+++ /dev/null
-/* このソースは実験用のソースです。
- * 動いたり動かなかったりします。
- *
- */
-package jp.nyatla.nyartoolkit.dev;
-
-import javax.media.*;
-
-import javax.media.util.BufferToImage;
-import javax.media.format.*;
-
-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.NyARLabelingLabel;
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabelStack;
-import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabeling_ARToolKit;
-import jp.nyatla.nyartoolkit.core.match.*;
-import jp.nyatla.nyartoolkit.core.param.*;
-import jp.nyatla.nyartoolkit.core.pca2d.INyARPca2d;
-import jp.nyatla.nyartoolkit.core.pca2d.NyARPca2d_MatrixPCA_O2;
-import jp.nyatla.nyartoolkit.core.pickup.*;
-import jp.nyatla.nyartoolkit.core.raster.*;
-import jp.nyatla.nyartoolkit.core.raster.rgb.INyARRgbRaster;
-import jp.nyatla.nyartoolkit.core.rasterfilter.*;
-import jp.nyatla.nyartoolkit.core.rasterfilter.rgb2bin.*;
-import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquare;
-import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquareStack;
-import jp.nyatla.nyartoolkit.core.transmat.*;
-import jp.nyatla.nyartoolkit.core.types.*;
-import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix22;
-import jp.nyatla.nyartoolkit.core.types.stack.*;
-
-
-///**
-// * QRコードのシンボルを結びつける偉いクラス
-// *
-// */
-//class NyQrCodeSymbolBinder
-//{
-// LabelingBufferdImage bimg;
-//
-// NyARIntPoint[][] _sqare;
-// /**
-// * 最小の三角形を構成する頂点セットを得る
-// * @param i_s0
-// * @param i_s1
-// * @param i_s2
-// * @param o_vertex
-// */
-// public static void getMinimumTriangleVertex(NyARSquare[] i_sqare,int[] o_vertex_id)
-// {
-// //辺の長さが最小になる頂点の組合せを探す
-// int d;
-// int x,y;
-// int dmax=0x7fffffff;
-// final NyARIntPoint[] vertex0=i_sqare[0].imvertex;
-// final NyARIntPoint[] vertex1=i_sqare[1].imvertex;
-// final NyARIntPoint[] vertex2=i_sqare[2].imvertex;
-// for(int i=0;i<4;i++)
-// {
-// for(int i2=0;i2<4;i2++)
-// {
-// for(int i3=0;i3<4;i3++){
-// x=vertex0[i].x-vertex2[i3].x;
-// y=vertex0[i].y-vertex2[i3].y;
-// d=x*x+y*y;
-// x=vertex1[i2].x-vertex2[i3].x;
-// y=vertex1[i2].y-vertex2[i3].y;
-// d+=x*x+y*y;
-// x=vertex1[i2].x-vertex0[i].x;
-// y=vertex1[i2].y-vertex0[i].y;
-// d+=x*x+y*y;
-// if(d<dmax){
-// dmax=d;
-// o_vertex_id[0]=i;
-// o_vertex_id[1]=i2;
-// o_vertex_id[2]=i3;
-// }
-// }
-// }
-// }
-// return;
-// }
-// /**
-// * 2矩形の頂点距離が最低の組合せを探す
-// * @param i_sqare
-// * @param o_vertex_id
-// */
-// public static void getMinimumLineVertex(NyARIntPoint[] i_sqare0,NyARIntPoint[] i_sqare1,int[] o_vertex_id)
-// {
-// //辺の長さが最小になる頂点の組合せを探す
-// int d;
-// int x,y;
-// int dmax=0x7fffffff;
-// for(int i=0;i<4;i++)
-// {
-// for(int i2=0;i2<4;i2++)
-// {
-// x=i_sqare1[i2].x-i_sqare0[i].x;
-// y=i_sqare1[i2].y-i_sqare0[i].y;
-// d=x*x+y*y;
-// if(d<dmax){
-// dmax=d;
-// o_vertex_id[0]=i;
-// o_vertex_id[1]=i2;
-// }
-// }
-// }
-// return;
-// }
-//
-// /**
-// * キーシンボルのインデックスを得る
-// * @param i_sqare
-// * @param i_vertex_id
-// * 最小三角形の頂点IDセット
-// * @return
-// */
-// public static int getKeySymble(NyARSquare[] i_sqare,int[] i_vertex_id)
-// {
-// //シンボルグループの重心を計算
-// int cx,cy;
-// cx=cy=0;
-// for(int i=0;i<3;i++)
-// {
-// final NyARIntPoint[] sq_ptr=i_sqare[i].imvertex;
-// cx+=sq_ptr[0].x;
-// cx+=sq_ptr[1].x;
-// cx+=sq_ptr[2].x;
-// cx+=sq_ptr[3].x;
-// cy+=sq_ptr[0].y;
-// cy+=sq_ptr[1].y;
-// cy+=sq_ptr[2].y;
-// cy+=sq_ptr[3].y;
-// }
-// cx/=12;
-// cy/=12;
-// //前段で探した頂点候補のうち、最も重心に近いものが中心シンボルの内対角点
-// int key_symble_idx=0;
-// int x=i_sqare[0].imvertex[i_vertex_id[0]].x-cx;
-// int y=i_sqare[0].imvertex[i_vertex_id[0]].y-cy;
-// int dmax=x*x+y*y;
-// for(int i=1;i<3;i++){
-// x=i_sqare[i].imvertex[i_vertex_id[i]].x-cx;
-// y=i_sqare[i].imvertex[i_vertex_id[i]].y-cy;
-// final int d=x*x+y*y;
-// if(d<dmax){
-// dmax=d;
-// key_symble_idx=i;
-// }
-// }
-// return key_symble_idx;
-// }
-// public void bindSquare(NyARSquare i_sq1,int i_lv1,NyARSquare i_sq2,int i_lv2)
-// {
-// NyARSquare new_square=new NyARSquare();
-// //4辺の式を計算
-// new_square.line[0].copyFrom(i_sq1.line[(i_lv1)%4]);
-// new_square.line[1].copyFrom(i_sq1.line[(i_lv1+3)%4]);
-// new_square.line[2].copyFrom(i_sq2.line[(i_lv2)%4]);
-// new_square.line[3].copyFrom(i_sq2.line[(i_lv2+3)%4]);
-// //歪み無しの座標系を計算
-// final NyARDoublePoint2d[] l_sqvertex = new_square.sqvertex;
-// final NyARLinear[] l_line = new_square.line;
-// for (int i = 0; i < 4; i++) {
-// final NyARLinear l_line_i = l_line[i];
-// final NyARLinear l_line_2 = l_line[(i + 3) % 4];
-// final double w1 = l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise;
-// if (w1 == 0.0) {
-// return;
-// }
-// l_sqvertex[i].x = (l_line_2.rise * l_line_i.intercept - l_line_i.rise * l_line_2.intercept) / w1;
-// l_sqvertex[i].y = (l_line_i.run * l_line_2.intercept - l_line_2.run * l_line_i.intercept) / w1;
-//// // 頂点インデクスから頂点座標を得て保存
-//// l_imvertex[i].x = i_xcoord[i_mkvertex[i]];
-//// l_imvertex[i].y = i_ycoord[i_mkvertex[i]];
-// }
-// Graphics g=this.bimg.getGraphics();
-// g.setColor(Color.red);
-// int[] x=new int[4];
-// int[] y=new int[4];
-// for(int i=0;i<4;i++){
-// x[i]=(int)l_sqvertex[i].x;
-// y[i]=(int)l_sqvertex[i].y;
-// }
-// g.drawPolygon(x,y,4);
-// //基準点はVertexをそのまま採用
-// //２個の想定点は座標を逆変換して設定
-// }
-// /**
-// *
-// * @param i_sq
-// * @param o_sq
-// * @return
-// */
-// public boolean margeEdge(NyARSquare[] i_sq,NyARSquare o_sq)
-// {
-// int[] minimum_triangle_vertex=new int[3];
-// int[] minimum_line_vertex=new int[2];
-//
-// //辺の長さが最小になる頂点の組合せを探す
-// getMinimumTriangleVertex(i_sq,minimum_triangle_vertex);
-//
-// //キーシンボルのインデクス番号を得る
-// int key_simble_idx=getKeySymble(i_sq,minimum_triangle_vertex);
-//
-// //エッジシンボルのインデックス番号を決める
-// int symbol_e1_idx=(key_simble_idx+1)%3;
-// int symbol_e2_idx=(key_simble_idx+2)%3;
-//
-// //エッジシンボル間で最短距離を取る頂点ペアを取る
-// //(角度を低くするとエラーが出やすい。対角線との類似性を確認する方法のほうがいい。多分)
-// getMinimumLineVertex(i_sq[symbol_e1_idx].imvertex,i_sq[symbol_e2_idx].imvertex,minimum_line_vertex);
-//
-// //内対角を外対角に変換
-// int lv1=(minimum_line_vertex[0]+2)%4;
-// int lv2=(minimum_line_vertex[1]+2)%4;
-// int kv =(minimum_triangle_vertex[key_simble_idx]+2)%4;
-// //矩形のバインド
-// bindSquare(i_sq[symbol_e1_idx],lv1,i_sq[symbol_e2_idx],lv2);
-//
-//
-// Graphics g=this.bimg.getGraphics();
-// //内対角に緑の点を打つ
-// g.setColor(Color.green);
-// g.fillRect(i_sq[symbol_e1_idx].imvertex[lv1].x-2,i_sq[symbol_e1_idx].imvertex[lv1].y-2,4,4);
-// g.fillRect(i_sq[symbol_e2_idx].imvertex[lv2].x-2,i_sq[symbol_e2_idx].imvertex[lv2].y-2,4,4);
-//// g.fillRect(i_sq[symbol_e2_idx][minimum_line_vertex[1]].x-2,i_sq[symbol_e2_idx][minimum_line_vertex[1]].y-2,4,4);
-//
-//
-// //中央の中心エッジから最も遠い点が
-// //両端のエッジも探す
-//
-//
-//
-//
-//// this.bimg.getGraphics().fillRect(i_sq[edge1_id][vid1_id].x,i_sq[edge1_id][vid1_id].y,5,5);
-//
-// for (int i = 0; i <3; i++) {
-// int[] xp=new int[4];
-// int[] yp=new int[4];
-// for(int i2=0;i2<4;i2++){
-// xp[i2]=i_sq[i].imvertex[i2].x;
-// yp[i2]=i_sq[i].imvertex[i2].y;
-// }
-// this.bimg.getGraphics().setColor(Color.RED);
-// this.bimg.getGraphics().drawPolygon(xp, yp,4);
-// }
-//
-//
-// return false;
-//
-//
-//
-//
-//
-//
-// }
-//
-//
-//
-//
-//}
-
-
-/**
- * 矩形座標を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
- *
- */
-class NyARQRCodeDetector implements INyARSquareDetector
-{
- LabelingBufferdImage bimg;
- private static final double VERTEX_FACTOR = 2.0;// 線検出のファクタ
-
- private static final int AR_AREA_MAX = 100000;// #define AR_AREA_MAX 100000
-
- private static final int AR_AREA_MIN = 70;// #define AR_AREA_MIN 70
-
- private final int _width;
-
- private final int _height;
-
- private final NyARLabeling_ARToolKit _labeling;
-
- private final NyARLabelingImage _limage;
-
- private final NyARCameraDistortionFactor _dist_factor_ref;
-
- /**
- * 最大i_squre_max個のマーカーを検出するクラスを作成する。
- *
- * @param i_param
- */
- public NyARQRCodeDetector(NyARCameraDistortionFactor i_dist_factor_ref, NyARIntSize i_size) throws NyARException
- {
- this._width = i_size.w;
- this._height = i_size.h;
- this._dist_factor_ref = i_dist_factor_ref;
- this._labeling = new NyARLabeling_ARToolKit();
- this._limage = new NyARLabelingImage(this._width, this._height);
- this._labeling.attachDestination(this._limage);
-
- // 輪郭の最大長は画面に映りうる最大の長方形サイズ。
- int number_of_coord = (this._width + this._height) * 2;
-
- // 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。
- this._max_coord = number_of_coord;
- this._xcoord = new int[number_of_coord * 2];
- this._ycoord = new int[number_of_coord * 2];
- }
-
- private final int _max_coord;
-
- private final int[] _xcoord;
-
- private final int[] _ycoord;
-
- private void normalizeCoord(int[] i_coord_x, int[] i_coord_y, int i_index, int i_coord_num)
- {
- // vertex1を境界にして、後方に配列を連結
- System.arraycopy(i_coord_x, 1, i_coord_x, i_coord_num, i_index);
- System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, i_index);
- }
-
- private final int[] __detectMarker_mkvertex = new int[5];
-
- /**
- * ARMarkerInfo2 *arDetectMarker2( ARInt16 *limage, int label_num, int *label_ref,int *warea, double *wpos, int *wclip,int area_max, int area_min, double
- * 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。
- *
- * @param i_raster
- * 解析する２値ラスタイメージを指定します。
- * @param o_square_stack
- * 抽出した正方形候補を格納するリスト
- * @throws NyARException
- */
- public final void detectMarker(NyARBinRaster i_raster, NyARSquareStack o_square_stack) throws NyARException
- {
- final INyARLabeling labeling_proc = this._labeling;
- final NyARLabelingImage limage = this._limage;
-
- // 初期化
-
- // マーカーホルダをリセット
- o_square_stack.clear();
-
- // ラベリング
- labeling_proc.labeling(i_raster);
-
- // ラベル数が0ならここまで
- final int label_num = limage.getLabelStack().getLength();
- if (label_num < 1) {
- return;
- }
-
- final NyARLabelingLabelStack stack = limage.getLabelStack();
- // ラベルを大きい順に整列
- stack.sortByArea();
- final NyARLabelingLabel[] labels = stack.getArray();
-
-
- // デカいラベルを読み飛ばし
- int i;
- for (i = 0; i < label_num; i++) {
- // 検査対象内のラベルサイズになるまで無視
- if (labels[i].area <= AR_AREA_MAX) {
- break;
- }
- }
-
- final int xsize = this._width;
- final int ysize = this._height;
- final int[] xcoord = this._xcoord;
