*/\r
package jp.nyatla.nyartoolkit.jogl.sample;\r
\r
-import java.awt.event.WindowAdapter;\r
-import java.awt.event.WindowEvent;\r
+import java.awt.event.*;\r
import java.awt.*;\r
-\r
import javax.media.Buffer;\r
-\r
-import javax.media.opengl.GL;\r
-import javax.media.opengl.GLAutoDrawable;\r
-import javax.media.opengl.GLEventListener;\r
-import javax.media.opengl.GLCanvas;\r
-\r
-import com.sun.opengl.util.Animator;\r
-\r
-import jp.nyatla.nyartoolkit.core.NyARCode;\r
-\r
-import jp.nyatla.nyartoolkit.jmf.utils.JmfCameraCapture;\r
-import jp.nyatla.nyartoolkit.jmf.utils.JmfCaptureListener;\r
+import javax.media.opengl.*;\r
+import com.sun.opengl.util.*;\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
* simpleLiteと同じようなテストプログラム\r
private JmfCameraCapture _capture;\r
\r
private GL _gl;\r
-\r
private NyARGLUtil _glnya;\r
\r
//NyARToolkit関係\r
- private GLNyARSingleDetectMarker _nya;\r
-\r
- private GLNyARParam _ar_param;\r
+ private NyARSingleDetectMarker _nya;\r
+ private NyARParam _ar_param;\r
\r
+ private double[] _camera_projection=new double[16];\r
+ \r
/**\r
* 立方体を書く\r
*\r
_capture = new JmfCameraCapture(SCREEN_X, SCREEN_Y, 15f, JmfCameraCapture.PIXEL_FORMAT_RGB);\r
_capture.setCaptureListener(this);\r
//NyARToolkitの準備\r
- _ar_param = new GLNyARParam();\r
+ _ar_param = new NyARParam();\r
NyARCode ar_code = new NyARCode(16, 16);\r
_ar_param.loadARParamFromFile(PARAM_FILE);\r
_ar_param.changeScreenSize(SCREEN_X, SCREEN_Y);\r
- _nya = new GLNyARSingleDetectMarker(_ar_param, ar_code, 80.0);\r
+ _nya = new NyARSingleDetectMarker(_ar_param, ar_code, 80.0);\r
_nya.setContinueMode(false);//ここをtrueにすると、transMatContinueモード（History計算）になります。\r
ar_code.loadARPattFromFile(CARCODE_FILE);\r
//NyARToolkit用の支援クラス\r
} catch (Exception e) {\r
e.printStackTrace();\r
}\r
- _animator = new Animator(drawable);\r
+ //カメラパラメータの計算\r
+ _glnya.toCameraFrustumRH(_ar_param,_camera_projection);\r
\r
+ _animator = new Animator(drawable);\r
_animator.start();\r
-\r
+ return;\r
}\r
\r
public void reshape(GLAutoDrawable drawable, int x, int y, int width, int height)\r
_gl.glMatrixMode(GL.GL_MODELVIEW);\r
_gl.glLoadIdentity();\r
}\r
-\r
+ private NyARTransMatResult __display_transmat_result=new NyARTransMatResult();\r
+ private double[] __display_wk=new double[16];\r
+ \r
public void display(GLAutoDrawable drawable)\r
{\r
-\r
+ NyARTransMatResult transmat_result=__display_transmat_result;\r
try {\r
if (!_cap_image.hasData()) {\r
return;\r
//背景を書く\r
_glnya.drawBackGround(_cap_image, 1.0);\r
}\r
- //ã\81\82ã\81£ã\81\9fã\82\89ç«\8bæ\96¹ä½\93ã\82\92æ\9b¸ã\81\8f\r
+ //ã\83\9eã\83¼ã\82«ã\83¼ã\81\8cã\81\82ã\82\8cã\81°ã\80\81ç«\8bæ\96¹ä½\93ã\82\92æ\8f\8fç\94»\r
if (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(_ar_param.getCameraFrustumRH(), 0);\r
+ _gl.glLoadMatrixd(_camera_projection, 0);\r
_gl.glMatrixMode(GL.GL_MODELVIEW);\r
// Viewing transformation.\r
_gl.glLoadIdentity();\r
- _gl.glLoadMatrixd(_nya.getCameraViewRH(), 0);\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
drawCube();\r
\r
package jp.nyatla.nyartoolkit.jogl.sample;\r
\r
-import java.awt.event.WindowAdapter;\r
-import java.awt.event.WindowEvent;\r
+import java.awt.event.*;\r
import java.awt.*;\r
-\r
-import javax.media.Buffer;\r
-\r
-import javax.media.opengl.GL;\r
-import javax.media.opengl.GLAutoDrawable;\r
-import javax.media.opengl.GLEventListener;\r
-import javax.media.opengl.GLCanvas;\r
-\r
+import javax.media.*;\r
+import javax.media.opengl.*;\r
import com.sun.opengl.util.Animator;\r
-\r
-import jp.nyatla.nyartoolkit.core.NyARCode;\r
-\r
-import jp.nyatla.nyartoolkit.jmf.utils.JmfCameraCapture;\r
-import jp.nyatla.nyartoolkit.jmf.utils.JmfCaptureListener;\r
+import jp.nyatla.nyartoolkit.core.param.*;\r
+import jp.nyatla.nyartoolkit.core.transmat.NyARTransMatResult;\r
+import jp.nyatla.nyartoolkit.core.*;\r
+import jp.nyatla.nyartoolkit.detector.*;\r
+import jp.nyatla.nyartoolkit.jmf.utils.*;\r
import jp.nyatla.nyartoolkit.jogl.utils.*;\r
/**\r
* simpleLiteの複数マーカー同時認識バージョン\r
private NyARGLUtil _glnya;\r
\r
//NyARToolkit関係\r
- private GLNyARDetectMarker _nya;\r
-\r
- private GLNyARParam _ar_param;\r
+ private NyARDetectMarker _nya;\r
\r
+ private NyARParam _ar_param;\r
+ private double[] _camera_projection=new double[16];\r
/**\r
* 立方体を書く\r
*\r
_capture = new JmfCameraCapture(SCREEN_X, SCREEN_Y, 15f, JmfCameraCapture.PIXEL_FORMAT_RGB);\r
_capture.setCaptureListener(this);\r
//NyARToolkitの準備\r
- _ar_param = new GLNyARParam();\r
+ _ar_param = new NyARParam();\r
_ar_param.loadARParamFromFile(PARAM_FILE);\r
_ar_param.changeScreenSize(SCREEN_X, SCREEN_Y);\r
\r
ar_codes[0].loadARPattFromFile(CARCODE_FILE1);\r
ar_codes[1] = new NyARCode(16, 16);\r
ar_codes[1].loadARPattFromFile(CARCODE_FILE2);\r
- _nya = new GLNyARDetectMarker(_ar_param, ar_codes, width, 2);\r
+ _nya = new NyARDetectMarker(_ar_param, ar_codes, width, 2);\r
_nya.setContinueMode(false);//ここをtrueにすると、transMatContinueモード（History計算）になります。\r
//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
+ _glnya.toCameraFrustumRH(_ar_param,_camera_projection);\r
+ \r
_animator = new Animator(drawable);\r
-\r
_animator.start();\r
\r
}\r
_gl.glMatrixMode(GL.GL_MODELVIEW);\r
_gl.glLoadIdentity();\r
}\r
-\r
+ private NyARTransMatResult __display_transmat_result=new NyARTransMatResult();\r
+ private double[] __display_wk=new double[16];\r
+ \r
public void display(GLAutoDrawable drawable)\r
{\r
+ NyARTransMatResult transmat_result=__display_transmat_result;\r
\r
try {\r
if (!_cap_image.hasData()) {\r
_glnya.drawBackGround(_cap_image, 1.0);\r
}\r
//あったら立方体を書く\r
- double[] matrix = new double[16];\r
for (int i = 0; i < found_markers; i++) {\r
//1番のマーカーでなければ表示しない。\r
if (_nya.getARCodeIndex(i) != 0) {\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(_ar_param.getCameraFrustumRH(), 0);\r
+ _gl.glLoadMatrixd(_camera_projection, 0);\r
_gl.glMatrixMode(GL.GL_MODELVIEW);\r
// Viewing transformation.\r
_gl.glLoadIdentity();\r
- _nya.getCameraViewRH(i, matrix);\r
- _gl.glLoadMatrixd(matrix, 0);\r
+ //変換行列を取得\r
+ _nya.getTransmationMatrix(i,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
drawCube();\r
} catch (Exception e) {\r
e.printStackTrace();\r
}\r
+ return;\r
}\r
\r
public void onUpdateBuffer(Buffer i_buffer)\r
--- /dev/null
+package jp.nyatla.nyartoolkit.toys.qrcode;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.INyARSquareDetector;\r
+import jp.nyatla.nyartoolkit.core.NyARSquare;\r
+import jp.nyatla.nyartoolkit.core.NyARSquareStack;\r
+import jp.nyatla.nyartoolkit.core.NyARVertexCounter;\r
+import jp.nyatla.nyartoolkit.core.labeling.INyARLabeling;\r
+import jp.nyatla.nyartoolkit.core.labeling.NyARLabelingImage;\r
+import jp.nyatla.nyartoolkit.core.labeling.NyARLabelingLabel;\r
+import jp.nyatla.nyartoolkit.core.labeling.NyARLabelingLabelStack;\r
+import jp.nyatla.nyartoolkit.core.labeling.NyARLabeling_ARToolKit;\r
+import jp.nyatla.nyartoolkit.core.param.NyARCameraDistortionFactor;\r
+import jp.nyatla.nyartoolkit.core.pca2d.INyARPca2d;\r
+import jp.nyatla.nyartoolkit.core.pca2d.NyARPca2d_MatrixPCA_O2;\r
+import jp.nyatla.nyartoolkit.core.raster.NyARBinRaster;\r
+import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint2d;\r
+import jp.nyatla.nyartoolkit.core.types.NyARIntPoint;\r
+import jp.nyatla.nyartoolkit.core.types.NyARIntSize;\r
+import jp.nyatla.nyartoolkit.core.types.NyARLinear;\r
+import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix22;\r
+import jp.nyatla.utils.j2se.LabelingBufferdImage;\r
+\r
+public class NyARQrCodeDetector implements INyARSquareDetector\r
+{\r
+ private NyARQrCodeSymbolBinder _binder;\r
+ private static final double VERTEX_FACTOR = 2.0;// 線検出のファクタ\r
+\r
+ private static final int AR_AREA_MAX = 10000;\r
+\r
+ private static final int AR_AREA_MIN = 50;\r
+\r
+ private final int _width;\r
+\r
+ private final int _height;\r
+\r
+ private final NyARLabeling_ARToolKit _labeling;\r
+\r
+ private final NyARLabelingImage _limage;\r
+\r
+ private final NyARCameraDistortionFactor _dist_factor_ref;\r
+\r
+ /**\r
+ * 最大i_squre_max個のマーカーを検出するクラスを作成する。\r
+ * \r
+ * @param i_param\r
+ */\r
+ public NyARQrCodeDetector(NyARCameraDistortionFactor i_dist_factor_ref, NyARIntSize i_size) throws NyARException\r
+ {\r
+ this._width = i_size.w;\r
+ this._height = i_size.h;\r
+ this._dist_factor_ref = i_dist_factor_ref;\r
+ this._labeling = new NyARLabeling_ARToolKit();\r
+ this._limage = new NyARLabelingImage(this._width, this._height);\r
+ this._labeling.attachDestination(this._limage);\r
+ this._binder=new NyARQrCodeSymbolBinder(i_dist_factor_ref);\r
+\r
+ // 輪郭の最大長はMAX_COORD_NUMの2倍に制限\r
+ int number_of_coord = MAX_COORD_NUM* 2;\r
+\r
+ // 輪郭バッファはnumber_of_coordの2倍\r
+ this._max_coord = number_of_coord;\r
+ this._xcoord = new int[number_of_coord * 2];\r
+ this._ycoord = new int[number_of_coord * 2];\r
+ }\r
+\r
+ private final int _max_coord;\r
+\r
+ private final int[] _xcoord;\r
+\r
+ private final int[] _ycoord;\r
+\r
+ private void normalizeCoord(int[] i_coord_x, int[] i_coord_y, int i_index, int i_coord_num)\r
