._sqconvertor.coordToSquare(xcoord,ycoord,vertex1,coord_num,label_area,square_ptr)){\r
o_square_stack.pop();// 頂点の取得が出来なかったので破棄\r
- continue;\r
- }\r
- // マーカーを検出\r
- if (!getSquareLine(mkvertex, xcoord, ycoord, square_ptr)) {\r
- // 矩形が成立しなかった。\r
- o_square_stack.pop();\r
- continue;\r
+ continue; \r
}\r
// 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
overlap.push(label_pt);\r
- } \r
- return;\r
- }\r
-\r
- /**\r
- * 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。\r
- * \r
- * @param i_xcoord\r
- * @param i_ycoord\r
- * @param i_coord_num\r
- * @return\r
- */\r
- private int scanVertex(int[] i_xcoord, int[] i_ycoord, int i_coord_num)\r
- {\r
- final int sx = i_xcoord[0];\r
- final int sy = i_ycoord[0];\r
- int d = 0;\r
- int w, x, y;\r
- int ret = 0;\r
- for (int i = 1; i < i_coord_num; i++) {\r
- x = i_xcoord[i] - sx;\r
- y = i_ycoord[i] - sy;\r
- w = x * x + y * y;\r
- if (w > d) {\r
- d = w;\r
- ret = i;\r
- }\r
- // ここでうまく終了条件入れられないかな。\r
}\r
- return ret;\r
- }\r
-\r
- private final NyARFixedFloatVertexCounter __getSquareVertex_wv1 = new NyARFixedFloatVertexCounter();\r
-\r
- private final NyARFixedFloatVertexCounter __getSquareVertex_wv2 = new NyARFixedFloatVertexCounter();\r
-\r
- /**\r
- * 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。\r
- * \r
- * @param i_x_coord\r
- * @param i_y_coord\r
- * @param i_vertex1_index\r
- * @param i_coord_num\r
- * @param i_area\r
- * @param o_vertex\r
- * 要素数はint[4]である事\r
- * @return\r
- */\r
- 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
- {\r
- final NyARFixedFloatVertexCounter wv1 = this.__getSquareVertex_wv1;\r
- final NyARFixedFloatVertexCounter wv2 = this.__getSquareVertex_wv2;\r
- final int end_of_coord = i_vertex1_index + i_coord_num - 1;\r
- final int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];\r
- final int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];\r
- int dmax = 0;\r
- int v1 = i_vertex1_index;\r
- for (int i = 1 + i_vertex1_index; i < end_of_coord; i++) {// for(i=1;i<marker_info2->coord_num-1;i++)\r
- // {\r
- final int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);\r
- if (d > dmax) {\r
- dmax = d;\r
- v1 = i;\r
- }\r
- }\r
- //final double thresh = (i_area / 0.75) * 0.01;\r
- final long thresh_f16 =(i_area<<16)/75;\r
-\r
- o_vertex[0] = i_vertex1_index;\r
-\r
- if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v1, thresh_f16)) { // if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,0,v1,thresh,wv1,&wvnum1)<\r
- // 0 ) {\r
- return false;\r
- }\r
- if (!wv2.getVertex(i_x_coord, i_y_coord, v1, end_of_coord, thresh_f16)) {// if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,v1,marker_info2->coord_num-1,thresh,wv2,&wvnum2)\r
- // < 0) {\r
- return false;\r
- }\r
-\r
- int v2;\r
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {// if(wvnum1 == 1 && wvnum2== 1) {\r
- o_vertex[1] = wv1.vertex[0];\r
- o_vertex[2] = v1;\r
- o_vertex[3] = wv2.vertex[0];\r
- } else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0) {// }else if( wvnum1 > 1 && wvnum2== 0) {\r
- //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
- v2 = (v1-i_vertex1_index)/2+i_vertex1_index;\r
- if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh_f16)) {\r
- return false;\r
- }\r
- if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh_f16)) {\r
- return false;\r
- }\r
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {\r
- o_vertex[1] = wv1.vertex[0];\r
- o_vertex[2] = wv2.vertex[0];\r
- o_vertex[3] = v1;\r
- } else {\r
- return false;\r
- }\r
- } else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1) {\r
- //v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;\r
- v2 = (v1+ end_of_coord)/2;\r
-\r
- if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh_f16)) {\r
- return false;\r
- }\r
- if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh_f16)) {\r
- return false;\r
- }\r
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {\r
- o_vertex[1] = v1;\r
- o_vertex[2] = wv1.vertex[0];\r
- o_vertex[3] = wv2.vertex[0];\r
- } else {\r
- return false;\r
- }\r
- } else {\r
- return false;\r
- }\r
- o_vertex[4] = end_of_coord;\r
- return true;\r
- }\r
-\r
- private final NyARI64Matrix22 __getSquareLine_evec=new NyARI64Matrix22();\r
- private final NyARI64Point2d __getSquareLine_mean=new NyARI64Point2d();\r
- private final NyARI64Point2d __getSquareLine_ev=new NyARI64Point2d();\r
- private final NyARI64Linear[] __getSquareLine_i64liner=NyARI64Linear.createArray(4);\r
-\r
- /**\r
