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/*
Copyright (c) 2011 Juan Mellado
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
/*
References:
- "ArUco: a minimal library for Augmented Reality applications based on OpenCv"
http://www.uco.es/investiga/grupos/ava/node/26
*/
var AR = AR || {};
AR.Marker = function(id, corners){
this.id = id;
this.corners = corners;
};
AR.Detector = function(){
this.grey = new CV.Image();
this.thres = new CV.Image();
this.homography = new CV.Image();
this.binary = [];
this.contours = [];
this.polys = [];
this.candidates = [];
};
AR.Detector.prototype.detect = function(image){
CV.grayscale(image, this.grey);
CV.adaptiveThreshold(this.grey, this.thres, 2, 7);
this.contours = CV.findContours(this.thres, this.binary);
this.candidates = this.findCandidates(this.contours, image.width * 0.20, 0.05, 10);
this.candidates = this.clockwiseCorners(this.candidates);
this.candidates = this.notTooNear(this.candidates, 10);
return this.findMarkers(this.grey, this.candidates, 49);
};
AR.Detector.prototype.findCandidates = function(contours, minSize, epsilon, minLength){
var candidates = [], len = contours.length, contour, poly, i;
this.polys = [];
for (i = 0; i < len; ++ i){
contour = contours[i];
if (contour.length >= minSize){
poly = CV.approxPolyDP(contour, contour.length * epsilon);
this.polys.push(poly);
if ( (4 === poly.length) && ( CV.isContourConvex(poly) ) ){
if ( CV.minEdgeLength(poly) >= minLength){
candidates.push(poly);
}
}
}
}
return candidates;
};
AR.Detector.prototype.clockwiseCorners = function(candidates){
var len = candidates.length, dx1, dx2, dy1, dy2, swap, i;
for (i = 0; i < len; ++ i){
dx1 = candidates[i][1].x - candidates[i][0].x;
dy1 = candidates[i][1].y - candidates[i][0].y;
dx2 = candidates[i][2].x - candidates[i][0].x;
dy2 = candidates[i][2].y - candidates[i][0].y;
if ( (dx1 * dy2 - dy1 * dx2) < 0){
swap = candidates[i][1];
candidates[i][1] = candidates[i][3];
candidates[i][3] = swap;
}
}
return candidates;
};
AR.Detector.prototype.notTooNear = function(candidates, minDist){
var notTooNear = [], len = candidates.length, dist, dx, dy, i, j, k;
for (i = 0; i < len; ++ i){
for (j = i + 1; j < len; ++ j){
dist = 0;
for (k = 0; k < 4; ++ k){
dx = candidates[i][k].x - candidates[j][k].x;
dy = candidates[i][k].y - candidates[j][k].y;
dist += dx * dx + dy * dy;
}
if ( (dist / 4) < (minDist * minDist) ){
if ( CV.perimeter( candidates[i] ) < CV.perimeter( candidates[j] ) ){
candidates[i].tooNear = true;
}else{
candidates[j].tooNear = true;
}
}
}
}
for (i = 0; i < len; ++ i){
if ( !candidates[i].tooNear ){
notTooNear.push( candidates[i] );
}
}
return notTooNear;
};
AR.Detector.prototype.findMarkers = function(imageSrc, candidates, warpSize){
var markers = [], len = candidates.length, candidate, marker, i;
for (i = 0; i < len; ++ i){
candidate = candidates[i];
CV.warp(imageSrc, this.homography, candidate, warpSize);
CV.threshold(this.homography, this.homography, CV.otsu(this.homography) );
marker = this.getMarker(this.homography, candidate);
if (marker){
markers.push(marker);
}
}
return markers;
};
AR.Detector.prototype.getMarker = function(imageSrc, candidate){
var width = (imageSrc.width / 7) >>> 0,
minZero = (width * width) >> 1,
bits = [], rotations = [], distances = [],
square, pair, inc, i, j;
for (i = 0; i < 7; ++ i){
inc = (0 === i || 6 === i)? 1: 6;
for (j = 0; j < 7; j += inc){
square = {x: j * width, y: i * width, width: width, height: width};
if ( CV.countNonZero(imageSrc, square) > minZero){
return null;
}
}
}
for (i = 0; i < 5; ++ i){
bits[i] = [];
for (j = 0; j < 5; ++ j){
square = {x: (j + 1) * width, y: (i + 1) * width, width: width, height: width};
bits[i][j] = CV.countNonZero(imageSrc, square) > minZero? 1: 0;
}
}
rotations[0] = bits;
distances[0] = this.hammingDistance( rotations[0] );
pair = {first: distances[0], second: 0};
for (i = 1; i < 4; ++ i){
rotations[i] = this.rotate( rotations[i - 1] );
distances[i] = this.hammingDistance( rotations[i] );
if (distances[i] < pair.first){
pair.first = distances[i];
pair.second = i;
}
}
if (0 !== pair.first){
return null;
}
return new AR.Marker(
this.mat2id( rotations[pair.second] ),
this.rotate2(candidate, 4 - pair.second)
);
};
AR.Detector.prototype.hammingDistance = function(bits){
var ids = [ [1,0,0,0,0], [1,0,1,1,1], [0,1,0,0,1], [0,1,1,1,0] ],
dist = 0, sum, minSum, i, j, k;
for (i = 0; i < 5; ++ i){
minSum = Infinity;
for (j = 0; j < 4; ++ j){
sum = 0;
for (k = 0; k < 5; ++ k){
sum += bits[i][k] === ids[j][k]? 0: 1;
}
if (sum < minSum){
minSum = sum;
}
}
dist += minSum;
}
return dist;
};
AR.Detector.prototype.mat2id = function(bits){
var id = 0, i;
for (i = 0; i < 5; ++ i){
id <<= 1;
id |= bits[i][1];
id <<= 1;
id |= bits[i][3];
}
return id;
};
AR.Detector.prototype.rotate = function(src){
var dst = [], len = src.length, i, j;
for (i = 0; i < len; ++ i){
dst[i] = [];
for (j = 0; j < src[i].length; ++ j){
dst[i][j] = src[src[i].length - j - 1][i];
}
}
return dst;
};
AR.Detector.prototype.rotate2 = function(src, rotation){
var dst = [], len = src.length, i;
for (i = 0; i < len; ++ i){
dst[i] = src[ (rotation + i) % len ];
}
return dst;
};
/*
Copyright (c) 2011 Juan Mellado
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
/*
References:
- "OpenCV: Open Computer Vision Library"