+ {\r
+ // vertex1を境界にして、後方に配列を連結\r
+ System.arraycopy(i_coord_x, 1, i_coord_x, i_coord_num, i_index);\r
+ System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, i_index);\r
+ }\r
+\r
+ private final int[] __detectMarker_mkvertex = new int[5];\r
+\r
+ /**\r
+ * ARMarkerInfo2 *arDetectMarker2( ARInt16 *limage, int label_num, int *label_ref,int *warea, double *wpos, int *wclip,int area_max, int area_min, double\r
+ * factor, int *marker_num ) 関数の代替品 ラベリング情報からマーカー一覧を作成してo_marker_listを更新します。 関数はo_marker_listに重なりを除外したマーカーリストを作成します。\r
+ * \r
+ * @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(NyARBinRaster i_raster, NyARSquareStack o_square_stack) throws NyARException\r
+ {\r
+ final INyARLabeling labeling_proc = this._labeling;\r
+ final NyARLabelingImage limage = this._limage;\r
+\r
+ // 初期化\r
+\r
+ // マーカーホルダをリセット\r
+ o_square_stack.clear();\r
+\r
+ // ラベリング\r
+ labeling_proc.labeling(i_raster);\r
+\r
+ // ラベル数が0ならここまで\r
+ final int label_num = limage.getLabelStack().getLength();\r
+ if (label_num < 1) {\r
+ return;\r
+ }\r
+\r
+ final NyARLabelingLabelStack stack = limage.getLabelStack();\r
+ final NyARLabelingLabel[] labels = (NyARLabelingLabel[]) stack.getArray();\r
+\r
+ // ラベルを大きい順に整列\r
+ stack.sortByArea();\r
+\r
+ // デカいラベルを読み飛ばし\r
+ int i;\r
+ for (i = 0; i < label_num; i++) {\r
+ // 検査対象内のラベルサイズになるまで無視\r
+ if (labels[i].area <= AR_AREA_MAX) {\r
+ break;\r
+ }\r
+ }\r
+ \r
+ final int xsize = this._width;\r
+ final int ysize = this._height;\r
+ final int[] xcoord = this._xcoord;\r
+ final int[] ycoord = this._ycoord;\r
+ final int coord_max = this._max_coord;\r
+ final int[] mkvertex = this.__detectMarker_mkvertex;\r
+ final int[][] buf = (int[][]) limage.getBufferReader().getBuffer();\r
+ final int[] indextable = limage.getIndexArray();\r
+ int coord_num;\r
+ int label_area;\r
+ NyARLabelingLabel label_pt;\r
+ NyARSquareStack wk_stack=new NyARSquareStack(100);\r
+ wk_stack.clear();\r
+\r
+ for (; i < label_num; i++) {\r
+ label_pt = labels[i];\r
+ label_area = label_pt.area;\r
+ // 検査対象サイズよりも小さくなったら終了\r
+ if (label_area < AR_AREA_MIN) {\r
+ break;\r
+ }\r
+ // クリップ領域が画面の枠に接していれば除外\r
+ if (label_pt.clip_l == 1 || label_pt.clip_r == xsize - 2) {// if(wclip[i*4+0] == 1 || wclip[i*4+1] ==xsize-2){\r
+ continue;\r
+ }\r
+ if (label_pt.clip_t == 1 || label_pt.clip_b == ysize - 2) {// if( wclip[i*4+2] == 1 || wclip[i*4+3] ==ysize-2){\r
+ continue;\r
+ }\r
+ // 特徴点候補であるかを確認する。\r
+ if (!hasQrEdgeFeature(buf, indextable, label_pt)) {\r
+ continue;\r
+ }\r
+\r
+ // 輪郭を取得\r
+ coord_num = limage.getContour(i, coord_max, xcoord, ycoord);\r
+ if (coord_num == coord_max) {\r
+ // 輪郭が大きすぎる。\r
+ continue;\r
+ }\r
+ // 頂点候補のインデクスを取得\r
+ final int vertex1 = scanVertex(xcoord, ycoord, coord_num);\r
+\r
+ // 頂点候補(vertex1)を先頭に並べなおした配列を作成する。\r
+ normalizeCoord(xcoord, ycoord, vertex1, coord_num);\r
+\r
+ // 頂点情報を取得\r
+ if (!getSquareVertex(xcoord, ycoord, vertex1, coord_num, label_area, mkvertex)) {\r
+ continue;\r
+ }\r
+ NyARSquare square=(NyARSquare)wk_stack.prePush();\r
+ //矩形からラインと観察座標を取得\r
+ if(!getSquareLine(mkvertex,xcoord,ycoord,square.line,square.imvertex)){\r
+ wk_stack.pop();\r
+ continue;\r
+ }\r
+ }\r
+ //シンボルの関連付け\r
+ bindQrcodeEdge(wk_stack,o_square_stack);\r
+ //エッジ同士の相関関係をしらべる。\r
+\r
+ return;\r
+ }\r
+\r
+ /**\r
+ * QRコードのエッジペアを作る\r
+ * @param i_square_stack\r
+ */\r
+ public void bindQrcodeEdge(NyARSquareStack i_square_stack,NyARSquareStack o_square_stack) throws NyARException\r
+ {\r
+ NyARSquare[] group=new NyARSquare[3];\r
+ int number_of_edge=i_square_stack.getLength();\r
+ if(number_of_edge<3){\r
+ return;\r
+ }\r
+ NyARSquare[] sa=(NyARSquare[])i_square_stack.getArray();\r
+ for(int i=0;i<number_of_edge-2;i++)\r
+ { \r
+ group[0]=sa[i];\r
+ for(int i2=i+1;i2<number_of_edge-1;i2++)\r
+ {\r
+ group[1]=sa[i2];\r
+ for(int i3=i2+1;i3<number_of_edge;i3++){\r
+ group[2]=sa[i3];\r
+ //3個のエッジの関連性を確認する。\r
+ NyARSquare new_square=(NyARSquare)o_square_stack.prePush();\r
+ if(!this._binder.composeSquare(group,new_square)){\r
+ o_square_stack.pop();\r
+ }\r
+ }\r
+ }\r
+ }\r
+ return;\r
+ }\r
+ private static int MAX_COORD_NUM=(320+240)*2;//サイズの1/2の長方形の編程度が目安(VGAなら(320+240)*2)\r
+ private final INyARPca2d _pca=new NyARPca2d_MatrixPCA_O2(MAX_COORD_NUM);\r
+ private final NyARDoubleMatrix22 __getSquareLine_evec=new NyARDoubleMatrix22();\r
+ private final NyARDoublePoint2d __getSquareLine_mean=new NyARDoublePoint2d();\r
+ private final NyARDoublePoint2d __getSquareLine_ev=new NyARDoublePoint2d();\r
+ /**\r
+ * 頂点インデクスと輪郭配列から、Ideal座標系とLineを作成して変数に返す\r
+ * @param i_cparam\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARLinear[] o_line,NyARIntPoint[] o_imvertex) throws NyARException\r
+ {\r
+ final NyARCameraDistortionFactor dist_factor=this._dist_factor_ref; \r
+ final NyARDoubleMatrix22 evec=this.__getSquareLine_evec;\r
+ final NyARDoublePoint2d mean=this.__getSquareLine_mean;\r
+ final NyARDoublePoint2d ev=this.__getSquareLine_ev;\r
+ \r
+ \r
+ for (int i = 0; i < 4; i++) {\r
+ final double w1 = (double) (i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5;\r
+ final int st = (int) (i_mkvertex[i] + w1);\r
+ final int ed = (int) (i_mkvertex[i + 1] - w1);\r
+ final int n = ed - st + 1;\r
+ if (n < 2 || n>MAX_COORD_NUM) {\r
+ // nが2以下、又はMAX_COORD_NUM以上なら主成分分析をしない。\r
+ return false;\r
+ }\r
+ //主成分分析する。\r
+ this._pca.pcaWithDistortionFactor(i_xcoord, i_ycoord, st, n,dist_factor, evec, ev,mean);\r
+ final NyARLinear l_line_i = o_line[i];\r
+ l_line_i.run = evec.m01;// line[i][0] = evec->m[1];\r
+ l_line_i.rise = -evec.m00;// line[i][1] = -evec->m[0];\r
+ l_line_i.intercept = -(l_line_i.run * mean.x + l_line_i.rise * mean.y);// line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]);\r
+ }\r
+ for (int i = 0; i < 4; i++) {\r
+ final NyARLinear l_line_i = o_line[i];\r
+ final NyARLinear l_line_2 = o_line[(i + 3) % 4];\r
+ final double w1 = l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise;\r
+ if (w1 == 0.0) {\r
+ return false;\r
+ }\r
+ // 頂点インデクスから頂点座標を得て保存\r
+ o_imvertex[i].x = i_xcoord[i_mkvertex[i]];\r
+ o_imvertex[i].y = i_ycoord[i_mkvertex[i]];\r
+ }\r
+ return true;\r
+ }\r
+ /**\r
+ * 辺からの対角線が最長になる点を対角線候補として返す。\r
+ * \r
+ * @param i_xcoord\r
+ * @param i_ycoord\r
+ * @param i_coord_num\r
+ * @return\r
+ */\r
+ private int scanVertex(int[] i_xcoord, int[] i_ycoord, int i_coord_num)\r
+ {\r
+ final int sx = i_xcoord[0];\r
+ final int sy = i_ycoord[0];\r
+ int d = 0;\r
+ int w, x, y;\r
+ int ret = 0;\r
+ for (int i = 1; i < i_coord_num; i++) {\r
+ x = i_xcoord[i] - sx;\r
+ y = i_ycoord[i] - sy;\r
+ w = x * x + y * y;\r
+ if (w > d) {\r
+ d = w;\r
+ ret = i;\r
+ }\r
+ // ここでうまく終了条件入れられないかな。\r
+ }\r
+ return ret;\r
+ }\r
+\r
+ private final NyARVertexCounter __getSquareVertex_wv1 = new NyARVertexCounter();\r
+ private final NyARVertexCounter __getSquareVertex_wv2 = new NyARVertexCounter();\r
+\r
+ /**\r
+ * static int arDetectMarker2_check_square( int area, ARMarkerInfo2 *marker_info2, double factor ) 関数の代替関数 OPTIMIZED STEP [450->415] o_squareに頂点情報をセットします。\r
+ * \r
+ * @param i_x_coord\r
+ * @param i_y_coord\r
+ * @param i_vertex1_index\r
+ * @param i_coord_num\r
+ * @param i_area\r
+ * @param o_vertex\r
+ * 要素数はint[4]である事\r
+ * @return\r
+ */\r
+ private boolean getSquareVertex(int[] i_x_coord, int[] i_y_coord, int i_vertex1_index, int i_coord_num, int i_area, int[] o_vertex)\r
+ {\r
+ final NyARVertexCounter wv1 = this.__getSquareVertex_wv1;\r
+ final NyARVertexCounter wv2 = this.__getSquareVertex_wv2;\r
+ final int end_of_coord = i_vertex1_index + i_coord_num - 1;\r
+ final int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];\r
+ final int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];\r
+ int dmax = 0;\r
+ int v1 = i_vertex1_index;\r
+ for (int i = 1 + i_vertex1_index; i < end_of_coord; i++) {// for(i=1;i<marker_info2->coord_num-1;i++)\r
+ // {\r
+ final int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);\r
+ if (d > dmax) {\r
+ dmax = d;\r
+ v1 = i;\r
+ }\r
+ }\r
+ final double thresh = (i_area / 0.75) * 0.01 * VERTEX_FACTOR;\r
+\r
+ o_vertex[0] = i_vertex1_index;\r
+\r
+ if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v1, thresh)) { // if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,0,v1,thresh,wv1,&wvnum1)<\r
+ // 0 ) {\r
+ return false;\r
+ }\r
+ if (!wv2.getVertex(i_x_coord, i_y_coord, v1, end_of_coord, thresh)) {// if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,v1,marker_info2->coord_num-1,thresh,wv2,&wvnum2)\r
+ // < 0) {\r
+ return false;\r
+ }\r
+\r
+ int v2;\r
+ if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {// if(wvnum1 == 1 && wvnum2== 1) {\r
+ o_vertex[1] = wv1.vertex[0];\r
+ o_vertex[2] = v1;\r
+ o_vertex[3] = wv2.vertex[0];\r
+ } else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0) {// }else if( wvnum1 > 1 && wvnum2== 0) {\r
+ // 頂点位置を、起点から対角点の間の1/2にあると予想して、検索する。\r
+ v2 = (v1 - i_vertex1_index) / 2 + i_vertex1_index;\r
+ if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh)) {\r
