From a513010fa26fa8ca6cff622b472d2938aad3521f Mon Sep 17 00:00:00 2001 From: nyatla Date: Sun, 15 Nov 2009 06:55:35 +0000 Subject: [PATCH] =?utf8?q?[backup]NyARToolkit=20for=20Java=20SquareContour?= =?utf8?q?Detector=E3=81=AE=E4=BB=95=E6=A7=98=E3=82=92=E5=A4=89=E6=9B=B4?= =?utf8?q?=E3=80=82=E8=BC=AA=E9=83=AD=E7=B7=9A=E3=81=AE=E6=AD=A3=E8=A6=8F?= =?utf8?q?=E5=8C=96=E3=82=92=E4=B8=8D=E8=A6=81=E3=81=AB=E3=81=97=E3=81=9F?= =?utf8?q?=E3=80=82=20=E9=96=A2=E9=80=A3=E3=81=99=E3=82=8B=E3=83=A2?= =?utf8?q?=E3=82=B8=E3=83=A5=E3=83=BC=E3=83=AB=E3=81=AE=E4=BF=AE=E6=AD=A3?= =?utf8?q?=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=utf8 Content-Transfer-Encoding: 8bit --- .../core/param/NyARObserv2IdealMap.java | 4 +- .../squaredetect/NyARSquareDetector_ARToolKit.java | 9 +- .../core/squaredetect/NyARSquareDetector_Rle.java | 25 ++-- .../core/squaredetect/NyARVertexCounter.java | 41 +++++-- .../core/squaredetect/SquareContourDetector.java | 128 ++++++++++++--------- 5 files changed, 123 insertions(+), 84 deletions(-) diff --git a/src/jp/nyatla/nyartoolkit/core/param/NyARObserv2IdealMap.java b/src/jp/nyatla/nyartoolkit/core/param/NyARObserv2IdealMap.java index ca46d72..63f6cc0 100644 --- a/src/jp/nyatla/nyartoolkit/core/param/NyARObserv2IdealMap.java +++ b/src/jp/nyatla/nyartoolkit/core/param/NyARObserv2IdealMap.java @@ -67,10 +67,10 @@ final public class NyARObserv2IdealMap o_point.y=this._mapy[idx]; return; } - public void observ2IdealBatch(int[] i_x_coord, int[] i_y_coord,int i_start, int i_num, double[] o_x_coord,double[] o_y_coord) + public void observ2IdealBatch(int[] i_x_coord, int[] i_y_coord,int i_start, int i_num, double[] o_x_coord,double[] o_y_coord,int i_out_start_index) { int idx; - int ptr=0; + int ptr=i_out_start_index; for (int j = 0; j < i_num; j++) { idx=i_x_coord[i_start + j]+i_y_coord[i_start + j]*this._stride; o_x_coord[ptr]=this._mapx[idx]; diff --git a/src/jp/nyatla/nyartoolkit/core/squaredetect/NyARSquareDetector_ARToolKit.java b/src/jp/nyatla/nyartoolkit/core/squaredetect/NyARSquareDetector_ARToolKit.java index 4035399..6f6c591 100644 --- a/src/jp/nyatla/nyartoolkit/core/squaredetect/NyARSquareDetector_ARToolKit.java +++ b/src/jp/nyatla/nyartoolkit/core/squaredetect/NyARSquareDetector_ARToolKit.java @@ -78,8 +78,8 @@ public class NyARSquareDetector_ARToolKit implements INyARSquareDetector // 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]; + this._xcoord = new int[number_of_coord]; + this._ycoord = new int[number_of_coord]; return; } @@ -158,12 +158,9 @@ public class NyARSquareDetector_ARToolKit implements INyARSquareDetector // 輪郭が大きすぎる。 continue; } - //輪郭分析用に正規化する。 - final int vertex1 = SquareContourDetector.normalizeCoord(xcoord, ycoord, coord_num); - //ここから先が輪郭分析 NyARSquare square_ptr = o_square_stack.prePush(); - if(!this._sqconvertor.coordToSquare(xcoord,ycoord,vertex1,coord_num,label_area,square_ptr)){ + if(!this._sqconvertor.coordToSquare(xcoord,ycoord,coord_num,label_area,square_ptr)){ o_square_stack.pop();// 頂点の取得が出来なかったので破棄 continue; } diff --git a/src/jp/nyatla/nyartoolkit/core/squaredetect/NyARSquareDetector_Rle.java b/src/jp/nyatla/nyartoolkit/core/squaredetect/NyARSquareDetector_Rle.java index c291c82..a8caba2 100644 --- a/src/jp/nyatla/nyartoolkit/core/squaredetect/NyARSquareDetector_Rle.java +++ b/src/jp/nyatla/nyartoolkit/core/squaredetect/NyARSquareDetector_Rle.java @@ -75,10 +75,10 @@ public class NyARSquareDetector_Rle implements INyARSquareDetector // 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。 + // 輪郭バッファ this._max_coord = number_of_coord; - this._xcoord = new int[number_of_coord * 2]; - this._ycoord = new int[number_of_coord * 2]; + this._xcoord = new int[number_of_coord]; + this._ycoord = new int[number_of_coord]; return; } @@ -112,8 +112,8 @@ public class NyARSquareDetector_Rle implements INyARSquareDetector final int xsize = this._width; final int ysize = this._height; - final int[] xcoord = this._xcoord; - final int[] ycoord = this._ycoord; + int[] xcoord = this._xcoord; + int[] ycoord = this._ycoord; final int coord_max = this._max_coord; @@ -122,7 +122,7 @@ public class NyARSquareDetector_Rle implements INyARSquareDetector for (int i=0; i < label_num; i++) { final RleLabelFragmentInfoStack.RleLabelFragmentInfo label_pt=labels[i]; - final int label_area = label_pt.area; + int label_area = label_pt.area; // 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 == 0 || label_pt.clip_r == xsize-1){ @@ -136,22 +136,23 @@ public class NyARSquareDetector_Rle implements INyARSquareDetector // 重なっているようだ。 continue; } - + // 輪郭を取得 - final int coord_num = _cpickup.getContour(i_raster,label_pt.entry_x,label_pt.clip_t, coord_max, xcoord, ycoord); + int coord_num = _cpickup.getContour(i_raster,label_pt.entry_x,label_pt.clip_t, coord_max, xcoord, ycoord); if (coord_num == coord_max) { // 輪郭が大きすぎる。 continue; } - //輪郭分析用に正規化する。 - final int vertex1 = SquareContourDetector.normalizeCoord(xcoord, ycoord, coord_num); + + NyARSquare square_ptr = o_square_stack.prePush(); //ここから先が輪郭分析 - NyARSquare square_ptr = o_square_stack.prePush(); - if(!this._sqconvertor.coordToSquare(xcoord,ycoord,vertex1,coord_num,label_area,square_ptr)){ + if(!this._sqconvertor.coordToSquare(xcoord,ycoord,coord_num,label_area,square_ptr)){ o_square_stack.pop();// 頂点の取得が出来なかったので破棄 continue; } + + // 検出済の矩形の属したラベルを重なりチェックに追加する。 overlap.push(label_pt); } diff --git a/src/jp/nyatla/nyartoolkit/core/squaredetect/NyARVertexCounter.java b/src/jp/nyatla/nyartoolkit/core/squaredetect/NyARVertexCounter.java index b82940f..8aa1833 100644 --- a/src/jp/nyatla/nyartoolkit/core/squaredetect/NyARVertexCounter.java +++ b/src/jp/nyatla/nyartoolkit/core/squaredetect/NyARVertexCounter.java @@ -46,13 +46,13 @@ final public class NyARVertexCounter private int[] y_coord; - public boolean getVertex(int[] i_x_coord, int[] i_y_coord, int st, int ed, double i_thresh) + public boolean getVertex(int[] i_x_coord, int[] i_y_coord,int i_coord_len,int st, int ed, double i_thresh) { this.number_of_vertex = 0; this.thresh = i_thresh; this.x_coord = i_x_coord; this.y_coord = i_y_coord; - return get_vertex(st, ed); + return get_vertex(st, ed,i_coord_len); } /** @@ -65,7 +65,7 @@ final public class NyARVertexCounter * @param thresh * @return */ - private boolean get_vertex(int st, int ed) + private boolean get_vertex(int st, int ed,int i_coord_len) { //メモ:座標値は65536を超えなければint32で扱って大丈夫なので変更。 //dmaxは4乗なのでやるとしてもint64じゃないとマズイ @@ -76,15 +76,36 @@ final public class NyARVertexCounter final int b = lx_coord[st] - lx_coord[ed]; final int c = lx_coord[ed] * ly_coord[st] - ly_coord[ed] * lx_coord[st]; double dmax = 0; - for (int i = st + 1; i < ed; i++) { - final double d = a * lx_coord[i] + b * ly_coord[i] + c; - if (d * d > dmax) { - dmax = d * d; - v1 = i; + if(st dmax) { + dmax = d * d; + v1 = i; + } + } + }else{ + //stとedが2区間 + for (int i = st + 1; i < i_coord_len; i++) { + final double d = a * lx_coord[i] + b * ly_coord[i] + c; + if (d * d > dmax) { + dmax = d * d; + v1 = i; + } + } + for (int i = 0; i < ed; i++) { + final double d = a * lx_coord[i] + b * ly_coord[i] + c; + if (d * d > dmax) { + dmax = d * d; + v1 = i; + } } } + + if (dmax / (double)(a * a + b * b) > thresh) { - if (!get_vertex(st, v1)) { + if (!get_vertex(st, v1,i_coord_len)) { return false; } if (number_of_vertex > 5) { @@ -93,7 +114,7 @@ final public class NyARVertexCounter vertex[number_of_vertex] = v1;// vertex[(*vnum)] = v1; number_of_vertex++;// (*vnum)++; - if (!get_vertex(v1, ed)) { + if (!get_vertex(v1, ed,i_coord_len)) { return false; } } diff --git a/src/jp/nyatla/nyartoolkit/core/squaredetect/SquareContourDetector.java b/src/jp/nyatla/nyartoolkit/core/squaredetect/SquareContourDetector.java index cb870b1..b45c814 100644 --- a/src/jp/nyatla/nyartoolkit/core/squaredetect/SquareContourDetector.java +++ b/src/jp/nyatla/nyartoolkit/core/squaredetect/SquareContourDetector.java @@ -68,44 +68,64 @@ public class SquareContourDetector return; } - public boolean coordToSquare(int[] i_xcoord,int[] i_ycoord,int i_st_index,int i_coord_num,int i_label_area,NyARSquare o_square) throws NyARException + public boolean coordToSquare(int[] i_xcoord,int[] i_ycoord,int i_coord_num,int i_label_area,NyARSquare o_square) throws NyARException { final int[] mkvertex = this.__detectMarker_mkvertex; - + int vertex_1=getFarPoint(i_xcoord,i_ycoord,i_coord_num,0); // 頂点情報を取得 - if (!getSquareVertex(i_xcoord, i_ycoord, i_st_index, i_coord_num, i_label_area, mkvertex)) { + if (!getSquareVertex(i_xcoord, i_ycoord, vertex_1, i_coord_num-1, i_label_area, mkvertex)) { // 頂点の取得が出来なかったので破棄 return false; } // マーカーを検出 - if (!getSquareLine(mkvertex, i_xcoord, i_ycoord, o_square)){ + if (!getSquareLine(mkvertex, i_xcoord, i_ycoord,i_coord_num-1, o_square)){ // 矩形が成立しなかった。 return false; } return true; } - private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square) throws NyARException + private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord,int i_cood_num, NyARSquare o_square) throws NyARException { final NyARLinear[] l_line = o_square.line; final NyARDoubleMatrix22 evec=this.__getSquareLine_evec; final double[] mean=this.__getSquareLine_mean; final double[] ev=this.__getSquareLine_ev; - - for (int i = 0; i < 4; i++) { - final double w1 = (double) (i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5; - final int st = (int) (i_mkvertex[i] + w1); - final int ed = (int) (i_mkvertex[i + 1] - w1); - final int n = ed - st + 1; + double w1; + for (int i = 0; i < 4; i++){ + int n,st,ed; + //探索区間の決定 + if(i_mkvertex[i + 1]>=i_mkvertex[i]){ + //頂点[i]から頂点[i+1]までの輪郭が、1区間にあるとき + w1 = (double) (i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5; + //探索区間の決定 + st = (int) (i_mkvertex[i]+w1); + ed = (int) (i_mkvertex[i+1] - w1); + }else{ + //頂点[i]から頂点[i+1]までの輪郭が、2区間に分かれているとき + w1 = (double) (i_mkvertex[i + 1]+i_cood_num-i_mkvertex[i]+1)%i_cood_num * 0.05 + 0.5; + //探索区間の決定 + st = (int) (i_mkvertex[i]+w1)%i_cood_num; + ed = (int) (i_mkvertex[i+1]+i_cood_num-w1)%i_cood_num; + } + //探索区間数を確認 + if(st<=ed){ + //探索区間は1区間 + n = ed - st + 1; + this._dist_factor.observ2IdealBatch(i_xcoord, i_ycoord, st, n,this._xpos,this._ypos,0); + }else{ + //探索区間は2区間 + n=ed+1+i_cood_num-st; + this._dist_factor.observ2IdealBatch(i_xcoord, i_ycoord, st,i_cood_num-st,this._xpos,this._ypos,0); + this._dist_factor.observ2IdealBatch(i_xcoord, i_ycoord, 0,ed+1,this._xpos,this._ypos,i_cood_num-st); + } + //要素数の確認 if (n < 2) { // nが2以下でmatrix.PCAを計算することはできないので、エラー return false; } - //配列作成 - this._dist_factor.observ2IdealBatch(i_xcoord, i_ycoord, st, n,this._xpos,this._ypos); - //主成分分析する。 