http://sourceforge.net/projects/opencvlibrary/
- "Stack Blur: Fast But Goodlooking"
http://incubator.quasimondo.com/processing/fast_blur_deluxe.php
*/
var CV = CV || {};
CV.Image = function(width, height, data){
this.width = width || 0;
this.height = height || 0;
this.data = data || [];
};
CV.grayscale = function(imageSrc, imageDst){
var src = imageSrc.data, dst = imageDst.data, len = src.length,
i = 0, j = 0;
for (; i < len; i += 4){
dst[j ++] =
(src[i] * 0.299 + src[i + 1] * 0.587 + src[i + 2] * 0.114 + 0.5) & 0xff;
}
imageDst.width = imageSrc.width;
imageDst.height = imageSrc.height;
return imageDst;
};
CV.threshold = function(imageSrc, imageDst, threshold){
var src = imageSrc.data, dst = imageDst.data,
len = src.length, tab = [], i;
for (i = 0; i < 256; ++ i){
tab[i] = i <= threshold? 0: 255;
}
for (i = 0; i < len; ++ i){
dst[i] = tab[ src[i] ];
}
imageDst.width = imageSrc.width;
imageDst.height = imageSrc.height;
return imageDst;
};
CV.adaptiveThreshold = function(imageSrc, imageDst, kernelSize, threshold){
var src = imageSrc.data, dst = imageDst.data, len = src.length, tab = [], i;
CV.stackBoxBlur(imageSrc, imageDst, kernelSize);
for (i = 0; i < 768; ++ i){
tab[i] = (i - 255 <= -threshold)? 255: 0;
}
for (i = 0; i < len; ++ i){
dst[i] = tab[ src[i] - dst[i] + 255 ];
}
imageDst.width = imageSrc.width;
imageDst.height = imageSrc.height;
return imageDst;
};
CV.otsu = function(imageSrc){
var src = imageSrc.data, len = src.length, hist = [],
threshold = 0, sum = 0, sumB = 0, wB = 0, wF = 0, max = 0,
mu, between, i;
for (i = 0; i < 256; ++ i){
hist[i] = 0;
}
for (i = 0; i < len; ++ i){
hist[ src[i] ] ++;
}
for (i = 0; i < 256; ++ i){
sum += hist[i] * i;
}
for (i = 0; i < 256; ++ i){
wB += hist[i];
if (0 !== wB){
wF = len - wB;
if (0 === wF){
break;
}
sumB += hist[i] * i;
mu = (sumB / wB) - ( (sum - sumB) / wF );
between = wB * wF * mu * mu;
if (between > max){
max = between;
threshold = i;
}
}
}
return threshold;
};
CV.stackBoxBlurMult =
[1, 171, 205, 293, 57, 373, 79, 137, 241, 27, 391, 357, 41, 19, 283, 265];
CV.stackBoxBlurShift =
[0, 9, 10, 11, 9, 12, 10, 11, 12, 9, 13, 13, 10, 9, 13, 13];
CV.BlurStack = function(){
this.color = 0;
this.next = null;
};
CV.stackBoxBlur = function(imageSrc, imageDst, kernelSize){
var src = imageSrc.data, dst = imageDst.data,
height = imageSrc.height, width = imageSrc.width,
heightMinus1 = height - 1, widthMinus1 = width - 1,
size = kernelSize + kernelSize + 1, radius = kernelSize + 1,
mult = CV.stackBoxBlurMult[kernelSize],
shift = CV.stackBoxBlurShift[kernelSize],
stack, stackStart, color, sum, pos, start, p, x, y, i;
stack = stackStart = new CV.BlurStack();
for (i = 1; i < size; ++ i){
stack = stack.next = new CV.BlurStack();
}
stack.next = stackStart;
pos = 0;
for (y = 0; y < height; ++ y){
start = pos;
color = src[pos];
sum = radius * color;
stack = stackStart;
for (i = 0; i < radius; ++ i){
stack.color = color;
stack = stack.next;
}
for (i = 1; i < radius; ++ i){
stack.color = src[pos + i];
sum += stack.color;
stack = stack.next;
}
stack = stackStart;
for (x = 0; x < width; ++ x){
dst[pos ++] = (sum * mult) >>> shift;
p = x + radius;
p = start + (p < widthMinus1? p: widthMinus1);
sum -= stack.color - src[p];
stack.color = src[p];
stack = stack.next;
}
}
for (x = 0; x < width; ++ x){
pos = x;
start = pos + width;
color = dst[pos];
sum = radius * color;
stack = stackStart;
for (i = 0; i < radius; ++ i){
stack.color = color;
stack = stack.next;
}
for (i = 1; i < radius; ++ i){
stack.color = dst[start];
sum += stack.color;
stack = stack.next;
start += width;
}
stack = stackStart;
for (y = 0; y < height; ++ y){
dst[pos] = (sum * mult) >>> shift;
p = y + radius;
p = x + ( (p < heightMinus1? p: heightMinus1) * width );
sum -= stack.color - dst[p];
stack.color = dst[p];
stack = stack.next;
pos += width;
}
}
return imageDst;
};
CV.gaussianBlur = function(imageSrc, imageDst, imageMean, kernelSize){
var kernel = CV.gaussianKernel(kernelSize);
imageDst.width = imageSrc.width;
imageDst.height = imageSrc.height;
imageMean.width = imageSrc.width;
imageMean.height = imageSrc.height;
CV.gaussianBlurFilter(imageSrc, imageMean, kernel, true);
CV.gaussianBlurFilter(imageMean, imageDst, kernel, false);
return imageDst;
};
CV.gaussianBlurFilter = function(imageSrc, imageDst, kernel, horizontal){
var src = imageSrc.data, dst = imageDst.data,
height = imageSrc.height, width = imageSrc.width,
pos = 0, limit = kernel.length >> 1,
cur, value, i, j, k;
for (i = 0; i < height; ++ i){
for (j = 0; j < width; ++ j){
value = 0.0;
for (k = -limit; k <= limit; ++ k){
if (horizontal){
cur = pos + k;
if (j + k < 0){
cur = pos;
}
else if (j + k >= width){
cur = pos;
}
}else{
cur = pos + (k * width);
if (i + k < 0){
cur = pos;
}
else if (i + k >= height){
cur = pos;
}
}
value += kernel[limit + k] * src[cur];
}
dst[pos ++] = horizontal? value: (value + 0.5) & 0xff;
}
}
return imageDst;
};
CV.gaussianKernel = function(kernelSize){
var tab =
[ [1],
[0.25, 0.5, 0.25],
[0.0625, 0.25, 0.375, 0.25, 0.0625],
[0.03125, 0.109375, 0.21875, 0.28125, 0.21875, 0.109375, 0.03125] ],
kernel = [], center, sigma, scale2X, sum, x, i;
if ( (kernelSize <= 7) && (kernelSize % 2 === 1) ){
kernel = tab[kernelSize >> 1];
}else{
center = (kernelSize - 1.0) * 0.5;
sigma = 0.8 + (0.3 * (center - 1.0) );
scale2X = -0.5 / (sigma * sigma);