+ return false;\r
+ }\r
+ if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh)) {\r
+ return false;\r
+ }\r
+ if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {\r
+ o_vertex[1] = wv1.vertex[0];\r
+ o_vertex[2] = wv2.vertex[0];\r
+ o_vertex[3] = v1;\r
+ } else {\r
+ return false;\r
+ }\r
+ } else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1) {\r
+ // v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;\r
+ v2 = (v1 + end_of_coord) / 2;\r
+\r
+ if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh)) {\r
+ return false;\r
+ }\r
+ if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh)) {\r
+ return false;\r
+ }\r
+ if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {\r
+ o_vertex[1] = v1;\r
+ o_vertex[2] = wv1.vertex[0];\r
+ o_vertex[3] = wv2.vertex[0];\r
+ } else {\r
+ return false;\r
+ }\r
+ } else {\r
+ return false;\r
+ }\r
+ o_vertex[4] = end_of_coord;\r
+ return true;\r
+ }\r
+ /**\r
+ * QRコードのシンボル特徴を持つラベルであるかを調べる\r
+ * @param buf\r
+ * @param index_table\r
+ * @param i_label\r
+ * @return\r
+ */\r
+ private boolean hasQrEdgeFeature(int buf[][], int[] index_table, NyARLabelingLabel i_label)\r
+ {\r
+ int tx, bx;\r
+ int w;\r
+ int i_label_id = i_label.id;\r
+ int[] limage_j;\r
+ final int clip_l = i_label.clip_l;\r
+ final int clip_b = i_label.clip_b;\r
+ final int clip_r = i_label.clip_r;\r
+ final int clip_t = i_label.clip_t;\r
+\r
+ tx = bx = 0;\r
+ // 上接点(→)\r
+ limage_j = buf[clip_t];\r
+ for (int i = clip_l; i <= clip_r; i++) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {\r
+ w = limage_j[i];\r
+ if (w > 0 && index_table[w - 1] == i_label_id) {\r
+ tx = i;\r
+ break;\r
+ }\r
+ }\r
+ // 下接点(←)\r
+ limage_j = buf[clip_b];\r
+ for (int i = clip_r; i >= clip_l; i--) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {\r
+ w = limage_j[i];\r
+ if (w > 0 && index_table[w - 1] == i_label_id) {\r
+ bx = i;\r
+ break;\r
+ }\r
+ }\r
+ final int cx = (clip_l + clip_r) / 2;\r
+ final int cy = (clip_t + clip_b) / 2;\r
+ // 横断チェック(中心から線を引いて、010になるかしらべる)\r
+ if (!checkDiagonalLine(buf, cx, cy, bx, clip_b)) {\r
+ return false;\r
+ }\r
+ if (!checkDiagonalLine(buf, tx, clip_t, cx, cy)) {\r
+ return false;\r
+ }\r
+ return true;\r
+ }\r
+\r
+ /**\r
+ * シンボルのパターン特徴を調べる関数\r
+ * 対角線の一部が010になってるか調べる。\r
+ * \r
+ * @param buf\r
+ * @param i_px1\r
+ * @param i_py1\r
+ * @param i_px2\r
+ * @param i_py2\r
+ * @return\r
+ */\r
+ private boolean checkDiagonalLine(int[][] buf, int i_px1, int i_py1, int i_px2, int i_py2)\r
+ {\r
+ int sub_y = i_py2 - i_py1;\r
+ int sub_x = i_px2 - i_px1;\r
+ // 黒\r
+ int i = 0;\r
+ for (; i < sub_y; i++) {\r
+ int yp = i_py1 + i;\r
+ int xp = i_px1 + i * sub_x / sub_y;\r
+ if (buf[yp][xp] == 0 && buf[yp][xp-1] == 0 && buf[yp][xp+1] == 0) {\r
+ break;\r
+ }\r
+\r
+ }\r
+ if (i == sub_y) {\r
+ return false;\r
+ }\r
+ // 白\r
+ for (; i < sub_y; i++) {\r
+ int yp = i_py1 + i;\r
+ int xp = i_px1 + i * sub_x / sub_y;\r
+ if (buf[yp][xp] != 0 && buf[yp][xp-1] != 0 && buf[yp][xp+1] != 0) {\r
+ break;\r
+ }\r
+\r
+ }\r
+ if (i == sub_y) {\r
+ return false;\r
+ }\r
+ // 黒\r
+ for (; i < sub_y; i++) {\r
+ int yp = i_py1 + i;\r
+ int xp = i_px1 + i * sub_x / sub_y;\r
+ if (buf[yp][xp] == 0 && buf[yp][xp-1] == 0 && buf[yp][xp+1] == 0) {\r
+ break;\r
+ }\r
+\r
+ }\r
+ if (i != sub_y) {\r
+ return false;\r
+ }\r
+ // 端まで到達したらOK\r
+ return true;\r
+ }\r
+\r
+}\r
--- /dev/null
+package jp.nyatla.nyartoolkit.toys.qrcode;\r
+\r
+import java.awt.Color;\r
+import java.awt.Graphics;\r
+\r
+import jp.nyatla.nyartoolkit.core.*;\r
+import jp.nyatla.nyartoolkit.core.types.*;\r
+import jp.nyatla.utils.j2se.*;\r
+import jp.nyatla.nyartoolkit.core.param.*;\r
+/**\r
+ * QRコードのシンボルを結びつける偉いクラス\r
+ * アルゴリズムはこんな感じ。\r
+ * 1.3シンボルの位置関係から中間のシンボルを探す。\r
+ * 2.中間シンボルの内角点を探す\r
+ * 3.残りの２シンボル間の最短距離の頂点セットを見つけて、それぞれの内角点を探す\r
+ * 4.３個の内角点が決まったら、各シンボルごとに外角点（反対側の頂点）を特定する。\r
+ * 5.対角のシンボルの外角頂点から伸びる線分を合成して、矩形を決める。\r
+ * 6.矩形が決まったら、方程式を解いて交点を出して、頂点にする。\r
+ * 7.交点と中央のシンボルの位置関係から、正しい計算が行われたかを判定（まだ実装してない）\r
+ * \r
+ * \r
+ * この方法は浅い角度でシンボル集合を見たときに、1や3の手順が高い確率で失敗する。\r
+ * その場合計算が途中で破綻するのでわかる（はず）\r
+ * 他の方法もあるけど、それはまた今度。\r
+ */\r
+public class NyARQrCodeSymbolBinder\r
+{\r
+ private NyARCameraDistortionFactor _distfactor;\r
+\r
+ public NyARQrCodeSymbolBinder(NyARCameraDistortionFactor i_ref_distortion)\r
+ {\r
+ this._distfactor=i_ref_distortion;\r
+ return;\r
+ }\r
+ /**\r
+ * 最小の三角形を構成する頂点セットを得る\r
+ * @param i_s0\r
+ * @param i_s1\r
+ * @param i_s2\r
+ * @param o_vertex\r
+ */\r
+ private static void getMinimumTriangleVertex(NyARSquare[] i_sqare,int[] o_vertex_id)\r
+ {\r
+ //辺の長さが最小になる頂点の組合せを探す\r
+ int d;\r
+ int x,y;\r
+ int dmax=0x7fffffff;\r
+ final NyARIntPoint[] vertex0=i_sqare[0].imvertex;\r
+ final NyARIntPoint[] vertex1=i_sqare[1].imvertex;\r
+ final NyARIntPoint[] vertex2=i_sqare[2].imvertex;\r
+ for(int i=0;i<4;i++)\r
+ {\r
+ for(int i2=0;i2<4;i2++)\r
+ {\r
+ for(int i3=0;i3<4;i3++){\r
+ x=vertex0[i].x-vertex2[i3].x;\r
+ y=vertex0[i].y-vertex2[i3].y;\r
+ d=x*x+y*y;\r
+ x=vertex1[i2].x-vertex2[i3].x;\r
+ y=vertex1[i2].y-vertex2[i3].y;\r
+ d+=x*x+y*y;\r
+ x=vertex1[i2].x-vertex0[i].x;\r
+ y=vertex1[i2].y-vertex0[i].y;\r
+ d+=x*x+y*y;\r
+ if(d<dmax){\r
+ dmax=d;\r
+ o_vertex_id[0]=i; \r
+ o_vertex_id[1]=i2;\r
+ o_vertex_id[2]=i3;\r
+ }\r
+ }\r
+ }\r
+ }\r
+ return;\r
+ }\r
+ /**\r
+ * 2矩形の頂点距離が最低の組合せを探す\r
+ * @param i_sqare\r
+ * @param o_vertex_id\r
+ */\r
+ private static void getMinimumLineVertex(NyARIntPoint[] i_sqare0,NyARIntPoint[] i_sqare1,int[] o_vertex_id)\r
+ {\r
+ //辺の長さが最小になる頂点の組合せを探す\r
+ int d;\r
+ int x,y;\r
+ int dmax=0x7fffffff;\r
+ for(int i=0;i<4;i++)\r
+ {\r
+ for(int i2=0;i2<4;i2++)\r
+ {\r
+ x=i_sqare1[i2].x-i_sqare0[i].x;\r
+ y=i_sqare1[i2].y-i_sqare0[i].y;\r
+ d=x*x+y*y;\r
+ if(d<dmax){\r
+ dmax=d;\r
+ o_vertex_id[0]=i; \r
+ o_vertex_id[1]=i2;\r
+ }\r
+ }\r
+ }\r
+ return;\r
+ }\r
+ /**\r
+ * シンボルグループの重心を計算する\r
+ * @param i_sqare\r
+ * @param i_center\r
+ */\r
+ private void getSymbolGroupCenter(NyARSquare[] i_sqare,NyARIntPoint i_center)\r
+ {\r
+ //シンボルグループの重心を計算\r
+ int cx,cy;\r
+ cx=cy=0;\r
+ for(int i=0;i<3;i++)\r
+ {\r
+ final NyARIntPoint[] sq_ptr=i_sqare[i].imvertex;\r
+ cx+=sq_ptr[0].x; \r
+ cx+=sq_ptr[1].x; \r
+ cx+=sq_ptr[2].x; \r
+ cx+=sq_ptr[3].x; \r
+ cy+=sq_ptr[0].y; \r
+ cy+=sq_ptr[1].y; \r
+ cy+=sq_ptr[2].y; \r
+ cy+=sq_ptr[3].y; \r
+ }\r
+ i_center.x=cx/12;\r
+ i_center.y=cy/12; \r
+ return;\r
+ }\r
+ /**\r
+ * キーシンボルのインデックスを得る\r
+ * @param i_sqare\r
+ * @param i_vertex_id\r
+ * 最小三角形の頂点IDセット\r
+ * @return\r
+ */\r
+ private static int getKeySymble(NyARSquare[] i_sqare,NyARIntPoint i_center,int[] i_vertex_id)\r
+ {\r
+ //シンボルグループの重心を計算\r
+ final int cx=i_center.x;\r
+ final int cy=i_center.y; \r
+ //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\r
+ int key_symble_idx=0;\r
+ int x=i_sqare[0].imvertex[i_vertex_id[0]].x-cx;\r
+ int y=i_sqare[0].imvertex[i_vertex_id[0]].y-cy;\r
+ int dmax=x*x+y*y;\r
+ for(int i=1;i<3;i++){\r
+ x=i_sqare[i].imvertex[i_vertex_id[i]].x-cx;\r
+ y=i_sqare[i].imvertex[i_vertex_id[i]].y-cy;\r
+ final int d=x*x+y*y;\r
+ if(d<dmax){\r
+ dmax=d;\r
+ key_symble_idx=i;\r
+ }\r
+ }\r
+ return key_symble_idx;\r
+ }\r
+ private NyARDoublePoint2d __bindSquare_ideal_vertex=new NyARDoublePoint2d();\r
+ /**\r
+ * 2つの対角にある矩形から、それらを対角とする矩形を作る。\r
+ * @param i_sq1\r
+ * @param i_lv1\r
+ * @param i_sq2\r
+ * @param i_lv2\r
+ */\r
+ private void bindSquare(NyARSquare i_sq1,int i_lv1,NyARSquare i_sq2,int i_lv2,NyARSquare o_qr_square)\r
+ {\r
+ //4辺の式を計算\r
+ o_qr_square.line[0].copyFrom(i_sq1.line[(i_lv1+3)%4]);\r
+ o_qr_square.line[1].copyFrom(i_sq1.line[(i_lv1+0)%4]);\r
+ o_qr_square.line[2].copyFrom(i_sq2.line[(i_lv2+3)%4]);\r
+ o_qr_square.line[3].copyFrom(i_sq2.line[(i_lv2+0)%4]);\r
+ //歪み無しの座標系を計算\r
+ final NyARDoublePoint2d[] l_sqvertex = o_qr_square.sqvertex;\r
+ final NyARIntPoint[] imvertex_ptr = o_qr_square.imvertex;\r
+\r
+ final NyARLinear[] l_line = o_qr_square.line;\r
+ final NyARDoublePoint2d ideal_vertex=this.__bindSquare_ideal_vertex;\r
+ for (int i = 0; i < 4; i++) {\r
+ final NyARLinear l_line_i = l_line[i];\r
+ final NyARLinear l_line_2 = l_line[(i + 3) % 4];\r
+ final double w1 = l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise;\r
+ if (w1 == 0.0) {\r
+ return;\r
+ }\r
+ l_sqvertex[i].x = (l_line_2.rise * l_line_i.intercept - l_line_i.rise * l_line_2.intercept) / w1;\r
+ l_sqvertex[i].y = (l_line_i.run * l_line_2.intercept - l_line_2.run * l_line_i.intercept) / w1;\r
+ _distfactor.ideal2Observ(l_sqvertex[i], ideal_vertex);\r
+ //Ideal→observに変換して、画面上の座標とする。\r
+ imvertex_ptr[i].x=(int)l_sqvertex[i].x;\r
+ imvertex_ptr[i].y=(int)l_sqvertex[i].y;\r
+ } \r
+// Graphics g=this.bimg.getGraphics();\r
+// g.setColor(Color.red);\r
+// int[] x=new int[4];\r
+// int[] y=new int[4];\r
+// for(int i=0;i<4;i++){\r
+// x[i]=(int)l_sqvertex[i].x;\r
+// y[i]=(int)l_sqvertex[i].y;\r
+// }\r
+// g.drawPolygon(x,y,4);\r
+ return;\r
+ //基準点はVertexをそのまま採用\r
+ //２個の想定点は座標を逆変換して設定\r
+ }\r
+ /**\r
+ * directionはキーシンボルのインデックスでARToolKitの頂点座標じゃないので注意すること。\r
