lib/src.rpf/jp/nyatla/nyartoolkit/dev/LabelingCamera.java

   1 /* このソースは実験用のソースです。
   2  * 動いたり動かなかったりします。
   3  *
   4  */
   5 package jp.nyatla.nyartoolkit.dev;
   6
   7 import javax.media.*;
   8
   9 import javax.media.util.BufferToImage;
  10 import javax.media.format.*;
  11
  12 import jp.nyatla.nyartoolkit.NyARException;
  13 import jp.nyatla.nyartoolkit.jmf.utils.*;
  14
  15 import jp.nyatla.nyartoolkit.core.*;
  16
  17 import java.awt.*;
  18
  19 import jp.nyatla.nyartoolkit.core.labeling.*;
  20 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingImage;
  21 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabel;
  22 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabelingLabelStack;
  23 import jp.nyatla.nyartoolkit.core.labeling.artoolkit.NyARLabeling_ARToolKit;
  24 import jp.nyatla.nyartoolkit.core.match.*;
  25 import jp.nyatla.nyartoolkit.core.param.*;
  26 import jp.nyatla.nyartoolkit.core.pca2d.INyARPca2d;
  27 import jp.nyatla.nyartoolkit.core.pca2d.NyARPca2d_MatrixPCA_O2;
  28 import jp.nyatla.nyartoolkit.core.pickup.*;
  29 import jp.nyatla.nyartoolkit.core.raster.*;
  30 import jp.nyatla.nyartoolkit.core.raster.rgb.INyARRgbRaster;
  31 import jp.nyatla.nyartoolkit.core.rasterfilter.*;
  32 import jp.nyatla.nyartoolkit.core.rasterfilter.rgb2bin.*;
  33 import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquare;
  34 import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquareStack;
  35 import jp.nyatla.nyartoolkit.core.transmat.*;
  36 import jp.nyatla.nyartoolkit.core.types.*;
  37 import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix22;
  38 import jp.nyatla.nyartoolkit.core.types.stack.*;
  39
  40
  41 ///**
  42 // * QRコードのシンボルを結びつける偉いクラス
  43 // *
  44 // */
  45 //class NyQrCodeSymbolBinder
  46 //{
  47 //      LabelingBufferdImage bimg;
  48 //
  49 //      NyARIntPoint[][] _sqare;
  50 //      /**
  51 //       * 最小の三角形を構成する頂点セットを得る
  52 //       * @param i_s0
  53 //       * @param i_s1
  54 //       * @param i_s2
  55 //       * @param o_vertex
  56 //       */
  57 //      public static void getMinimumTriangleVertex(NyARSquare[] i_sqare,int[] o_vertex_id)
  58 //      {
  59 //              //辺の長さが最小になる頂点の組合せを探す
  60 //              int d;
  61 //              int x,y;
  62 //              int dmax=0x7fffffff;
  63 //              final NyARIntPoint[] vertex0=i_sqare[0].imvertex;
  64 //              final NyARIntPoint[] vertex1=i_sqare[1].imvertex;
  65 //              final NyARIntPoint[] vertex2=i_sqare[2].imvertex;
  66 //              for(int i=0;i<4;i++)
  67 //              {
  68 //                      for(int i2=0;i2<4;i2++)
  69 //                      {
  70 //                              for(int i3=0;i3<4;i3++){
  71 //                                      x=vertex0[i].x-vertex2[i3].x;
  72 //                                      y=vertex0[i].y-vertex2[i3].y;
  73 //                                      d=x*x+y*y;
  74 //                                      x=vertex1[i2].x-vertex2[i3].x;
  75 //                                      y=vertex1[i2].y-vertex2[i3].y;
  76 //                                      d+=x*x+y*y;
  77 //                                      x=vertex1[i2].x-vertex0[i].x;
  78 //                                      y=vertex1[i2].y-vertex0[i].y;
  79 //                                      d+=x*x+y*y;
  80 //                                      if(d<dmax){
  81 //                                              dmax=d;
  82 //                                              o_vertex_id[0]=i;
  83 //                                              o_vertex_id[1]=i2;
  84 //                                              o_vertex_id[2]=i3;
  85 //                                      }
  86 //                              }
  87 //                      }
  88 //              }
  89 //              return;
  90 //      }
  91 //      /**
  92 //       * 2矩形の頂点距離が最低の組合せを探す
  93 //       * @param i_sqare
  94 //       * @param o_vertex_id
  95 //       */
  96 //      public static void getMinimumLineVertex(NyARIntPoint[] i_sqare0,NyARIntPoint[] i_sqare1,int[] o_vertex_id)
  97 //      {
  98 //              //辺の長さが最小になる頂点の組合せを探す
  99 //              int d;
 100 //              int x,y;
 101 //              int dmax=0x7fffffff;
 102 //              for(int i=0;i<4;i++)
 103 //              {
 104 //                      for(int i2=0;i2<4;i2++)
 105 //                      {
 106 //                              x=i_sqare1[i2].x-i_sqare0[i].x;
 107 //                              y=i_sqare1[i2].y-i_sqare0[i].y;
 108 //                              d=x*x+y*y;
 109 //                              if(d<dmax){
 110 //                                      dmax=d;
 111 //                                      o_vertex_id[0]=i;
 112 //                                      o_vertex_id[1]=i2;
 113 //                              }
 114 //                      }
 115 //              }
 116 //              return;
 117 //      }
 118 //
 119 //      /**
 120 //       * キーシンボルのインデックスを得る
 121 //       * @param i_sqare
 122 //       * @param i_vertex_id
 123 //       * 最小三角形の頂点IDセット
 124 //       * @return
 125 //       */
 126 //      public static int getKeySymble(NyARSquare[] i_sqare,int[] i_vertex_id)
 127 //      {
 128 //              //シンボルグループの重心を計算