sum = 0.0;
for (i = 0; i < kernelSize; ++ i){
x = i - center;
sum += kernel[i] = Math.exp(scale2X * x * x);
}
sum = 1 / sum;
for (i = 0; i < kernelSize; ++ i){
kernel[i] *= sum;
}
}
return kernel;
};
CV.findContours = function(imageSrc, binary){
var width = imageSrc.width, height = imageSrc.height, contours = [],
src, deltas, pos, pix, nbd, outer, hole, i, j;
src = CV.binaryBorder(imageSrc, binary);
deltas = CV.neighborhoodDeltas(width + 2);
pos = width + 3;
nbd = 1;
for (i = 0; i < height; ++ i, pos += 2){
for (j = 0; j < width; ++ j, ++ pos){
pix = src[pos];
if (0 !== pix){
outer = hole = false;
if (1 === pix && 0 === src[pos - 1]){
outer = true;
}
else if (pix >= 1 && 0 === src[pos + 1]){
hole = true;
}
if (outer || hole){
++ nbd;
contours.push( CV.borderFollowing(src, pos, nbd, {x: j, y: i}, hole, deltas) );
}
}
}
}
return contours;
};
CV.borderFollowing = function(src, pos, nbd, point, hole, deltas){
var contour = [], pos1, pos3, pos4, s, s_end, s_prev;
contour.hole = hole;
s = s_end = hole? 0: 4;
do{
s = (s - 1) & 7;
pos1 = pos + deltas[s];
if (src[pos1] !== 0){
break;
}
}while(s !== s_end);
if (s === s_end){
src[pos] = -nbd;
contour.push( {x: point.x, y: point.y} );
}else{
pos3 = pos;
s_prev = s ^ 4;
while(true){
s_end = s;
do{
pos4 = pos3 + deltas[++ s];
}while(src[pos4] === 0);
s &= 7;
if ( ( (s - 1) >>> 0) < (s_end >>> 0) ){
src[pos3] = -nbd;
}
else if (src[pos3] === 1){
src[pos3] = nbd;
}
contour.push( {x: point.x, y: point.y} );
s_prev = s;
point.x += CV.neighborhood[s][0];
point.y += CV.neighborhood[s][1];
if ( (pos4 === pos) && (pos3 === pos1) ){
break;
}
pos3 = pos4;
s = (s + 4) & 7;
}
}
return contour;
};
CV.neighborhood =
[ [1, 0], [1, -1], [0, -1], [-1, -1], [-1, 0], [-1, 1], [0, 1], [1, 1] ];
CV.neighborhoodDeltas = function(width){
var deltas = [], len = CV.neighborhood.length, i = 0;
for (; i < len; ++ i){
deltas[i] = CV.neighborhood[i][0] + (CV.neighborhood[i][1] * width);
}
return deltas.concat(deltas);
};
CV.approxPolyDP = function(contour, epsilon){
var slice = {start_index: 0, end_index: 0},
right_slice = {start_index: 0, end_index: 0},
poly = [], stack = [], len = contour.length,
pt, start_pt, end_pt, dist, max_dist, le_eps,
dx, dy, i, j, k;
epsilon *= epsilon;
k = 0;
for (i = 0; i < 3; ++ i){
max_dist = 0;
k = (k + right_slice.start_index) % len;
start_pt = contour[k];
if (++ k === len) {k = 0;}
for (j = 1; j < len; ++ j){
pt = contour[k];
if (++ k === len) {k = 0;}
dx = pt.x - start_pt.x;
dy = pt.y - start_pt.y;
dist = dx * dx + dy * dy;
if (dist > max_dist){
max_dist = dist;
right_slice.start_index = j;
}
}
}
if (max_dist <= epsilon){
poly.push( {x: start_pt.x, y: start_pt.y} );
}else{
slice.start_index = k;
slice.end_index = (right_slice.start_index += slice.start_index);
right_slice.start_index -= right_slice.start_index >= len? len: 0;
right_slice.end_index = slice.start_index;
if (right_slice.end_index < right_slice.start_index){
right_slice.end_index += len;
}
stack.push( {start_index: right_slice.start_index, end_index: right_slice.end_index} );
stack.push( {start_index: slice.start_index, end_index: slice.end_index} );
}
while(stack.length !== 0){
slice = stack.pop();
end_pt = contour[slice.end_index % len];
start_pt = contour[k = slice.start_index % len];
if (++ k === len) {k = 0;}
if (slice.end_index <= slice.start_index + 1){
le_eps = true;
}else{
max_dist = 0;
dx = end_pt.x - start_pt.x;
dy = end_pt.y - start_pt.y;
for (i = slice.start_index + 1; i < slice.end_index; ++ i){
pt = contour[k];
if (++ k === len) {k = 0;}
dist = Math.abs( (pt.y - start_pt.y) * dx - (pt.x - start_pt.x) * dy);
if (dist > max_dist){
max_dist = dist;
right_slice.start_index = i;
}
}
le_eps = max_dist * max_dist <= epsilon * (dx * dx + dy * dy);
}
if (le_eps){
poly.push( {x: start_pt.x, y: start_pt.y} );
}else{
right_slice.end_index = slice.end_index;
slice.end_index = right_slice.start_index;
stack.push( {start_index: right_slice.start_index, end_index: right_slice.end_index} );
stack.push( {start_index: slice.start_index, end_index: slice.end_index} );
}
}
return poly;
};
CV.warp = function(imageSrc, imageDst, contour, warpSize){
var src = imageSrc.data, dst = imageDst.data,
width = imageSrc.width, height = imageSrc.height,
pos = 0,
sx1, sx2, dx1, dx2, sy1, sy2, dy1, dy2, p1, p2, p3, p4,
m, r, s, t, u, v, w, x, y, i, j;
m = CV.getPerspectiveTransform(contour, warpSize - 1);
r = m[8];
s = m[2];
t = m[5];
for (i = 0; i < warpSize; ++ i){
r += m[7];
s += m[1];
t += m[4];
u = r;
v = s;
w = t;
for (j = 0; j < warpSize; ++ j){
u += m[6];
v += m[0];
w += m[3];
x = v / u;
y = w / u;
sx1 = x >>> 0;
sx2 = (sx1 === width - 1)? sx1: sx1 + 1;
dx1 = x - sx1;
dx2 = 1.0 - dx1;
sy1 = y >>> 0;
sy2 = (sy1 === height - 1)? sy1: sy1 + 1;
dy1 = y - sy1;
dy2 = 1.0 - dy1;
p1 = p2 = sy1 * width;
p3 = p4 = sy2 * width;
dst[pos ++] =
(dy2 * (dx2 * src[p1 + sx1] + dx1 * src[p2 + sx2]) +
dy1 * (dx2 * src[p3 + sx1] + dx1 * src[p4 + sx2]) ) & 0xff;
}
}
imageDst.width = warpSize;
imageDst.height = warpSize;
return imageDst;
};
CV.getPerspectiveTransform = function(src, size){
var rq = CV.square2quad(src);
rq[0] /= size;
rq[1] /= size;
rq[3] /= size;
rq[4] /= size;
rq[6] /= size;
rq[7] /= size;
return rq;
};
CV.square2quad = function(src){
var sq = [], px, py, dx1, dx2, dy1, dy2, den;
px = src[0].x - src[1].x + src[2].x - src[3].x;
