--- /dev/null
+package jp.nyatla.nyartoolkit.sandbox.x2;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.param.NyARCameraDistortionFactor;\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.squaredetect.*;\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
+\r
+public class SquareContourDetector_X2\r
+{\r
+ private final int PCA_LENGTH=20;\r
+ private final int[] _xpos=new int[PCA_LENGTH];\r
+ private final int[] _ypos=new int[PCA_LENGTH];\r
+ private final int[] __detectMarker_mkvertex = new int[5];\r
+ private final NyARFixedFloatVertexCounter __getSquareVertex_wv1 = new NyARFixedFloatVertexCounter();\r
+ private final NyARFixedFloatVertexCounter __getSquareVertex_wv2 = new NyARFixedFloatVertexCounter();\r
+ private final NyARFixedFloatPca2d _pca;\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
+ private final NyARFixedFloatObserv2IdealMap _dist_factor;\r
+ public SquareContourDetector_X2(NyARIntSize i_size,NyARCameraDistortionFactor i_distfactor_ref)\r
+ {\r
+ //歪み計算テーブルを作ると、8*width/height*2の領域を消費します。\r
+ //領域を取りたくない場合は、i_dist_factor_refの値をそのまま使ってください。\r
+ this._dist_factor = new NyARFixedFloatObserv2IdealMap(i_distfactor_ref,i_size);\r
+\r
+\r
+ // 輪郭バッファは頂点変換をするので、輪郭バッファの２倍取る。\r
+ this._pca=new NyARFixedFloatPca2d();\r
+ return;\r
+ }\r
+\r
+ public boolean coordToSquare(int[] i_xcoord,int[] i_ycoord,int i_st_index,int i_coord_num,int i_label_area,NyARSquare o_square) throws NyARException\r
+ {\r
+\r
+ final int[] mkvertex = this.__detectMarker_mkvertex;\r
+\r
+ // 頂点情報を取得\r
+ if (!getSquareVertex(i_xcoord, i_ycoord, i_st_index, 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(mkvertex, i_xcoord, i_ycoord, o_square)){\r
+ // 矩形が成立しなかった。\r
+ return false;\r
+ }\r
+ return true;\r
+ }\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.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
+ } \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
+ /**\r
+ * 輪郭線の矩形検出開始ポイントを特定して、座標を並べ替えます。\r
+ * 輪郭線の先頭から、対角線が最長になる点を１点検索し、それより前の区間をバッファの後方に接続します。\r
+ * 戻り値は対角線が最長になった点です。関数終了後、返却値+i_coord_numの要素が有効になります。\r
+ * @param i_xcoord\r
+ * @param i_ycoord\r
+ * @param i_coord_num\r
+ * @return\r
+ */\r
+ public static int normalizeCoord(int[] i_coord_x, int[] i_coord_y,int i_coord_num)\r
+ {\r
+ //\r
+ final int sx = i_coord_x[0];\r
+ final int sy = i_coord_y[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_coord_x[i] - sx;\r
+ y = i_coord_y[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
+ // 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, ret);\r
+ System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, ret);\r
+ return ret;\r
+ } \r
+ \r
+}
\ No newline at end of file
OSDN Git Service