- final int[] ycoord = this._ycoord;
- final int coord_max = this._max_coord;
- final int[] mkvertex = this.__detectMarker_mkvertex;
- final int[][] buf = (int[][]) limage.getBufferReader().getBuffer();
- final int[] indextable = limage.getIndexArray();
- int coord_num;
- int label_area;
- NyARLabelingLabel label_pt;
- NyARSquareStack wk_stack=new NyARSquareStack(100);
-
- for (; i < label_num; i++) {
- label_pt = labels[i];
- label_area = label_pt.area;
- // 検査対象サイズよりも小さくなったら終了
- if (label_area < AR_AREA_MIN) {
- break;
- }
- // クリップ領域が画面の枠に接していれば除外
- if (label_pt.clip_l == 1 || label_pt.clip_r == xsize - 2) {// if(wclip[i*4+0] == 1 || wclip[i*4+1] ==xsize-2){
- continue;
- }
- if (label_pt.clip_t == 1 || label_pt.clip_b == ysize - 2) {// if( wclip[i*4+2] == 1 || wclip[i*4+3] ==ysize-2){
- continue;
- }
- // 特徴点候補であるかを確認する。
- if (!hasQrEdgeFeature(buf, indextable, label_pt)) {
- continue;
- }
-
- // 輪郭を取得
- coord_num = limage.getContour(i, coord_max, xcoord, ycoord);
- if (coord_num == coord_max) {
- // 輪郭が大きすぎる。
- continue;
- }
- // 頂点候補のインデクスを取得
- final int vertex1 = scanVertex(xcoord, ycoord, coord_num);
-
- // 頂点候補(vertex1)を先頭に並べなおした配列を作成する。
- normalizeCoord(xcoord, ycoord, vertex1, coord_num);
-
- // 頂点情報を取得
- if (!getSquareVertex(xcoord, ycoord, vertex1, coord_num, label_area, mkvertex)) {
- continue;
- }
- NyARSquare square=(NyARSquare)wk_stack.prePush();
- if(!getSquareLine(mkvertex,xcoord,ycoord,square)){
- wk_stack.pop();
- continue;
- }
- }
- bindQrcodeEdge(wk_stack);
- //エッジ同士の相関関係をしらべる。
-
- return;
- }
- /**
- *
- * @param i_sq
- * @param o_sq
- * @return
- */
- public boolean margeEdge(NyARSquare[] i_sq,NyARSquare o_sq)
- {
- NyQrCodeSymbolBinder binder=new NyQrCodeSymbolBinder();
- binder.bimg=this.bimg;
- binder.(i_sq, o_sq);
-
- return false;
-
-
-
-
- }
- /**
- * QRコードのエッジペアを作る
- * @param i_square_stack
- */
- public void bindQrcodeEdge(NyARSquareStack i_square_stack)
- {
-
- NyARSquare sq_ptr1,sq_ptr2,sq_ptr3;
- int number_of_edge=i_square_stack.getLength();
- if(number_of_edge<3){
- return;
- }
- NyARSquare[] sa=i_square_stack.getArray();
- for(int i=0;i<number_of_edge;i++)
- {
- for(int i2=i+1;i2<number_of_edge;i2++)
- {
- sq_ptr2=sa[i2];
- for(int i3=i2+1;i3<number_of_edge;i3++){
- sq_ptr3=sa[i3];
- //3個のエッジの関連性を確認する。
- margeEdge(sa,null);
- }
- //
- }
- }
- }
- /**
- * ２つの頂点座標を結ぶ直線から、NyARLinearを計算する。
- *
- * @param i_v1
- * @param i_v2
- * @param o_line
- */
- final private void getLine(NyARDoublePoint2d i_v1, NyARDoublePoint2d i_v2, NyARLinear o_line)
- {
- final double x = i_v1.x - i_v2.x;
- final double y = i_v1.y - i_v2.y;
- final double x2 = x * x;
- final double y2 = y * y;
- final double rise_ = Math.sqrt(x2 / (x2 + y2));
- o_line.rise = rise_;
- o_line.run = Math.sqrt(y2 / (x2 + y2));
- if (x < 0) {
- if (y < 0) {
- o_line.rise = -o_line.rise;
- } else {
- o_line.rise = -o_line.rise;
- o_line.run = -o_line.run;
- }
- } else {
- if (y < 0) {
- o_line.rise = -o_line.rise;
- o_line.run = -o_line.run;
- } else {
- o_line.rise = -o_line.rise;
- }
- }
- o_line.intercept = (i_v1.y + (o_line.run / o_line.rise) * (i_v1.x)) * rise_;
-
- }
- private final INyARPca2d _pca=new NyARPca2d_MatrixPCA_O2(100);
- private final NyARDoubleMatrix22 __getSquareLine_evec=new NyARDoubleMatrix22();
- private final NyARDoublePoint2d __getSquareLine_mean=new NyARDoublePoint2d();
- private final NyARDoublePoint2d __getSquareLine_ev=new NyARDoublePoint2d();
- /**
- * 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
- * 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。
- * Optimize:STEP[424->391]
- *
- * @param i_cparam
- * @return
- * @throws NyARException
- */
- private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square) throws NyARException
- {
- final NyARLinear[] l_line = o_square.line;
- final NyARCameraDistortionFactor dist_factor=this._dist_factor_ref;
- final NyARDoubleMatrix22 evec=this.__getSquareLine_evec;
- final NyARDoublePoint2d mean=this.__getSquareLine_mean;
- final NyARDoublePoint2d ev=this.__getSquareLine_ev;
-
-
- for (int i = 0; i < 4; i++) {
- final double w1 = (double) (i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5;
- final int st = (int) (i_mkvertex[i] + w1);
- final int ed = (int) (i_mkvertex[i + 1] - w1);
- final int n = ed - st + 1;
- if (n < 2) {
- // 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
- return false;
- }
- //主成分分析する。
- this._pca.pcaWithDistortionFactor(i_xcoord, i_ycoord, st, n,dist_factor, evec, ev,mean);
- final NyARLinear l_line_i = l_line[i];
- l_line_i.run = evec.m01;// line[i][0] = evec->m[1];
- l_line_i.rise = -evec.m00;// line[i][1] = -evec->m[0];
- 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]);
- }
-
- final NyARDoublePoint2d[] l_sqvertex = o_square.sqvertex;
- final NyARIntPoint2d[] l_imvertex = o_square.imvertex;
- for (int i = 0; i < 4; i++) {
- final NyARLinear l_line_i = l_line[i];
- final NyARLinear l_line_2 = l_line[(i + 3) % 4];
- final double w1 = l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise;
- if (w1 == 0.0) {
- return false;
- }
- l_sqvertex[i].x = (l_line_2.rise * l_line_i.intercept - l_line_i.rise * l_line_2.intercept) / w1;
- l_sqvertex[i].y = (l_line_i.run * l_line_2.intercept - l_line_2.run * l_line_i.intercept) / w1;
- // 頂点インデクスから頂点座標を得て保存
- l_imvertex[i].x = i_xcoord[i_mkvertex[i]];
- l_imvertex[i].y = i_ycoord[i_mkvertex[i]];
- }
- return true;
- }
- /**
- * 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。
- *
- * @param i_xcoord
- * @param i_ycoord
- * @param i_coord_num
- * @return
- */
- private int scanVertex(int[] i_xcoord, int[] i_ycoord, int i_coord_num)
- {
- final int sx = i_xcoord[0];
- final int sy = i_ycoord[0];
- int d = 0;
- int w, x, y;
- int ret = 0;
- for (int i = 1; i < i_coord_num; i++) {
- x = i_xcoord[i] - sx;
- y = i_ycoord[i] - sy;
- w = x * x + y * y;
- if (w > d) {
- d = w;
- ret = i;
- }
- // ここでうまく終了条件入れられないかな。
- }
- return ret;
- }
-
- private final NyARVertexCounter __getSquareVertex_wv1 = new NyARVertexCounter();
-
- private final NyARVertexCounter __getSquareVertex_wv2 = new NyARVertexCounter();
-
- /**
- * 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。
- *
- * @param i_x_coord
- * @param i_y_coord
- * @param i_vertex1_index
- * @param i_coord_num
- * @param i_area
- * @param o_vertex
- * 要素数はint[4]である事
- * @return
- */
- 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)
- {
- final NyARVertexCounter wv1 = this.__getSquareVertex_wv1;
- final NyARVertexCounter wv2 = this.__getSquareVertex_wv2;
- final int end_of_coord = i_vertex1_index + i_coord_num - 1;
- final int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];
- final int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];
- int dmax = 0;
- int v1 = i_vertex1_index;
- for (int i = 1 + i_vertex1_index; i < end_of_coord; i++) {// for(i=1;i<marker_info2->coord_num-1;i++)
- // {
- final int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);
- if (d > dmax) {
- dmax = d;
- v1 = i;
- }
- }
- final double thresh = (i_area / 0.75) * 0.01 * VERTEX_FACTOR;
-
- o_vertex[0] = i_vertex1_index;
-
- 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)<
- // 0 ) {
- return false;
- }
- 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)
- // < 0) {
- return false;
- }
-
- int v2;
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {// if(wvnum1 == 1 && wvnum2== 1) {
- o_vertex[1] = wv1.vertex[0];
- o_vertex[2] = v1;
- o_vertex[3] = wv2.vertex[0];
- } else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0) {// }else if( wvnum1 > 1 && wvnum2== 0) {
- // 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。
- v2 = (v1 - i_vertex1_index) / 2 + i_vertex1_index;
- if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh)) {
- return false;
- }
- if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh)) {
- return false;
- }
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {
- o_vertex[1] = wv1.vertex[0];
- o_vertex[2] = wv2.vertex[0];
- o_vertex[3] = v1;
- } else {
- return false;
- }
- } else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1) {
- // v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;
- v2 = (v1 + end_of_coord) / 2;
-
- if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh)) {
- return false;
- }
- if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh)) {
- return false;
- }
- if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {
- o_vertex[1] = v1;
- o_vertex[2] = wv1.vertex[0];
- o_vertex[3] = wv2.vertex[0];
- } else {
- return false;
- }
- } else {
- return false;
- }
- o_vertex[4] = end_of_coord;
- return true;
- }
- /**
- * QRコードのエッジ特徴を持つラベルであるかを調べる
- * @param buf
- * @param index_table
- * @param i_label
- * @return
- */
- private boolean hasQrEdgeFeature(int buf[][], int[] index_table, NyARLabelingLabel i_label)
- {
- int tx, bx;
- int w;
- int i_label_id = i_label.id;
- int[] limage_j;
- final int clip_l = i_label.clip_l;
- final int clip_b = i_label.clip_b;
- final int clip_r = i_label.clip_r;
- final int clip_t = i_label.clip_t;
-
- tx = bx = 0;
- // 上接点(→)
- limage_j = buf[clip_t];
- for (int i = clip_l; i <= clip_r; i++) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {
- w = limage_j[i];
- if (w > 0 && index_table[w - 1] == i_label_id) {
- tx = i;
- break;
- }
- }
- // 下接点(←)
- limage_j = buf[clip_b];
- for (int i = clip_r; i >= clip_l; i--) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {
- w = limage_j[i];
- if (w > 0 && index_table[w - 1] == i_label_id) {
- bx = i;
- break;
- }
- }
- final int cx = (clip_l + clip_r) / 2;
- final int cy = (clip_t + clip_b) / 2;
- // 横断チェック(中心から線を引いて、101になるかしらべる)
- if (!checkDiagonalLine(buf, cx, cy, bx, clip_b)) {
- return false;
- }
- if (!checkDiagonalLine(buf, tx, clip_t, cx, cy)) {
- return false;
- }
- return true;
- }
-
- /**
- * 対角線のパターンを調べる。
- *
- * @param buf
- * @param i_px1
- * @param i_py1
- * @param i_px2
- * @param i_py2
- * @return
- */
- private boolean checkDiagonalLine(int[][] buf, int i_px1, int i_py1, int i_px2, int i_py2)
- {
- int sub_y = i_py2 - i_py1;
- int sub_x = i_px2 - i_px1;
- // 黒
- int i = 0;
- for (; i < sub_y; i++) {