+ * @param i_sq\r
+ * @param o_sq\r
+ * @return\r
+ */\r
+ public boolean composeSquare(NyARSquare[] i_sq,NyARSquare o_sq)\r
+ {\r
+ int[] minimum_triangle_vertex=new int[3];\r
+ int[] minimum_line_vertex=new int[2];\r
+ \r
+ NyARIntPoint center=new NyARIntPoint();\r
+\r
+ //辺の長さが最小になる頂点の組合せを探す\r
+ getMinimumTriangleVertex(i_sq,minimum_triangle_vertex);\r
+ \r
+ //中心位置を計算する。\r
+ getSymbolGroupCenter(i_sq,center);\r
+ \r
+ //キーシンボルのインデクス番号を得る\r
+ int key_simble_idx=getKeySymble(i_sq,center,minimum_triangle_vertex);\r
+ \r
+ //対角シンボルのインデックス番号を決める\r
+ int symbol_e1_idx=(key_simble_idx+1)%3;\r
+ int symbol_e2_idx=(key_simble_idx+2)%3;\r
+ \r
+ //対角シンボル間で最短距離を取る頂点ペアを取る\r
+ //(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)\r
+ getMinimumLineVertex(i_sq[symbol_e1_idx].imvertex,i_sq[symbol_e2_idx].imvertex,minimum_line_vertex);\r
+ \r
+ //内対角を外対角に変換\r
+ int lv1=(minimum_line_vertex[0]+2)%4;\r
+ int lv2=(minimum_line_vertex[1]+2)%4;\r
+ int kv =(minimum_triangle_vertex[key_simble_idx]+2)%4;\r
+ //矩形の合成\r
+ bindSquare(i_sq[symbol_e1_idx],lv1,i_sq[symbol_e2_idx],lv2,o_sq);\r
+ \r
+ //方位判定\r
+ //基点(中央シンボルを0として時計回りにインクリメント.基点の座標1か3\r
+ \r
+ int direction=getDirection(o_sq,i_sq[key_simble_idx].imvertex[kv],center);\r
+ if(direction==-1){\r
+ return false;\r
+ }\r
+ o_sq.direction=direction;\r
+ System.out.println(o_sq.direction);\r
+ \r
+ return true;\r
+ } \r
+ /**\r
+ * この関数はあんまり頂点ズレがひどいと失敗する\r
+ * @param i_square\r
+ * @param i_vertex\r
+ * @param i_center\r
+ * @return\r
+ */\r
+ private int getDirection(NyARSquare i_square,NyARIntPoint i_vertex,NyARIntPoint i_center)\r
+ {\r
+ //開始点(中央シンボル)までの頂点のシフト数を決める\r
+ int x,y;\r
+ x=i_square.imvertex[0].x-i_vertex.x;\r
+ y=i_square.imvertex[0].y-i_vertex.y;\r
+ int v1=x*x+y*y;\r
+ x=i_square.imvertex[2].x-i_vertex.x;\r
+ y=i_square.imvertex[2].y-i_vertex.y;\r
+ int v2=x*x+y*y;\r
+ int shift;\r
+ int v;\r
+ if(v1<v2){\r
+ shift=0;\r
+ v=v1;\r
+ }else{\r
+ shift=2;\r
+ v=v2;\r
+ }\r
+ //小さい方の対角線が64(8x8)より大きくずれてたら認識ミスとみなす\r
+ if(v>64){\r
+ return -1;\r
+ }\r
+ //シンボルがどの象限にあるか確認する\r
+ x=i_vertex.x=i_center.x;\r
+ y=i_vertex.y=i_center.y;\r
+ int dir;\r
+ if(x<0){\r
+ dir=2;//dir=y<0?1:2;\r
+ }else{\r
+ dir=4;//dir=y<0?3:4;\r
+ }\r
+ return (dir+shift)%4;\r
+ }\r
+ \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 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.toys.qrcode;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.raster.*;\r
+import jp.nyatla.nyartoolkit.core.rasterfilter.INyARRasterFilter_GsToBin;\r
+import jp.nyatla.nyartoolkit.core.types.*;\r
+\r
+/**\r
+ * 平均移動法を使った２値化フィルタ\r
+ * \r
+ */\r
+public class NyARRasterFilter_QrAreaAverage implements INyARRasterFilter_GsToBin\r
+{\r
+ private int _area = 8;\r
+\r
+ public void doFilter(NyARGrayscaleRaster i_input, NyARBinRaster i_output) throws NyARException\r
+ {\r
+ final NyARIntSize size = i_output.getSize();\r
+ final int[][] out_buf = (int[][]) i_output.getBufferReader().getBuffer();\r
+ final int[][] in_buf = (int[][]) i_input.getBufferReader().getBuffer();\r
+ assert (i_input.getSize().isEqualSize(i_output.getSize()) == true);\r
+ assert (size.h % 8 == 0 && size.w % 8 == 0);//暫定実装なので。\r
+\r
+ final int area = this._area;\r
+ int y1 = area;\r
+ int x1 = area;\r
+ int y2 = size.h - area;\r
+ int x2 = size.w - area;\r
+\r
+ for (int y = y1; y < y2; y++) {\r
+ int sum, nn;\r
+ sum = nn = 0;\r
+ for (int yy = y - area; yy < y + area + 1; yy++) {\r
+ for (int xx = x1 - area; xx < x1 + area; xx++) {\r
+ sum += in_buf[yy][xx];\r
+ nn++;\r
+ }\r
+ }\r
+ int th;\r
+ boolean first = true;\r
+ th=0;\r
+ for (int x = area; x < x2; x++) {\r
+ if (!first) {\r
+ for (int yy = y - area; yy < y + area; yy++) {\r
+ sum += in_buf[yy][x + area];\r
+ sum -= in_buf[yy][x - area];\r
+ }\r
+ }\r
+ first = false;\r
+ th = (sum / nn);\r
+ int g = in_buf[y][x];\r
+ out_buf[y][x] = th < g ? 1 : 0;\r
+ }\r
+ }\r
+ return;\r
+ }\r
+\r
+}\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.toys.qrcode;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.*;\r
+import jp.nyatla.nyartoolkit.core.match.*;\r
+import jp.nyatla.nyartoolkit.core.param.NyARParam;\r
+import jp.nyatla.nyartoolkit.core.pickup.*;\r
+import jp.nyatla.nyartoolkit.core.raster.rgb.*;\r
+import jp.nyatla.nyartoolkit.core.rasterfilter.*;\r
+import jp.nyatla.nyartoolkit.core.raster.*;\r
+import jp.nyatla.nyartoolkit.core.transmat.*;\r
+import jp.nyatla.nyartoolkit.core.types.*;\r
+import jp.nyatla.nyartoolkit.core.rasterfilter.rgb2bin.*;\r
+import jp.nyatla.nyartoolkit.core2.rasterfilter.rgb2gs.*;\r
+import jp.nyatla.nyartoolkit.core2.rasterfilter.gs2bin.*;\r
+/**\r
+ * 画像からARCodeに最も一致するマーカーを1個検出し、その変換行列を計算するクラスです。\r
+ * \r
+ */\r
+public class NyARSingleQrDetector\r
+{\r
+ private static final int AR_SQUARE_MAX = 100;\r
+\r
+ private boolean _is_continue = false;\r
+ private INyARSquareDetector _square_detect;\r
+\r
+ private final NyARSquareStack _square_list = new NyARSquareStack(AR_SQUARE_MAX);\r
+\r
+ protected INyARTransMat _transmat;\r
+\r
+ private double _marker_width;\r
+\r
+ // 検出結果の保存用\r
+ private NyARSquare _detected_square;\r
+\r
+\r
+ /**\r
+ * 検出するARCodeとカメラパラメータから、1個のARCodeを検出するNyARSingleDetectMarkerインスタンスを作ります。\r
+ * \r
+ * @param i_param\r
+ * カメラパラメータを指定します。\r
+ * @param i_marker_width\r
+ * ARコードの物理サイズを、ミリメートルで指定します。\r
+ * @throws NyARException\r
+ */\r
+ public NyARSingleQrDetector(NyARParam i_param, double i_marker_width) throws NyARException\r
+ {\r
+ final NyARIntSize scr_size=i_param.getScreenSize(); \r
+ // 解析オブジェクトを作る\r
+ this._square_detect = new NyARQrCodeDetector(i_param.getDistortionFactor(),scr_size);\r
+ this._transmat = new NyARTransMat(i_param);\r
+ this._marker_width = i_marker_width;\r
+ //２値画像バッファを作る\r
+ this._bin_raster=new NyARBinRaster(scr_size.w,scr_size.h);\r
+ //中間のグレースケール画像のバッファを作る\r
+ this._gs_raster=new NyARGrayscaleRaster(scr_size.w,scr_size.h);\r
+ }\r
+ private NyARBinRaster _bin_raster;\r
+ private NyARGrayscaleRaster _gs_raster;\r
+ //画処理フィルター\r
+ private INyARRasterFilter_RgbToGs _rgb2gs_filter=new NyARRasterFilter_RgbAve();\r
+ private INyARRasterFilter_GsToBin _gstobin_filter=new NyARRasterFilter_QrAreaAverage();\r
+\r
+ /**\r
+ * i_imageにマーカー検出処理を実行し、結果を記録します。\r
+ * \r
+ * @param i_raster\r
+ * マーカーを検出するイメージを指定します。イメージサイズは、カメラパラメータ\r
+ * と一致していなければなりません。\r
+ * @return マーカーが検出できたかを真偽値で返します。\r
+ * @throws NyARException\r
+ */\r
+ public boolean detectMarkerLite(INyARRgbRaster i_raster,int i_threshold) throws NyARException\r
+ {\r
+ //サイズチェック\r
+ if(!this._bin_raster.getSize().isEqualSize(i_raster.getSize())){\r
+ throw new NyARException();\r
+ }\r
+ //グレースケールに変換\r
+ this._rgb2gs_filter.doFilter(i_raster, this._gs_raster);\r
+ //2値イメージに変換\r
+ this._gstobin_filter.doFilter(this._gs_raster, this._bin_raster); \r
+ \r
+ this._detected_square = null;\r
+ NyARSquareStack l_square_list = this._square_list;\r
+ // スクエアコードを探す\r
+ this._square_detect.detectMarker(this._bin_raster, l_square_list);\r
+ //変換する\r
+\r
+\r
+ int number_of_square = l_square_list.getLength();\r
+ // コードは見つかった？\r
+ if (number_of_square < 1) {\r
+ return false;\r
+ }\r
+ this._detected_square=(NyARSquare)l_square_list.getItem(0);\r
+ return true;\r
+ }\r
+\r
+ /**\r
+ * 検出したマーカーの変換行列を計算して、o_resultへ値を返します。\r
+ * 直前に実行したdetectMarkerLiteが成功していないと使えません。\r
+ * \r
+ * @param o_result\r
+ * 変換行列を受け取るオブジェクトを指定します。\r
+ * @throws NyARException\r
+ */\r
+ public void getTransmationMatrix(NyARTransMatResult o_result) throws NyARException\r
+ {\r
+ // 一番一致したマーカーの位置とかその辺を計算\r
+ if (this._is_continue) {\r
+ this._transmat.transMatContinue(this._detected_square,this._detected_square.direction,this._marker_width, o_result);\r
+ } else {\r
+ this._transmat.transMat(this._detected_square,this._detected_square.direction,this._marker_width, o_result);\r
+ }\r
+ return;\r
+ }\r
+ /**\r
+ * getTransmationMatrixの計算モードを設定します。 初期値はTRUEです。\r
+ * \r
+ * @param i_is_continue\r
+ * TRUEなら、transMatCont互換の計算をします。 FALSEなら、transMat互換の計算をします。\r
+ */\r
+ public void setContinueMode(boolean i_is_continue)\r
+ {\r
+ this._is_continue = i_is_continue;\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.toys.qrcode;\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.core.*;\r
+import jp.nyatla.nyartoolkit.core.param.*;\r
+import jp.nyatla.nyartoolkit.core.transmat.*;\r
+import jp.nyatla.nyartoolkit.jmf.utils.*;\r
+import jp.nyatla.nyartoolkit.jogl.utils.*;\r
+/**\r
+ * simpleLiteと同じようなテストプログラム\r
+ * 出来る限りARToolKitのサンプルと似せて作ってあります。\r
+ * 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 SingleQrSample implements GLEventListener, JmfCaptureListener\r
+{\r
+ private final String CARCODE_FILE = "../../Data/patt.hiro";\r
+\r
+ private final String PARAM_FILE = "../../Data/camera_para.dat";\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 GLNyARRaster_RGB _cap_image;\r
+\r
+ private JmfCameraCapture _capture;\r
+\r
+ private GL _gl;\r
+ private NyARGLUtil _glnya;\r
+\r
+ //NyARToolkit関係\r
+ private NyARSingleQrDetector _nya;\r
+ private NyARParam _ar_param;\r