py = src[0].y - src[1].y + src[2].y - src[3].y;
if (0 === px && 0 === py){
sq[0] = src[1].x - src[0].x;
sq[1] = src[2].x - src[1].x;
sq[2] = src[0].x;
sq[3] = src[1].y - src[0].y;
sq[4] = src[2].y - src[1].y;
sq[5] = src[0].y;
sq[6] = 0;
sq[7] = 0;
sq[8] = 1;
}else{
dx1 = src[1].x - src[2].x;
dx2 = src[3].x - src[2].x;
dy1 = src[1].y - src[2].y;
dy2 = src[3].y - src[2].y;
den = dx1 * dy2 - dx2 * dy1;
sq[6] = (px * dy2 - dx2 * py) / den;
sq[7] = (dx1 * py - px * dy1) / den;
sq[8] = 1;
sq[0] = src[1].x - src[0].x + sq[6] * src[1].x;
sq[1] = src[3].x - src[0].x + sq[7] * src[3].x;
sq[2] = src[0].x;
sq[3] = src[1].y - src[0].y + sq[6] * src[1].y;
sq[4] = src[3].y - src[0].y + sq[7] * src[3].y;
sq[5] = src[0].y;
}
return sq;
};
CV.isContourConvex = function(contour){
var orientation = 0, convex = true,
len = contour.length, i = 0, j = 0,
cur_pt, prev_pt, dxdy0, dydx0, dx0, dy0, dx, dy;
prev_pt = contour[len - 1];
cur_pt = contour[0];
dx0 = cur_pt.x - prev_pt.x;
dy0 = cur_pt.y - prev_pt.y;
for (; i < len; ++ i){
if (++ j === len) {j = 0;}
prev_pt = cur_pt;
cur_pt = contour[j];
dx = cur_pt.x - prev_pt.x;
dy = cur_pt.y - prev_pt.y;
dxdy0 = dx * dy0;
dydx0 = dy * dx0;
orientation |= dydx0 > dxdy0? 1: (dydx0 < dxdy0? 2: 3);
if (3 === orientation){
convex = false;
break;
}
dx0 = dx;
dy0 = dy;
}
return convex;
};
CV.perimeter = function(poly){
var len = poly.length, i = 0, j = len - 1,
p = 0.0, dx, dy;
for (; i < len; j = i ++){
dx = poly[i].x - poly[j].x;
dy = poly[i].y - poly[j].y;
p += Math.sqrt(dx * dx + dy * dy) ;
}
return p;
};
CV.minEdgeLength = function(poly){
var len = poly.length, i = 0, j = len - 1,
min = Infinity, d, dx, dy;
for (; i < len; j = i ++){
dx = poly[i].x - poly[j].x;
dy = poly[i].y - poly[j].y;
d = dx * dx + dy * dy;
if (d < min){
min = d;
}
}
return Math.sqrt(min);
};
CV.countNonZero = function(imageSrc, square){
var src = imageSrc.data, height = square.height, width = square.width,
pos = square.x + (square.y * imageSrc.width),
span = imageSrc.width - width,
nz = 0, i, j;
for (i = 0; i < height; ++ i){
for (j = 0; j < width; ++ j){
if ( 0 !== src[pos ++] ){
++ nz;
}
}
pos += span;
}
return nz;
};
CV.binaryBorder = function(imageSrc, dst){
var src = imageSrc.data, height = imageSrc.height, width = imageSrc.width,
posSrc = 0, posDst = 0, i, j;
for (j = -2; j < width; ++ j){
dst[posDst ++] = 0;
}
for (i = 0; i < height; ++ i){
dst[posDst ++] = 0;
for (j = 0; j < width; ++ j){
dst[posDst ++] = (0 === src[posSrc ++]? 0: 1);
}
dst[posDst ++] = 0;
}
for (j = -2; j < width; ++ j){
dst[posDst ++] = 0;
}
return dst;
};
/*
Copyright (c) 2012 Juan Mellado
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
/*
References:
- "Iterative Pose Estimation using Coplanar Feature Points"
Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis
http://www.cfar.umd.edu/~daniel/daniel_papersfordownload/CoplanarPts.pdf
*/
var POS = POS || {};
POS.Posit = function(modelSize, focalLength){
this.objectPoints = this.buildModel(modelSize);
this.focalLength = focalLength;
this.objectVectors = [];
this.objectNormal = [];
this.objectMatrix = [[],[],[]];
this.init();
};
POS.Posit.prototype.buildModel = function(modelSize){
var half = modelSize / 2.0;
return [
[-half, half, 0.0],
[ half, half, 0.0],
[ half, -half, 0.0],
[-half, -half, 0.0]
];
};
POS.Posit.prototype.init = function(){
var np = this.objectPoints.length,
vectors = [], n = [], len = 0.0, row = 2, i;
for (i = 0; i < np; ++ i){
this.objectVectors[i] = [this.objectPoints[i][0] - this.objectPoints[0][0],
this.objectPoints[i][1] - this.objectPoints[0][1],
this.objectPoints[i][2] - this.objectPoints[0][2]];
vectors[i] = [this.objectVectors[i][0],
this.objectVectors[i][1],
this.objectVectors[i][2]];
}
while(0.0 === len){
n[0] = this.objectVectors[1][1] * this.objectVectors[row][2] -
this.objectVectors[1][2] * this.objectVectors[row][1];
n[1] = this.objectVectors[1][2] * this.objectVectors[row][0] -
this.objectVectors[1][0] * this.objectVectors[row][2];
n[2] = this.objectVectors[1][0] * this.objectVectors[row][1] -
this.objectVectors[1][1] * this.objectVectors[row][0];
len = Math.sqrt(n[0] * n[0] + n[1] * n[1] + n[2] * n[2]);
++ row;
}
for (i = 0; i < 3; ++ i){
this.objectNormal[i] = n[i] / len;
}
POS.pseudoInverse(vectors, np, this.objectMatrix);
};
POS.Posit.prototype.pose = function(imagePoints){
var posRotation1 = [[],[],[]], posRotation2 = [[],[],[]], posTranslation = [],
rotation1 = [[],[],[]], rotation2 = [[],[],[]], translation1 = [], translation2 = [],
error1, error2, valid1, valid2, i, j;
this.pos(imagePoints, posRotation1, posRotation2, posTranslation);
valid1 = this.isValid(posRotation1, posTranslation);
if (valid1){
error1 = this.iterate(imagePoints, posRotation1, posTranslation, rotation1, translation1);
}else{
error1 = {euclidean: -1.0, pixels: -1, maximum: -1.0};
}
valid2 = this.isValid(posRotation2, posTranslation);
if (valid2){
error2 = this.iterate(imagePoints, posRotation2, posTranslation, rotation2, translation2);
}else{
error2 = {euclidean: -1.0, pixels: -1, maximum: -1.0};
}
for (i = 0; i < 3; ++ i){
for (j = 0; j < 3; ++ j){
if (valid1){
translation1[i] -= rotation1[i][j] * this.objectPoints[0][j];
}
if (valid2){
translation2[i] -= rotation2[i][j] * this.objectPoints[0][j];
}
}
}
return error1.euclidean < error2.euclidean?