- int yp = i_py1 + i;
- int xp = i_px1 + i * sub_x / sub_y;
- if (buf[yp][xp] == 0 && buf[yp][xp-1] == 0 && buf[yp][xp+1] == 0) {
- break;
- }
-
- }
- if (i == sub_y) {
- return false;
- }
- // 白
- for (; i < sub_y; i++) {
- int yp = i_py1 + i;
- int xp = i_px1 + i * sub_x / sub_y;
- if (buf[yp][xp] != 0 && buf[yp][xp-1] != 0 && buf[yp][xp+1] != 0) {
- break;
- }
-
- }
- if (i == sub_y) {
- return false;
- }
- // 黒
- for (; i < sub_y; i++) {
- int yp = i_py1 + i;
- int xp = i_px1 + i * sub_x / sub_y;
- if (buf[yp][xp] == 0 && buf[yp][xp-1] == 0 && buf[yp][xp+1] == 0) {
- break;
- }
-
- }
- if (i != sub_y) {
- return false;
- }
- // 端まで到達したらOK
- return true;
- }
-
-}
-
-
-public class LabelingCamera extends Frame implements JmfCaptureListener
-{
- private final String camera_file = "../Data/camera_para.dat";
-
- private JmfNyARRaster_RGB _raster;
-
- private JmfCameraCapture capture;
- private NyARParam ap;
- public LabelingCamera() throws NyARException, NyARException
- {
- setBounds(0, 0, 640 + 64, 720 + 64);
- // キャプチャの準備
- capture = new JmfCameraCapture(320, 240, 30f, JmfCameraCapture.PIXEL_FORMAT_RGB);
- capture.setCaptureListener(this);
-
- // キャプチャイメージ用のラスタを準備
- this._raster = new JmfNyARRaster_RGB(320, 240);
-
- // AR用カメラパラメタファイルをロード
- ap = new NyARParam();
- ap.loadARParamFromFile(camera_file);
- ap.changeScreenSize(320, 240);
-
-
- }
-
- // そのラベルが特徴点候補か返す。
-
- private NyARBinRaster _binraster1 = new NyARBinRaster(320, 240);
-
- private NyARGrayscaleRaster _gsraster1 = new NyARGrayscaleRaster(320, 240);
-
- private NyARLabelingImage _limage = new NyARLabelingImage(320, 240);
-
- private LabelingBufferdImage _bimg = new LabelingBufferdImage(320, 240);
-
- private NyARRasterFilter_ARToolkitThreshold filter_gs2bin;
-
- public void onUpdateBuffer(Buffer i_buffer)
- {
- NyARRasterFilter_AreaAverage gs2bin=new NyARRasterFilter_AreaAverage();
-
- try {
- // キャプチャしたバッファをラスタにセット
- _raster.setBuffer(i_buffer);
-
- Graphics g = getGraphics();
- // キャプチャ画像
- BufferToImage b2i = new BufferToImage((VideoFormat) i_buffer.getFormat());
- Image img = b2i.createImage(i_buffer);
- this.getGraphics().drawImage(img, 32, 32, this);
-
- // 画像1
- INyARRasterFilter_RgbToGs filter_rgb2gs = new NyARRasterFilter_RgbAve();
- filter_rgb2gs.doFilter(_raster, _gsraster1);
- this._bimg.drawImage(this._gsraster1);
- this.getGraphics().drawImage(this._bimg, 32 + 320, 32, 320 + 320 + 32, 240 + 32, 0, 240, 320, 0, this);
-
-
- // 画像2
- gs2bin.doFilter(_gsraster1, _binraster1);
- this._bimg.drawImage(_binraster1);
- this.getGraphics().drawImage(this._bimg, 32, 32 + 240, 320 + 32, 240 + 32 + 240, 0, 240, 320, 0, this);
-
- // 画像3
- NyARLabelingImage limage = new NyARLabelingImage(320, 240);
- NyARLabeling_ARToolKit labeling = new NyARLabeling_ARToolKit();
- labeling.attachDestination(limage);
- labeling.labeling(_binraster1);
- this._bimg.drawImage(this._gsraster1);
- NyARLabelingLabel[] labels = limage.getLabelStack().getArray();
-
- NyARSquareStack stack = new NyARSquareStack(100);
- NyARQRCodeDetector detect = new NyARQRCodeDetector(ap.getDistortionFactor(), new NyARIntSize(320,240));
- detect.bimg=this._bimg;
-
- detect.detectMarker(_binraster1, stack);
- for (int i = 0; i < stack.getLength(); i++) {
- NyARSquare[] square_ptr = (NyARSquare[]) stack.getArray();
- int[] xp=new int[4];
- int[] yp=new int[4];
- for(int i2=0;i2<4;i2++){
- xp[i2]=square_ptr[i].imvertex[i2].x;
- yp[i2]=square_ptr[i].imvertex[i2].y;
- }
- this._bimg.getGraphics().setColor(Color.RED);
- this._bimg.getGraphics().drawPolygon(xp, yp,2);
- }
- this.getGraphics().drawImage(this._bimg, 32 + 320, 32 + 240, 320 + 32 + 320, 240 + 32 + 240, 0, 240, 320, 0, this);
-
- // 画像3
- // threshold.debugDrawHistogramMap(_workraster, _workraster2);
- // this._bimg2.setImage(this._workraster2);
- // this.getGraphics().drawImage(this._bimg2, 32+320, 32+240,320+32+320,240+32+240,0,240,320,0, this);
-
- // 画像4
- // NyARRasterThresholdAnalyzer_SlidePTile threshold=new NyARRasterThresholdAnalyzer_SlidePTile(15);
- // threshold.analyzeRaster(_gsraster1);
- // filter_gs2bin=new NyARRasterFilter_AreaAverage();
- // filter_gs2bin.doFilter(_gsraster1, _binraster1);
- // this._bimg.drawImage(_binraster1);
-
- // NyARRasterDetector_QrCodeEdge detector=new NyARRasterDetector_QrCodeEdge(10000);
- // detector.analyzeRaster(_binraster1);
-
- // this._bimg.overlayData(detector.geResult());
-
- // this.getGraphics().drawImage(this._bimg, 32, 32+480,320+32,480+32+240,0,240,320,0, this);
- // 画像5
-
- /*
- * threshold2.debugDrawHistogramMap(_workraster, _workraster2); this._bimg2.drawImage(this._workraster2); this.getGraphics().drawImage(this._bimg2,
- * 32+320, 32+480,320+32+320,480+32+240,0,240,320,0, this);
- */
-
- // this.getGraphics().drawImage(this._bimg, 32, 32, this);
-
- } catch (Exception e) {
- e.printStackTrace();
- }
-
- }
-
- private INyARLabeling labelingFactory(int i_idx)
- {
- // switch(i_idx){
- // case 0:{NyARLabeling_ARToolKit l=new NyARLabeling_ARToolKit();l.setThresh(4);return l;}
- // case 1:{return new NyLineLabeling();}
- // }
- return null;
-
- }
-
- private void startCapture()
- {
- try {
- capture.start();
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
-
- public static void main(String[] args)
- {
- try {
- LabelingCamera mainwin = new LabelingCamera();
- mainwin.setVisible(true);
- mainwin.startCapture();
- } catch (Exception e) {
- e.printStackTrace();
- }
-
- }
-
-}
+++ /dev/null
-\r
-package jp.nyatla.nyartoolkit.dev;\r
-\r
-import java.awt.*;\r
-import java.awt.event.WindowAdapter;\r
-import java.awt.event.WindowEvent;\r
-import java.awt.image.BufferedImage;\r
-import java.io.File;\r
-import java.io.FileInputStream;\r
-import java.io.IOException;\r
-import java.util.Date;\r
-\r
-import javax.imageio.ImageIO;\r
-\r
-import jp.nyatla.nyartoolkit.NyARException;\r
-import jp.nyatla.nyartoolkit.core.labeling.rlelabeling.NyARLabeling_Rle;\r
-import jp.nyatla.nyartoolkit.core.labeling.rlelabeling.NyARRleLabelFragmentInfo;\r
-import jp.nyatla.nyartoolkit.core.raster.*;\r
-import jp.nyatla.nyartoolkit.core.raster.rgb.INyARRgbRaster;\r
-import jp.nyatla.nyartoolkit.core.raster.rgb.NyARRgbRaster_RGB;\r
-import jp.nyatla.nyartoolkit.core.rasterfilter.rgb2gs.NyARRasterFilter_Rgb2Gs_RgbAve;\r
-import jp.nyatla.nyartoolkit.core.squaredetect.NyARContourPickup;\r
-import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint3d;\r
-import jp.nyatla.nyartoolkit.core.types.NyARIntPoint2d;\r
-\r
-import jp.nyatla.nyartoolkit.utils.j2se.*;\r
-\r
-\r
-class Main_Labeling extends NyARLabeling_Rle\r
-{\r
- private NyARIntPoint2d[] vx=NyARIntPoint2d.createArray(100);\r
- public NyARGrayscaleRaster current_gs;\r
- public int current_th;\r
- public Main_Labeling(int i_width,int i_height) throws NyARException\r
- {\r
- super(i_width,i_height);\r
- }\r
- /**\r
- * @Override\r
- */\r
- protected void onLabelFound(NyARRleLabelFragmentInfo iRefLabel)throws NyARException\r
- {\r
- NyARContourPickup ct=new NyARContourPickup();\r
- Date d2 = new Date();\r
- \r
- for(int i=0;i<100000;i++){\r
- int c=ct.getContour(this.current_gs,this.current_th, iRefLabel.entry_x,iRefLabel.clip_t, this.vx);\r
- }\r
- Date d = new Date();\r
- NyARDoublePoint3d ang=new NyARDoublePoint3d();\r
- System.out.println(d.getTime() - d2.getTime());\r
-\r
- return;\r
- }\r
-}\r
-\r
-/**\r
- * ラべリングと、輪郭線抽出のテストコード\r
- * @author nyatla\r
- *\r
- */\r
-public class LabelingTest extends Frame\r
-{\r
- private final String source_file = "../Data/ラべリングのエントリポイントエラー.png";\r
- private BufferedImage _src_image;\r
- public LabelingTest() throws NyARException,Exception\r
- {\r
- this._src_image = ImageIO.read(new File(source_file));\r
- \r
- INyARRgbRaster ra =new NyARRgbRaster_RGB(this._src_image.getWidth(),this._src_image.getHeight());\r
- NyARRasterImageIO.copy(this._src_image,ra);\r
- //GS値化\r
- NyARGrayscaleRaster gs=new NyARGrayscaleRaster(this._src_image.getWidth(),this._src_image.getHeight());\r
- NyARRasterFilter_Rgb2Gs_RgbAve filter=new NyARRasterFilter_Rgb2Gs_RgbAve(ra.getBufferType());\r
- filter.doFilter(ra,gs);\r
- //ラべリングの試験\r
- Main_Labeling lv=new Main_Labeling(ra.getWidth(),ra.getHeight());\r
- lv.current_gs=gs;\r
- lv.current_th=230;\r
- lv.labeling(gs,lv.current_th);\r
- //画像をストア\r
- \r
- \r
- this.addWindowListener(new WindowAdapter() {\r
- public void windowClosing(WindowEvent e)\r
- {\r
- System.exit(0);\r
- }\r
- });\r
- //ペイント\r
- }\r
-\r
- public static void main(String[] args)\r
- {\r
- try {\r
- LabelingTest app = new LabelingTest();\r
- app.setVisible(true);\r
- app.setBounds(0, 0, 640, 480);\r
- } catch (Exception e) {\r
- e.printStackTrace();\r
- }\r
- }\r
-}\r
+++ /dev/null
-/* \r
- * PROJECT: NyARToolkit\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.dev;\r
-\r
-\r
-import jp.nyatla.nyartoolkit.NyARException;\r
-import jp.nyatla.nyartoolkit.core.raster.rgb.*;\r
-import jp.nyatla.nyartoolkit.core.rasterreader.*;\r
-import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquare;\r
-import jp.nyatla.nyartoolkit.core.types.*;\r
-import jp.nyatla.nyartoolkit.core.types.matrix.*;\r
-import jp.nyatla.nyartoolkit.core.pickup.*;\r
-\r
-\r
-class NyARDoubleLine2d\r
-{\r
- double x,y;\r
- void set(NyARDoublePoint2d i_point_a,NyARDoublePoint2d i_point_b)\r
- {\r
- this.x=i_point_a.x-i_point_b.x;\r
- this.y=i_point_a.y-i_point_b.y;\r
- return;\r
- }\r
- void add(NyARDoubleLine2d i_param,NyARDoubleLine2d o_result)\r
- {\r
- o_result.x=this.x+i_param.x;\r
- o_result.y=this.y+i_param.y;\r
- return;\r
- }\r
- void sum(NyARDoubleLine2d i_param,NyARDoubleLine2d o_result)\r
- {\r
- o_result.x=this.x-i_param.x;\r
- o_result.y=this.y-i_param.y;\r
- return;\r
- }\r
- /**\r
- * i_paramとの外積を計算する。\r
- * @param i_param\r
- * @return\r
- */\r
- double cross(NyARDoubleLine2d i_param)\r
- {\r
- return this.x*i_param.y-this.y*i_param.x;\r
- }\r
- /**\r
- * i_paramとの内積を計算する\r
- * @param i_param\r
- * @return\r
- */\r
- double dot(NyARDoubleLine2d i_param)\r
- {\r
- return this.x*i_param.x+this.y*i_param.y;\r
- }\r
- /**\r
- * このベクトルの絶対値を計算する\r
- * @param i_param\r
- * @return\r
- */\r
- double dist()\r
- {\r