 129 //              int cx,cy;
 130 //              cx=cy=0;
 131 //              for(int i=0;i<3;i++)
 132 //              {
 133 //                      final NyARIntPoint[] sq_ptr=i_sqare[i].imvertex;
 134 //                      cx+=sq_ptr[0].x;
 135 //                      cx+=sq_ptr[1].x;
 136 //                      cx+=sq_ptr[2].x;
 137 //                      cx+=sq_ptr[3].x;
 138 //                      cy+=sq_ptr[0].y;
 139 //                      cy+=sq_ptr[1].y;
 140 //                      cy+=sq_ptr[2].y;
 141 //                      cy+=sq_ptr[3].y;
 142 //              }
 143 //              cx/=12;
 144 //              cy/=12;
 145 //              //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
 146 //              int key_symble_idx=0;
 147 //              int x=i_sqare[0].imvertex[i_vertex_id[0]].x-cx;
 148 //              int y=i_sqare[0].imvertex[i_vertex_id[0]].y-cy;
 149 //              int dmax=x*x+y*y;
 150 //              for(int i=1;i<3;i++){
 151 //                      x=i_sqare[i].imvertex[i_vertex_id[i]].x-cx;
 152 //                      y=i_sqare[i].imvertex[i_vertex_id[i]].y-cy;
 153 //                      final int d=x*x+y*y;
 154 //                      if(d<dmax){
 155 //                              dmax=d;
 156 //                              key_symble_idx=i;
 157 //                      }
 158 //              }
 159 //              return key_symble_idx;
 160 //      }
 161 //      public void bindSquare(NyARSquare i_sq1,int i_lv1,NyARSquare i_sq2,int i_lv2)
 162 //      {
 163 //              NyARSquare new_square=new NyARSquare();
 164 //              //4辺の式を計算
 165 //              new_square.line[0].copyFrom(i_sq1.line[(i_lv1)%4]);
 166 //              new_square.line[1].copyFrom(i_sq1.line[(i_lv1+3)%4]);
 167 //              new_square.line[2].copyFrom(i_sq2.line[(i_lv2)%4]);
 168 //              new_square.line[3].copyFrom(i_sq2.line[(i_lv2+3)%4]);
 169 //              //歪み無しの座標系を計算
 170 //              final NyARDoublePoint2d[] l_sqvertex = new_square.sqvertex;
 171 //              final NyARLinear[] l_line = new_square.line;
 172 //              for (int i = 0; i < 4; i++) {
 173 //                      final NyARLinear l_line_i = l_line[i];
 174 //                      final NyARLinear l_line_2 = l_line[(i + 3) % 4];
 175 //                      final double w1 = l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise;
 176 //                      if (w1 == 0.0) {
 177 //                              return;
 178 //                      }
 179 //                      l_sqvertex[i].x = (l_line_2.rise * l_line_i.intercept - l_line_i.rise * l_line_2.intercept) / w1;
 180 //                      l_sqvertex[i].y = (l_line_i.run * l_line_2.intercept - l_line_2.run * l_line_i.intercept) / w1;
 181 ////                    // 頂点インデクスから頂点座標を得て保存
 182 ////                    l_imvertex[i].x = i_xcoord[i_mkvertex[i]];
 183 ////                    l_imvertex[i].y = i_ycoord[i_mkvertex[i]];
 184 //              }
 185 //              Graphics g=this.bimg.getGraphics();
 186 //              g.setColor(Color.red);
 187 //              int[] x=new int[4];
 188 //              int[] y=new int[4];
 189 //              for(int i=0;i<4;i++){
 190 //                      x[i]=(int)l_sqvertex[i].x;
 191 //                      y[i]=(int)l_sqvertex[i].y;
 192 //              }
 193 //              g.drawPolygon(x,y,4);
 194 //              //基準点はVertexをそのまま採用
 195 //              //２個の想定点は座標を逆変換して設定
 196 //      }
 197 //      /**
 198 //       *
 199 //       * @param i_sq
 200 //       * @param o_sq
 201 //       * @return
 202 //       */
 203 //      public boolean margeEdge(NyARSquare[] i_sq,NyARSquare o_sq)
 204 //      {
 205 //              int[] minimum_triangle_vertex=new int[3];
 206 //              int[] minimum_line_vertex=new int[2];
 207 //
 208 //              //辺の長さが最小になる頂点の組合せを探す
 209 //              getMinimumTriangleVertex(i_sq,minimum_triangle_vertex);
 210 //
 211 //              //キーシンボルのインデクス番号を得る
 212 //              int key_simble_idx=getKeySymble(i_sq,minimum_triangle_vertex);
 213 //
 214 //              //エッジシンボルのインデックス番号を決める
 215 //              int symbol_e1_idx=(key_simble_idx+1)%3;
 216 //              int symbol_e2_idx=(key_simble_idx+2)%3;
 217 //
 218 //              //エッジシンボル間で最短距離を取る頂点ペアを取る
 219 //              //(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)
 220 //              getMinimumLineVertex(i_sq[symbol_e1_idx].imvertex,i_sq[symbol_e2_idx].imvertex,minimum_line_vertex);
 221 //
 222 //              //内対角を外対角に変換
 223 //              int lv1=(minimum_line_vertex[0]+2)%4;
 224 //              int lv2=(minimum_line_vertex[1]+2)%4;
 225 //              int kv =(minimum_triangle_vertex[key_simble_idx]+2)%4;
 226 //              //矩形のバインド
 227 //              bindSquare(i_sq[symbol_e1_idx],lv1,i_sq[symbol_e2_idx],lv2);
 228 //
 229 //
 230 //              Graphics g=this.bimg.getGraphics();
 231 //              //内対角に緑の点を打つ
 232 //              g.setColor(Color.green);
 233 //              g.fillRect(i_sq[symbol_e1_idx].imvertex[lv1].x-2,i_sq[symbol_e1_idx].imvertex[lv1].y-2,4,4);
 234 //              g.fillRect(i_sq[symbol_e2_idx].imvertex[lv2].x-2,i_sq[symbol_e2_idx].imvertex[lv2].y-2,4,4);
 235 ////            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);
 236 //