- * arGetLine(int x_coord[], int y_coord[], int coord_num,int vertex[], double line[4][3], double v[4][2]) arGetLine2(int x_coord[], int y_coord[], int\r
- * coord_num,int vertex[], double line[4][3], double v[4][2], double *dist_factor) の２関数の合成品です。 マーカーのvertex,lineを計算して、結果をo_squareに保管します。\r
- * Optimize:STEP[424->391]\r
- * \r
- * @param i_cparam\r
- * @return\r
- * @throws NyARException\r
- */\r
- private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square) throws NyARException\r
- {\r
- final NyARLinear[] l_line = o_square.line;\r
- final NyARI64Matrix22 evec=this.__getSquareLine_evec;\r
- final NyARI64Point2d mean=this.__getSquareLine_mean;\r
- final NyARI64Point2d ev=this.__getSquareLine_ev;\r
- final NyARI64Linear[] i64liner=this.__getSquareLine_i64liner;\r
- \r
- for (int i = 0; i < 4; i++) {\r
-// final double w1 = (double) (i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5;\r
- final int w1 = ((((i_mkvertex[i + 1] - i_mkvertex[i] + 1)<<8)*13)>>8) + (1<<7);\r
- final int st = i_mkvertex[i] + (w1>>8);\r
- final int ed = i_mkvertex[i + 1] - (w1>>8);\r
- int n = ed - st + 1;\r
- if (n < 2) {\r
- // 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
- return false;\r
- }\r
- //配列作成\r
- n=this._dist_factor_ref.observ2IdealSampling(i_xcoord, i_ycoord, st, n,this._xpos,this._ypos,PCA_LENGTH);\r
- //主成分分析する。\r
- this._pca.pcaF16(this._xpos,this._ypos, n,evec, ev,mean);\r
- final NyARI64Linear l_line_i = i64liner[i];\r
- l_line_i.run = evec.m01;// line[i][0] = evec->m[1];\r
- l_line_i.rise = -evec.m00;// line[i][1] = -evec->m[0];\r
- l_line_i.intercept = -((l_line_i.run * mean.x + l_line_i.rise * mean.y)>>16);// line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]);\r
- }\r
-\r
- final NyARDoublePoint2d[] l_sqvertex = o_square.sqvertex;\r
- final NyARIntPoint2d[] l_imvertex = o_square.imvertex;\r
- for (int i = 0; i < 4; i++) {\r
- final NyARI64Linear l_line_i = i64liner[i];\r
- final NyARI64Linear l_line_2 = i64liner[(i + 3) % 4];\r
- final long w1 =(l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise)>>16;\r
- if (w1 == 0) {\r
- return false;\r
- }\r
- l_sqvertex[i].x = (double)((l_line_2.rise * l_line_i.intercept - l_line_i.rise * l_line_2.intercept) / w1)/65536.0;\r
- l_sqvertex[i].y = (double)((l_line_i.run * l_line_2.intercept - l_line_2.run * l_line_i.intercept) / w1)/65536.0;\r
- // 頂点インデクスから頂点座標を得て保存\r
- l_imvertex[i].x = i_xcoord[i_mkvertex[i]];\r
- l_imvertex[i].y = i_ycoord[i_mkvertex[i]];\r
- l_line[i].run=(double)l_line_i.run/65536.0;\r
- l_line[i].rise=(double)l_line_i.rise/65536.0;\r
- l_line[i].intercept=(double)l_line_i.intercept/65536.0;\r
- }\r
- return true;\r
+ return; \r
}\r
}\r
\r
\r
-/**\r
- * ラベル同士の重なり（内包関係）を調べるクラスです。 \r
- * ラベルリストに内包するラベルを蓄積し、それにターゲットのラベルが内包されているか を確認します。\r
- */\r
-class OverlapChecker\r
-{\r
- private NyARLabelingLabel[] _labels = new NyARLabelingLabel[32];\r
-\r
- private int _length;\r
-\r
- /**\r
- * 最大i_max_label個のラベルを蓄積できるようにオブジェクトをリセットする\r
- * \r
- * @param i_max_label\r
- */\r
- public void reset(int i_max_label)\r
- {\r
- if (i_max_label > this._labels.length) {\r
- this._labels = new NyARLabelingLabel[i_max_label];\r
- }\r
- this._length = 0;\r
- }\r
-\r
- /**\r
- * チェック対象のラベルを追加する。\r
- * \r
- * @param i_label_ref\r
- */\r
- public void push(NyARLabelingLabel i_label_ref)\r
- {\r
- this._labels[this._length] = i_label_ref;\r
- this._length++;\r
- }\r
-\r
- /**\r
- * 現在リストにあるラベルと重なっているかを返す。\r
- * \r
- * @param i_label\r
- * @return 何れかのラベルの内側にあるならばfalse,独立したラベルである可能性が高ければtrueです．\r
- */\r
- public boolean check(NyARLabelingLabel i_label)\r
- {\r
- // 重なり処理かな？\r
- final NyARLabelingLabel[] label_pt = this._labels;\r
- final int px1 = (int) i_label.pos_x;\r
- final int py1 = (int) i_label.pos_y;\r
- for (int i = this._length - 1; i >= 0; i--) {\r
- final int px2 = (int) label_pt[i].pos_x;\r
- final int py2 = (int) label_pt[i].pos_y;\r
- final int d = (px1 - px2) * (px1 - px2) + (py1 - py2) * (py1 - py2);\r
- if (d < label_pt[i].area / 4) {\r
- // 対象外\r
- return false;\r
- }\r
- }\r
- // 対象\r
- return true;\r
- }\r
-}
\ No newline at end of file
// 画像3
NyARLabelingImage limage = new NyARLabelingImage(320, 240);
NyARLabeling_ARToolKit labeling = new NyARLabeling_ARToolKit();
- labeling.attachDestination(limage);
- labeling.labeling(_binraster1);
+ labeling.labeling(_binraster1,limage);
this._bimg.drawImage(this._gsraster1);
NyARSquareStack stack = new NyARSquareStack(100);
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