- return Math.sqrt(this.x*this.x+this.y*this.y);\r
- }\r
- \r
- \r
-}\r
-\r
-\r
-class LineParam\r
-{\r
- public double a;\r
- public double b;\r
- public static LineParam[] createArray(int i_length)\r
- {\r
- LineParam[] result=new LineParam[i_length];\r
- for(int i=result.length-1;i>=0;i--){\r
- result[i]=new LineParam();\r
- }\r
- return result;\r
- }\r
-}\r
-\r
-class Complex\r
-{\r
- public double i;\r
- public double r;\r
- public Complex()\r
- {\r
- }\r
- public Complex(double i_r,double i_i)\r
- {\r
- this.r=i_r;\r
- this.i=i_i;\r
- }\r
- public void add(Complex i_v)\r
- {\r
- this.r+=i_v.r;\r
- this.i+=i_v.i;\r
- }\r
- public void sub(Complex i_v)\r
- {\r
- this.r-=i_v.r;\r
- this.i-=i_v.i;\r
- }\r
- public void sub(Complex i_v1,Complex i_v2)\r
- {\r
- this.r=i_v1.r-i_v2.r;\r
- this.i=i_v1.i-i_v2.i;\r
- }\r
- \r
- public void mul(Complex i_v)\r
- {\r
- double r,i;\r
- r=this.r;\r
- i=this.i;\r
- final double d2=Math.sqrt(r*r+i*i);\r
- final double s2=Math.acos(r/d2);\r
- r=i_v.r;\r
- i=i_v.i;\r
- final double d1=Math.sqrt(r*r+i*i);\r
- final double s1=Math.acos(r/d1);\r
- \r
- this.r=d1*d2*Math.cos(s2+s1);\r
- this.i=d1*d2*Math.sin(s2+s1);\r
- return;\r
- }\r
- public void div(Complex i_v)\r
- {\r
- double r,i;\r
- r=this.r;\r
- i=this.i;\r
- final double d2=Math.sqrt(r*r+i*i);\r
- final double s2=Math.acos(r/d2);\r
- r=i_v.r;\r
- i=i_v.i;\r
- final double d1=Math.sqrt(r*r+i*i);\r
- final double s1=Math.acos(r/d1);\r
- \r
- this.r=d2/d1*Math.cos(s2/s1);\r
- this.i=d2/d1*Math.sin(s2/s1);\r
- return;\r
- }\r
- public void pow(Complex i_v,double i_base)\r
- {\r
- double r,i;\r
- r=i_v.r;\r
- i=i_v.i;\r
- double d=Math.sqrt(r*r+i*i);\r
- final double s=Math.acos(r/d)*i_base;\r
- d=Math.pow(d,i_base);\r
- this.r=d*Math.cos(s);\r
- this.i=d*Math.sin(s);\r
- }\r
- public void sqrt(Complex i_v)\r
- {\r
- double r,i;\r
- r=i_v.r;\r
- i=i_v.i;\r
- double d=Math.sqrt(r*r+i*i);\r
- final double s=Math.acos(r/d)*0.5;\r
- d=Math.sqrt(d);\r
- this.r=d*Math.cos(s);\r
- this.i=d*Math.sin(s);\r
- }\r
- public double dist()\r
- {\r
- return Math.sqrt(this.r*this.r+this.i*this.i);\r
- }\r
- \r
-}\r
-\r
-\r
-/**\r
- * 24ビットカラーのマーカーを保持するために使うクラスです。 このクラスは、ARToolkitのパターンと、ラスタから取得したパターンを保持します。\r
- * 演算順序を含む最適化をしたもの\r
- * \r
- */\r
-public class NyARColorPatt_DiagonalRatio implements INyARColorPatt\r
-{\r
- private int[] _patdata;\r
- private NyARBufferReader _buf_reader;\r
- private NyARRgbPixelReader_INT1D_X8R8G8B8_32 _pixelreader;\r
- private NyARIntSize _size;\r
- \r
- public final int getWidth()\r
- {\r
- return this._size.w;\r
- }\r
- \r
- public final int getHeight()\r
- {\r
- return this._size.h;\r
- }\r
- \r
- public final NyARIntSize getSize()\r
- {\r
- return this._size;\r
- }\r
- \r
- public final INyARBufferReader getBufferReader()\r
- {\r
- return this._buf_reader;\r
- }\r
- \r
- public final INyARRgbPixelReader getRgbPixelReader()\r
- {\r
- return this._pixelreader;\r
- }\r
- NyARDoubleMatrix44 _invmat=new NyARDoubleMatrix44();\r
- /**\r
- * @param i_width\r
- * @param i_height\r
- */\r
- public NyARColorPatt_DiagonalRatio(int i_model)\r
- {\r
- int resolution=(1<<i_model)+1;\r
- this._size=new NyARIntSize(resolution,resolution);\r
- this._patdata = new int[resolution*resolution];\r
- this._buf_reader=new NyARBufferReader(this._patdata,NyARBufferReader.BUFFERFORMAT_INT1D_X8R8G8B8_32);\r
- this._pixelreader=new NyARRgbPixelReader_INT1D_X8R8G8B8_32(this._patdata,this._size);\r
- \r
- this._vertex_map=NyARDoublePoint2d.create2dArray(this._size.h,this._size.w);\r
-\r
- return;\r
- } \r
- public NyARDoublePoint2d[][] _vertex_map;\r
- public boolean pickFromRaster(INyARRgbRaster image, NyARSquare i_square)throws NyARException\r
- {\r
- NyARDoublePoint2d center=new NyARDoublePoint2d();\r
- //中心を取得\r
- solvCrossPoint(i_square.sqvertex[0],i_square.sqvertex[2],i_square.sqvertex[1],i_square.sqvertex[3],center);\r
- \r
- int[] rgb_tmp=new int[3];\r
- INyARRgbPixelReader reader=image.getRgbPixelReader();\r
- //頂点マトリクスの計算(2=2分割,3=4分割,4=8分割)\r
- NyARDoublePoint2d[][] vertex_map=this._vertex_map;\r
- solvLinePointArray(center,this._size.h-1,i_square.sqvertex,vertex_map);\r
- for(int i=0;i<this._size.h;i++){\r
- for(int i2=0;i2<this._size.w;i2++){\r
- if(vertex_map[i][i2].x>320||vertex_map[i][i2].y>240||vertex_map[i][i2].x<0||vertex_map[i][i2].y<0)\r
- {\r
- //System.out.println(vertex_map[i][i2].x+","+vertex_map[i][i2].y);\r
- this._patdata[i2+i*this._size.w]=0;\r
- continue;\r
- }\r
- reader.getPixel((int)vertex_map[i][i2].x,(int)vertex_map[i][i2].y,rgb_tmp);\r
- this._patdata[i2+i*this._size.w]=(rgb_tmp[0]<<16)|(rgb_tmp[1]<<8)|rgb_tmp[2]; \r
- } \r
- }\r
- return true;\r
- }\r
- /**\r
- * 直線をscaleで2^n分割した配列を計算する。\r
- * @param i_p1\r
- * @param i_p2\r
- * @param o_param\r
- * @return\r
- */\r
- private void solvLinePointArray4(NyARDoublePoint2d i_center,int i_div,NyARDoublePoint2d[] i_vertex,NyARDoublePoint2d[][] o_result)\r
- {\r
- //分割直線の計算(2=2分割,3=4分割,4=8分割)\r
- //中心コピー\r
- o_result[0][0].setValue(i_center);\r
- \r
- \r
- //[0]->[1]のベクトルを計算\r
- NyARDoublePoint2d vec01=new NyARDoublePoint2d();\r
- NyARDoublePoint2d vec12=new NyARDoublePoint2d();\r
- NyARDoublePoint2d vec03=new NyARDoublePoint2d();\r
- NyARDoublePoint2d vec32=new NyARDoublePoint2d();\r
- vec01.vecSub(i_vertex[1],i_vertex[0]);\r
- vec12.vecSub(i_vertex[2],i_vertex[1]);\r
- vec03.vecSub(i_vertex[3],i_vertex[0]);\r
- vec32.vecSub(i_vertex[2],i_vertex[3]);\r
-\r
- //中心点から[0]->[1]と平行なベクトルの終点を計算\r
- NyARDoublePoint2d vec01_ep=new NyARDoublePoint2d();\r
- vec01_ep.vecAdd(vec01,i_center);\r
- //中心点から[3]->[2]と平行なベクトルの終点を計算\r
- NyARDoublePoint2d vec32_ep=new NyARDoublePoint2d();\r
- vec32_ep.vecAdd(vec32,i_center); \r
- //平均値\r
- NyARDoublePoint2d cx_e=new NyARDoublePoint2d();\r
- cx_e.x=(vec01_ep.x+vec32_ep.x)/2;\r
- cx_e.y=(vec01_ep.y+vec32_ep.y)/2;\r
- \r
- //ベクトル[1]->[2]との交差点を計算\r
- solvCrossPoint(i_center,cx_e,i_vertex[1],i_vertex[2],o_result[1][2]);\r
- //ベクトル[3]->[0]との交差点を計算\r
- solvCrossPoint(i_center,cx_e,i_vertex[3],i_vertex[0],o_result[1][0]);\r
- \r
-\r
- \r
- //中心点から[1]->[2]と平行なベクトルの終点を計算\r
- NyARDoublePoint2d vec12_ep=new NyARDoublePoint2d();\r
- vec12_ep.vecAdd(vec12,i_center);\r
- //中心点から[0]->[3]と平行なベクトルの終点を計算\r
- NyARDoublePoint2d vec03_ep=new NyARDoublePoint2d();\r
- vec03_ep.vecAdd(vec03,i_center); \r
- //平均値\r
- NyARDoublePoint2d cx_e2=new NyARDoublePoint2d();\r
- cx_e2.x=(vec12_ep.x+vec03_ep.x)/2;\r
- cx_e2.y=(vec12_ep.y+vec03_ep.y)/2;\r
- \r
- //cx_e2とベクトル[0]->[1]との交差点を計算\r
- solvCrossPoint(i_center,cx_e2,i_vertex[0],i_vertex[1],o_result[0][1]);\r
- //ベクトル[3]->[2]との交差点を計算\r
- solvCrossPoint(i_center,cx_e2,i_vertex[3],i_vertex[2],o_result[2][1]);\r
- \r
- \r
- \r
- \r
- return;\r
- }\r
- private void solvLinePointArray(NyARDoublePoint2d i_center,int i_div,NyARDoublePoint2d[] i_vertex,NyARDoublePoint2d[][] o_result)\r
- {\r
- //中心コピー\r
- o_result[0][0].setValue(i_center);\r
-\r
- //[0]+[1]+[c]\r
- NyARDoublePoint2d vt=new NyARDoublePoint2d();\r
- vt.x=(i_vertex[0].x+i_vertex[1].x)/2;\r
- vt.y=(i_vertex[0].y+i_vertex[1].y)/2;\r
- //[2]+[3]+[c]\r
- NyARDoublePoint2d vb=new NyARDoublePoint2d();\r
- vb.x=(i_vertex[2].x+i_vertex[3].x)/2;\r
- vb.y=(i_vertex[2].y+i_vertex[3].y)/2;\r
- \r
- vt.vecSub(vb);\r
- vt.vecAdd(i_center);\r
-\r
- //[0][1]->[2][3]ベクトル\r
- solvCrossPoint(vt,i_center,i_vertex[0],i_vertex[1],o_result[1][2]);\r
- //[0][1]->[2][3]ベクトル:v[3][0]\r
- solvCrossPoint(vt,i_center,i_vertex[3],i_vertex[2],o_result[1][0]);\r
-\r
- \r
- \r
-/* \r
- \r
- //[0]->[1]のベクトルを計算\r
- NyARDoublePoint2d vec01=new NyARDoublePoint2d();\r
- NyARDoublePoint2d vec12=new NyARDoublePoint2d();\r
- NyARDoublePoint2d vec03=new NyARDoublePoint2d();\r
- NyARDoublePoint2d vec32=new NyARDoublePoint2d();\r
- vec01.vecSub(i_vertex[1],i_vertex[0]);\r
- vec12.vecSub(i_vertex[2],i_vertex[1]);\r
- vec03.vecSub(i_vertex[3],i_vertex[0]);\r
- vec32.vecSub(i_vertex[2],i_vertex[3]);\r
-\r
- //中心点から[0]->[1]と平行なベクトルの終点を計算\r
- NyARDoublePoint2d vec01_ep=new NyARDoublePoint2d();\r
- vec01_ep.vecSum(vec01,i_center);\r
- //中心点から[3]->[2]と平行なベクトルの終点を計算\r
- NyARDoublePoint2d vec32_ep=new NyARDoublePoint2d();\r
- vec32_ep.vecSum(vec32,i_center); \r
- //平均値\r
- NyARDoublePoint2d cx_e=new NyARDoublePoint2d();\r
- cx_e.x=(vec01_ep.x+vec32_ep.x)/2;\r
- cx_e.y=(vec01_ep.y+vec32_ep.y)/2;\r
- \r
- //ベクトル[1]->[2]との交差点を計算\r
- solvCrossPoint(i_center,cx_e,i_vertex[1],i_vertex[2],o_result[1][2]);\r
- //ベクトル[3]->[0]との交差点を計算\r
- solvCrossPoint(i_center,cx_e,i_vertex[3],i_vertex[0],o_result[1][0]);\r
- \r
-\r
- \r
- //中心点から[1]->[2]と平行なベクトルの終点を計算\r
- NyARDoublePoint2d vec12_ep=new NyARDoublePoint2d();\r
- vec12_ep.vecSum(vec12,i_center);\r
- //中心点から[0]->[3]と平行なベクトルの終点を計算\r
- NyARDoublePoint2d vec03_ep=new NyARDoublePoint2d();\r
- vec03_ep.vecSum(vec03,i_center); \r
- //平均値\r
- NyARDoublePoint2d cx_e2=new NyARDoublePoint2d();\r
- cx_e2.x=(vec12_ep.x+vec03_ep.x)/2;\r
- cx_e2.y=(vec12_ep.y+vec03_ep.y)/2;\r
- \r
- //cx_e2とベクトル[0]->[1]との交差点を計算\r
- solvCrossPoint(i_center,cx_e2,i_vertex[0],i_vertex[1],o_result[0][1]);\r
- //ベクトル[3]->[2]との交差点を計算\r
- solvCrossPoint(i_center,cx_e2,i_vertex[3],i_vertex[2],o_result[2][1]);\r
- \r
- \r
-*/ \r
- \r
- return;\r
- }\r
- \r
- \r
- \r
- private void solvLinePointArray3(NyARDoublePoint2d i_canter,int i_div,NyARDoublePoint2d[] i_vertex,NyARDoublePoint2d[][] o_result)\r
- {\r
- NyARDoublePoint2d scale=new NyARDoublePoint2d();\r
- //分割直線の計算(2=2分割,3=4分割,4=8分割)\r
- int d=i_div;\r
- NyARDoublePoint2d[] r=o_result[d/2];\r
- //対角線Aを計算\r
- r[0].x=i_vertex[0].x;\r
- r[0].y=i_vertex[0].y;\r
- r[d].x=i_vertex[2].x;\r
- r[d].y=i_vertex[2].y;\r
- scale.x=(i_canter.x-i_vertex[0].x)/(i_vertex[2].x-i_vertex[0].x);\r
- scale.y=(i_canter.y-i_vertex[0].y)/(i_vertex[2].y-i_vertex[0].y);\r
-\r
- solvLinePointArray_b(scale,0,d,r);\r
- //対角線上にコピー\r
- for(int i=0;i<=d;i++){\r
- o_result[i][i].x=r[i].x; \r
- o_result[i][i].y=r[i].y;\r
- }\r
- //対角線Bを計算\r
- r[0].x=i_vertex[3].x;\r
- r[0].y=i_vertex[3].y;\r
- r[d].x=i_vertex[1].x;\r
- r[d].y=i_vertex[1].y;\r
- scale.x=(i_canter.x-i_vertex[3].x)/(i_vertex[1].x-i_vertex[3].x);\r
- scale.y=(i_canter.y-i_vertex[3].y)/(i_vertex[1].y-i_vertex[3].y);\r