 237 //
 238 //              //中央の中心エッジから最も遠い点が
 239 //              //両端のエッジも探す
 240 //
 241 //
 242 //
 243 //
 244 ////            this.bimg.getGraphics().fillRect(i_sq[edge1_id][vid1_id].x,i_sq[edge1_id][vid1_id].y,5,5);
 245 //
 246 //              for (int i = 0; i <3; i++) {
 247 //                      int[] xp=new int[4];
 248 //                      int[] yp=new int[4];
 249 //                      for(int i2=0;i2<4;i2++){
 250 //                              xp[i2]=i_sq[i].imvertex[i2].x;
 251 //                              yp[i2]=i_sq[i].imvertex[i2].y;
 252 //                      }
 253 //                      this.bimg.getGraphics().setColor(Color.RED);
 254 //                      this.bimg.getGraphics().drawPolygon(xp, yp,4);
 255 //              }
 256 //
 257 //
 258 //              return false;
 259 //
 260 //
 261 //
 262 //
 263 //
 264 //
 265 //      }
 266 //
 267 //
 268 //
 269 //
 270 //}
 271
 272
 273 /**
 274  * 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
 275  *
 276  */
 277 class NyARQRCodeDetector implements INyARSquareDetector
 278 {
 279         LabelingBufferdImage bimg;
 280         private static final double VERTEX_FACTOR = 2.0;// 線検出のファクタ
 281
 282         private static final int AR_AREA_MAX = 100000;// #define AR_AREA_MAX 100000
 283
 284         private static final int AR_AREA_MIN = 70;// #define AR_AREA_MIN 70
 285
 286         private final int _width;
 287
 288         private final int _height;
 289
 290         private final NyARLabeling_ARToolKit _labeling;
 291
 292         private final NyARLabelingImage _limage;
 293
 294         private final NyARCameraDistortionFactor _dist_factor_ref;
 295
 296         /**
 297          * 最大i_squre_max個のマーカーを検出するクラスを作成する。
 298          *
 299          * @param i_param
 300          */
 301         public NyARQRCodeDetector(NyARCameraDistortionFactor i_dist_factor_ref, NyARIntSize i_size) throws NyARException
 302         {
 303                 this._width = i_size.w;
 304                 this._height = i_size.h;
 305                 this._dist_factor_ref = i_dist_factor_ref;
 306                 this._labeling = new NyARLabeling_ARToolKit();
 307                 this._limage = new NyARLabelingImage(this._width, this._height);
 308                 this._labeling.attachDestination(this._limage);
 309
 310                 // 輪郭の最大長は画面に映りうる最大の長方形サイズ。
 311                 int number_of_coord = (this._width + this._height) * 2;
 312
 313                 // 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。
 314                 this._max_coord = number_of_coord;
 315                 this._xcoord = new int[number_of_coord * 2];
 316                 this._ycoord = new int[number_of_coord * 2];
 317         }
 318
 319         private final int _max_coord;
 320
 321         private final int[] _xcoord;
 322
 323         private final int[] _ycoord;
 324
 325         private void normalizeCoord(int[] i_coord_x, int[] i_coord_y, int i_index, int i_coord_num)
 326         {
 327                 // vertex1を境界にして、後方に配列を連結
 328                 System.arraycopy(i_coord_x, 1, i_coord_x, i_coord_num, i_index);
 329                 System.arraycopy(i_coord_y, 1, i_coord_y, i_coord_num, i_index);
 330         }
 331
 332         private final int[] __detectMarker_mkvertex = new int[5];
 333
 334         /**
 335          * ARMarkerInfo2 *arDetectMarker2( ARInt16 *limage, int label_num, int *label_ref,int *warea, double *wpos, int *wclip,int area_max, int area_min, double
 336          * 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。
 337          *
 338          * @param i_raster
 339          * 解析する２値ラスタイメージを指定します。
 340          * @param o_square_stack
 341          * 抽出した正方形候補を格納するリスト
 342          * @throws NyARException
 343          */
 344         public final void detectMarker(NyARBinRaster i_raster, NyARSquareStack o_square_stack) throws NyARException
 345         {
 346                 final INyARLabeling labeling_proc = this._labeling;
 347                 final NyARLabelingImage limage = this._limage;
 348
 349                 // 初期化
 350
 351                 // マーカーホルダをリセット
 352                 o_square_stack.clear();
 353
 354                 // ラベリング
 355                 labeling_proc.labeling(i_raster);
 356
 357                 // ラベル数が0ならここまで
 358                 final int label_num = limage.getLabelStack().getLength();
 359                 if (label_num < 1) {
 360                         return;
 361                 }
 362
 363                 final NyARLabelingLabelStack stack = limage.getLabelStack();
 364                 // ラベルを大きい順に整列
 365                 stack.sortByArea();
 366                 final NyARLabelingLabel[] labels = stack.getArray();
 367
 368
 369                 // デカいラベルを読み飛ばし
 370                 int i;
 371                 for (i = 0; i < label_num; i++) {
 372                         // 検査対象内のラベルサイズになるまで無視
 373                         if (labels[i].area <= AR_AREA_MAX) {
 374                                 break;
 375                         }
 376                 }
 377
 378                 final int xsize = this._width;
 379                 final int ysize = this._height;
 380                 final int[] xcoord = this._xcoord;
 381                 final int[] ycoord = this._ycoord;
