labelingcamera.java

java 版的 ARToolkit

				}
				//
			}
		}
	}
	/**
	 * ２つの頂点座標を結ぶ直線から、NyARLinearを計算する。
	 * 
	 * @param i_v1
	 * @param i_v2
	 * @param o_line
	 */
	final private void getLine(NyARDoublePoint2d i_v1, NyARDoublePoint2d i_v2, NyARLinear o_line)
	{
		final double x = i_v1.x - i_v2.x;
		final double y = i_v1.y - i_v2.y;
		final double x2 = x * x;
		final double y2 = y * y;
		final double rise_ = Math.sqrt(x2 / (x2 + y2));
		o_line.rise = rise_;
		o_line.run = Math.sqrt(y2 / (x2 + y2));
		if (x < 0) {
			if (y < 0) {
				o_line.rise = -o_line.rise;
			} else {
				o_line.rise = -o_line.rise;
				o_line.run = -o_line.run;
			}
		} else {
			if (y < 0) {
				o_line.rise = -o_line.rise;
				o_line.run = -o_line.run;
			} else {
				o_line.rise = -o_line.rise;
			}
		}
		o_line.intercept = (i_v1.y + (o_line.run / o_line.rise) * (i_v1.x)) * rise_;

	}
	private final INyARPca2d _pca=new NyARPca2d_MatrixPCA_O2(100);
	private final NyARDoubleMatrix22 __getSquareLine_evec=new NyARDoubleMatrix22();
	private final NyARDoublePoint2d __getSquareLine_mean=new NyARDoublePoint2d();
	private final NyARDoublePoint2d __getSquareLine_ev=new NyARDoublePoint2d();
	/**
	 * arGetLine(int x_coord[], int y_coord[], int coord_num,int vertex[], double line[4][3], double v[4][2]) arGetLine2(int x_coord[], int y_coord[], int
	 * coord_num,int vertex[], double line[4][3], double v[4][2], double *dist_factor) の２関数の合成品です。 マーカーのvertex,lineを計算して、結果をo_squareに保管します。
	 * Optimize:STEP[424->391]
	 * 
	 * @param i_cparam
	 * @return
	 * @throws NyARException
	 */
	private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square) throws NyARException
	{
		final NyARLinear[] l_line = o_square.line;
		final NyARCameraDistortionFactor dist_factor=this._dist_factor_ref;  
		final NyARDoubleMatrix22 evec=this.__getSquareLine_evec;
		final NyARDoublePoint2d mean=this.__getSquareLine_mean;
		final NyARDoublePoint2d ev=this.__getSquareLine_ev;
	
		
		for (int i = 0; i < 4; i++) {
			final double w1 = (double) (i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5;
			final int st = (int) (i_mkvertex[i] + w1);
			final int ed = (int) (i_mkvertex[i + 1] - w1);
			final int n = ed - st + 1;
			if (n < 2) {
				// nが2以下でmatrix.PCAを計算することはできないので、エラー
				return false;
			}
			//主成分分析する。
			this._pca.pcaWithDistortionFactor(i_xcoord, i_ycoord, st, n,dist_factor, evec, ev,mean);
			final NyARLinear l_line_i = l_line[i];
			l_line_i.run = evec.m01;// line[i][0] = evec->m[1];
			l_line_i.rise = -evec.m00;// line[i][1] = -evec->m[0];
			l_line_i.intercept = -(l_line_i.run * mean.x + l_line_i.rise * mean.y);// line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]);
		}

		final NyARDoublePoint2d[] l_sqvertex = o_square.sqvertex;
		final NyARIntPoint[] l_imvertex = o_square.imvertex;
		for (int i = 0; i < 4; i++) {
			final NyARLinear l_line_i = l_line[i];
			final NyARLinear l_line_2 = l_line[(i + 3) % 4];
			final double w1 = l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise;
			if (w1 == 0.0) {
				return false;
			}
			l_sqvertex[i].x = (l_line_2.rise * l_line_i.intercept - l_line_i.rise * l_line_2.intercept) / w1;
			l_sqvertex[i].y = (l_line_i.run * l_line_2.intercept - l_line_2.run * l_line_i.intercept) / w1;
			// 頂点インデクスから頂点座標を得て保存
			l_imvertex[i].x = i_xcoord[i_mkvertex[i]];
			l_imvertex[i].y = i_ycoord[i_mkvertex[i]];
		}
		return true;
	}
	/**
	 * 辺からの対角線が最長になる点を対角線候補として返す。
	 * 
	 * @param i_xcoord
	 * @param i_ycoord
	 * @param i_coord_num
	 * @return
	 */
	private int scanVertex(int[] i_xcoord, int[] i_ycoord, int i_coord_num)
	{
		final int sx = i_xcoord[0];
		final int sy = i_ycoord[0];
		int d = 0;
		int w, x, y;
		int ret = 0;
		for (int i = 1; i < i_coord_num; i++) {
			x = i_xcoord[i] - sx;
			y = i_ycoord[i] - sy;
			w = x * x + y * y;
			if (w > d) {
				d = w;
				ret = i;
			}
			// ここでうまく終了条件入れられないかな。
		}
		return ret;
	}

	private final NyARVertexCounter __getSquareVertex_wv1 = new NyARVertexCounter();

	private final NyARVertexCounter __getSquareVertex_wv2 = new NyARVertexCounter();