- solvLinePointArray_b(scale,0,d,r);\r
- //対角線上にコピー\r
- for(int i=0;i<=d;i++){\r
- o_result[d-i][i].x=r[i].x;\r
- o_result[d-i][i].y=r[i].y;\r
- }\r
- //マップ作成\r
- for(int i=0;i<=d;i++){\r
- final NyARDoublePoint2d y1=o_result[i][i];\r
- final NyARDoublePoint2d y2=o_result[d-i][i];\r
- if(i==d/2){\r
- continue;\r
- }\r
- for(int i2=0;i2<=d;i2++){\r
- if(i==i2){\r
- continue;\r
- }\r
- if(i==d-i2){\r
- continue;\r
- }\r
- if(i2==d/2){\r
- continue;\r
- }\r
- final NyARDoublePoint2d x1=o_result[i2][i2];\r
- final NyARDoublePoint2d x2=o_result[i2][d-i2];\r
- solvCrossPoint(y1,y2,x1,x2,o_result[i2][i]);\r
- }\r
- }\r
-\r
- return;\r
- } \r
- /**\r
- * 直線をscaleで2^n分割した配列を計算する。\r
- * @param i_p1\r
- * @param i_p2\r
- * @param o_param\r
- * @return\r
- */\r
- private void solvLinePointArray2(NyARDoublePoint2d i_canter,int i_div,NyARDoublePoint2d[] i_vertex,NyARDoublePoint2d[][] o_result)\r
- {\r
- NyARDoublePoint2d scale=new NyARDoublePoint2d();\r
- //分割直線の計算(2=2分割,3=4分割,4=8分割)\r
- int d=i_div;\r
- NyARDoublePoint2d[] r=o_result[d/2];\r
- //対角線Aを計算\r
- r[0].x=i_vertex[0].x;\r
- r[0].y=i_vertex[0].y;\r
- r[d].x=i_vertex[2].x;\r
- r[d].y=i_vertex[2].y;\r
-// scale.x=(i_canter.x-i_vertex[0].x)/(i_vertex[2].x-i_vertex[0].x);\r
-// scale.y=(i_canter.y-i_vertex[0].y)/(i_vertex[2].y-i_vertex[0].y);\r
- double sx,kx,lx,sy,ky,ly;\r
-\r
- sx=i_vertex[0].x;\r
- kx=solvK(i_canter.x-sx,i_vertex[2].x-sx);\r
- lx=solvL(kx,i_canter.x-sx);\r
-\r
- sy=i_vertex[0].y;\r
- ky=solvK(i_canter.y-sy,i_vertex[2].y-sy);\r
- ly=solvL(kx,i_canter.y-sy);\r
- \r
- solvLinePointArray_b(scale,0,d,r);\r
- //対角線上にコピー\r
- for(int i=0;i<=d;i++){\r
- o_result[i][i].x=sx+kx*lx;\r
- o_result[i][i].y=sy+ky*ly;\r
- kx*=kx;\r
- ky*=ky;\r
- }\r
- \r
- sx=i_vertex[3].x;\r
- kx=solvK(i_canter.x-sx,i_vertex[1].x-sx);\r
- lx=solvL(kx,i_canter.x-sx);\r
-\r
- sy=i_vertex[3].y;\r
- ky=solvK(i_canter.y-sy,i_vertex[1].y-sy);\r
- ly=solvL(kx,i_canter.y-sy);\r
- \r
- solvLinePointArray_b(scale,0,d,r);\r
- //対角線上にコピー\r
- for(int i=0;i<=d;i++){\r
- o_result[d-i][i].x=sx+kx*lx;\r
- o_result[d-i][i].y=sy+ky*ly;\r
- kx*=kx;\r
- ky*=ky;\r
- }\r
- //マップ作成\r
- for(int i=0;i<=d;i++){\r
- final NyARDoublePoint2d y1=o_result[i][i];\r
- final NyARDoublePoint2d y2=o_result[d-i][i];\r
- if(i==d/2){\r
- continue;\r
- }\r
- for(int i2=0;i2<=d;i2++){\r
- if(i==i2){\r
- continue;\r
- }\r
- if(i==d-i2){\r
- continue;\r
- }\r
- if(i2==d/2){\r
- continue;\r
- }\r
- final NyARDoublePoint2d x1=o_result[i2][i2];\r
- final NyARDoublePoint2d x2=o_result[i2][d-i2];\r
- solvCrossPoint(y1,y2,x1,x2,o_result[i2][i]);\r
- }\r
- }\r
-\r
- return;\r
- } \r
-\r
- private void solvLinePointArray_b(NyARDoublePoint2d i_scale,int i_si,int i_ei,NyARDoublePoint2d[] o_result)\r
- {\r
- int ci=(i_ei-i_si)/2+i_si;\r
- o_result[ci].x=i_scale.x*(o_result[i_ei].x-o_result[i_si].x)+o_result[i_si].x;\r
- o_result[ci].y=i_scale.y*(o_result[i_ei].y-o_result[i_si].y)+o_result[i_si].y;\r
- \r
- if(ci-i_si==1){\r
- return;\r
- }\r
- solvLinePointArray_b(i_scale,i_si,ci,o_result);\r
- solvLinePointArray_b(i_scale,ci,i_ei,o_result);\r
- return;\r
- }\r
- \r
- private void solvCrossPoint(NyARIntPoint2d i_p1,NyARIntPoint2d i_p2,NyARIntPoint2d i_p3,NyARIntPoint2d i_p4,NyARDoublePoint2d o_result)\r
- {\r
- NyARDoublePoint2d va=new NyARDoublePoint2d(i_p2);\r
- NyARDoublePoint2d vb=new NyARDoublePoint2d(i_p4);\r
- va.vecSub(i_p1);\r
- vb.vecSub(i_p3);\r
- o_result.setValue(i_p3);\r
- o_result.vecSub(i_p1);\r
- va.vecMul(va, vb.vecCross(o_result)/vb.vecCross(va));\r
- o_result.setValue(va);\r
- o_result.vecAdd(i_p1);\r
- return;\r
- //V a=p2-p1;\r
- //V b=p4-p3;\r
- //return a1 + a * cross(b, b1-a1) / cross(b, a);\r
- }\r
- private void solvCrossPoint(NyARDoublePoint2d i_p1,NyARDoublePoint2d i_p2,NyARDoublePoint2d i_p3,NyARDoublePoint2d i_p4,NyARDoublePoint2d o_result)\r
- {\r
- NyARDoublePoint2d va=new NyARDoublePoint2d(i_p2);\r
- NyARDoublePoint2d vb=new NyARDoublePoint2d(i_p4);\r
- va.vecSub(i_p1);\r
- vb.vecSub(i_p3);\r
- o_result.setValue(i_p3);\r
- o_result.vecSub(i_p1);\r
- va.vecMul(va, vb.vecCross(o_result)/vb.vecCross(va));\r
- o_result.setValue(va);\r
- o_result.vecAdd(i_p1);\r
- return;\r
- //V a=p2-p1;\r
- //V b=p4-p3;\r
- //return a1 + a * cross(b, b1-a1) / cross(b, a);\r
- } \r
- double pow_1_3(double a)\r
- {\r
- double x = Math.pow(a, 1./3);\r
- return (2*x+a/x/x)/3; // modifier\r
- }\r
- /*\r
- * \r
- * \r
- * */\r
- //(Sqrt(((3*Z*((-Z)/(3*Z))^2-(2*Z^2)/(3*Z)+Z-1)/Z)^3/27+(Z*((-Z)/(3*Z))^2+Z*((-Z)/(3*Z))^3-((Z-1)*Z)/(3*Z)+Z-1)^2/(4*Z^2))-(Z*((-Z)/(3*Z))^2+Z*((-Z)/(3*Z))^3-((Z-1)*Z)/(3*Z)+Z-1)/(2*Z))^(1/3)+(-((Z*((-Z)/(3*Z))^2+Z*((-Z)/(3*Z))^3-((Z-1)*Z)/(3*Z)+Z-1)/(2*Z)+Sqrt(((3*Z*((-Z)/(3*Z))^2-(2*Z^2)/(3*Z)+Z-1)/Z)^3/27+(Z*((-Z)/(3*Z))^2+Z*((-Z)/(3*Z))^3-((Z-1)*Z)/(3*Z)+Z-1)^2/(4*Z^2))))^(1/3)-Z/(3*Z)\r
- private double solvK(double mp,double vp)\r
- {\r
- double Z=mp/vp;\r
- double a=(Z-1);\r
- double b=(3.0*Z);\r
- double c=(a*Z);\r
- double d=(2.0*Z*Z);//(2*Z^2)\r
- double e=(4.0*Z*Z);//(4*Z^2)\r
- double f=((-Z)/b);\r
- double g=(Z*f*f+Z*f*f*f-c/b+Z-1);//(Z*f^2+Z*f^3-c/b+Z-1)\r
- double h=(3.0*Z*f*f-d/b+Z-1.0);//(3*Z*f^2-d/b+Z-1)\r
- double i=(h/Z);\r
- Complex j=new Complex(0,i*i*i/27.0+g*g/e);//(0,i*i*i/27.0+g*g/e);\r
-// j.r=0;\r
-// j.i=Math.sqrt(-i*i*i/27.0+g*g/e);\r
-// j.sqrt(j);\r
- Complex k=new Complex();\r
- k.r=j.r-g/(2.0*Z);\r
- k.i=j.i;\r
- Complex l=new Complex();\r
- l.r=-(g/(2.0*Z)+j.r);\r
- l.i=-j.i;\r
- \r
- k.pow(k,1.0/3);\r
- l.pow(l,1.0/3);\r
- double fi=k.dist()+l.dist()-Z/b;\r
- return fi;\r
- }\r
- private double solvL(double k,double mp)\r
- {\r
- return 100/(1+k*k+k*k*k+k);\r
- }\r
- \r
- \r
- public static void main(String[] args)\r
- {\r
-\r
- try {\r
- NyARColorPatt_DiagonalRatio t = new NyARColorPatt_DiagonalRatio(3);\r
- double k=t.solvK(60,100);\r
- double l=t.solvL(k,60);\r
- \r
- // t.Test_arGetVersion();\r
- NyARSquare s=new NyARSquare();\r
- s.sqvertex[0].x=10;\r
- s.sqvertex[0].y=10;\r
- s.sqvertex[1].x=90;\r
- s.sqvertex[1].y=0;\r
- s.sqvertex[2].x=100;\r
- s.sqvertex[2].y=100;\r
- s.sqvertex[3].x=0;\r
- s.sqvertex[3].y=100;\r
- //t.getLineCrossPoint(s);\r
- } catch (Exception e) {\r
- e.printStackTrace();\r
- }\r
- }\r
-}
\ No newline at end of file
+++ /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 edition ARToolKit class library.\r
- * Copyright (C)2008-2009 Ryo Iizuka\r
- *\r
- * This program is free software: you can redistribute it and/or modify\r
- * it under the terms of the GNU General Public License as published by\r
- * the Free Software Foundation, either version 3 of the License, or\r
- * (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 program. If not, see <http://www.gnu.org/licenses/>.\r
- * \r
- * For further information please contact.\r
- * http://nyatla.jp/nyatoolkit/\r
- * <airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>\r
- * \r
- */\r
-package jp.nyatla.nyartoolkit.dev;\r
-\r
-import jp.nyatla.nyartoolkit.NyARException;\r
-import jp.nyatla.nyartoolkit.core.labeling.NyARLabelOverlapChecker;\r
-import jp.nyatla.nyartoolkit.core.labeling.rlelabeling.*;\r
-import jp.nyatla.nyartoolkit.core.param.NyARCameraDistortionFactor;\r
-import jp.nyatla.nyartoolkit.core.squaredetect.NyARCoord2SquareVertexIndexes;\r
-import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquare;\r
-import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint2d;\r
-import jp.nyatla.nyartoolkit.core.types.NyARIntPoint2d;\r
-import jp.nyatla.nyartoolkit.core.types.NyARIntSize;\r
-import jp.nyatla.nyartoolkit.core.types.NyARLinear;\r
-import jp.nyatla.nyartoolkit.core.raster.*;\r
-import jp.nyatla.nyartoolkit.core.squaredetect.*;\r
-import jp.nyatla.nyartoolkit.core.param.*;\r
-\r
-\r
-\r
-/**\r
- * \r
- *\r
- */\r
-public class NyARSquareDetector_Vector\r
-{\r
- private static final int AR_AREA_MAX = 100000;// #define AR_AREA_MAX 100000\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
- private final int[] _xcoord;\r
- private final int[] _ycoord;\r
-\r
- private final NyARLabeling_Rle _labeling;\r
-\r
- private final NyARLabelOverlapChecker<NyARRleLabelFragmentInfoPtrStack.RleLabelFragmentInfo> _overlap_checker = new NyARLabelOverlapChecker<NyARRleLabelFragmentInfoPtrStack.RleLabelFragmentInfo>(32,NyARRleLabelFragmentInfoPtrStack.RleLabelFragmentInfo.class);\r
- private final SquareContourDetector_Vector _sqconvertor;\r
- private final NyARContourPickup _cpickup=new NyARContourPickup();\r
- private final NyARRleLabelFragmentInfoPtrStack _stack;\r
- \r
- private final int _max_coord;\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_Vector(NyARCameraDistortionFactor i_dist_factor_ref,NyARIntSize i_size) throws NyARException\r
- {\r
- this._width = i_size.w;\r
- this._height = i_size.h;\r
- //ラベリングのサイズを指定したいときはsetAreaRangeを使ってね。\r
- this._labeling = new NyARLabeling_Rle(this._width,this._height);\r
- this._labeling.setAreaRange(AR_AREA_MAX, AR_AREA_MIN);\r
- this._sqconvertor=new SquareContourDetector_Vector(i_size,i_dist_factor_ref);\r
- this._stack=new NyARRleLabelFragmentInfoPtrStack(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
-\r
- // 輪郭バッファ\r
- this._max_coord = number_of_coord;\r
- this._xcoord = new int[number_of_coord];\r
- this._ycoord = new int[number_of_coord];\r
- return;\r
- }\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
- * directionの確定は行いません。\r
- * @param i_raster\r
- * 解析する２値ラスタイメージを指定します。\r
- * @param o_square_stack\r
- * 抽出した正方形候補を格納するリスト\r
- * @throws NyARException\r
- */\r
- public final void detectMarker(NyARGrayscaleRaster i_gs,int i_th,NyARSquareStack o_square_stack) throws NyARException\r
- {\r
- final NyARRleLabelFragmentInfoPtrStack flagment=this._stack;\r
- final NyARLabelOverlapChecker<NyARRleLabelFragmentInfoPtrStack.RleLabelFragmentInfo> overlap = this._overlap_checker;\r
-\r
- // マーカーホルダをリセット\r
- o_square_stack.clear();\r
-\r
- // ラベル数が0ならここまで\r
- final int label_num=this._labeling.labeling(i_gs,i_th, 0, i_gs.getHeight(), flagment);\r
- if (label_num < 1) {\r
- return;\r
- }\r
- //ラベルをソートしておく\r
- flagment.sortByArea();\r
- //ラベルリストを取得\r