 382                 final int coord_max = this._max_coord;
 383                 final int[] mkvertex = this.__detectMarker_mkvertex;
 384                 final int[][] buf = (int[][]) limage.getBufferReader().getBuffer();
 385                 final int[] indextable = limage.getIndexArray();
 386                 int coord_num;
 387                 int label_area;
 388                 NyARLabelingLabel label_pt;
 389                 NyARSquareStack wk_stack=new NyARSquareStack(100);
 390
 391                 for (; i < label_num; i++) {
 392                         label_pt = labels[i];
 393                         label_area = label_pt.area;
 394                         // 検査対象サイズよりも小さくなったら終了
 395                         if (label_area < AR_AREA_MIN) {
 396                                 break;
 397                         }
 398                         // クリップ領域が画面の枠に接していれば除外
 399                         if (label_pt.clip_l == 1 || label_pt.clip_r == xsize - 2) {// if(wclip[i*4+0] == 1 || wclip[i*4+1] ==xsize-2){
 400                                 continue;
 401                         }
 402                         if (label_pt.clip_t == 1 || label_pt.clip_b == ysize - 2) {// if( wclip[i*4+2] == 1 || wclip[i*4+3] ==ysize-2){
 403                                 continue;
 404                         }
 405                         // 特徴点候補であるかを確認する。
 406                         if (!hasQrEdgeFeature(buf, indextable, label_pt)) {
 407                                 continue;
 408                         }
 409
 410                         // 輪郭を取得
 411                         coord_num = limage.getContour(i, coord_max, xcoord, ycoord);
 412                         if (coord_num == coord_max) {
 413                                 // 輪郭が大きすぎる。
 414                                 continue;
 415                         }
 416                         // 頂点候補のインデクスを取得
 417                         final int vertex1 = scanVertex(xcoord, ycoord, coord_num);
 418
 419                         // 頂点候補(vertex1)を先頭に並べなおした配列を作成する。
 420                         normalizeCoord(xcoord, ycoord, vertex1, coord_num);
 421
 422                         // 頂点情報を取得
 423                         if (!getSquareVertex(xcoord, ycoord, vertex1, coord_num, label_area, mkvertex)) {
 424                                 continue;
 425                         }
 426                         NyARSquare square=(NyARSquare)wk_stack.prePush();
 427                         if(!getSquareLine(mkvertex,xcoord,ycoord,square)){
 428                                 wk_stack.pop();
 429                                 continue;
 430                         }
 431                 }
 432                 bindQrcodeEdge(wk_stack);
 433                 //エッジ同士の相関関係をしらべる。
 434
 435                 return;
 436         }
 437         /**
 438          *
 439          * @param i_sq
 440          * @param o_sq
 441          * @return
 442          */
 443         public boolean margeEdge(NyARSquare[] i_sq,NyARSquare o_sq)
 444         {
 445                 NyQrCodeSymbolBinder binder=new NyQrCodeSymbolBinder();
 446                 binder.bimg=this.bimg;
 447                 binder.(i_sq, o_sq);
 448
 449                 return false;
 450
 451
 452
 453
 454         }
 455         /**
 456          * QRコードのエッジペアを作る
 457          * @param i_square_stack
 458          */
 459         public void bindQrcodeEdge(NyARSquareStack i_square_stack)
 460         {
 461
 462                 NyARSquare sq_ptr1,sq_ptr2,sq_ptr3;
 463                 int number_of_edge=i_square_stack.getLength();
 464                 if(number_of_edge<3){
 465                         return;
 466                 }
 467                 NyARSquare[] sa=i_square_stack.getArray();
 468                 for(int i=0;i<number_of_edge;i++)
 469                 {
 470                         for(int i2=i+1;i2<number_of_edge;i2++)
 471                         {
 472                                 sq_ptr2=sa[i2];
 473                                 for(int i3=i2+1;i3<number_of_edge;i3++){
 474                                         sq_ptr3=sa[i3];
 475                                         //3個のエッジの関連性を確認する。
 476                                         margeEdge(sa,null);
 477                                 }
 478                                 //
 479                         }
 480                 }
 481         }
 482         /**
 483          * ２つの頂点座標を結ぶ直線から、NyARLinearを計算する。
 484          *
 485          * @param i_v1
 486          * @param i_v2
 487          * @param o_line
 488          */
 489         final private void getLine(NyARDoublePoint2d i_v1, NyARDoublePoint2d i_v2, NyARLinear o_line)
 490         {
 491                 final double x = i_v1.x - i_v2.x;
 492                 final double y = i_v1.y - i_v2.y;
 493                 final double x2 = x * x;
 494                 final double y2 = y * y;
 495                 final double rise_ = Math.sqrt(x2 / (x2 + y2));
 496                 o_line.rise = rise_;
 497                 o_line.run = Math.sqrt(y2 / (x2 + y2));
 498                 if (x < 0) {
 499                         if (y < 0) {
 500                                 o_line.rise = -o_line.rise;
 501                         } else {
 502                                 o_line.rise = -o_line.rise;
 503                                 o_line.run = -o_line.run;