+\r
+ private double[] _camera_projection=new double[16];\r
+ \r
+ /**\r
+ * 立方体を書く\r
+ *\r
+ */\r
+ void drawCube()\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 = _gl.glGenLists(1);\r
+ _gl.glNewList(polyList, GL.GL_COMPILE);\r
+ _gl.glBegin(GL.GL_QUADS);\r
+ for (f = 0; f < cube_num_faces; f++)\r
+ for (i = 0; i < 4; i++) {\r
+ _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
+ _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
+ _gl.glEnd();\r
+ _gl.glColor3f(0.0f, 0.0f, 0.0f);\r
+ for (f = 0; f < cube_num_faces; f++) {\r
+ _gl.glBegin(GL.GL_LINE_LOOP);\r
+ for (i = 0; i < 4; i++)\r
+ _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
+ _gl.glEnd();\r
+ }\r
+ _gl.glEndList();\r
+ }\r
+\r
+ _gl.glPushMatrix(); // Save world coordinate system.\r
+ _gl.glTranslatef(0.0f, 0.0f, 0.5f); // Place base of cube on marker surface.\r
+ _gl.glRotatef(0.0f, 0.0f, 0.0f, 1.0f); // Rotate about z axis.\r
+ _gl.glDisable(GL.GL_LIGHTING); // Just use colours.\r
+ _gl.glCallList(polyList); // Draw the cube.\r
+ _gl.glPopMatrix(); // Restore world coordinate system.\r
+\r
+ }\r
+\r
+ public SingleQrSample()\r
+ {\r
+ Frame frame = new Frame("Java simpleLite with NyARToolkit");\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
+ _gl = drawable.getGL();\r
+ _gl.glClearColor(0.0f, 0.0f, 0.0f, 0.0f);\r
+ //NyARToolkitの準備\r
+ try {\r
+ //キャプチャの準備\r
+ _capture = new JmfCameraCapture(SCREEN_X, SCREEN_Y, 15f, JmfCameraCapture.PIXEL_FORMAT_RGB);\r
+ _capture.setCaptureListener(this);\r
+ //NyARToolkitの準備\r
+ _ar_param = new NyARParam();\r
+ NyARCode ar_code = new NyARCode(16, 16);\r
+ _ar_param.loadARParamFromFile(PARAM_FILE);\r
+ _ar_param.changeScreenSize(SCREEN_X, SCREEN_Y);\r
+ _nya = new NyARSingleQrDetector(_ar_param,80);\r
+ _nya.setContinueMode(false);//ここをtrueにすると、transMatContinueモード（History計算）になります。\r
+ ar_code.loadARPattFromFile(CARCODE_FILE);\r
+ //NyARToolkit用の支援クラス\r
+ _glnya = new NyARGLUtil(_gl);\r
+ //GL対応のRGBラスタオブジェクト\r
+ _cap_image = new GLNyARRaster_RGB(_ar_param);\r
+ //キャプチャ開始\r
+ _capture.start();\r
+ } catch (Exception e) {\r
+ e.printStackTrace();\r
+ }\r
+ //カメラパラメータの計算\r
+ _glnya.toCameraFrustumRH(_ar_param,_camera_projection);\r
+\r
+ _animator = new Animator(drawable);\r
+ _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
+ private NyARTransMatResult __display_transmat_result=new NyARTransMatResult();\r
+ private double[] __display_wk=new double[16];\r
+ \r
+ public void display(GLAutoDrawable drawable)\r
+ {\r
+ NyARTransMatResult transmat_result=__display_transmat_result;\r
+ try {\r
+ if (!_cap_image.hasData()) {\r
+ return;\r
+ }\r
+ _gl.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame. \r
+ //画像チェックしてマーカー探して、背景を書く\r
+ boolean is_marker_exist;\r
+ synchronized (_cap_image) {\r
+ is_marker_exist = _nya.detectMarkerLite(_cap_image, 0);\r
+ //背景を書く\r
+ _glnya.drawBackGround(_cap_image, 1.0);\r
+ }\r
+ //マーカーがあれば、立方体を描画\r
+ if (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
+ drawCube();\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
+ public void onUpdateBuffer(Buffer i_buffer)\r
+ {\r
+ try {\r
+ synchronized (_cap_image) {\r
+ _cap_image.setBuffer(i_buffer, true);\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
+ public static void main(String[] args)\r
+ {\r
+ new SingleQrSample();\r
+ }\r
+}\r
--- /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.toys.qrcode;
+
+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.param.*;
+import jp.nyatla.nyartoolkit.core.raster.*;
+import jp.nyatla.nyartoolkit.core.rasterfilter.*;
+import jp.nyatla.nyartoolkit.core2.rasterfilter.gs2bin.*;
+import jp.nyatla.nyartoolkit.core2.rasterfilter.rgb2gs.*;
+import jp.nyatla.utils.j2se.LabelingBufferdImage;
+import jp.nyatla.nyartoolkit.core.rasterfilter.rgb2bin.*;
+import jp.nyatla.nyartoolkit.core.types.*;
+
+
+
+
+public class SingleQrTest extends Frame implements JmfCaptureListener
+{
+ private final String camera_file = "../../Data/camera_para.dat";
+
+ private JmfNyARRaster_RGB _raster;
+
+ private JmfCameraCapture capture;
+ private NyARParam ap;
+ public SingleQrTest() 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 LabelingBufferdImage _bimg = new LabelingBufferdImage(320, 240);
+
+
+ public void onUpdateBuffer(Buffer i_buffer)
+ {
+ NyARRasterFilter_QrAreaAverage gs2bin=new NyARRasterFilter_QrAreaAverage();
+
+ 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();
+// INyARRasterFilter_RgbToGs filter_rgb2gs = new NyARRasterFilter_RgbMul();
+
+ 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);
+
+ 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 d=square_ptr[i].direction;
+ int[] xp=new int[4];
+ int[] yp=new int[4];
+ for(int i2=0;i2<4;i2++){
+ xp[i2]=square_ptr[i].imvertex[(i2+d)%4].x;
+ yp[i2]=square_ptr[i].imvertex[(i2+d)%4].y;
+ }
+ Graphics g2=this._bimg.getGraphics();
+ g2.setColor(Color.RED);
+ g2.drawPolygon(xp, yp,3);
+ g2.setColor(Color.CYAN);
+ g2.drawRect(square_ptr[i].imvertex[d].x, square_ptr[i].imvertex[d].y,5,5);
+ }
+ this.getGraphics().drawImage(this._bimg, 32 + 320, 32 + 240, 320 + 32 + 320, 240 + 32 + 240, 0, 240, 320, 0, this);
+
+ // 画像3
+ // threshold.debugDrawHistgramMap(_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.debugDrawHistgramMap(_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 {
+ SingleQrTest mainwin = new SingleQrTest();
+ mainwin.setVisible(true);
+ mainwin.startCapture();
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+
+ }
+
+}
import jp.nyatla.nyartoolkit.core.param.*;\r
import jp.nyatla.nyartoolkit.core.*;\r
import jp.nyatla.nyartoolkit.toys.x2.*;\r
-\r
/**\r
* 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\r
*\r
*/\r
-public class NyARQrCodeDetector implements INyARSquareDetector\r
+public class NyARVertexDetector implements INyARSquareDetector\r
{\r
private static final double VERTEX_FACTOR = 1.0;// 線検出のファクタ\r
\r
* \r
* @param i_param\r
*/\r
- public NyARQrCodeDetector(NyARCameraDistortionFactor i_dist_factor_ref,NyARIntSize i_size) throws NyARException\r
+ public NyARVertexDetector(NyARCameraDistortionFactor i_dist_factor_ref,NyARIntSize i_size) throws NyARException\r
{\r
this._width = i_size.w;\r
this._height = i_size.h;\r
import jp.nyatla.nyartoolkit.core.NyARCode;\r
import jp.nyatla.nyartoolkit.core.param.NyARParam;\r
import jp.nyatla.nyartoolkit.core.transmat.NyARTransMatResult;\r
-import jp.nyatla.nyartoolkit.nymodel.x2.*;\r
\r
\r
/**\r
//NyARToolkit関係\r
private GLNyARSingleDetectMarker_X2 _nya;\r
\r
- private GLNyARParam _ar_param;\r
+ private NyARParam _ar_param;\r
\r
/**\r
* 立方体を書く\r
import jp.nyatla.nyartoolkit.core.param.NyARParam;\r
import jp.nyatla.nyartoolkit.core.raster.rgb.*;\r
import jp.nyatla.nyartoolkit.core.transmat.*;\r
-import jp.nyatla.nyartoolkit.nymodel.x2.*;\r
\r
\r
/**\r
+++ /dev/null
-/* \r
- * PROJECT: NyARToolkit JOGL utilities.\r
- * --------------------------------------------------------------------------------\r
- * This work is based on the original ARToolKit developed by\r
- * Hirokazu Kato\r
- * Mark Billinghurst\r
- * HITLab, University of Washington, Seattle\r
- * http://www.hitl.washington.edu/artoolkit/\r
- *\r
- * The NyARToolkit is Java version ARToolkit class library.\r
- * Copyright (C)2008 R.Iizuka\r
- *\r
- * This program is free software; you can redistribute it and/or\r
- * modify it under the terms of the GNU General Public License\r
- * as published by the Free Software Foundation; either version 2\r
- * of the License, or (at your option) any later version.\r
- * \r
- * This program is distributed in the hope that it will be useful,\r
- * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
- * GNU General Public License for more details.\r
- * \r
- * You should have received a copy of the GNU General Public License\r
- * along with this framework; if not, write to the Free Software\r
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
- * \r
- * For further information please contact.\r
- * http://nyatla.jp/nyatoolkit/\r
- * <airmail(at)ebony.plala.or.jp>\r
- * \r
- */\r
-package jp.nyatla.nyartoolkit.jogl.utils;\r
-\r
-import jp.nyatla.nyartoolkit.NyARException;\r
-import jp.nyatla.nyartoolkit.core.NyARCode;\r
-import jp.nyatla.nyartoolkit.core.param.NyARParam;\r
-import jp.nyatla.nyartoolkit.core.transmat.NyARTransMatResult;\r
-import jp.nyatla.nyartoolkit.detector.NyARDetectMarker;\r
-\r
-/**\r
- * NyARSingleDetectMarkerにOpenGL向け関数を追加したもの\r
- */\r
-public class GLNyARDetectMarker extends NyARDetectMarker\r
-{\r
- private NyARTransMatResult trans_mat_result = new NyARTransMatResult();\r
-\r
- private double view_scale_factor = 0.025;\r
-\r
- public GLNyARDetectMarker(NyARParam i_param, NyARCode[] i_code, double[] i_marker_width, int i_number_of_code) throws NyARException\r
- {\r
- super(i_param, i_code, i_marker_width, i_number_of_code);\r
- }\r
-\r
- public void setScaleFactor(double i_new_value)\r
- {\r
- view_scale_factor = i_new_value;\r
- }\r
-\r
- /**\r
- * @param i_index\r