- NyARRleLabelFragmentInfoPtrStack.RleLabelFragmentInfo[] labels=flagment.getArray();\r
-\r
- final int xsize = this._width;\r
- final int ysize = this._height;\r
- final int coord_max = this._max_coord;\r
- int[] xcoord = this._xcoord;\r
- int[] ycoord = this._ycoord;\r
-\r
-\r
- //重なりチェッカの最大数を設定\r
- overlap.setMaxLabels(label_num);\r
-\r
- for (int i=0; i < label_num; i++) {\r
- final NyARRleLabelFragmentInfoPtrStack.RleLabelFragmentInfo label_pt=labels[i];\r
- final int label_area = label_pt.area;\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 == 0 || label_pt.clip_r == xsize-1){\r
- continue;\r
- }\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
- if (!overlap.check(label_pt)) {\r
- // 重なっているようだ。\r
- continue;\r
- }\r
- \r
- // 輪郭を取得\r
- final int coord_num = _cpickup.getContour(i_gs,i_th,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
-\r
- //ここから先が輪郭分析\r
- NyARSquare square_ptr = o_square_stack.prePush();\r
- if(!this._sqconvertor.coordToSquare(i_gs,xcoord,ycoord,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
- // 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
- * デバック用API\r
- * @return\r
- */\r
- public NyARRleLabelFragmentInfoPtrStack _getFragmentStack()\r
- {\r
- return this._stack;\r
- }\r
- /********************************************************************************\r
- * \r
- * 追加クラス \r
- * \r
- ********************************************************************************/\r
- private class SquareContourDetector_Vector\r
- {\r
- private final NyARObserv2IdealMap2 _distmap;\r
- private final int[] __detectMarker_mkvertex = new int[4];\r
- private final NyARCoord2SquareVertexIndexes _coord2vertex=new NyARCoord2SquareVertexIndexes();\r
- public SquareContourDetector_Vector(NyARIntSize i_size,NyARCameraDistortionFactor i_distfactor_ref)\r
- {\r
- this._distmap=new NyARObserv2IdealMap2(i_distfactor_ref,i_size);\r
- return;\r
- }\r
-\r
- public boolean coordToSquare(NyARGrayscaleRaster i_raster,int[] i_xcoord,int[] i_ycoord,int i_coord_num,int i_label_area,NyARSquare o_square) throws NyARException\r
- {\r
-\r
- final int[] mkvertex = this.__detectMarker_mkvertex;\r
-\r
- // 頂点情報を取得\r
- if (!this._coord2vertex.getVertexIndexes(i_xcoord, i_ycoord,i_coord_num, i_label_area, mkvertex)) {\r
- // 頂点の取得が出来なかったので破棄\r
- return false;\r
- } \r
- // マーカーを検出\r
- if (!getSquareLine(i_raster,mkvertex, i_xcoord, i_ycoord,i_coord_num, o_square)){\r
- // 矩形が成立しなかった。\r
- return false;\r
- }\r
- return true;\r
- }\r
- /**\r
- * 指定した範囲の輪郭点ベクトル・座標を、加算する。\r
- * @param i_raster\r
- * @param i_xcoord\r
- * @param i_ycoord\r
- * @param i_st\r
- * @param i_ed\r
- * @param o_vecsum\r
- * @param o_possum\r
- * @return\r
- */\r
- private boolean addCoordVecPos(NyARGrayscaleRaster i_raster,int[] i_xcoord, int[] i_ycoord,int i_st,int i_ed,NyARIntPoint2d io_vecsum)\r
- {\r
- int dxi,dyi;\r
- //ベクトル分析\r
- dxi=io_vecsum.x;\r
- dyi=io_vecsum.y;\r
- for(int i=i_st;i<i_ed;i++){\r
- //境界に設置していたら失敗する。\r
- if(i_xcoord[i]<1 || i_ycoord[i]<1 || i_xcoord[i]>=319 || i_ycoord[i]>=239){\r
- return false;\r
- }\r
- //o_vecsumをワークに流用\r
- i_raster.getPixelVector8(i_xcoord[i],i_ycoord[i],io_vecsum);\r
- dxi+=io_vecsum.x;\r
- dyi-=io_vecsum.y;\r
- }\r
- io_vecsum.x=dxi;\r
- io_vecsum.y=dyi;\r
- return true; \r
- }\r
- \r
- \r
- private NyARDoublePoint2d __work_pos=new NyARDoublePoint2d();\r
- \r
- private boolean getSquareLine(NyARGrayscaleRaster i_raster,int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord,int i_cood_num, NyARSquare o_square) throws NyARException\r
- {\r
- final NyARLinear[] l_line = o_square.line;\r
- final NyARDoublePoint2d[] l_sqvertex = o_square.sqvertex;\r
- final NyARIntPoint2d[] l_imvertex = o_square.imvertex;\r
- final NyARDoublePoint2d idealcenter=this.__work_pos;\r
- \r
- NyARIntPoint2d vecsum=new NyARIntPoint2d();\r
- for (int i = 0; i < 4; i++){\r
- //頂点を取得\r
- int ver1=i_mkvertex[i];\r
- int ver2=i_mkvertex[(i+1)%4];\r
-\r
- int n,st,ed;\r
- double w1;\r
- //探索区間の決定\r
- if(ver2>=i_mkvertex[i]){\r
- //頂点[i]から頂点[i+1]までの輪郭が、1区間にあるとき\r
- w1 = (double) (ver2 - ver1 + 1) * 0.05 + 0.5;\r
- //探索区間の決定\r
- st = (int) (ver1+w1);\r
- ed = (int) (ver2 - w1);\r
- }else{\r
- //頂点[i]から頂点[i+1]までの輪郭が、2区間に分かれているとき\r
- w1 = (double) (ver2+i_cood_num-ver1+1)%i_cood_num * 0.05 + 0.5;\r
- //探索区間の決定\r
- st = (int) (ver1+w1)%i_cood_num;\r
- ed = (int) (ver2+i_cood_num-w1)%i_cood_num;\r
- }\r
- vecsum.x=vecsum.y=0;\r
- //ベクトル分析\r
- if(st<=ed){\r
- //1区間\r
- n = ed - st+1;\r
- addCoordVecPos(i_raster,i_xcoord,i_ycoord,st,ed+1,vecsum);\r
- this._distmap.getIdealCoodCenter(i_xcoord, i_ycoord,st,n,idealcenter);\r
- }else{\r
- //探索区間は2区間\r
- double cx,cy;\r
- n=ed+i_cood_num-st+1;\r
- addCoordVecPos(i_raster,i_xcoord,i_ycoord,st,i_cood_num,vecsum);\r
- addCoordVecPos(i_raster,i_xcoord,i_ycoord,0,ed,vecsum);\r
- //輪郭の中心位置を計算\r
- this._distmap.getIdealCoodCenter(i_xcoord, i_ycoord,st,i_cood_num-st,idealcenter);\r
- cx=idealcenter.x;\r
- cy=idealcenter.y;\r
- this._distmap.getIdealCoodCenter(i_xcoord, i_ycoord,0,ed+1,idealcenter);\r
- idealcenter.x=(idealcenter.x+cx)/2;\r
- idealcenter.y=(idealcenter.y+cy)/2;\r
- }\r
- //中央値を歪修正（ほんとはピクセル単位にゆがみ矯正するべきだと思う）\r
- \r
- double l=Math.sqrt((double)(vecsum.x*vecsum.x+vecsum.y*vecsum.y));\r
- final NyARLinear l_line_i = l_line[i];\r
- //直交するベクトルを計算\r
- l_line_i.a = vecsum.x/l;\r
- l_line_i.b = -vecsum.y/l;\r
- //cを計算\r
- l_line_i.c = -(l_line_i.a * (idealcenter.x) + l_line_i.b * (idealcenter.y));\r
- \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[ver1];\r
- l_imvertex[i].y = i_ycoord[ver1];\r
- }\r
- //線分式から頂点を計算\r
- for(int i=0;i<4;i++)\r
- {\r
- if(!NyARLinear.crossPos(l_line[i],l_line[(i + 3) % 4],l_sqvertex[i])){\r
- return false;\r
- }\r
- } \r
- return true;\r
- }\r
- }\r
-\r
- /**\r
- * 輪郭線の中心位置を計算する関数を追加したマップクラス\r
- */\r
- private class NyARObserv2IdealMap2 extends NyARObserv2IdealMap\r
- {\r
- public NyARObserv2IdealMap2(NyARCameraDistortionFactor i_distfactor,NyARIntSize i_screen_size)\r
- {\r
- super(i_distfactor,i_screen_size);\r
- }\r
- /**\r
- * 歪み矯正した座標における、各座標の合計値を\r
- * @param i_x_coord\r
- * @param i_y_coord\r
- * @param i_start\r
- * @param i_num\r
- * @param o_center\r
- */\r
- public void getIdealCoodCenter(int[] i_x_coord, int[] i_y_coord,int i_start, int i_num,NyARDoublePoint2d o_center)\r
- {\r
- int idx;\r
- double x,y;\r
- x=y=0;\r
- final double[] mapx=this._mapx;\r
- final double[] mapy=this._mapy;\r
- final int stride=this._stride;\r
- for (int j = 0; j < i_num; j++){\r
- idx=i_x_coord[i_start + j]+i_y_coord[i_start + j]*stride;\r
- x+=mapx[idx];\r
- y+=mapy[idx];\r
- }\r
- o_center.x=x/(double)i_num;\r
- o_center.y=y/(double)i_num;\r
- return;\r
- }\r
- } \r
-}\r
-\r
-\r
-\r
+++ /dev/null
-/* \r
- * PROJECT: NyARToolkit JOGL sample program.\r
- * --------------------------------------------------------------------------------\r
- * The MIT License\r
- * Copyright (c) 2008 nyatla\r
- * airmail(at)ebony.plala.or.jp\r
- * http://nyatla.jp/nyartoolkit/\r
- * \r
- * Permission is hereby granted, free of charge, to any person obtaining a copy\r
- * of this software and associated documentation files (the "Software"), to deal\r
- * in the Software without restriction, including without limitation the rights\r
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\r
- * copies of the Software, and to permit persons to whom the Software is\r
- * furnished to do so, subject to the following conditions:\r
- * The above copyright notice and this permission notice shall be included in\r
- * all copies or substantial portions of the Software.\r
- * \r
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\r
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\r
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\r
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\r
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\r
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\r
- * THE SOFTWARE.\r
- * \r
- */\r
-package jp.nyatla.nyartoolkit.dev;\r
-\r
-import java.awt.event.*;\r
-import java.awt.*;\r
-import javax.media.Buffer;\r
-import javax.media.opengl.*;\r
-import com.sun.opengl.util.*;\r
-import jp.nyatla.nyartoolkit.*;\r
-import jp.nyatla.nyartoolkit.core.*;\r
-import jp.nyatla.nyartoolkit.core.param.*;\r
-import jp.nyatla.nyartoolkit.core.transmat.*;\r
-import jp.nyatla.nyartoolkit.detector.*;\r
-import jp.nyatla.nyartoolkit.jmf.utils.*;\r
-import jp.nyatla.nyartoolkit.jogl.utils.*;\r
-/**\r
- * 2種類の最適化アルゴリズムを比較するテストプログラム\r
- *\r
- */\r
-\r
-class Program implements JmfCaptureListener\r
-{\r
- private OptimizeCompareTest _view1;\r
- private OptimizeCompareTest _view2;\r
- public Object _sync_object=new Object(); \r
- public NyARParam _ar_param;\r
- public NyARCode _ar_code;\r
- private final static int SCREEN_X = 320;\r
- private final static int SCREEN_Y = 240;\r
- private JmfCaptureDevice _capture;\r
- public GLNyARRaster_RGB _cap_image;\r
- public Program(NyARParam i_param, NyARCode i_ar_code) throws NyARException\r
- {\r
- // キャプチャの準備\r
- JmfCaptureDeviceList devlist = new JmfCaptureDeviceList();\r
- this._capture = devlist.getDevice(0);\r
- if (!this._capture.setCaptureFormat(SCREEN_X, SCREEN_Y, 30.0f)) {\r
- throw new NyARException();\r
- }\r
- this._ar_param=i_param;\r
- this._ar_code=i_ar_code;\r
- this._capture.setOnCapture(this);\r
- // GL対応のRGBラスタオブジェクト\r
- this._cap_image = new GLNyARRaster_RGB(i_param, this._capture.getCaptureFormat()); \r
- this._view1=new OptimizeCompareTest(this,NyARSingleDetectMarker.PF_NYARTOOLKIT);\r
- this._view2=new OptimizeCompareTest(this,NyARSingleDetectMarker.PF_NYARTOOLKIT_ARTOOLKIT_FITTING);\r
- this._capture.start();\r
- return;\r
- }\r
- public void onUpdateBuffer(Buffer i_buffer)\r
- {\r
- try {\r
- synchronized (this._sync_object) {\r
- this._cap_image.setBuffer(i_buffer);\r
- this._view1.updateCapture(this._cap_image);\r
- this._view2.updateCapture(this._cap_image);\r
- }\r
- } catch (Exception e) {\r
- e.printStackTrace();\r
- }\r
- }\r
- //GL API\r
- void glDrawCube(GL i_gl)\r
- {\r
- // Colour cube data.\r
- int polyList = 0;\r
- float fSize = 0.5f;// マーカーサイズに対して0.5倍なので、4cmの立方体\r
- int f, i;\r