 504                         }
 505                 } else {
 506                         if (y < 0) {
 507                                 o_line.rise = -o_line.rise;
 508                                 o_line.run = -o_line.run;
 509                         } else {
 510                                 o_line.rise = -o_line.rise;
 511                         }
 512                 }
 513                 o_line.intercept = (i_v1.y + (o_line.run / o_line.rise) * (i_v1.x)) * rise_;
 514
 515         }
 516         private final INyARPca2d _pca=new NyARPca2d_MatrixPCA_O2(100);
 517         private final NyARDoubleMatrix22 __getSquareLine_evec=new NyARDoubleMatrix22();
 518         private final NyARDoublePoint2d __getSquareLine_mean=new NyARDoublePoint2d();
 519         private final NyARDoublePoint2d __getSquareLine_ev=new NyARDoublePoint2d();
 520         /**
 521          * 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
 522          * 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。
 523          * Optimize:STEP[424->391]
 524          *
 525          * @param i_cparam
 526          * @return
 527          * @throws NyARException
 528          */
 529         private boolean getSquareLine(int[] i_mkvertex, int[] i_xcoord, int[] i_ycoord, NyARSquare o_square) throws NyARException
 530         {
 531                 final NyARLinear[] l_line = o_square.line;
 532                 final NyARCameraDistortionFactor dist_factor=this._dist_factor_ref;
 533                 final NyARDoubleMatrix22 evec=this.__getSquareLine_evec;
 534                 final NyARDoublePoint2d mean=this.__getSquareLine_mean;
 535                 final NyARDoublePoint2d ev=this.__getSquareLine_ev;
 536
 537
 538                 for (int i = 0; i < 4; i++) {
 539                         final double w1 = (double) (i_mkvertex[i + 1] - i_mkvertex[i] + 1) * 0.05 + 0.5;
 540                         final int st = (int) (i_mkvertex[i] + w1);
 541                         final int ed = (int) (i_mkvertex[i + 1] - w1);
 542                         final int n = ed - st + 1;
 543                         if (n < 2) {
 544                                 // 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
 545                                 return false;
 546                         }
 547                         //主成分分析する。
 548                         this._pca.pcaWithDistortionFactor(i_xcoord, i_ycoord, st, n,dist_factor, evec, ev,mean);
 549                         final NyARLinear l_line_i = l_line[i];
 550                         l_line_i.run = evec.m01;// line[i][0] = evec->m[1];
 551                         l_line_i.rise = -evec.m00;// line[i][1] = -evec->m[0];
 552                         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]);
 553                 }
 554
 555                 final NyARDoublePoint2d[] l_sqvertex = o_square.sqvertex;
 556                 final NyARIntPoint2d[] l_imvertex = o_square.imvertex;
 557                 for (int i = 0; i < 4; i++) {
 558                         final NyARLinear l_line_i = l_line[i];
 559                         final NyARLinear l_line_2 = l_line[(i + 3) % 4];
 560                         final double w1 = l_line_2.run * l_line_i.rise - l_line_i.run * l_line_2.rise;
 561                         if (w1 == 0.0) {
 562                                 return false;
 563                         }
 564                         l_sqvertex[i].x = (l_line_2.rise * l_line_i.intercept - l_line_i.rise * l_line_2.intercept) / w1;
 565                         l_sqvertex[i].y = (l_line_i.run * l_line_2.intercept - l_line_2.run * l_line_i.intercept) / w1;
 566                         // 頂点インデクスから頂点座標を得て保存
 567                         l_imvertex[i].x = i_xcoord[i_mkvertex[i]];
 568                         l_imvertex[i].y = i_ycoord[i_mkvertex[i]];
 569                 }
 570                 return true;
 571         }
 572         /**
 573          * 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。
 574          *
 575          * @param i_xcoord
 576          * @param i_ycoord
 577          * @param i_coord_num
 578          * @return
 579          */
 580         private int scanVertex(int[] i_xcoord, int[] i_ycoord, int i_coord_num)
 581         {
 582                 final int sx = i_xcoord[0];
 583                 final int sy = i_ycoord[0];
 584                 int d = 0;
 585                 int w, x, y;
 586                 int ret = 0;
 587                 for (int i = 1; i < i_coord_num; i++) {
 588                         x = i_xcoord[i] - sx;
 589                         y = i_ycoord[i] - sy;
 590                         w = x * x + y * y;
 591                         if (w > d) {
 592                                 d = w;
 593                                 ret = i;
 594                         }
 595                         // ここでうまく終了条件入れられないかな。
 596                 }
 597                 return ret;
 598         }
 599
 600         private final NyARVertexCounter __getSquareVertex_wv1 = new NyARVertexCounter();
 601
 602         private final NyARVertexCounter __getSquareVertex_wv2 = new NyARVertexCounter();
 603
 604         /**
 605          * 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。
 606          *
 607          * @param i_x_coord
 608          * @param i_y_coord