- * マーカーのインデックス番号を指定します。 直前に実行したdetectMarkerLiteの戻り値未満かつ0以上である必要があります。\r
- * @param o_result\r
- * 結果値を格納する配列を指定してください。double[16]以上が必要です。\r
- * @throws NyARException\r
- */\r
- public void getCameraViewRH(int i_index, double[] o_result) throws NyARException\r
- {\r
- // 座標を計算\r
- this.getTransmationMatrix(i_index, this.trans_mat_result);\r
- // 行列変換\r
- final NyARTransMatResult mat = this.trans_mat_result;\r
- o_result[0 + 0 * 4] = mat.m00; \r
- o_result[0 + 1 * 4] = mat.m01;\r
- o_result[0 + 2 * 4] = mat.m02;\r
- o_result[0 + 3 * 4] = mat.m03;\r
- o_result[1 + 0 * 4] = -mat.m10;\r
- o_result[1 + 1 * 4] = -mat.m11;\r
- o_result[1 + 2 * 4] = -mat.m12;\r
- o_result[1 + 3 * 4] = -mat.m13;\r
- o_result[2 + 0 * 4] = -mat.m20;\r
- o_result[2 + 1 * 4] = -mat.m21;\r
- o_result[2 + 2 * 4] = -mat.m22;\r
- o_result[2 + 3 * 4] = -mat.m23;\r
- o_result[3 + 0 * 4] = 0.0;\r
- o_result[3 + 1 * 4] = 0.0;\r
- o_result[3 + 2 * 4] = 0.0;\r
- o_result[3 + 3 * 4] = 1.0;\r
- if (view_scale_factor != 0.0) {\r
- o_result[12] *= view_scale_factor;\r
- o_result[13] *= view_scale_factor;\r
- o_result[14] *= view_scale_factor;\r
- }\r
- return;\r
- }\r
-}\r
+++ /dev/null
-/* \r
- * PROJECT: NyARToolkit JOGL utilities.\r
- * --------------------------------------------------------------------------------\r
- * This work is based on the original ARToolKit developed by\r
- * Hirokazu Kato\r
- * Mark Billinghurst\r
- * HITLab, University of Washington, Seattle\r
- * http://www.hitl.washington.edu/artoolkit/\r
- *\r
- * The NyARToolkit is Java version ARToolkit class library.\r
- * Copyright (C)2008 R.Iizuka\r
- *\r
- * This program is free software; you can redistribute it and/or\r
- * modify it under the terms of the GNU General Public License\r
- * as published by the Free Software Foundation; either version 2\r
- * of the License, or (at your option) any later version.\r
- * \r
- * This program is distributed in the hope that it will be useful,\r
- * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
- * GNU General Public License for more details.\r
- * \r
- * You should have received a copy of the GNU General Public License\r
- * along with this framework; if not, write to the Free Software\r
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
- * \r
- * For further information please contact.\r
- * http://nyatla.jp/nyatoolkit/\r
- * <airmail(at)ebony.plala.or.jp>\r
- * \r
- */\r
-package jp.nyatla.nyartoolkit.jogl.utils;\r
-\r
-import jp.nyatla.nyartoolkit.core.*;\r
-import jp.nyatla.nyartoolkit.core.param.NyARParam;\r
-\r
-/**\r
- * NyARParamにOpenGL向け関数を追加したもの\r
- */\r
-public class GLNyARParam extends NyARParam\r
-{\r
- private double view_distance_min = 0.1;//#define VIEW_DISTANCE_MIN 0.1 // Objects closer to the camera than this will not be displayed.\r
-\r
- private double view_distance_max = 100.0;//#define VIEW_DISTANCE_MAX 100.0 // Objects further away from the camera than this will not be displayed.\r
-\r
- private double[] m_projection = null;\r
-\r
- public void setViewDistanceMin(double i_new_value)\r
- {\r
- m_projection = null;//キャッシュ済変数初期化\r
- view_distance_min = i_new_value;\r
- }\r
-\r
- public void setViewDistanceMax(double i_new_value)\r
- {\r
- m_projection = null;//キャッシュ済変数初期化\r
- view_distance_max = i_new_value;\r
- }\r
-\r
- /**\r
- * void arglCameraFrustumRH(const ARParam *cparam, const double focalmin, const double focalmax, GLdouble m_projection[16])\r
- * 関数の置き換え\r
- * @param focalmin\r
- * @param focalmax\r
- * @return\r
- */\r
- public double[] getCameraFrustumRH()\r
- {\r
- //既に値がキャッシュされていたらそれを使う\r
- if (m_projection != null) {\r
- return m_projection;\r
- }\r
- //無ければ計算\r
- m_projection = new double[16];\r
- NyARMat trans_mat = new NyARMat(3, 4);\r
- NyARMat icpara_mat = new NyARMat(3, 4);\r
- double[][] p = new double[3][3], q = new double[4][4];\r
-\r
- int i, j;\r
-\r
- final int width = this._screen_size.w;\r
- final int height = this._screen_size.h;\r
-\r
- this.getPerspectiveProjectionMatrix().decompMat(icpara_mat, trans_mat);\r
-\r
- double[][] icpara = icpara_mat.getArray();\r
- double[][] trans = trans_mat.getArray();\r
- for (i = 0; i < 4; i++) {\r
- icpara[1][i] = (height - 1) * (icpara[2][i]) - icpara[1][i];\r
- }\r
-\r
- for (i = 0; i < 3; i++) {\r
- for (j = 0; j < 3; j++) {\r
- p[i][j] = icpara[i][j] / icpara[2][2];\r
- }\r
- }\r
- q[0][0] = (2.0 * p[0][0] / (width - 1));\r
- q[0][1] = (2.0 * p[0][1] / (width - 1));\r
- q[0][2] = -((2.0 * p[0][2] / (width - 1)) - 1.0);\r
- q[0][3] = 0.0;\r
-\r
- q[1][0] = 0.0;\r
- q[1][1] = -(2.0 * p[1][1] / (height - 1));\r
- q[1][2] = -((2.0 * p[1][2] / (height - 1)) - 1.0);\r
- q[1][3] = 0.0;\r
-\r
- q[2][0] = 0.0;\r
- q[2][1] = 0.0;\r
- q[2][2] = (view_distance_max + view_distance_min) / (view_distance_min - view_distance_max);\r
- q[2][3] = 2.0 * view_distance_max * view_distance_min / (view_distance_min - view_distance_max);\r
-\r
- q[3][0] = 0.0;\r
- q[3][1] = 0.0;\r
- q[3][2] = -1.0;\r
- q[3][3] = 0.0;\r
-\r
- for (i = 0; i < 4; i++) { // Row.\r
- // First 3 columns of the current row.\r
- for (j = 0; j < 3; j++) { // Column.\r
- m_projection[i + j * 4] = q[i][0] * trans[0][j] + q[i][1] * trans[1][j] + q[i][2] * trans[2][j];\r
- }\r
- // Fourth column of the current row.\r
- m_projection[i + 3 * 4] = q[i][0] * trans[0][3] + q[i][1] * trans[1][3] + q[i][2] * trans[2][3] + q[i][3];\r
- }\r
- return m_projection;\r
- }\r
-}\r
+++ /dev/null
-/* \r
- * PROJECT: NyARToolkit JOGL utilities.\r
- * --------------------------------------------------------------------------------\r
- * This work is based on the original ARToolKit developed by\r
- * Hirokazu Kato\r
- * Mark Billinghurst\r
- * HITLab, University of Washington, Seattle\r
- * http://www.hitl.washington.edu/artoolkit/\r
- *\r
- * The NyARToolkit is Java version ARToolkit class library.\r
- * Copyright (C)2008 R.Iizuka\r
- *\r
- * This program is free software; you can redistribute it and/or\r
- * modify it under the terms of the GNU General Public License\r
- * as published by the Free Software Foundation; either version 2\r
- * of the License, or (at your option) any later version.\r
- * \r
- * This program is distributed in the hope that it will be useful,\r
- * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
- * GNU General Public License for more details.\r
- * \r
- * You should have received a copy of the GNU General Public License\r
- * along with this framework; if not, write to the Free Software\r
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
- * \r
- * For further information please contact.\r
- * http://nyatla.jp/nyatoolkit/\r
- * <airmail(at)ebony.plala.or.jp>\r
- * \r
- */\r
-package jp.nyatla.nyartoolkit.jogl.utils;\r
-\r
-import jp.nyatla.nyartoolkit.NyARException;\r
-import jp.nyatla.nyartoolkit.core.NyARCode;\r
-import jp.nyatla.nyartoolkit.core.param.NyARParam;\r
-import jp.nyatla.nyartoolkit.core.transmat.NyARTransMatResult;\r
-import jp.nyatla.nyartoolkit.detector.NyARSingleDetectMarker;\r
-\r
-\r
-/**\r
- * NyARSingleDetectMarkerにOpenGL向け関数を追加したもの\r
- */\r
-public class GLNyARSingleDetectMarker extends NyARSingleDetectMarker\r
-{\r
- private NyARTransMatResult trans_mat_result = new NyARTransMatResult();\r
-\r
- private double view_scale_factor = 0.025;// #define VIEW_SCALEFACTOR 0.025 // 1.0 ARToolKit unit becomes 0.025 of my OpenGL units.\r
-\r
- public GLNyARSingleDetectMarker(NyARParam i_param, NyARCode i_code, double i_marker_width) throws NyARException\r
- {\r
- super(i_param, i_code, i_marker_width);\r
- }\r
-\r
- public void setScaleFactor(double i_new_value)\r
- {\r
- view_scale_factor = i_new_value;\r
- }\r
-\r
- // public static void arglCameraViewRH(const double para[3][4], GLdouble m_modelview[16], const double scale)\r
- public double[] getCameraViewRH() throws NyARException\r
- {\r
- double[] result = new double[16];\r
- getCameraViewRH(result);\r
- return result;\r
- }\r
-\r
- /**\r
- * \r
- * @param o_result\r
- * 結果値を格納する配列を指定してください。double[16]以上が必要です。\r
- * @throws NyARException\r
- */\r
- public void getCameraViewRH(double[] o_result) throws NyARException\r
- {\r
- // 座標を計算\r
- this.getTransmationMatrix(this.trans_mat_result);\r
- // 行列変換\r
- final NyARTransMatResult mat = this.trans_mat_result;\r
- o_result[0 + 0 * 4] = mat.m00; // R1C1\r
- o_result[0 + 1 * 4] = mat.m01; // R1C2\r
- o_result[0 + 2 * 4] = mat.m02;\r
- o_result[0 + 3 * 4] = mat.m03;\r
- o_result[1 + 0 * 4] = -mat.m10; // R2\r
- o_result[1 + 1 * 4] = -mat.m11;\r
- o_result[1 + 2 * 4] = -mat.m12;\r
- o_result[1 + 3 * 4] = -mat.m13;\r
- o_result[2 + 0 * 4] = -mat.m20; // R3\r
- o_result[2 + 1 * 4] = -mat.m21;\r
- o_result[2 + 2 * 4] = -mat.m22;\r
- o_result[2 + 3 * 4] = -mat.m23;\r
- o_result[3 + 0 * 4] = 0.0;\r
- o_result[3 + 1 * 4] = 0.0;\r
- o_result[3 + 2 * 4] = 0.0;\r
- o_result[3 + 3 * 4] = 1.0;\r
- if (view_scale_factor != 0.0) {\r
- o_result[12] *= view_scale_factor;\r
- o_result[13] *= view_scale_factor;\r
- o_result[14] *= view_scale_factor;\r
- }\r
- return;\r
- }\r
-}\r
import javax.media.opengl.GL;\r