	/**
	 * static int arDetectMarker2_check_square( int area, ARMarkerInfo2 *marker_info2, double factor ) 関数の代替関数 OPTIMIZED STEP [450->415] o_squareに頂点情報をセットします。
	 * 
	 * @param i_x_coord
	 * @param i_y_coord
	 * @param i_vertex1_index
	 * @param i_coord_num
	 * @param i_area
	 * @param o_vertex
	 * 要素数はint[4]である事
	 * @return
	 */
	private boolean getSquareVertex(int[] i_x_coord, int[] i_y_coord, int i_vertex1_index, int i_coord_num, int i_area, int[] o_vertex)
	{
		final NyARVertexCounter wv1 = this.__getSquareVertex_wv1;
		final NyARVertexCounter wv2 = this.__getSquareVertex_wv2;
		final int end_of_coord = i_vertex1_index + i_coord_num - 1;
		final int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];
		final int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];
		int dmax = 0;
		int v1 = i_vertex1_index;
		for (int i = 1 + i_vertex1_index; i < end_of_coord; i++) {// for(i=1;i<marker_info2->coord_num-1;i++)
			// {
			final int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);
			if (d > dmax) {
				dmax = d;
				v1 = i;
			}
		}
		final double thresh = (i_area / 0.75) * 0.01 * VERTEX_FACTOR;

		o_vertex[0] = i_vertex1_index;

		if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v1, thresh)) { // if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,0,v1,thresh,wv1,&wvnum1)<
			// 0 ) {
			return false;
		}
		if (!wv2.getVertex(i_x_coord, i_y_coord, v1, end_of_coord, thresh)) {// if(get_vertex(marker_info2->x_coord,marker_info2->y_coord,v1,marker_info2->coord_num-1,thresh,wv2,&wvnum2)
			// < 0) {
			return false;
		}

		int v2;
		if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {// if(wvnum1 == 1 && wvnum2== 1) {
			o_vertex[1] = wv1.vertex[0];
			o_vertex[2] = v1;
			o_vertex[3] = wv2.vertex[0];
		} else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0) {// }else if( wvnum1 > 1 && wvnum2== 0) {
			// 頂点位置を、起点から対角点の間の1/2にあると予想して、検索する。
			v2 = (v1 - i_vertex1_index) / 2 + i_vertex1_index;
			if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh)) {
				return false;
			}
			if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh)) {
				return false;
			}
			if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {
				o_vertex[1] = wv1.vertex[0];
				o_vertex[2] = wv2.vertex[0];
				o_vertex[3] = v1;
			} else {
				return false;
			}
		} else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1) {
			// v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;
			v2 = (v1 + end_of_coord) / 2;

			if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh)) {
				return false;
			}
			if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh)) {
				return false;
			}
			if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {
				o_vertex[1] = v1;
				o_vertex[2] = wv1.vertex[0];
				o_vertex[3] = wv2.vertex[0];
			} else {
				return false;
			}
		} else {
			return false;
		}
		o_vertex[4] = end_of_coord;
		return true;
	}
	/**
	 * QRコードのエッジ特徴を持つラベルであるかを調べる
	 * @param buf
	 * @param index_table
	 * @param i_label
	 * @return
	 */
	private boolean hasQrEdgeFeature(int buf[][], int[] index_table, NyARLabelingLabel i_label)
	{
		int tx, bx;
		int w;
		int i_label_id = i_label.id;
		int[] limage_j;
		final int clip_l = i_label.clip_l;
		final int clip_b = i_label.clip_b;
		final int clip_r = i_label.clip_r;
		final int clip_t = i_label.clip_t;

		tx = bx = 0;
		// 上接点(→)
		limage_j = buf[clip_t];
		for (int i = clip_l; i <= clip_r; i++) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {
			w = limage_j[i];
			if (w > 0 && index_table[w - 1] == i_label_id) {
				tx = i;
				break;
			}
		}
		// 下接点(←)
		limage_j = buf[clip_b];
		for (int i = clip_r; i >= clip_l; i--) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {
			w = limage_j[i];
			if (w > 0 && index_table[w - 1] == i_label_id) {
				bx = i;
				break;
			}
		}
		final int cx = (clip_l + clip_r) / 2;
		final int cy = (clip_t + clip_b) / 2;
		// 横断チェック(中心から線を引いて、101になるかしらべる)
		if (!checkDiagonalLine(buf, cx, cy, bx, clip_b)) {
			return false;
		}
		if (!checkDiagonalLine(buf, tx, clip_t, cx, cy)) {
			return false;
		}
		return true;
	}