 609          * @param i_vertex1_index
 610          * @param i_coord_num
 611          * @param i_area
 612          * @param o_vertex
 613          * 要素数はint[4]である事
 614          * @return
 615          */
 616         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)
 617         {
 618                 final NyARVertexCounter wv1 = this.__getSquareVertex_wv1;
 619                 final NyARVertexCounter wv2 = this.__getSquareVertex_wv2;
 620                 final int end_of_coord = i_vertex1_index + i_coord_num - 1;
 621                 final int sx = i_x_coord[i_vertex1_index];// sx = marker_info2->x_coord[0];
 622                 final int sy = i_y_coord[i_vertex1_index];// sy = marker_info2->y_coord[0];
 623                 int dmax = 0;
 624                 int v1 = i_vertex1_index;
 625                 for (int i = 1 + i_vertex1_index; i < end_of_coord; i++) {// for(i=1;i<marker_info2->coord_num-1;i++)
 626                         // {
 627                         final int d = (i_x_coord[i] - sx) * (i_x_coord[i] - sx) + (i_y_coord[i] - sy) * (i_y_coord[i] - sy);
 628                         if (d > dmax) {
 629                                 dmax = d;
 630                                 v1 = i;
 631                         }
 632                 }
 633                 final double thresh = (i_area / 0.75) * 0.01 * VERTEX_FACTOR;
 634
 635                 o_vertex[0] = i_vertex1_index;
 636
 637                 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)<
 638                         // 0 ) {
 639                         return false;
 640                 }
 641                 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)
 642                         // < 0) {
 643                         return false;
 644                 }
 645
 646                 int v2;
 647                 if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {// if(wvnum1 == 1 && wvnum2== 1) {
 648                         o_vertex[1] = wv1.vertex[0];
 649                         o_vertex[2] = v1;
 650                         o_vertex[3] = wv2.vertex[0];
 651                 } else if (wv1.number_of_vertex > 1 && wv2.number_of_vertex == 0) {// }else if( wvnum1 > 1 && wvnum2== 0) {
 652                         // 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。
 653                         v2 = (v1 - i_vertex1_index) / 2 + i_vertex1_index;
 654                         if (!wv1.getVertex(i_x_coord, i_y_coord, i_vertex1_index, v2, thresh)) {
 655                                 return false;
 656                         }
 657                         if (!wv2.getVertex(i_x_coord, i_y_coord, v2, v1, thresh)) {
 658                                 return false;
 659                         }
 660                         if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {
 661                                 o_vertex[1] = wv1.vertex[0];
 662                                 o_vertex[2] = wv2.vertex[0];
 663                                 o_vertex[3] = v1;
 664                         } else {
 665                                 return false;
 666                         }
 667                 } else if (wv1.number_of_vertex == 0 && wv2.number_of_vertex > 1) {
 668                         // v2 = (v1-i_vertex1_index+ end_of_coord-i_vertex1_index) / 2+i_vertex1_index;
 669                         v2 = (v1 + end_of_coord) / 2;
 670
 671                         if (!wv1.getVertex(i_x_coord, i_y_coord, v1, v2, thresh)) {
 672                                 return false;
 673                         }
 674                         if (!wv2.getVertex(i_x_coord, i_y_coord, v2, end_of_coord, thresh)) {
 675                                 return false;
 676                         }
 677                         if (wv1.number_of_vertex == 1 && wv2.number_of_vertex == 1) {
 678                                 o_vertex[1] = v1;
 679                                 o_vertex[2] = wv1.vertex[0];
 680                                 o_vertex[3] = wv2.vertex[0];
 681                         } else {
 682                                 return false;
 683                         }
 684                 } else {
 685                         return false;
 686                 }
 687                 o_vertex[4] = end_of_coord;
 688                 return true;
 689         }
 690         /**
 691          * QRコードのエッジ特徴を持つラベルであるかを調べる
 692          * @param buf
 693          * @param index_table
 694          * @param i_label
 695          * @return
 696          */
 697         private boolean hasQrEdgeFeature(int buf[][], int[] index_table, NyARLabelingLabel i_label)
 698         {
 699                 int tx, bx;
 700                 int w;
 701                 int i_label_id = i_label.id;
 702                 int[] limage_j;
 703                 final int clip_l = i_label.clip_l;
 704                 final int clip_b = i_label.clip_b;
 705                 final int clip_r = i_label.clip_r;
 706                 final int clip_t = i_label.clip_t;
 707
 708                 tx = bx = 0;
 709                 // 上接点(→)
 710                 limage_j = buf[clip_t];
 711                 for (int i = clip_l; i <= clip_r; i++) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {
 712                         w = limage_j[i];