import javax.media.opengl.glu.GLU;\r
\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.NyARMat;\r
+import jp.nyatla.nyartoolkit.core.param.NyARParam;\r
+import jp.nyatla.nyartoolkit.core.transmat.NyARTransMatResult;\r
import jp.nyatla.nyartoolkit.core.types.*;\r
/**\r
* NyARToolkit用のJOGL支援関数群\r
ByteBuffer buf = ByteBuffer.wrap(i_raster.getGLRgbArray());\r
gl_.glDrawPixels(rsize.w,rsize.h, i_raster.getGLPixelFlag(), GL.GL_UNSIGNED_BYTE, buf);\r
}\r
+ \r
+ private double view_scale_factor = 0.025;\r
+ private double view_distance_min = 0.1;//#define VIEW_DISTANCE_MIN 0.1 // Objects closer to the camera than this will not be displayed.\r
+ private double view_distance_max = 100.0;//#define VIEW_DISTANCE_MAX 100.0 // Objects further away from the camera than this will not be displayed.\r
+\r
+ public void setScaleFactor(double i_new_value)\r
+ {\r
+ this.view_scale_factor = i_new_value;\r
+ }\r
+\r
+ public void setViewDistanceMin(double i_new_value)\r
+ {\r
+ this.view_distance_min = i_new_value;\r
+ }\r
+\r
+ public void setViewDistanceMax(double i_new_value)\r
+ {\r
+ this.view_distance_max = i_new_value;\r
+ }\r
+\r
+ /**\r
+ * void arglCameraFrustumRH(const ARParam *cparam, const double focalmin, const double focalmax, GLdouble m_projection[16])\r
+ * 関数の置き換え\r
+ * NyARParamからOpenGLのProjectionを作成します。\r
+ * @param i_arparam\r
+ * @param o_gl_projection\r
+ * double[16]を指定して下さい。\r
+ */\r
+ public void toCameraFrustumRH(NyARParam i_arparam,double[] o_gl_projection)\r
+ {\r
+ NyARMat trans_mat = new NyARMat(3, 4);\r
+ NyARMat icpara_mat = new NyARMat(3, 4);\r
+ double[][] p = new double[3][3], q = new double[4][4];\r
+ int i, j;\r
+\r
+ final NyARIntSize size=i_arparam.getScreenSize();\r
+ final int width = size.w;\r
+ final int height = size.h;\r
+ \r
+ i_arparam.getPerspectiveProjectionMatrix().decompMat(icpara_mat, trans_mat);\r
+\r
+ double[][] icpara = icpara_mat.getArray();\r
+ double[][] trans = trans_mat.getArray();\r
+ for (i = 0; i < 4; i++) {\r
+ icpara[1][i] = (height - 1) * (icpara[2][i]) - icpara[1][i];\r
+ }\r
+\r
+ for (i = 0; i < 3; i++) {\r
+ for (j = 0; j < 3; j++) {\r
+ p[i][j] = icpara[i][j] / icpara[2][2];\r
+ }\r
+ }\r
+ q[0][0] = (2.0 * p[0][0] / (width - 1));\r
+ q[0][1] = (2.0 * p[0][1] / (width - 1));\r
+ q[0][2] = -((2.0 * p[0][2] / (width - 1)) - 1.0);\r
+ q[0][3] = 0.0;\r
+\r
+ q[1][0] = 0.0;\r
+ q[1][1] = -(2.0 * p[1][1] / (height - 1));\r
+ q[1][2] = -((2.0 * p[1][2] / (height - 1)) - 1.0);\r
+ q[1][3] = 0.0;\r
+\r
+ q[2][0] = 0.0;\r
+ q[2][1] = 0.0;\r
+ q[2][2] = (view_distance_max + view_distance_min) / (view_distance_min - view_distance_max);\r
+ q[2][3] = 2.0 * view_distance_max * view_distance_min / (view_distance_min - view_distance_max);\r
+\r
+ q[3][0] = 0.0;\r
+ q[3][1] = 0.0;\r
+ q[3][2] = -1.0;\r
+ q[3][3] = 0.0;\r
+\r
+ for (i = 0; i < 4; i++) { // Row.\r
+ // First 3 columns of the current row.\r
+ for (j = 0; j < 3; j++) { // Column.\r
+ o_gl_projection[i + j * 4] = q[i][0] * trans[0][j] + q[i][1] * trans[1][j] + q[i][2] * trans[2][j];\r
+ }\r
+ // Fourth column of the current row.\r
+ o_gl_projection[i + 3 * 4] = q[i][0] * trans[0][3] + q[i][1] * trans[1][3] + q[i][2] * trans[2][3] + q[i][3];\r
+ }\r
+ return;\r
+ }\r
+ \r
+ \r
+ \r
+ /**\r
+ * NyARTransMatResultをOpenGLの行列へ変換します。\r
+ * @param i_ny_result\r
+ * @param o_gl_result\r
+ * @throws NyARException\r
+ */\r
+ public void toCameraViewRH(NyARTransMatResult i_ny_result, double[] o_gl_result) throws NyARException\r
+ {\r
+ o_gl_result[0 + 0 * 4] = i_ny_result.m00; \r
+ o_gl_result[0 + 1 * 4] = i_ny_result.m01;\r
+ o_gl_result[0 + 2 * 4] = i_ny_result.m02;\r
+ o_gl_result[0 + 3 * 4] = i_ny_result.m03;\r
+ o_gl_result[1 + 0 * 4] = -i_ny_result.m10;\r
+ o_gl_result[1 + 1 * 4] = -i_ny_result.m11;\r
+ o_gl_result[1 + 2 * 4] = -i_ny_result.m12;\r
+ o_gl_result[1 + 3 * 4] = -i_ny_result.m13;\r
+ o_gl_result[2 + 0 * 4] = -i_ny_result.m20;\r
+ o_gl_result[2 + 1 * 4] = -i_ny_result.m21;\r
+ o_gl_result[2 + 2 * 4] = -i_ny_result.m22;\r
+ o_gl_result[2 + 3 * 4] = -i_ny_result.m23;\r
+ o_gl_result[3 + 0 * 4] = 0.0;\r
+ o_gl_result[3 + 1 * 4] = 0.0;\r
+ o_gl_result[3 + 2 * 4] = 0.0;\r
+ o_gl_result[3 + 3 * 4] = 1.0;\r
+ if (view_scale_factor != 0.0) {\r
+ o_gl_result[12] *= view_scale_factor;\r
+ o_gl_result[13] *= view_scale_factor;\r
+ o_gl_result[14] *= view_scale_factor;\r
+ }\r
+ return;\r
+ } \r
+ \r
}\r
/**\r
* ARMarkerInfoに相当するクラス。 矩形情報を保持します。\r
* \r
+ * directionは方角を表します。\r
+ * 決定しないときはDIRECTION_UNKNOWNを設定してください。\r
+ * \r
*/\r
public class NyARSquare\r
{\r
+ public final static int DIRECTION_UNKNOWN=-1;\r
+ public int direction;\r
public NyARLinear[] line = new NyARLinear[4];\r
public NyARDoublePoint2d[] sqvertex = new NyARDoublePoint2d[4];\r
public NyARIntPoint[] imvertex = new NyARIntPoint[4];\r
public NyARSquare()\r
{\r
+ this.direction=DIRECTION_UNKNOWN;\r
for(int i=0;i<4;i++){\r
this.sqvertex[i]=new NyARDoublePoint2d();\r
this.imvertex[i]=new NyARIntPoint();\r
private final int[] __detectMarker_mkvertex = new int[5];\r
\r
/**\r
- * ARMarkerInfo2 *arDetectMarker2( ARInt16 *limage, int label_num, int *label_ref,int *warea, double *wpos, int *wclip,int area_max, int area_min, double\r
- * factor, int *marker_num ) 関数の代替品 ラベリング情報からマーカー一覧を作成してo_marker_listを更新します。 関数はo_marker_listに重なりを除外したマーカーリストを作成します。\r
- * \r
+ * 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
\r
\r
/**\r
- * ラベル同士の重なり（内包関係）を調べるクラスです。 ラベルリストに内包するラベルを蓄積し、それにターゲットのラベルが内包されているか を確認します。\r
+ * ラベル同士の重なり（内包関係）を調べるクラスです。 \r
+ * ラベルリストに内包するラベルを蓄積し、それにターゲットのラベルが内包されているか を確認します。\r
*/\r
class OverlapChecker\r
{\r
import jp.nyatla.nyartoolkit.core.rasterreader.NyARBufferReader;\r
import jp.nyatla.nyartoolkit.core.types.*;\r
\r
-public final class NyARGlayscaleRaster extends NyARRaster_BasicClass\r
+public final class NyARGrayscaleRaster extends NyARRaster_BasicClass\r
{\r
\r
protected int[][] _ref_buf;\r
private INyARBufferReader _buffer_reader;\r
\r
- public NyARGlayscaleRaster(int i_width, int i_height)\r
+ public NyARGrayscaleRaster(int i_width, int i_height)\r
{\r
super(new NyARIntSize(i_width,i_height));\r
this._ref_buf = new int[i_height][i_width];\r
\r
public interface INyARRasterFilter_GsToBin\r
{\r
- public void doFilter(NyARGlayscaleRaster i_input, NyARBinRaster i_output) throws NyARException;\r
+ public void doFilter(NyARGrayscaleRaster i_input, NyARBinRaster i_output) throws NyARException;\r
}\r
*/\r
public interface INyARRasterFilter_RgbToGs\r
{\r
- public void doFilter(INyARRgbRaster i_input, NyARGlayscaleRaster i_output) throws NyARException;\r
+ public void doFilter(INyARRgbRaster i_input, NyARGrayscaleRaster i_output) throws NyARException;\r
}\r
{\r
private int _area = 8;\r
\r
- public void doFilter(NyARGlayscaleRaster i_input, NyARBinRaster i_output) throws NyARException\r
+ public void doFilter(NyARGrayscaleRaster i_input, NyARBinRaster i_output) throws NyARException\r
{\r
final NyARIntSize size = i_output.getSize();\r
final int[][] out_buf = (int[][]) i_output.getBufferReader().getBuffer();\r
this._threshold = i_threshold;\r
}\r
\r
- public void doFilter(NyARGlayscaleRaster i_input, NyARBinRaster i_output) throws NyARException\r
+ public void doFilter(NyARGrayscaleRaster i_input, NyARBinRaster i_output) throws NyARException\r
{\r
assert (i_input.getSize().isEqualSize(i_output.getSize()) == true);\r
\r
\r
public class NyARRasterFilter_RgbAve implements INyARRasterFilter_RgbToGs\r
{\r
- public void doFilter(INyARRgbRaster i_input, NyARGlayscaleRaster i_output) throws NyARException\r
+ public void doFilter(INyARRgbRaster i_input, NyARGrayscaleRaster i_output) throws NyARException\r
{\r
INyARBufferReader in_buffer_reader=i_input.getBufferReader(); \r
INyARBufferReader out_buffer_reader=i_output.getBufferReader(); \r
\r
public class NyARRasterFilter_RgbMul implements INyARRasterFilter_RgbToGs\r
{\r
- public void doFilter(INyARRgbRaster i_input, NyARGlayscaleRaster i_output) throws NyARException\r
+ public void doFilter(INyARRgbRaster i_input, NyARGrayscaleRaster i_output) throws NyARException\r
{\r
INyARBufferReader in_buffer_reader=i_input.getBufferReader(); \r
INyARBufferReader out_buffer_reader=i_output.getBufferReader(); \r
assert (i_input.getSize().isEqualSize(i_output.getSize()) == true);\r
\r
- int[][] out_buf = (int[][]) in_buffer_reader.getBuffer();\r
- byte[] in_buf = (byte[]) out_buffer_reader.getBuffer();\r
+ int[][] out_buf = (int[][]) out_buffer_reader.getBuffer();\r
+ byte[] in_buf = (byte[]) in_buffer_reader.getBuffer();\r
\r
NyARIntSize size = i_output.getSize();\r
switch (in_buffer_reader.getBufferType()) {\r
\r
public class NyARRasterFilter_RgbOr implements INyARRasterFilter_RgbToGs\r
{\r
- public void doFilter(INyARRgbRaster i_input, NyARGlayscaleRaster i_output) throws NyARException\r
+ public void doFilter(INyARRgbRaster i_input, NyARGrayscaleRaster i_output) throws NyARException\r
{\r
INyARBufferReader in_buffer_reader=i_input.getBufferReader(); \r
INyARBufferReader out_buffer_reader=i_output.getBufferReader(); \r