	/**
	 * 対角線のパターンを調べる。
	 * 
	 * @param buf
	 * @param i_px1
	 * @param i_py1
	 * @param i_px2
	 * @param i_py2
	 * @return
	 */
	private boolean checkDiagonalLine(int[][] buf, int i_px1, int i_py1, int i_px2, int i_py2)
	{
		int sub_y = i_py2 - i_py1;
		int sub_x = i_px2 - i_px1;
		// 黒
		int i = 0;
		for (; i < sub_y; i++) {
			int yp = i_py1 + i;
			int xp = i_px1 + i * sub_x / sub_y;
			if (buf[yp][xp] == 0 && buf[yp][xp-1] == 0 && buf[yp][xp+1] == 0) {
				break;
			}

		}
		if (i == sub_y) {
			return false;
		}
		// 白
		for (; i < sub_y; i++) {
			int yp = i_py1 + i;
			int xp = i_px1 + i * sub_x / sub_y;
			if (buf[yp][xp] != 0 && buf[yp][xp-1] != 0 && buf[yp][xp+1] != 0) {
				break;
			}

		}
		if (i == sub_y) {
			return false;
		}
		// 黒
		for (; i < sub_y; i++) {
			int yp = i_py1 + i;
			int xp = i_px1 + i * sub_x / sub_y;
			if (buf[yp][xp] == 0 && buf[yp][xp-1] == 0 && buf[yp][xp+1] == 0) {
				break;
			}

		}
		if (i != sub_y) {
			return false;
		}
		// 端まで到達したらOK
		return true;
	}

}


public class LabelingCamera extends Frame implements JmfCaptureListener
{
	private final String camera_file = "../Data/camera_para.dat";

	private JmfNyARRaster_RGB _raster;

	private JmfCameraCapture capture;
	private NyARParam ap;
	public LabelingCamera() throws NyARException, NyARException
	{
		setBounds(0, 0, 640 + 64, 720 + 64);
		// キャプチャの準備
		capture = new JmfCameraCapture(320, 240, 30f, JmfCameraCapture.PIXEL_FORMAT_RGB);
		capture.setCaptureListener(this);

		// キャプチャイメージ用のラスタを準備
		this._raster = new JmfNyARRaster_RGB(320, 240);
		
		// AR用カメラパラメタファイルをロード
		ap = new NyARParam();
		ap.loadARParamFromFile(camera_file);
		ap.changeScreenSize(320, 240);		
		
		
	}

	// そのラベルが特徴点候補か返す。

	private NyARBinRaster _binraster1 = new NyARBinRaster(320, 240);

	private NyARGrayscaleRaster _gsraster1 = new NyARGrayscaleRaster(320, 240);

	private NyARLabelingImage _limage = new NyARLabelingImage(320, 240);

	private LabelingBufferdImage _bimg = new LabelingBufferdImage(320, 240);

	private NyARRasterFilter_ARToolkitThreshold filter_gs2bin;

	public void onUpdateBuffer(Buffer i_buffer)
	{
		NyARRasterFilter_AreaAverage gs2bin=new NyARRasterFilter_AreaAverage();

		try {
			// キャプチャしたバッファをラスタにセット
			_raster.setBuffer(i_buffer);

			Graphics g = getGraphics();
			// キャプチャ画像
			BufferToImage b2i = new BufferToImage((VideoFormat) i_buffer.getFormat());
			Image img = b2i.createImage(i_buffer);
			this.getGraphics().drawImage(img, 32, 32, this);

			// 画像1
			INyARRasterFilter_RgbToGs filter_rgb2gs = new NyARRasterFilter_RgbAve();
			filter_rgb2gs.doFilter(_raster, _gsraster1);
			this._bimg.drawImage(this._gsraster1);
			this.getGraphics().drawImage(this._bimg, 32 + 320, 32, 320 + 320 + 32, 240 + 32, 0, 240, 320, 0, this);
			

			// 画像2
			gs2bin.doFilter(_gsraster1, _binraster1);
			this._bimg.drawImage(_binraster1);
			this.getGraphics().drawImage(this._bimg, 32, 32 + 240, 320 + 32, 240 + 32 + 240, 0, 240, 320, 0, this);

			// 画像3
			NyARLabelingImage limage = new NyARLabelingImage(320, 240);
			NyARLabeling_ARToolKit labeling = new NyARLabeling_ARToolKit();
			labeling.attachDestination(limage);
			labeling.labeling(_binraster1);
			this._bimg.drawImage(this._gsraster1);
			NyARLabelingLabel[] labels = (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 {
			LabelingCamera mainwin = new LabelingCamera();
			mainwin.setVisible(true);
			mainwin.startCapture();
		} catch (Exception e) {
			e.printStackTrace();
		}

	}

}