new POS.Pose(error1.pixels, rotation1, translation1, error2.pixels, rotation2, translation2):
new POS.Pose(error2.pixels, rotation2, translation2, error1.pixels, rotation1, translation1);
};
POS.Posit.prototype.pos = function(imagePoints, rotation1, rotation2, translation){
var np = this.objectPoints.length, imageVectors = [],
i0 = [], j0 = [], ivec = [], jvec = [], row1 = [], row2 = [], row3 = [],
i0i0, j0j0, i0j0, delta, q, lambda, mu, scale, i, j;
for (i = 0; i < np; ++ i){
imageVectors[i] = [imagePoints[i].x - imagePoints[0].x,
imagePoints[i].y - imagePoints[0].y];
}
//i0 and j0
for (i = 0; i < 3; ++ i){
i0[i] = 0.0;
j0[i] = 0.0;
for (j = 0; j < np; ++ j){
i0[i] += this.objectMatrix[i][j] * imageVectors[j][0];
j0[i] += this.objectMatrix[i][j] * imageVectors[j][1];
}
}
i0i0 = i0[0] * i0[0] + i0[1] * i0[1] + i0[2] * i0[2];
j0j0 = j0[0] * j0[0] + j0[1] * j0[1] + j0[2] * j0[2];
i0j0 = i0[0] * j0[0] + i0[1] * j0[1] + i0[2] * j0[2];
//Lambda and mu
delta = (j0j0 - i0i0) * (j0j0 - i0i0) + 4.0 * (i0j0 * i0j0);
if (j0j0 - i0i0 >= 0.0){
q = (j0j0 - i0i0 + Math.sqrt(delta) ) / 2.0;
}else{
q = (j0j0 - i0i0 - Math.sqrt(delta) ) / 2.0;
}
if (q >= 0.0){
lambda = Math.sqrt(q);
if (0.0 === lambda){
mu = 0.0;
}else{
mu = -i0j0 / lambda;
}
}else{
lambda = Math.sqrt( -(i0j0 * i0j0) / q);
if (0.0 === lambda){
mu = Math.sqrt(i0i0 - j0j0);
}else{
mu = -i0j0 / lambda;
}
}
//First rotation
for (i = 0; i < 3; ++ i){
ivec[i] = i0[i] + lambda * this.objectNormal[i];
jvec[i] = j0[i] + mu * this.objectNormal[i];
}
scale = Math.sqrt(ivec[0] * ivec[0] + ivec[1] * ivec[1] + ivec[2] * ivec[2]);
for (i = 0; i < 3; ++ i){
row1[i] = ivec[i] / scale;
row2[i] = jvec[i] / scale;
}
row3[0] = row1[1] * row2[2] - row1[2] * row2[1];
row3[1] = row1[2] * row2[0] - row1[0] * row2[2];
row3[2] = row1[0] * row2[1] - row1[1] * row2[0];
for (i = 0; i < 3; ++ i){
rotation1[0][i] = row1[i];
rotation1[1][i] = row2[i];
rotation1[2][i] = row3[i];
}
//Second rotation
for (i = 0; i < 3; ++ i){
ivec[i] = i0[i] - lambda * this.objectNormal[i];
jvec[i] = j0[i] - mu * this.objectNormal[i];
}
for (i = 0; i < 3; ++ i){
row1[i] = ivec[i] / scale;
row2[i] = jvec[i] / scale;
}
row3[0] = row1[1] * row2[2] - row1[2] * row2[1];
row3[1] = row1[2] * row2[0] - row1[0] * row2[2];
row3[2] = row1[0] * row2[1] - row1[1] * row2[0];
for (i = 0; i < 3; ++ i){
rotation2[0][i] = row1[i];
rotation2[1][i] = row2[i];
rotation2[2][i] = row3[i];
}
//Translation
translation[0] = imagePoints[0].x / scale;
translation[1] = imagePoints[0].y / scale;
translation[2] = this.focalLength / scale;
};
POS.Posit.prototype.isValid = function(rotation, translation){
var np = this.objectPoints.length, zmin = Infinity, i = 0, zi;
for (; i < np; ++ i){
zi = translation[2] +
(rotation[2][0] * this.objectVectors[i][0] +
rotation[2][1] * this.objectVectors[i][1] +
rotation[2][2] * this.objectVectors[i][2]
);
if (zi < zmin){
zmin = zi;
}
}
return zmin >= 0.0;
};
POS.Posit.prototype.iterate = function(imagePoints, posRotation, posTranslation, rotation, translation){
var np = this.objectPoints.length,
oldSopImagePoints = [], sopImagePoints = [],
rotation1 = [[],[],[]], rotation2 = [[],[],[]],
translation1 = [], translation2 = [],
converged = false, iteration = 0,
oldImageDifference, imageDifference, factor,
error, error1, error2, delta, i, j;
for (i = 0; i < np; ++ i){
oldSopImagePoints[i] = {x: imagePoints[i].x,
y: imagePoints[i].y
};
}
for (i = 0; i < 3; ++ i){
for (j = 0; j < 3; ++ j){
rotation[i][j] = posRotation[i][j];
}
translation[i] = posTranslation[i];
}
for (i = 0; i < np; ++ i){
factor = 0.0;
for (j = 0; j < 3; ++ j){
factor += this.objectVectors[i][j] * rotation[2][j] / translation[2];
}
sopImagePoints[i] = {x: (1.0 + factor) * imagePoints[i].x,
y: (1.0 + factor) * imagePoints[i].y
};
}
imageDifference = 0.0;
for (i = 0; i < np; ++ i){
imageDifference += Math.abs(sopImagePoints[i].x - oldSopImagePoints[i].x);
imageDifference += Math.abs(sopImagePoints[i].y - oldSopImagePoints[i].y);
}
for (i = 0; i < 3; ++ i){
translation1[i] = translation[i] -
(rotation[i][0] * this.objectPoints[0][0] +
rotation[i][1] * this.objectPoints[0][1] +
rotation[i][2] * this.objectPoints[0][2]
);
}
error = error1 = this.error(imagePoints, rotation, translation1);
//Convergence
converged = (0.0 === error1.pixels) || (imageDifference < 0.01);
while( iteration ++ < 100 && !converged ){
for (i = 0; i < np; ++ i){
oldSopImagePoints[i].x = sopImagePoints[i].x;
oldSopImagePoints[i].y = sopImagePoints[i].y;
}
this.pos(sopImagePoints, rotation1, rotation2, translation);
for (i = 0; i < 3; ++ i){
translation1[i] = translation[i] -
(rotation1[i][0] * this.objectPoints[0][0] +
rotation1[i][1] * this.objectPoints[0][1] +
rotation1[i][2] * this.objectPoints[0][2]
);
translation2[i] = translation[i] -
(rotation2[i][0] * this.objectPoints[0][0] +
rotation2[i][1] * this.objectPoints[0][1] +
rotation2[i][2] * this.objectPoints[0][2]
);
}
error1 = this.error(imagePoints, rotation1, translation1);
error2 = this.error(imagePoints, rotation2, translation2);
if ( (error1.euclidean >= 0.0) && (error2.euclidean >= 0.0) ){
if (error2.euclidean < error1.euclidean){
error = error2;
for (i = 0; i < 3; ++ i){
for (j = 0; j < 3; ++ j){
rotation[i][j] = rotation2[i][j];
}
}
}else{
error = error1;
for (i = 0; i < 3; ++ i){
for (j = 0; j < 3; ++ j){
rotation[i][j] = rotation1[i][j];
}
}
}
}
if ( (error1.euclidean < 0.0) && (error2.euclidean >= 0.0) ){
error = error2;
for (i = 0; i < 3; ++ i){
for (j = 0; j < 3; ++ j){
rotation[i][j] = rotation2[i][j];
}
}
}
if ( (error2.euclidean < 0.0) && (error1.euclidean >= 0.0) ){
error = error1;
for (i = 0; i < 3; ++ i){
for (j = 0; j < 3; ++ j){
rotation[i][j] = rotation1[i][j];
}
}
}
for (i = 0; i < np; ++ i){
factor = 0.0;
for (j = 0; j < 3; ++ j){
factor += this.objectVectors[i][j] * rotation[2][j] / translation[2];
}
sopImagePoints[i].x = (1.0 + factor) * imagePoints[i].x;
sopImagePoints[i].y = (1.0 + factor) * imagePoints[i].y;
}
oldImageDifference = imageDifference;
imageDifference = 0.0;
for (i = 0; i < np; ++ i){
imageDifference += Math.abs(sopImagePoints[i].x - oldSopImagePoints[i].x);
imageDifference += Math.abs(sopImagePoints[i].y - oldSopImagePoints[i].y);
}
delta = Math.abs(imageDifference - oldImageDifference);
converged = (0.0 === error.pixels) || (delta < 0.01);