- float[][] cube_vertices = new float[][] { { 1.0f, 1.0f, 1.0f }, { 1.0f, -1.0f, 1.0f }, { -1.0f, -1.0f, 1.0f }, { -1.0f, 1.0f, 1.0f }, { 1.0f, 1.0f, -1.0f }, { 1.0f, -1.0f, -1.0f }, { -1.0f, -1.0f, -1.0f }, { -1.0f, 1.0f, -1.0f } };\r
- float[][] cube_vertex_colors = new float[][] { { 1.0f, 1.0f, 1.0f }, { 1.0f, 1.0f, 0.0f }, { 0.0f, 1.0f, 0.0f }, { 0.0f, 1.0f, 1.0f }, { 1.0f, 0.0f, 1.0f }, { 1.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, 1.0f } };\r
- int cube_num_faces = 6;\r
- short[][] cube_faces = new short[][] { { 3, 2, 1, 0 }, { 2, 3, 7, 6 }, { 0, 1, 5, 4 }, { 3, 0, 4, 7 }, { 1, 2, 6, 5 }, { 4, 5, 6, 7 } };\r
-\r
- if (polyList == 0) {\r
- polyList = i_gl.glGenLists(1);\r
- i_gl.glNewList(polyList, GL.GL_COMPILE);\r
- i_gl.glBegin(GL.GL_QUADS);\r
- for (f = 0; f < cube_num_faces; f++)\r
- for (i = 0; i < 4; i++) {\r
- i_gl.glColor3f(cube_vertex_colors[cube_faces[f][i]][0], cube_vertex_colors[cube_faces[f][i]][1], cube_vertex_colors[cube_faces[f][i]][2]);\r
- i_gl.glVertex3f(cube_vertices[cube_faces[f][i]][0] * fSize, cube_vertices[cube_faces[f][i]][1] * fSize, cube_vertices[cube_faces[f][i]][2] * fSize);\r
- }\r
- i_gl.glEnd();\r
- i_gl.glColor3f(0.0f, 0.0f, 0.0f);\r
- for (f = 0; f < cube_num_faces; f++) {\r
- i_gl.glBegin(GL.GL_LINE_LOOP);\r
- for (i = 0; i < 4; i++)\r
- i_gl.glVertex3f(cube_vertices[cube_faces[f][i]][0] * fSize, cube_vertices[cube_faces[f][i]][1] * fSize, cube_vertices[cube_faces[f][i]][2] * fSize);\r
- i_gl.glEnd();\r
- }\r
- i_gl.glEndList();\r
- }\r
-\r
- i_gl.glPushMatrix(); // Save world coordinate system.\r
- i_gl.glTranslatef(0.0f, 0.0f, 0.5f); // Place base of cube on marker surface.\r
- i_gl.glRotatef(0.0f, 0.0f, 0.0f, 1.0f); // Rotate about z axis.\r
- i_gl.glDisable(GL.GL_LIGHTING); // Just use colours.\r
- i_gl.glCallList(polyList); // Draw the cube.\r
- i_gl.glPopMatrix(); // Restore world coordinate system.\r
- return;\r
- }\r
- \r
-}\r
-/**\r
- * simpleLiteと同じようなテストプログラム 出来る限りARToolKitのサンプルと似せて作ってあります。 最も一致する"Hiro"マーカーを一つ選択して、その上に立方体を表示します。\r
- * \r
- */\r
-public class OptimizeCompareTest implements GLEventListener\r
-{\r
- private final static int SCREEN_X = 320;\r
-\r
- private final static int SCREEN_Y = 240;\r
-\r
- private Animator _animator;\r
- \r
- private Program _parent;\r
-\r
-\r
-// private JmfCaptureDevice _capture;\r
-\r
- private GL _gl;\r
- private NyARGLUtil _glnya;\r
-\r
- // NyARToolkit関係\r
- private NyARSingleDetectMarker _nya;\r
- private NyARParam _ar_param;\r
-\r
- private double[] _camera_projection = new double[16];\r
-\r
-\r
- public OptimizeCompareTest(Program i_program,int i_pf) throws NyARException\r
- {\r
- this._parent=i_program;\r
- this._ar_param = i_program._ar_param;\r
-\r
- Frame frame = new Frame("["+i_pf+"]");\r
-\r
- // NyARToolkitの準備\r
- this._nya = new NyARSingleDetectMarker(this._ar_param, i_program._ar_code, 80.0,i_program._cap_image.getBufferType(),i_pf);\r
- this._nya.setContinueMode(true);// ここをtrueにすると、transMatContinueモード（History計算）になります。\r
- \r
- // 3Dを描画するコンポーネント\r
- GLCanvas canvas = new GLCanvas();\r
- frame.add(canvas);\r
- canvas.addGLEventListener(this);\r
- frame.addWindowListener(new WindowAdapter() {\r
- public void windowClosing(WindowEvent e)\r
- {\r
- System.exit(0);\r
- }\r
- });\r
-\r
- frame.setVisible(true);\r
- Insets ins = frame.getInsets();\r
- frame.setSize(SCREEN_X + ins.left + ins.right, SCREEN_Y + ins.top + ins.bottom);\r
- canvas.setBounds(ins.left, ins.top, SCREEN_X, SCREEN_Y);\r
- }\r
-\r
- public void init(GLAutoDrawable drawable)\r
- {\r
- this._gl = drawable.getGL();\r
- this._gl.glEnable(GL.GL_DEPTH_TEST);\r
- this._gl.glClearColor(0.0f, 0.0f, 0.0f, 0.0f);\r
- // NyARToolkitの準備\r
- try {\r
- // NyARToolkit用の支援クラス\r
- _glnya = new NyARGLUtil(_gl);\r
- } catch (Exception e) {\r
- e.printStackTrace();\r
- }\r
- // カメラパラメータの計算\r
- this._glnya.toCameraFrustumRH(this._ar_param,this._camera_projection);\r
- this._animator = new Animator(drawable);\r
- this._animator.start();\r
- return;\r
- }\r
-\r
- public void reshape(GLAutoDrawable drawable, int x, int y, int width, int height)\r
- {\r
- _gl.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT);\r
- _gl.glViewport(0, 0, width, height);\r
-\r
- // 視体積の設定\r
- _gl.glMatrixMode(GL.GL_PROJECTION);\r
- _gl.glLoadIdentity();\r
- // 見る位置\r
- _gl.glMatrixMode(GL.GL_MODELVIEW);\r
- _gl.glLoadIdentity();\r
- }\r
-\r
- private boolean _is_marker_exist=false;\r
- private NyARTransMatResult __display_transmat_result = new NyARTransMatResult();\r
-\r
- private double[] __display_wk = new double[16];\r
-\r
- public void display(GLAutoDrawable drawable)\r
- {\r
- NyARTransMatResult transmat_result = __display_transmat_result;\r
- if (!this._parent._cap_image.hasData()) {\r
- return;\r
- }\r
- // 背景を書く\r
- this._gl.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame.\r
- this._glnya.drawBackGround(this._parent._cap_image, 1.0); \r
- try{\r
- synchronized(this._parent._sync_object){\r
- // マーカーがあれば、立方体を描画\r
- if (this._is_marker_exist){\r
- // マーカーの一致度を調査するならば、ここでnya.getConfidence()で一致度を調べて下さい。\r
- // Projection transformation.\r
- _gl.glMatrixMode(GL.GL_PROJECTION);\r
- _gl.glLoadMatrixd(_camera_projection, 0);\r
- _gl.glMatrixMode(GL.GL_MODELVIEW);\r
- // Viewing transformation.\r
- _gl.glLoadIdentity();\r
- // 変換行列を取得\r
- _nya.getTransmationMatrix(transmat_result);\r
- // 変換行列をOpenGL形式に変換\r
- _glnya.toCameraViewRH(transmat_result, __display_wk);\r
- _gl.glLoadMatrixd(__display_wk, 0);\r
- \r
- // All other lighting and geometry goes here.\r
- this._parent.glDrawCube(_gl);\r
- }\r
- }\r
- Thread.sleep(1);// タスク実行権限を一旦渡す\r
- }catch(Exception e){\r
- e.printStackTrace();\r
- }\r
-\r
- }\r
-\r
- public void updateCapture(GLNyARRaster_RGB i_img)\r
- {\r
- try {\r
- synchronized (this._parent._sync_object) {\r
- this._is_marker_exist =this._nya.detectMarkerLite(i_img, 110);\r
- }\r
- } catch (Exception e) {\r
- e.printStackTrace();\r
- }\r
- }\r
-\r
- public void displayChanged(GLAutoDrawable drawable, boolean modeChanged, boolean deviceChanged)\r
- {\r
- }\r
-\r
- private final static String CARCODE_FILE = "../Data/patt.hiro";\r
-\r
- private final static String PARAM_FILE = "../Data/camera_para.dat";\r
-\r
- public static void main(String[] args)\r
- {\r
- try {\r
- NyARParam param = new NyARParam();\r
- param.loadARParamFromFile(PARAM_FILE);\r
- param.changeScreenSize(SCREEN_X, SCREEN_Y);\r
-\r
- NyARCode code = new NyARCode(16, 16);\r
- code.loadARPattFromFile(CARCODE_FILE);\r
-\r
- new Program(param, code);\r
- } catch (Exception e) {\r
- e.printStackTrace();\r
- }\r
- return;\r
- }\r
-}\r
+++ /dev/null
-package jp.nyatla.nyartoolkit.dev;\r
-\r
-import java.awt.Color;\r
-import java.awt.Frame;\r
-import java.awt.Graphics;\r
-import java.awt.Image;\r
-import java.awt.Insets;\r
-\r
-import javax.media.Buffer;\r
-import javax.media.format.VideoFormat;\r
-import javax.media.util.BufferToImage;\r
-\r
-import java.awt.color.ColorSpace;\r
-import java.awt.image.*;\r
-import java.io.File;\r
-import java.io.FileInputStream;\r
-import java.util.Date;\r
-\r
-import jp.nyatla.nyartoolkit.NyARException;\r
-import jp.nyatla.nyartoolkit.jmf.utils.*;\r
-import jp.nyatla.nyartoolkit.detector.*;\r
-import jp.nyatla.nyartoolkit.nyidmarker.NyIdMarkerPickup;\r
-import jp.nyatla.nyartoolkit.core.transmat.*;\r
-import jp.nyatla.nyartoolkit.core.*;\r
-import jp.nyatla.nyartoolkit.core.param.*;\r
-import jp.nyatla.nyartoolkit.core.pickup.*;\r
-import jp.nyatla.nyartoolkit.core.raster.*;\r
-import jp.nyatla.nyartoolkit.core.types.*;\r
-import jp.nyatla.nyartoolkit.core.raster.rgb.*;\r
-import jp.nyatla.nyartoolkit.core.rasterfilter.gs2bin.*;\r
-import jp.nyatla.nyartoolkit.nyidmarker.*;\r
-import jp.nyatla.nyartoolkit.utils.j2se.*;\r
-import jp.nyatla.nyartoolkit.core.squaredetect.*;\r
-\r
-\r
-\r
-public class PattPickupTest extends Frame implements JmfCaptureListener\r
-{\r
- private final String PARAM_FILE = "../Data/camera_para.dat";\r
-\r
- private final static String CARCODE_FILE = "../Data/patt.hiro";\r
-\r
- private static final long serialVersionUID = -2110888320986446576L;\r
-\r
- private JmfCaptureDevice _capture;\r
-\r
- private JmfNyARRaster_RGB _capraster;\r
-\r
- private int W = 320;\r
-\r
- private int H = 240;\r
-\r
- private NyARParam _param;\r
-\r
- private NyARBinRaster _bin_raster;\r
-\r
- private NyARSquareStack _stack = new NyARSquareStack(100);\r
-\r
- private NyARSingleDetectMarker detect;\r
-\r
- public PattPickupTest() throws NyARException\r
- {\r
- setTitle("JmfCaptureTest");\r
- Insets ins = this.getInsets();\r
- this.setSize(640 + ins.left + ins.right, 480 + ins.top + ins.bottom);\r
- JmfCaptureDeviceList dl = new JmfCaptureDeviceList();\r
- this._capture = dl.getDevice(0);\r
- if (!this._capture.setCaptureFormat(JmfCaptureDevice.PIXEL_FORMAT_RGB, W, H, 30.0f)) {\r
- if (!this._capture.setCaptureFormat(JmfCaptureDevice.PIXEL_FORMAT_YUV, W, H, 30.0f)) {\r
- throw new NyARException("キャプチャフォーマットが見つかりません。");\r
- }\r
- }\r
- NyARParam ar_param = new NyARParam();\r
- ar_param.loadARParamFromFile(PARAM_FILE);\r
- ar_param.changeScreenSize(W, H);\r
-\r
- NyARCode code = new NyARCode(16, 16);\r
- code.loadARPattFromFile(CARCODE_FILE);\r
- this._capraster = new JmfNyARRaster_RGB(W, H, this._capture.getCaptureFormat());\r
- this.detect = new NyARSingleDetectMarker(ar_param, code, 80, this._capraster.getBufferType());\r
- this._capture.setOnCapture(this);\r
- this._bin_raster = new NyARBinRaster(W, H);\r
- this._param = ar_param;\r
- return;\r
- }\r
-\r
- /**\r
- * 矩形の矩形っぽい点数を返す。\r
- * \r
- * @param i_sq\r
- * @return\r
- */\r
- private int getSQPoint(NyARSquare i_sq)\r
- {\r
- int lx1 = i_sq.imvertex[0].x - i_sq.imvertex[2].x;\r
- int ly1 = i_sq.imvertex[0].y - i_sq.imvertex[2].y;\r
- int lx2 = i_sq.imvertex[1].x - i_sq.imvertex[3].x;\r
- int ly2 = i_sq.imvertex[1].y - i_sq.imvertex[3].y;\r
- return (int) Math.sqrt((lx1 * lx1) + (ly1 * ly1)) * (int) Math.sqrt(((lx2 * lx2) + (ly2 * ly2)));\r
- }\r
-\r
- private final String data_file = "../Data/320x240ABGR.raw";\r
-\r
- private INyARColorPatt _patt1 = new NyARColorPatt_O3(16, 16);\r
-\r