\r
\r
\r
- public void drawImage(NyARGlayscaleRaster i_raster) throws NyARException\r
+ public void drawImage(NyARGrayscaleRaster i_raster) throws NyARException\r
{\r
assert (i_raster.getBufferReader().getBufferType() == INyARBufferReader.BUFFERFORMAT_INT2D_GLAY_8);\r
\r
+++ /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 jp.nyatla.nyartoolkit.toys.x2.NyARLabeling_ARToolKit_X2;
-import jp.nyatla.nyartoolkit.toys.x2.NyARTransMat_X2;
-
-import java.awt.*;
-
-import jp.nyatla.nyartoolkit.core.INyARSquareDetector;
-import jp.nyatla.nyartoolkit.core.labeling.*;
-import jp.nyatla.nyartoolkit.core.match.*;
-import jp.nyatla.nyartoolkit.core.param.*;
-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.core2.rasteranalyzer.*;
-import jp.nyatla.nyartoolkit.core2.rasteranalyzer.threshold.*;
-import jp.nyatla.nyartoolkit.core2.rasterfilter.gs2bin.*;
-import jp.nyatla.nyartoolkit.core2.rasterfilter.rgb2gs.NyARRasterFilter_RgbAve;
-import jp.nyatla.utils.NyObjectStack;
-import jp.nyatla.utils.j2se.LabelingBufferdImage;
-import jp.nyatla.nyartoolkit.core.rasterfilter.rgb2bin.*;
-import jp.nyatla.nyartoolkit.core.transmat.*;
-import jp.nyatla.nyartoolkit.core.types.*;
-
-
-class NyARMkVertexStack extends NyObjectStack
-{
- public NyARMkVertexStack(int i_length)
- {
- super(new NyARIntPoint[i_length][]);
-
- }
-
- protected void onReservRequest(int i_start, int i_end, Object[] i_buffer)
- {
- for (int i = i_start; i < i_end; i++) {
- i_buffer[i] = NyARIntPoint.createArray(4);
- }
- }
-}
-/**
- * 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(NyARIntPoint[][] 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;
- for(int i=0;i<4;i++)
- {
- for(int i2=0;i2<4;i2++)
- {
- for(int i3=0;i3<4;i3++){
- x=i_sqare[0][i].x-i_sqare[2][i3].x;
- y=i_sqare[0][i].y-i_sqare[2][i3].y;
- d=x*x+y*y;
- x=i_sqare[1][i2].x-i_sqare[2][i3].x;
- y=i_sqare[1][i2].y-i_sqare[2][i3].y;
- d+=x*x+y*y;
- x=i_sqare[1][i2].x-i_sqare[0][i].x;
- y=i_sqare[1][i2].y-i_sqare[0][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(NyARIntPoint[][] 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];
- 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][i_vertex_id[0]].x-cx;
- int y=i_sqare[0][i_vertex_id[0]].y-cy;
- int dmax=x*x+y*y;
- for(int i=1;i<3;i++){
- x=i_sqare[i][i_vertex_id[i]].x-cx;
- y=i_sqare[i][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 getLineFromVertex(NyARIntPoint i_v1,NyARIntPoint i_v2)
- {
- double sx=i_v1.x-i_v2.x;
- double sy=i_v1.y-i_v2.y;
- double k=sy/sx;
- double b=i_v2.y-k*i_v2.x;
- Graphics g=this.bimg.getGraphics();
- g.setColor(Color.red);
- g.drawLine(0,(int)b,320,(int)(k*320+b));
-
- }
- /**
- *
- * @param i_sq
- * @param o_sq
- * @return
- */
- public boolean margeEdge(NyARIntPoint[][] 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],i_sq[symbol_e2_idx],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;
-
- getLineFromVertex(i_sq[symbol_e1_idx][(lv1+1)%4],i_sq[symbol_e1_idx][lv1]);
- getLineFromVertex(i_sq[symbol_e1_idx][(lv1+3)%4],i_sq[symbol_e1_idx][lv1]);
- getLineFromVertex(i_sq[symbol_e2_idx][(lv2+1)%4],i_sq[symbol_e2_idx][lv2]);
- getLineFromVertex(i_sq[symbol_e2_idx][(lv2+3)%4],i_sq[symbol_e2_idx][lv2]);
- getLineFromVertex(i_sq[key_simble_idx][(kv+2)%4],i_sq[key_simble_idx][kv]);
-
-
- Graphics g=this.bimg.getGraphics();
- //内対角に緑の点を打つ
- g.setColor(Color.green);
- g.fillRect(i_sq[key_simble_idx][minimum_triangle_vertex[key_simble_idx]].x-2,i_sq[key_simble_idx][minimum_triangle_vertex[key_simble_idx]].y-2,4,4);
- g.fillRect(i_sq[symbol_e1_idx][minimum_line_vertex[0]].x-2,i_sq[symbol_e1_idx][minimum_line_vertex[0]].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][i2].x;
- yp[i2]=i_sq[i][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_X2 _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_X2();
- 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();
- final NyARLabelingLabel[] labels = (NyARLabelingLabel[]) stack.getArray();
-
- // ラベルを大きい順に整列
- stack.sortByArea();
-
- // 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;
- NyARMkVertexStack vertex_stack=new NyARMkVertexStack(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)) {
-// o_square_stack.pop();// 頂点の取得が出来なかったので破棄
- continue;
- }
- // 領域を準備する。
- NyARIntPoint[] vertex_ptr = (NyARIntPoint[]) vertex_stack.prePush();
- vertex_ptr[0].x=xcoord[mkvertex[0]];
- vertex_ptr[0].y=ycoord[mkvertex[0]];
- vertex_ptr[1].x=xcoord[mkvertex[1]];
- vertex_ptr[1].y=ycoord[mkvertex[1]];
- vertex_ptr[2].x=xcoord[mkvertex[2]];
- vertex_ptr[2].y=ycoord[mkvertex[2]];
- vertex_ptr[3].x=xcoord[mkvertex[3]];
- vertex_ptr[3].y=ycoord[mkvertex[3]];
-
-// // 頂点情報からライン情報を作っちゃう
-// getSquare(mkvertex, xcoord, ycoord, vertex_ptr);
- }
- bindQrcodeEdge(vertex_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(NyARIntPoint[][] i_sq,NyARSquare o_sq)
- {
- NyQrCodeSymbolBinder binder=new NyQrCodeSymbolBinder();
- binder.bimg=this.bimg;
- binder.margeEdge(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(NyARMkVertexStack i_square_stack)
- {
-
- NyARIntPoint[] sq_ptr1,sq_ptr2,sq_ptr3;
- int number_of_edge=i_square_stack.getLength();
- if(number_of_edge<3){
- return;
- }
- NyARIntPoint[][] sa=(NyARIntPoint[][])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 void getSquare(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square)
- {
- final NyARCameraDistortionFactor dist_factor = this._dist_factor_ref;
- final NyARDoublePoint2d[] vertex = o_square.sqvertex;
-
- NyARIntPoint[] imvertex_ptr=o_square.imvertex;
- NyARIntPoint wk_vertex;
- //頂点座標取得
- for (int i = 0; i < 4; i++) {
- final int idx = i_mkvertex[i];
- imvertex_ptr[i].x = i_xcoord[idx];
- imvertex_ptr[i].y = i_ycoord[idx];
- }
- // 歪み補正
- for (int i = 0; i < 4; i++) {
- dist_factor.observ2Ideal(imvertex_ptr[i].x,imvertex_ptr[i].y, vertex[i]);
- }
- // ライン計算
- getLine(vertex[1], vertex[0], o_square.line[0]);
- getLine(vertex[2], vertex[1], o_square.line[1]);
- getLine(vertex[3], vertex[2], o_square.line[2]);
- getLine(vertex[0], vertex[3], o_square.line[3]);
- return;
- }
-
- /**
- * 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 CopyOfLabelingCamera extends Frame implements JmfCaptureListener
-{
- private final String camera_file = "../Data/camera_para.dat";
-
- private JmfNyARRaster_RGB _raster;
-
- private JmfCameraCapture capture;
- private NyARParam ap;
- public CopyOfLabelingCamera() 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 NyARGlayscaleRaster _gsraster1 = new NyARGlayscaleRaster(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 = (NyARLabelingLabel[]) 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.debugDrawHistgramMap(_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.debugDrawHistgramMap(_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 {
- CopyOfLabelingCamera mainwin = new CopyOfLabelingCamera();
- mainwin.setVisible(true);
- mainwin.startCapture();
- } catch (Exception e) {
- e.printStackTrace();
- }
-
- }
-
-}
import jp.nyatla.nyartoolkit.NyARException;
import jp.nyatla.nyartoolkit.jmf.utils.*;
-import jp.nyatla.nyartoolkit.nymodel.x2.NyARLabeling_ARToolKit_X2;
+
import jp.nyatla.nyartoolkit.core.*;
-import jp.nyatla.nyartoolkit.nymodel.x2.NyARTransMat_X2;
import java.awt.*;
import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix22;
-class NyARMkVertexStack extends NyObjectStack
-{
- public NyARMkVertexStack(int i_length)
- {
- super(new NyARIntPoint[i_length][]);
-
- }
-
- protected void onReservRequest(int i_start, int i_end, Object[] i_buffer)
- {
- for (int i = i_start; i < i_end; i++) {
- i_buffer[i] = NyARIntPoint.createArray(4);
- }
- }
-}
-/**
- * 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;
-
-
-
-
-
-
- }
-
-
-
-
-}
+///**
+// * 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;
+//
+//
+//
+//
+//
+//
+// }
+//
+//
+//
+//
+//}
/**
private final int _height;
- private final NyARLabeling_ARToolKit_X2 _labeling;
+ private final NyARLabeling_ARToolKit _labeling;
private final NyARLabelingImage _limage;
this._width = i_size.w;
this._height = i_size.h;
this._dist_factor_ref = i_dist_factor_ref;
- this._labeling = new NyARLabeling_ARToolKit_X2();
+ this._labeling = new NyARLabeling_ARToolKit();
this._limage = new NyARLabelingImage(this._width, this._height);
this._labeling.attachDestination(this._limage);
// 頂点情報を取得
if (!getSquareVertex(xcoord, ycoord, vertex1, coord_num, label_area, mkvertex)) {
-// o_square_stack.pop();// 頂点の取得が出来なかったので破棄
continue;
}
NyARSquare square=(NyARSquare)wk_stack.prePush();
{
NyQrCodeSymbolBinder binder=new NyQrCodeSymbolBinder();
binder.bimg=this.bimg;
- binder.margeEdge(i_sq, o_sq);
+ binder.(i_sq, o_sq);
return false;
private NyARBinRaster _binraster1 = new NyARBinRaster(320, 240);
- private NyARGlayscaleRaster _gsraster1 = new NyARGlayscaleRaster(320, 240);
+ private NyARGrayscaleRaster _gsraster1 = new NyARGrayscaleRaster(320, 240);
private NyARLabelingImage _limage = new NyARLabelingImage(320, 240);
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