}
return error;
};
POS.Posit.prototype.error = function(imagePoints, rotation, translation){
var np = this.objectPoints.length,
move = [], projection = [], errorvec = [],
euclidean = 0.0, pixels = 0.0, maximum = 0.0,
i, j, k;
if ( !this.isValid(rotation, translation) ){
return {euclidean: -1.0, pixels: -1, maximum: -1.0};
}
for (i = 0; i < np; ++ i){
move[i] = [];
for (j = 0; j < 3; ++ j){
move[i][j] = translation[j];
}
}
for (i = 0; i < np; ++ i){
for (j = 0; j < 3; ++ j){
for (k = 0; k < 3; ++ k){
move[i][j] += rotation[j][k] * this.objectPoints[i][k];
}
}
}
for (i = 0; i < np; ++ i){
projection[i] = [];
for (j = 0; j < 2; ++ j){
projection[i][j] = this.focalLength * move[i][j] / move[i][2];
}
}
for (i = 0; i < np; ++ i){
errorvec[i] = [projection[i][0] - imagePoints[i].x,
projection[i][1] - imagePoints[i].y];
}
for (i = 0; i < np; ++ i){
euclidean += Math.sqrt(errorvec[i][0] * errorvec[i][0] +
errorvec[i][1] * errorvec[i][1]
);
pixels += Math.abs( Math.round(projection[i][0]) - Math.round(imagePoints[i].x) ) +
Math.abs( Math.round(projection[i][1]) - Math.round(imagePoints[i].y) );
if (Math.abs(errorvec[i][0]) > maximum){
maximum = Math.abs(errorvec[i][0]);
}
if (Math.abs(errorvec[i][1]) > maximum){
maximum = Math.abs(errorvec[i][1]);
}
}
return {euclidean: euclidean / np, pixels: pixels, maximum: maximum};
};
POS.pseudoInverse = function(a, n, b){
var w = [], v = [[],[],[]], s = [[],[],[]],
wmax = 0.0, cn = 0,
i, j, k;
SVD.svdcmp(a, n, 3, w, v);
for (i = 0; i < 3; ++ i){
if (w[i] > wmax){
wmax = w[i];
}
}
wmax *= 0.01;
for (i = 0; i < 3; ++ i){
if (w[i] < wmax){
w[i] = 0.0;
}
}
for (j = 0; j < 3; ++ j){
if (0.0 === w[j]){
++ cn;
for (k = j; k < 2; ++ k){
for (i = 0; i < n; ++ i){
a[i][k] = a[i][k + 1];
}
for (i = 0; i < 3; ++ i){
v[i][k] = v[i][k + 1];
}
}
}
}
for (j = 0; j < 2; ++ j){
if (0.0 === w[j]){
w[j] = w[j + 1];
}
}
for (i = 0; i < 3; ++ i){
for (j = 0; j < 3 - cn; ++ j){
s[i][j] = v[i][j] / w[j];
}
}
for (i = 0; i < 3; ++ i){
for (j = 0; j < n; ++ j){
b[i][j] = 0.0;
for (k = 0; k < 3 - cn; ++ k){
b[i][j] += s[i][k] * a[j][k];
}
}
}
};
POS.Pose = function(error1, rotation1, translation1, error2, rotation2, translation2){
this.bestError = error1;
this.bestRotation = rotation1;
this.bestTranslation = translation1;
this.alternativeError = error2;
this.alternativeRotation = rotation2;
this.alternativeTranslation = translation2;
};
/*
Copyright (c) 2012 Juan Mellado
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
/*
References:
- "Numerical Recipes in C - Second Edition"
http://www.nr.com/
*/
var SVD = SVD || {};
SVD.svdcmp = function(a, m, n, w, v){
var flag, i, its, j, jj, k, l, nm,
anorm = 0.0, c, f, g = 0.0, h, s, scale = 0.0, x, y, z, rv1 = [];
//Householder reduction to bidiagonal form
for (i = 0; i < n; ++ i){
l = i + 1;
rv1[i] = scale * g;
g = s = scale = 0.0;
if (i < m){
for (k = i; k < m; ++ k){
scale += Math.abs( a[k][i] );
}
if (0.0 !== scale){
for (k = i; k < m; ++ k){
a[k][i] /= scale;
s += a[k][i] * a[k][i];
}
f = a[i][i];
g = -SVD.sign( Math.sqrt(s), f );
h = f * g - s;
a[i][i] = f - g;
for (j = l; j < n; ++ j){
for (s = 0.0, k = i; k < m; ++ k){
s += a[k][i] * a[k][j];
}
f = s / h;
for (k = i; k < m; ++ k){
a[k][j] += f * a[k][i];
}
}
for (k = i; k < m; ++ k){
a[k][i] *= scale;
}
}
}
w[i] = scale * g;
g = s = scale = 0.0;
if ( (i < m) && (i !== n - 1) ){
for (k = l; k < n; ++ k){
scale += Math.abs( a[i][k] );
}
if (0.0 !== scale){
for (k = l; k < n; ++ k){
a[i][k] /= scale;
s += a[i][k] * a[i][k];
}
f = a[i][l];
g = -SVD.sign( Math.sqrt(s), f );
h = f * g - s;
a[i][l] = f - g;
for (k = l; k < n; ++ k){
rv1[k] = a[i][k] / h;
}
for (j = l; j < m; ++ j){
for (s = 0.0, k = l; k < n; ++ k){
s += a[j][k] * a[i][k];
}
for (k = l; k < n; ++ k){
a[j][k] += s * rv1[k];
}
}
for (k = l; k < n; ++ k){
a[i][k] *= scale;
}
}
}
anorm = Math.max(anorm, ( Math.abs( w[i] ) + Math.abs( rv1[i] ) ) );
}
//Acumulation of right-hand transformation
for (i = n - 1; i >= 0; -- i){
if (i < n - 1){
if (0.0 !== g){
for (j = l; j < n; ++ j){
v[j][i] = ( a[i][j] / a[i][l] ) / g;
}
for (j = l; j < n; ++ j){
for (s = 0.0, k = l; k < n; ++ k){
s += a[i][k] * v[k][j];
}
for (k = l; k < n; ++ k){
v[k][j] += s * v[k][i];
}
}
}
for (j = l; j < n; ++ j){
v[i][j] = v[j][i] = 0.0;
}
}
v[i][i] = 1.0;
g = rv1[i];
l = i;
}
//Acumulation of left-hand transformation
for (i = Math.min(n, m) - 1; i >= 0; -- i){
l = i + 1;
g = w[i];
for (j = l; j < n; ++ j){
a[i][j] = 0.0;
}
if (0.0 !== g){
g = 1.0 / g;
for (j = l; j < n; ++ j){
for (s = 0.0, k = l; k < m; ++ k){
s += a[k][i] * a[k][j];
}
f = (s / a[i][i]) * g;
for (k = i; k < m; ++ k){
a[k][j] += f * a[k][i];
}
}
for (j = i; j < m; ++ j){
a[j][i] *= g;
}
}else{
for (j = i; j < m; ++ j){
a[j][i] = 0.0;
}
}
++ a[i][i];
}
//Diagonalization of the bidiagonal form
for (k = n - 1; k >= 0; -- k){
for (its = 1; its <= 30; ++ its){
flag = true;
for (l = k; l >= 0; -- l){
nm = l - 1;
if ( Math.abs( rv1[l] ) + anorm === anorm ){
flag = false;
break;
}
if ( Math.abs( w[nm] ) + anorm === anorm ){
break;
}
}
if (flag){
c = 0.0;
s = 1.0;
for (i = l; i <= k; ++ i){
f = s * rv1[i];
if ( Math.abs(f) + anorm === anorm ){
break;
}
g = w[i];
h = SVD.pythag(f, g);
w[i] = h;
h = 1.0 / h;
c = g * h;
s = -f * h;
for (j = 1; j <= m; ++ j){
y = a[j][nm];
z = a[j][i];
a[j][nm] = y * c + z * s;
a[j][i] = z * c - y * s;
}
}
}
//Convergence
z = w[k];
if (l === k){
if (z < 0.0){
w[k] = -z;
for (j = 0; j < n; ++ j){
v[j][k] = -v[j][k];
}
}
break;
}
if (30 === its){
return false;
}
//Shift from bottom 2-by-2 minor
x = w[l];
nm = k - 1;
y = w[nm];
g = rv1[nm];
h = rv1[k];
f = ( (y - z) * (y + z) + (g - h) * (g + h) ) / (2.0 * h * y);
g = SVD.pythag( f, 1.0 );
f = ( (x - z) * (x + z) + h * ( (y / (f + SVD.sign(g, f) ) ) - h) ) / x;
//Next QR transformation
c = s = 1.0;
for (j = l; j <= nm; ++ j){
i = j + 1;
g = rv1[i];
y = w[i];
h = s * g;
g = c * g;
z = SVD.pythag(f, h);
rv1[j] = z;
c = f / z;
s = h / z;
f = x * c + g * s;
g = g * c - x * s;
h = y * s;
y *= c;
for (jj = 0; jj < n; ++ jj){
x = v[jj][j];
z = v[jj][i];
v[jj][j] = x * c + z * s;
v[jj][i] = z * c - x * s;
}
z = SVD.pythag(f, h);
w[j] = z;
if (0.0 !== z){
z = 1.0 / z;
c = f * z;
s = h * z;
}
f = c * g + s * y;
x = c * y - s * g;
for (jj = 0; jj < m; ++ jj){
y = a[jj][j];