 713                         if (w > 0 && index_table[w - 1] == i_label_id) {
 714                                 tx = i;
 715                                 break;
 716                         }
 717                 }
 718                 // 下接点(←)
 719                 limage_j = buf[clip_b];
 720                 for (int i = clip_r; i >= clip_l; i--) {// for( i = clip[0]; i <=clip[1]; i++, p1++ ) {
 721                         w = limage_j[i];
 722                         if (w > 0 && index_table[w - 1] == i_label_id) {
 723                                 bx = i;
 724                                 break;
 725                         }
 726                 }
 727                 final int cx = (clip_l + clip_r) / 2;
 728                 final int cy = (clip_t + clip_b) / 2;
 729                 // 横断チェック(中心から線を引いて、101になるかしらべる)
 730                 if (!checkDiagonalLine(buf, cx, cy, bx, clip_b)) {
 731                         return false;
 732                 }
 733                 if (!checkDiagonalLine(buf, tx, clip_t, cx, cy)) {
 734                         return false;
 735                 }
 736                 return true;
 737         }
 738
 739         /**
 740          * 対角線のパターンを調べる。
 741          *
 742          * @param buf
 743          * @param i_px1
 744          * @param i_py1
 745          * @param i_px2
 746          * @param i_py2
 747          * @return
 748          */
 749         private boolean checkDiagonalLine(int[][] buf, int i_px1, int i_py1, int i_px2, int i_py2)
 750         {
 751                 int sub_y = i_py2 - i_py1;
 752                 int sub_x = i_px2 - i_px1;
 753                 // 黒
 754                 int i = 0;
 755                 for (; i < sub_y; i++) {
 756                         int yp = i_py1 + i;
 757                         int xp = i_px1 + i * sub_x / sub_y;
 758                         if (buf[yp][xp] == 0 && buf[yp][xp-1] == 0 && buf[yp][xp+1] == 0) {
 759                                 break;
 760                         }
 761
 762                 }
 763                 if (i == sub_y) {
 764                         return false;
 765                 }
 766                 // 白
 767                 for (; i < sub_y; i++) {
 768                         int yp = i_py1 + i;
 769                         int xp = i_px1 + i * sub_x / sub_y;
 770                         if (buf[yp][xp] != 0 && buf[yp][xp-1] != 0 && buf[yp][xp+1] != 0) {
 771                                 break;
 772                         }
 773
 774                 }
 775                 if (i == sub_y) {
 776                         return false;
 777                 }
 778                 // 黒
 779                 for (; i < sub_y; i++) {
 780                         int yp = i_py1 + i;
 781                         int xp = i_px1 + i * sub_x / sub_y;
 782                         if (buf[yp][xp] == 0 && buf[yp][xp-1] == 0 && buf[yp][xp+1] == 0) {
 783                                 break;
 784                         }
 785
 786                 }
 787                 if (i != sub_y) {
 788                         return false;
 789                 }
 790                 // 端まで到達したらOK
 791                 return true;
 792         }
 793
 794 }
 795
 796
 797 public class LabelingCamera extends Frame implements JmfCaptureListener
 798 {
 799         private final String camera_file = "../Data/camera_para.dat";
 800
 801         private JmfNyARRaster_RGB _raster;
 802
 803         private JmfCameraCapture capture;
 804         private NyARParam ap;
 805         public LabelingCamera() throws NyARException, NyARException
 806         {
 807                 setBounds(0, 0, 640 + 64, 720 + 64);
 808                 // キャプチャの準備
 809                 capture = new JmfCameraCapture(320, 240, 30f, JmfCameraCapture.PIXEL_FORMAT_RGB);
 810                 capture.setCaptureListener(this);
 811
 812                 // キャプチャイメージ用のラスタを準備
 813                 this._raster = new JmfNyARRaster_RGB(320, 240);
 814
 815                 // AR用カメラパラメタファイルをロード
 816                 ap = new NyARParam();
 817                 ap.loadARParamFromFile(camera_file);
 818                 ap.changeScreenSize(320, 240);
 819
 820
 821         }
 822
 823         // そのラベルが特徴点候補か返す。
 824
 825         private NyARBinRaster _binraster1 = new NyARBinRaster(320, 240);
 826
 827         private NyARGrayscaleRaster _gsraster1 = new NyARGrayscaleRaster(320, 240);
 828
 829         private NyARLabelingImage _limage = new NyARLabelingImage(320, 240);
 830
 831         private LabelingBufferdImage _bimg = new LabelingBufferdImage(320, 240);
 832
 833         private NyARRasterFilter_ARToolkitThreshold filter_gs2bin;
 834
 835         public void onUpdateBuffer(Buffer i_buffer)
 836         {
 837                 NyARRasterFilter_AreaAverage gs2bin=new NyARRasterFilter_AreaAverage();
 838
 839                 try {
 840                         // キャプチャしたバッファをラスタにセット
 841                         _raster.setBuffer(i_buffer);
 842
 843                         Graphics g = getGraphics();
 844                         // キャプチャ画像
 845                         BufferToImage b2i = new BufferToImage((VideoFormat) i_buffer.getFormat());
 846                         Image img = b2i.createImage(i_buffer);
 847                         this.getGraphics().drawImage(img, 32, 32, this);
 848