this._pca.pca(this._xpos,this._ypos,n,evec, ev,mean); final NyARLinear l_line_i = l_line[i]; @@ -119,7 +139,7 @@ public class SquareContourDetector 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.dy * l_line_i.dx - l_line_i.dy * l_line_2.dx; + w1 = l_line_2.dy * l_line_i.dx - l_line_i.dy * l_line_2.dx; if (w1 == 0.0) { return false; } @@ -131,33 +151,22 @@ public class SquareContourDetector } return true; } + + 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;icoord_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; - } - } + int prev_vertex_index=(i_vertex1_index+i_coord_num)%i_coord_num; + int v1=getFarPoint(i_x_coord,i_y_coord,i_coord_num,i_vertex1_index); 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 ) { + if (!wv1.getVertex(i_x_coord, i_y_coord,i_coord_num, i_vertex1_index, v1, thresh)) { 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) { + if (!wv2.getVertex(i_x_coord, i_y_coord,i_coord_num, v1,prev_vertex_index, thresh)) { return false; } @@ -168,11 +177,15 @@ public class SquareContourDetector 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)) { + if(v1>=i_vertex1_index){ + v2 = (v1-i_vertex1_index)/2+i_vertex1_index; + }else{ + v2 = ((v1+i_coord_num-i_vertex1_index)/2+i_vertex1_index)%i_coord_num; + } + if (!wv1.getVertex(i_x_coord, i_y_coord,i_coord_num, i_vertex1_index, v2, thresh)) { return false; } - if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh)) { + if (!wv2.getVertex(i_x_coord, i_y_coord,i_coord_num, v2, v1, thresh)) { return false; } if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) { @@ -183,13 +196,17 @@ public class SquareContourDetector 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)) { + //v2 = (v1+ end_of_coord)/2; + if(v1<=prev_vertex_index){ + v2 = (v1+prev_vertex_index)/2; + }else{ + v2 = ((v1+i_coord_num+prev_vertex_index)/2)%i_coord_num; + + } + if (!wv1.getVertex(i_x_coord, i_y_coord,i_coord_num, v1, v2, thresh)) { return false; } - if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh)) { + if (!wv2.getVertex(i_x_coord, i_y_coord,i_coord_num, v2, prev_vertex_index, thresh)) { return false; } if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) { @@ -197,33 +214,41 @@ public class SquareContourDetector o_vertex[2] = wv1.vertex[0]; o_vertex[3] = wv2.vertex[0]; } else { + return false; } } else { return false; } - o_vertex[4] = end_of_coord; + o_vertex[4] = prev_vertex_index; return true; } - + /** - * 輪郭線の矩形検出開始ポイントを特定して、座標を並べ替えます。 - * 輪郭線の先頭から、対角線が最長になる点を１点検索し、それより前の区間をバッファの後方に接続します。 - * 戻り値は対角線が最長になった点です。関数終了後、返却値+i_coord_numの要素が有効になります。 + * i_pointの輪郭座標から、最も遠方にある輪郭座標のインデクスを探します。 * @param i_xcoord * @param i_ycoord * @param i_coord_num * @return */ - public static int normalizeCoord(int[] i_coord_x, int[] i_coord_y,int i_coord_num) + private static int getFarPoint(int[] i_coord_x, int[] i_coord_y,int i_coord_num,int i_point) { // - final int sx = i_coord_x[0]; - final int sy = i_coord_y[0]; + final int sx = i_coord_x[i_point]; + final int sy = i_coord_y[i_point]; int d = 0; int w, x, y; int ret = 0; - for (int i = 1; i < i_coord_num; i++) { + for (int i = i_point+1; i < i_coord_num; i++) { + x = i_coord_x[i] - sx; + y = i_coord_y[i] - sy; + w = x * x + y * y; + if (w > d) { + d = w; + ret = i; + } + } + for (int i = 0; i < i_point; i++) { x = i_coord_x[i] - sx; y = i_coord_y[i] - sy; w = x * x + y * y; @@ -231,12 +256,7 @@ public class SquareContourDetector d = w; ret = i; } - // ここでうまく終了条件入れられないかな。 } - // 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, ret); - System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, ret); return ret; } - } \ No newline at end of file -- 2.11.0