z = a[jj][i];
a[jj][j] = y * c + z * s;
a[jj][i] = z * c - y * s;
}
}
rv1[l] = 0.0;
rv1[k] = f;
w[k] = x;
}
}
return true;
};
SVD.pythag = function(a, b){
var at = Math.abs(a), bt = Math.abs(b), ct;
if (at > bt){
ct = bt / at;
return at * Math.sqrt(1.0 + ct * ct);
}
if (0.0 === bt){
return 0.0;
}
ct = at / bt;
return bt * Math.sqrt(1.0 + ct * ct);
};
SVD.sign = function(a, b){
return b >= 0.0? Math.abs(a): -Math.abs(a);
};
var THREEx = THREEx || {}
THREEx.ArucoContext = function(parameters){
// handle default parameters
parameters = parameters || {}
this.parameters = {
// debug - true if one should display artoolkit debug canvas, false otherwise
debug: parameters.debug !== undefined ? parameters.debug : false,
// resolution of at which we detect pose in the source image
canvasWidth: parameters.canvasWidth !== undefined ? parameters.canvasWidth : 640,
canvasHeight: parameters.canvasHeight !== undefined ? parameters.canvasHeight : 480,
}
this.canvas = document.createElement('canvas');
this.detector = new AR.Detector()
// setup THREEx.ArucoDebug if needed
this.debug = null
if( parameters.debug == true ){
this.debug = new THREEx.ArucoDebug(this)
}
// honor parameters.canvasWidth/.canvasHeight
this.setSize(this.parameters.canvasWidth, this.parameters.canvasHeight)
}
THREEx.ArucoContext.prototype.setSize = function (width, height) {
this.canvas.width = width
this.canvas.height = height
if( this.debug !== null ){
this.debug.setSize(width, height)
}
}
THREEx.ArucoContext.prototype.detect = function (videoElement) {
var _this = this
var canvas = this.canvas
// get imageData from videoElement
var context = canvas.getContext('2d');
context.drawImage(videoElement, 0, 0, canvas.width, canvas.height);
var imageData = context.getImageData(0, 0, canvas.width, canvas.height);
// detect markers in imageData
var detectedMarkers = this.detector.detect(imageData);
return detectedMarkers
};
/**
* crappy function to update a object3d with a detectedMarker - super crappy
*/
THREEx.ArucoContext.prototype.updateObject3D = function(object3D, arucoPosit, markerSize, detectedMarker){
var markerCorners = detectedMarker.corners;
var canvas = this.canvas
// convert the corners
var poseCorners = new Array(markerCorners.length)
for (var i = 0; i < markerCorners.length; ++ i){
var markerCorner = markerCorners[i];
poseCorners[i] = {
x: markerCorner.x - (canvas.width / 2),
y: -markerCorner.y + (canvas.height/ 2)
}
}
// estimate pose from corners
var pose = arucoPosit.pose(poseCorners);
var rotation = pose.bestRotation
var translation = pose.bestTranslation
object3D.position.x = translation[0];
object3D.position.y = translation[1];
object3D.position.z = -translation[2];
object3D.rotation.x = -Math.asin(-rotation[1][2]);
object3D.rotation.y = -Math.atan2(rotation[0][2], rotation[2][2]);
object3D.rotation.z = Math.atan2(rotation[1][0], rotation[1][1]);
object3D.scale.x = markerSize;
object3D.scale.y = markerSize;
object3D.scale.z = markerSize;
}
var THREEx = THREEx || {};
//////////////////////////////////////////////////////////////////////////////
// monkey patch AR.Detector
//////////////////////////////////////////////////////////////////////////////
AR.Detector.prototype.detect = function(image){
var opts = this.datGUIOptions
CV.grayscale(image, this.grey);
CV.adaptiveThreshold(this.grey, this.thres, opts.adaptativeThreshold.kernelSize, opts.adaptativeThreshold.threshold);
this.contours = CV.findContours(this.thres, this.binary);
this.candidates = this.findCandidates(this.contours, image.width * opts.candidates.minSize, opts.candidates.epsilon, opts.candidates.minLength);
this.candidates = this.clockwiseCorners(this.candidates);
this.candidates = this.notTooNear(this.candidates, opts.notTooNear.minDist);
return this.findMarkers(this.grey, this.candidates, opts.findMarkers.warpSize);
};
// make names explicits - make unit explicit too
AR.Detector.prototype.datGUIOptions = {
adaptativeThreshold : {
kernelSize: 2,
threshold: 7,
},
candidates: {
minSize: 0.20,
epsilon: 0.05,
minLength: 10,
},
notTooNear : {
minDist: 10,
},
findMarkers : {
warpSize: 49,
}
}
// see https://github.com/jeromeetienne/threex.geometricglow/blob/master/threex.atmospherematerialdatgui.js
THREEx.addArucoDatGui = function(arucoContext, datGui){
var datGUIOptions = arucoContext.detector.datGUIOptions
var options = {
resolution: '640x480',
}
var onChange = function(){
// honor option resolution
var matches = options.resolution.match(/(\d+)x(\d+)/)
var width = parseInt(matches[1])
var height = parseInt(matches[2])
arucoContext.setSize(width, height)
}
onChange();
datGui.add( options, 'resolution', [ '320x240', '640x480' ]).onChange( onChange )
var folder = datGui.addFolder('Adaptative Threshold')
folder.open()
folder.add( arucoContext.detector.datGUIOptions.adaptativeThreshold, 'kernelSize').min(0).step(1)
.onChange( onChange )
folder.add( arucoContext.detector.datGUIOptions.adaptativeThreshold, 'threshold').min(0).step(1)
.onChange( onChange )
var folder = datGui.addFolder('Candidates')
folder.open()
folder.add( arucoContext.detector.datGUIOptions.candidates, 'minSize').min(0).max(1)
.onChange( onChange )
folder.add( arucoContext.detector.datGUIOptions.candidates, 'epsilon').min(0)
.onChange( onChange )
folder.add( arucoContext.detector.datGUIOptions.candidates, 'minLength').min(0).step(1)
.onChange( onChange )
var folder = datGui.addFolder('notTooNear')
folder.open()
folder.add( arucoContext.detector.datGUIOptions.notTooNear, 'minDist').min(0).step(1)
.onChange( onChange )
var folder = datGui.addFolder('findMarkers')
folder.open()
folder.add( arucoContext.detector.datGUIOptions.findMarkers, 'warpSize').min(0).step(1)
.onChange( onChange )
}
var THREEx = THREEx || {}
THREEx.ArucoDebug = function(arucoContext){
this.arucoContext = arucoContext
// TODO to rename canvasElement into canvas
this.canvasElement = document.createElement('canvas');
this.canvasElement.width = this.arucoContext.canvas.width
this.canvasElement.height = this.arucoContext.canvas.height
}
THREEx.ArucoDebug.prototype.setSize = function (width, height) {
if( this.canvasElement.width !== width ) this.canvasElement.width = width
if( this.canvasElement.height !== height ) this.canvasElement.height = height
}
THREEx.ArucoDebug.prototype.clear = function(){