 849                         // 画像1
 850                         INyARRasterFilter_RgbToGs filter_rgb2gs = new NyARRasterFilter_RgbAve();
 851                         filter_rgb2gs.doFilter(_raster, _gsraster1);
 852                         this._bimg.drawImage(this._gsraster1);
 853                         this.getGraphics().drawImage(this._bimg, 32 + 320, 32, 320 + 320 + 32, 240 + 32, 0, 240, 320, 0, this);
 854
 855
 856                         // 画像2
 857                         gs2bin.doFilter(_gsraster1, _binraster1);
 858                         this._bimg.drawImage(_binraster1);
 859                         this.getGraphics().drawImage(this._bimg, 32, 32 + 240, 320 + 32, 240 + 32 + 240, 0, 240, 320, 0, this);
 860
 861                         // 画像3
 862                         NyARLabelingImage limage = new NyARLabelingImage(320, 240);
 863                         NyARLabeling_ARToolKit labeling = new NyARLabeling_ARToolKit();
 864                         labeling.attachDestination(limage);
 865                         labeling.labeling(_binraster1);
 866                         this._bimg.drawImage(this._gsraster1);
 867                         NyARLabelingLabel[] labels =  limage.getLabelStack().getArray();
 868
 869                         NyARSquareStack stack = new NyARSquareStack(100);
 870                         NyARQRCodeDetector detect = new NyARQRCodeDetector(ap.getDistortionFactor(), new NyARIntSize(320,240));
 871                         detect.bimg=this._bimg;
 872
 873                         detect.detectMarker(_binraster1, stack);
 874                         for (int i = 0; i < stack.getLength(); i++) {
 875                                 NyARSquare[] square_ptr = (NyARSquare[]) stack.getArray();
 876                                 int[] xp=new int[4];
 877                                 int[] yp=new int[4];
 878                                 for(int i2=0;i2<4;i2++){
 879                                         xp[i2]=square_ptr[i].imvertex[i2].x;
 880                                         yp[i2]=square_ptr[i].imvertex[i2].y;
 881                                 }
 882                                 this._bimg.getGraphics().setColor(Color.RED);
 883                                 this._bimg.getGraphics().drawPolygon(xp, yp,2);
 884                         }
 885                         this.getGraphics().drawImage(this._bimg, 32 + 320, 32 + 240, 320 + 32 + 320, 240 + 32 + 240, 0, 240, 320, 0, this);
 886
 887                         // 画像3
 888                         // threshold.debugDrawHistogramMap(_workraster, _workraster2);
 889                         // this._bimg2.setImage(this._workraster2);
 890                         // this.getGraphics().drawImage(this._bimg2, 32+320, 32+240,320+32+320,240+32+240,0,240,320,0, this);
 891
 892                         // 画像4
 893                         // NyARRasterThresholdAnalyzer_SlidePTile threshold=new NyARRasterThresholdAnalyzer_SlidePTile(15);
 894                         // threshold.analyzeRaster(_gsraster1);
 895                         // filter_gs2bin=new NyARRasterFilter_AreaAverage();
 896                         // filter_gs2bin.doFilter(_gsraster1, _binraster1);
 897                         // this._bimg.drawImage(_binraster1);
 898
 899                         // NyARRasterDetector_QrCodeEdge detector=new NyARRasterDetector_QrCodeEdge(10000);
 900                         // detector.analyzeRaster(_binraster1);
 901
 902                         // this._bimg.overlayData(detector.geResult());
 903
 904                         // this.getGraphics().drawImage(this._bimg, 32, 32+480,320+32,480+32+240,0,240,320,0, this);
 905                         // 画像5
 906
 907                         /*
 908                          * threshold2.debugDrawHistogramMap(_workraster, _workraster2); this._bimg2.drawImage(this._workraster2); this.getGraphics().drawImage(this._bimg2,
 909                          * 32+320, 32+480,320+32+320,480+32+240,0,240,320,0, this);
 910                          */
 911
 912                         // this.getGraphics().drawImage(this._bimg, 32, 32, this);
 913
 914                 } catch (Exception e) {
 915                         e.printStackTrace();
 916                 }
 917
 918         }
 919
 920         private INyARLabeling labelingFactory(int i_idx)
 921         {
 922                 // switch(i_idx){
 923                 // case 0:{NyARLabeling_ARToolKit l=new NyARLabeling_ARToolKit();l.setThresh(4);return l;}
 924                 // case 1:{return new NyLineLabeling();}
 925                 // }
 926                 return null;
 927
 928         }
 929
 930         private void startCapture()
 931         {
 932                 try {
 933                         capture.start();
 934                 } catch (Exception e) {
 935                         e.printStackTrace();
 936                 }
 937         }
 938
 939         public static void main(String[] args)
 940         {
 941                 try {
 942                         LabelingCamera mainwin = new LabelingCamera();
 943                         mainwin.setVisible(true);
 944                         mainwin.startCapture();
 945                 } catch (Exception e) {
 946                         e.printStackTrace();
 947                 }
 948
 949         }
 950
 951 }