- public void draw(INyARRgbRaster i_raster)\r
- {\r
- try {\r
- Insets ins = this.getInsets();\r
- Graphics g = getGraphics();\r
-\r
- {// ピックアップ画像の表示\r
- // 矩形抽出\r
- INyARRasterFilter_Bin to_binfilter = new NyARRasterFilterBuilder_RgbToBin(110, i_raster.getBufferType());\r
- to_binfilter.doFilter(i_raster, this._bin_raster);\r
- if (this.detect.detectMarkerLite(i_raster, 100)) {\r
-\r
- NyARTransMatResult res = new NyARTransMatResult();\r
- this.detect.getTransmationMatrix(res);\r
- int max_point = 0;\r
-\r
- // NyARSquare t=new NyARSquare();\r
-\r
- TransformedBitmapPickup patt2 = new TransformedBitmapPickup(this._param.getPerspectiveProjectionMatrix(), 100, 100, 1);\r
-\r
- BufferedImage sink = new BufferedImage(this._patt1.getWidth(), this._patt1.getHeight(), ColorSpace.TYPE_RGB);\r
- BufferedImage sink2 = new BufferedImage(patt2.getWidth(), patt2.getHeight(), ColorSpace.TYPE_RGB);\r
- patt2.pickupImage2d(i_raster,-20,-40,20,-80,res);\r
- /*\r
- * t.imvertex[0].x=(int)483.0639377595418; t.imvertex[0].y=(int)303.17616747966747;\r
- * \r
- * t.imvertex[1].x=(int)506.1019505415998; t.imvertex[1].y=(int)310.5313224526344;\r
- * \r
- * t.imvertex[2].x=(int)589.3605435960492; t.imvertex[2].y=(int)258.46261716798523;\r
- * \r
- * t.imvertex[3].x=(int)518.1385869954609; t.imvertex[3].y=(int)325.1434618295405;\r
- */\r
- Graphics g1, g2, g3;\r
- /* {// ARToolkit\r
- // 一番それっぽいパターンを取得\r
- this._patt1.pickFromRaster(i_raster, t.imvertex);\r
- Date d2 = new Date();\r
- for (int i = 0; i < 10000; i++) {\r
- this._patt1.pickFromRaster(i_raster, t.imvertex);\r
- }\r
- Date d = new Date();\r
- System.out.println(d.getTime() - d2.getTime());\r
-\r
- // パターンを書く\r
- NyARRasterImageIO.copy(this._patt1, sink);\r
- g1 = sink.getGraphics();\r
- g1.setColor(Color.red);\r
- }*/\r
- {// 疑似アフィン変換\r
- NyARRasterImageIO.copy(patt2, sink2);\r
- g2 = sink2.getGraphics();\r
- g2.setColor(Color.red);\r
-\r
- }\r
- g.drawImage(sink, ins.left + 320, ins.top, 128, 128, null);\r
- g.drawImage(sink2, ins.left + 320, ins.top + 128, 128, 128, null);\r
- // g.drawImage(sink3, ins.left + 100, ins.top + 240, this._patt3.getWidth() * 10, this._patt3.getHeight() * 10, null);\r
- \r
- }\r
- {// 撮影画像\r
- BufferedImage sink = new BufferedImage(i_raster.getWidth(), i_raster.getHeight(), ColorSpace.TYPE_RGB);\r
- NyARRasterImageIO.copy(i_raster, sink);\r
- g.drawImage(sink, ins.left, ins.top, this);\r
- }\r
-\r
- {// 信号取得テスト\r
-\r
- }\r
- }\r
- } catch (Exception e) {\r
- e.printStackTrace();\r
- }\r
- }\r
-\r
- public void onUpdateBuffer(Buffer i_buffer)\r
- {\r
- try {\r
-\r
- {// ピックアップ画像の表示\r
- // 矩形抽出\r
- this._capraster.setBuffer(i_buffer);\r
- draw(this._capraster);\r
- }\r
- } catch (Exception e) {\r
- e.printStackTrace();\r
- }\r
- }\r
-\r
- public void startCapture()\r
- {\r
- try {\r
- this._capture.start();\r
- } catch (Exception e) {\r
- e.printStackTrace();\r
- }\r
- }\r
-\r
- public void startImage()\r
- {\r
- try {\r
- // 試験イメージの読み出し(320x240 BGRAのRAWデータ)\r
- File f = new File(data_file);\r
- FileInputStream fs = new FileInputStream(data_file);\r
- byte[] buf = new byte[(int) f.length() * 4];\r
- fs.read(buf);\r
- INyARRgbRaster ra = NyARRgbRaster_BGRA.wrap(buf, W, H);\r
- draw(ra);\r
- } catch (Exception e) {\r
- e.printStackTrace();\r
- }\r
-\r
- }\r
-\r
- public static void main(String[] args)\r
- {\r
- try {\r
- PattPickupTest mainwin = new PattPickupTest();\r
- mainwin.setVisible(true);\r
- mainwin.startCapture();\r
- // mainwin.startImage();\r
- } catch (Exception e) {\r
- e.printStackTrace();\r
- }\r
-\r
- }\r
-\r
-}\r
+++ /dev/null
-package jp.nyatla.nyartoolkit.dev;\r
-\r
-import java.awt.Color;\r
-import java.awt.Frame;\r
-import java.awt.Graphics;\r
-import java.awt.Image;\r
-import java.awt.Insets;\r
-\r
-import javax.imageio.ImageIO;\r
-import javax.media.Buffer;\r
-import javax.media.format.VideoFormat;\r
-import javax.media.util.BufferToImage;\r
-\r
-import java.awt.color.ColorSpace;\r
-import java.awt.image.*;\r
-import java.io.File;\r
-import java.io.FileInputStream;\r
-import java.util.Date;\r
-\r
-import jp.nyatla.nyartoolkit.NyARException;\r
-import jp.nyatla.nyartoolkit.jmf.utils.*;\r
-import jp.nyatla.nyartoolkit.detector.*;\r
-import jp.nyatla.nyartoolkit.nyidmarker.NyIdMarkerPickup;\r
-import jp.nyatla.nyartoolkit.core.transmat.*;\r
-import jp.nyatla.nyartoolkit.core.*;\r
-import jp.nyatla.nyartoolkit.core.param.*;\r
-import jp.nyatla.nyartoolkit.core.pickup.*;\r
-import jp.nyatla.nyartoolkit.core.raster.*;\r
-import jp.nyatla.nyartoolkit.core.types.*;\r
-import jp.nyatla.nyartoolkit.core.raster.rgb.*;\r
-import jp.nyatla.nyartoolkit.core.rasterfilter.gs2bin.*;\r
-import jp.nyatla.nyartoolkit.core.rasterfilter.rgb2bin.*;\r
-import jp.nyatla.nyartoolkit.nyidmarker.*;\r
-import jp.nyatla.nyartoolkit.sample.RawFileTest;\r
-import jp.nyatla.nyartoolkit.utils.j2se.*;\r
-import jp.nyatla.nyartoolkit.core.squaredetect.*;\r
-import jp.nyatla.nyartoolkit.core.pickup.*;\r
-\r
-\r
-public class PattPickupTestS extends Frame\r
-{\r
- private final String code_file = "../Data/flarlogo.pat";\r
-\r
- private final static String SAMPLE_FILES = "../Data/flarlogo_45.png";\r
-\r
- private final String camera_file = "../Data/camera_para.dat";\r
-\r
-\r
-\r
- public void Test_arDetectMarkerLite() throws Exception\r
- {\r
- // AR用カメラパラメタファイルをロード\r
- NyARParam ap = new NyARParam();\r
- ap.loadARParamFromFile(camera_file);\r
-\r
-\r
- // AR用のパターンコードを読み出し\r
- NyARCode code = new NyARCode(16, 16);\r
- code.loadARPattFromFile(code_file);\r
-\r
- // 試験イメージの読み出し(320x240 BGRAのRAWデータ)\r
- BufferedImage src_image = ImageIO.read(new File(SAMPLE_FILES));\r
- INyARRgbRaster ra = new NyARRgbRaster_RGB(src_image.getWidth(),src_image.getHeight(),true);\r
- NyARRasterImageIO.copy(src_image, ra);\r
- \r
- \r
- // NyARToolkitの準備\r
- ap.changeScreenSize(src_image.getWidth(),src_image.getHeight());\r
-\r
-\r
- // Blank_Raster ra=new Blank_Raster(320, 240);\r
-\r
- // １パターンのみを追跡するクラスを作成\r
- NyARSingleDetectMarker ar = new NyARSingleDetectMarker(\r
- ap, code, 80.0,ra.getBufferType(),NyARSingleDetectMarker.PF_NYARTOOLKIT);\r
- NyARTransMatResult result_mat = new NyARTransMatResult();\r
- ar.setContinueMode(false);\r
- ar.detectMarkerLite(ra, 100);\r
- ar.getTransmationMatrix(result_mat);\r
-\r
- NyARDoublePoint3d ang=new NyARDoublePoint3d();\r
- result_mat.getZXYAngle(ang);\r
- NyARRasterImageIO.copy(((INyARColorPatt)(ar._getProbe()[0])),b);\r
- \r
- }\r
- BufferedImage b=new BufferedImage(16,16,ColorSpace.TYPE_RGB);\r
-\r
- public void drawImage(){\r
- Graphics g=this.getGraphics();\r
- g.drawImage(b,50,50,100,100,null);\r
- }; \r
- public static void main(String[] args)\r
- {\r
- try {\r
- PattPickupTestS app = new PattPickupTestS();\r
- app.setVisible(true);\r
- app.setBounds(0, 0, 640, 480);\r
- app.Test_arDetectMarkerLite();\r
- app.drawImage();\r
- } catch (Exception e) {\r
- e.printStackTrace();\r
- }\r
- }\r
-}\r
+++ /dev/null
-package jp.nyatla.nyartoolkit.dev;\r
-\r
-\r
-\r
-public class Solver\r
-{\r
- public String[][] _data=new String[4][6];\r
- public String[] _temp=new String[6];\r
- public Solver()\r
- {\r
- this._data[0][0]="a";\r
- this._data[0][1]="b";\r
- this._data[0][2]="c";\r
- this._data[0][3]="d";\r
- this._data[0][4]="e";\r
- this._data[0][5]="1";\r
- \r
- this._data[1][0]="f";\r
- this._data[1][1]="g";\r
- this._data[1][2]="h";\r
- this._data[1][3]="i";\r
- this._data[1][4]="j";\r
- this._data[1][5]="1";\r
- \r
- this._data[2][0]="k";\r
- this._data[2][1]="l";\r
- this._data[2][2]="m";\r
- this._data[2][3]="n";\r
- this._data[2][4]="o";\r
- this._data[2][5]="1";\r
-\r
- this._data[3][0]="p";\r
- this._data[3][1]="q";\r
- this._data[3][2]="r";\r
- this._data[3][3]="s";\r
- this._data[3][4]="t";\r
- this._data[3][5]="1";\r
- }\r
- public void dump()\r
- {\r
- for(int i=0;i<this._data.length;i++){\r
- for(int i2=0;i2<this._data[i].length;i2++){\r
- System.out.print(this._data[i][i2]+" , ");\r
- } \r
- System.out.println(" ");\r
- }\r
- }\r
- public boolean isSingle(String i_str)\r
- {\r
- int c=0;\r
- for(int i=0;i<i_str.length();i++){\r
- if(i_str.charAt(i)=='('){\r
- c++;\r
- }\r
- if(i_str.charAt(i)==')'){\r
- c--;\r
- if(c==0 && i!=i_str.length()-1){\r
- return false;//括弧必要\r
- }\r
- }\r
- }\r
- return true;//括弧不要\r
- }\r
- \r
- public void div(int i_r,String i_e,String[] o_row) throws Exception\r
- {\r
- if(i_e=="0"){\r
- throw new Exception(); \r
- }else if(i_e=="1"){\r
- return;\r
- }\r
- String[] l=this._data[i_r];\r
- for(int i=0;i<o_row.length;i++){\r
- if(l[i]==i_e){\r
- o_row[i]="1";\r
- }else if(l[i]=="0"){\r
- o_row[i]="0";\r
- }else{\r
- String s1=isSingle(l[i])?l[i]:"("+l[i]+")";\r
- String s2=isSingle(i_e)?i_e:"("+i_e+")";\r
- o_row[i]="("+s1+"/"+s2+")";\r
- }\r
- }\r
- }\r
- public void mul(int i_r,String i_e,String[] o_row)\r
- {\r
- String[] l=this._data[i_r];\r
- if(i_e=="0"){\r
- for(int i=0;i<o_row.length;i++){\r
- o_row[i]="0";\r
- }\r
- }else if(i_e=="1"){\r
- return;\r
- }else{\r
- for(int i=0;i<o_row.length;i++){\r
- if(l[i]=="0"){\r
- o_row[i]="0";\r
- }else if(l[i]=="1"){\r
- o_row[i]=i_e;\r
- }else{\r
- String s1=isSingle(l[i])?l[i]:"("+l[i]+")";\r
- String s2=isSingle(i_e)?i_e:"("+i_e+")";\r
- o_row[i]="("+s1+"*"+s2+")";\r
- }\r
- }\r
- }\r
- }\r
- public void subRow(int i_r1,String[] i_r,String[] o_row)\r
- {\r
- String[] l1=this._data[i_r1];\r
- String[] l2=i_r;\r
- for(int i=0;i<o_row.length;i++){\r
- if(l1[i]=="0"){\r
- o_row[i]=l2[i];\r
- }else if(l2[i]=="0"){\r
- o_row[i]=l1[i];\r
- }else if(l2[i]==l1[i]){\r
- o_row[i]="0";\r
- }else{\r
- String s1=isSingle(l1[i])?l1[i]:"("+l1[i]+")";\r
- String s2=isSingle(l2[i])?l2[i]:"("+l2[i]+")";\r
- o_row[i]="("+s1+"-"+s2+")";\r
- }\r
- }\r
- }\r
- public static void main(String[] args)\r
- {\r
- try {\r
- Solver n=new Solver();\r
-\r
- for(int i=0;i<4;i++){\r
- for(int i2=0;i2<i;i2++){\r
- n.mul(i2,n._data[i][i2],n._temp);\r
- n.subRow(i,n._temp,n._data[i]); \r
- }\r
- n.div(i,n._data[i][i],n._data[i]);\r
- }\r
- n.dump();\r
- } catch (Exception e) {\r
- e.printStackTrace();\r
- }\r
-\r
- } \r
-}\r
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