var canvas = this.canvasElement
var context = canvas.getContext('2d');
context.clearRect(0,0,canvas.width, canvas.height)
}
THREEx.ArucoDebug.prototype.drawContoursContours = function(){
var contours = this.arucoContext.detector.contours
var canvas = this.canvasElement
this.drawContours(contours, 0, 0, canvas.width, canvas.height, function(hole){
return hole? "magenta": "blue"
})
}
THREEx.ArucoDebug.prototype.drawContoursPolys = function(){
var contours = this.arucoContext.detector.polys
var canvas = this.canvasElement
this.drawContours(contours, 0, 0, canvas.width, canvas.height, function(){
return 'green'
})
}
THREEx.ArucoDebug.prototype.drawContoursCandidates = function(){
var contours = this.arucoContext.detector.candidates
var canvas = this.canvasElement
this.drawContours(contours, 0, 0, canvas.width, canvas.height, function(){
return 'red'
})
}
THREEx.ArucoDebug.prototype.drawContours = function(contours, x, y, width, height, fn){
var i = contours.length, j, contour, point;
var canvas = this.canvasElement
var context = canvas.getContext('2d');
context.save();
while(i --){
contour = contours[i];
context.strokeStyle = fn(contour.hole);
context.beginPath();
for (j = 0; j < contour.length; ++ j){
point = contour[j];
context.moveTo(x + point.x, y + point.y);
point = contour[(j + 1) % contour.length];
context.lineTo(x + point.x, y + point.y);
}
context.stroke();
context.closePath();
}
context.restore();
}
//////////////////////////////////////////////////////////////////////////////
// Code Separator
//////////////////////////////////////////////////////////////////////////////
THREEx.ArucoDebug.prototype.drawDetectorGrey = function(){
var cvImage = arucoContext.detector.grey
this.drawCVImage( cvImage )
}
THREEx.ArucoDebug.prototype.drawDetectorThreshold = function(){
var cvImage = arucoContext.detector.thres
this.drawCVImage( cvImage )
}
//////////////////////////////////////////////////////////////////////////////
// Code Separator
//////////////////////////////////////////////////////////////////////////////
THREEx.ArucoDebug.prototype.drawCVImage = function(cvImage){
var detector = this.arucoContext.detector
var canvas = this.canvasElement
var context = canvas.getContext('2d');
var imageData = context.createImageData(canvas.width, canvas.height);
this.copyCVImage2ImageData(cvImage, imageData)
context.putImageData( imageData, 0, 0);
}
THREEx.ArucoDebug.prototype.copyCVImage2ImageData = function(cvImage, imageData){
var i = cvImage.data.length, j = (i * 4) + 3;
while(i --){
imageData.data[j -= 4] = 255;
imageData.data[j - 1] = imageData.data[j - 2] = imageData.data[j - 3] = cvImage.data[i];
}
return imageData;
};
//////////////////////////////////////////////////////////////////////////////
// Code Separator
//////////////////////////////////////////////////////////////////////////////
THREEx.ArucoDebug.prototype.drawVideo = function(videoElement){
var canvas = this.canvasElement
var context = canvas.getContext('2d');
context.drawImage(videoElement, 0, 0, canvas.width, canvas.height);
}
//////////////////////////////////////////////////////////////////////////////
// Code Separator
//////////////////////////////////////////////////////////////////////////////
THREEx.ArucoDebug.prototype.drawMarkerIDs = function(markers){
var canvas = this.canvasElement
var context = canvas.getContext('2d');
var corners, corner, x, y, i, j;
context.save();
context.strokeStyle = "blue";
context.lineWidth = 1;
for (i = 0; i !== markers.length; ++ i){
corners = markers[i].corners;
x = Infinity;
y = Infinity;
for (j = 0; j !== corners.length; ++ j){
corner = corners[j];
x = Math.min(x, corner.x);
y = Math.min(y, corner.y);
}
context.strokeText(markers[i].id, x, y)
}
context.restore();
}
//////////////////////////////////////////////////////////////////////////////
// Code Separator
//////////////////////////////////////////////////////////////////////////////
THREEx.ArucoDebug.prototype.drawMarkerCorners = function(markers){
var canvas = this.canvasElement
var corners, corner, i, j;
var context = canvas.getContext('2d');
context.save();
context.lineWidth = 3;
for (i = 0; i < markers.length; ++ i){
corners = markers[i].corners;
context.strokeStyle = 'red';
context.beginPath();
for (j = 0; j < corners.length; ++ j){
corner = corners[j];
context.moveTo(corner.x, corner.y);
corner = corners[(j + 1) % corners.length];
context.lineTo(corner.x, corner.y);
}
context.stroke();
context.closePath();
context.strokeStyle = 'green';
context.strokeRect(corners[0].x - 2, corners[0].y - 2, 4, 4);
}
context.restore();
}
var THREEx = THREEx || {}
THREEx.ArucoMarkerGenerator = function(){
}
//////////////////////////////////////////////////////////////////////////////
// Code Separator
//////////////////////////////////////////////////////////////////////////////
THREEx.ArucoMarkerGenerator.createSVG = function(markerId, svgSize){
var domElement = document.createElement('div');
domElement.innerHTML = new ArucoMarker(markerId).toSVG(svgSize);
return domElement
}
THREEx.ArucoMarkerGenerator.createImage = function(markerId, width){
// create canvas
var canvas = this.createCanvas(markerId, width)
var imageURL = canvas.toDataURL()
// create imageElement
var imageElement = document.createElement('img');
imageElement.src = imageURL
// return imageElement
return imageElement;
}
//////////////////////////////////////////////////////////////////////////////
// Code Separator
//////////////////////////////////////////////////////////////////////////////
THREEx.ArucoMarkerGenerator.createCanvas = function(markerId, width){
var canvas = document.createElement('canvas');
var context = canvas.getContext('2d')
canvas.width = width
canvas.height = width
var arucoMarker = new ArucoMarker(markerId)
var marker = arucoMarker.markerMatrix()
var margin = canvas.width*0.1
var innerW = width-margin*2
var squareW = innerW/7
context.fillStyle = 'white'
context.fillRect(0, 0, canvas.width, canvas.height)
context.fillStyle = 'black'
context.fillRect(margin, margin, canvas.width-margin*2, canvas.height-margin*2)
for(var y = 0; y < 5; y++){
for(var x = 0; x < 5; x++){
if (marker[x][y] !== 1) continue
context.fillStyle = 'white'
context.fillRect(margin+(x+1)*squareW, margin+(y+1)*squareW, squareW+1, squareW+1)
}
}
return canvas
}