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AR.js

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提交 0eeeccd9 编写于 作者: J Jerome Etienne
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early support for js-aruco

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three.js/examples/aruco.html
浏览文件 @ 0eeeccd9
......@@ -27,6 +27,7 @@
<br/>
Contact me any time at <a href='https://twitter.com/jerome_etienne' target='_blank'>@jerome_etienne</a>
</div><script>
var useAruco = true
//////////////////////////////////////////////////////////////////////////////////
// Init
//////////////////////////////////////////////////////////////////////////////////
......@@ -54,7 +55,11 @@
//////////////////////////////////////////////////////////////////////////////////
// Create a camera
if( useAruco === true ){
var camera = new THREE.PerspectiveCamera(42, renderer.domElement.width / renderer.domElement.height, 0.01, 100);
}else{
var camera = new THREE.Camera();
}
scene.add(camera);
////////////////////////////////////////////////////////////////////////////////
......@@ -89,6 +94,7 @@
arToolkitSource.copySizeTo(arToolkitContext.arController.canvas)
}
}
////////////////////////////////////////////////////////////////////////////////
// initialize arToolkitContext
////////////////////////////////////////////////////////////////////////////////
......@@ -101,8 +107,10 @@
})
// initialize it
arToolkitContext.initAruco(function onCompleted(){
if( useAruco === false ){
// copy projection matrix to camera
camera.projectionMatrix.copy( arToolkitContext.getProjectionMatrix() );
}
})
// update artoolkit on every frame
......@@ -121,9 +129,12 @@
// init controls for camera
var markerControls = new THREEx.ArMarkerControls(arToolkitContext, camera, {
type : 'pattern',
patternUrl : THREEx.ArToolkitContext.baseURL + '../data/data/patt.hiro',
// patternUrl : THREEx.ArToolkitContext.baseURL + '../data/data/patt.kanji',
type: 'barcode',
barcodeValue: 1001,
// type : 'pattern',
// patternUrl : THREEx.ArToolkitContext.baseURL + '../data/data/patt.hiro',
// as we controls the camera, set changeMatrixMode: 'cameraTransformMatrix'
changeMatrixMode: 'cameraTransformMatrix'
})
......
three.js/examples/dev.html
浏览文件 @ 0eeeccd9
......@@ -99,13 +99,13 @@
// create atToolkitContext
var arToolkitContext = new THREEx.ArToolkitContext({
cameraParametersUrl: THREEx.ArToolkitContext.baseURL + '../data/data/camera_para.dat',
detectionMode: 'mono_and_matrix',
// detectionMode: 'mono',
// detectionMode: 'mono_and_matrix',
detectionMode: 'mono',
// detectionMode: 'color_and_matrix',
// canvasWidth: 80*3,
// canvasHeight: 60*3,
matrixCodeType: '3x3',
// matrixCodeType: '3x3',
// matrixCodeType: '3x3_HAMMING63',
// matrixCodeType: '3x3_PARITY65',
// matrixCodeType: '4x4',
......@@ -133,11 +133,11 @@
var markerRoot = new THREE.Group
scene.add(markerRoot)
var markerControls = new THREEx.ArMarkerControls(arToolkitContext, markerRoot, {
type: 'barcode',
barcodeValue: 5,
// type: 'barcode',
// barcodeValue: 5,
// type : 'pattern',
// patternUrl : 'marker-training/examples/pattern-files/pattern-hiro.patt',
type : 'pattern',
patternUrl : 'marker-training/examples/pattern-files/pattern-hiro.patt',
})
......
three.js/examples/js-aruco/Makefile 已删除 100644 → 0
浏览文件 @ 48bee7b7
watch: build
fswatch -0 three.js/*.js | xargs -0 -n 1 -I {} make build
.PHONY: build
build:
cat vendor/js-aruco/src/aruco.js \
vendor/js-aruco/src/cv.js \
vendor/js-aruco/src/posit1.js \
vendor/js-aruco/src/svd.js \
threex-*.js > build/threex-aruco.js
minify: build
uglifyjs build/threex-aruco.js > build/threex-aruco-min.js
prepack: build
prepack build/threex-aruco.js --out build/threex-aruco-prepacked.js
three.js/examples/js-aruco/README.md 已删除 100644 → 0
浏览文件 @ 48bee7b7
Trying to use js-aruco as ar.js backend
three.js/examples/js-aruco/TODO.md 已删除 100644 → 0
浏览文件 @ 48bee7b7
- expose all the hardcoded parameters from AR.Detect in the debug,html
- thus you can tune them
---
- see how to include it in ar.js
- so basically a context and a controls
- the source can remain the same without trouble
- how to handle all the options between the various backend
# Performances
- jsaruco use a kernel size of 2 in adaptative thresholding
- could i reduce the resolution of the source image and use a kernel size of 1 ?
- it would produce more fps. what the difference would be ? create errors ?
- jsaruco - adaptiveThreshold is doing it on ALL bytes - so all channel ??? check if it is correct
- it use blackwhite image - it only needs 1 channel - 8 bits is already a lot to store blackwhite
- this mean 4 times more work than needed
- NOTES: unclear this is true - grayscale is packing it all in 1 channel. check it out ?
- in posit1: image difference is computed by a manathan distance. not a euclidian distance... how come ?
- imageDifference += Math.abs(sopImagePoints[i].x - oldSopImagePoints[i].x);
imageDifference += Math.abs(sopImagePoints[i].y - oldSopImagePoints[i].y);
three.js/examples/js-aruco/build/threex-aruco-min.js 已删除 100644 → 0
浏览文件 @ 48bee7b7
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*.2,.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};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]*.299+src[i+1]*.587+src[i+2]*.114+.5&255}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;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+.5&255}}return imageDst};CV.gaussianKernel=function(kernelSize){var tab=[[1],[.25,.5,.25],[.0625,.25,.375,.25,.0625],[.03125,.109375,.21875,.28125,.21875,.109375,.03125]],kernel=[],center,sigma,scale2X,sum,x,i;if(kernelSize<=7&&kernelSize%2===1){kernel=tab[kernelSize>>1]}else{center=(kernelSize-1)*.5;sigma=.8+.3*(center-1);scale2X=-.5/(sigma*sigma);sum=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-dx1;sy1=y>>>0;sy2=sy1===height-1?sy1:sy1+1;dy1=y-sy1;dy2=1-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])&255}}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,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};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;return[[-half,half,0],[half,half,0],[half,-half,0],[-half,-half,0]]};POS.Posit.prototype.init=function(){var np=this.objectPoints.length,vectors=[],n=[],len=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===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,pixels:-1,maximum:-1}}valid2=this.isValid(posRotation2,posTranslation);if(valid2){error2=this.iterate(imagePoints,posRotation2,posTranslation,rotation2,translation2)}else{error2={euclidean:-1,pixels:-1,maximum:-1}}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]}for(i=0;i<3;++i){i0[i]=0;j0[i]=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];delta=(j0j0-i0i0)*(j0j0-i0i0)+4*(i0j0*i0j0);if(j0j0-i0i0>=0){q=(j0j0-i0i0+Math.sqrt(delta))/2}else{q=(j0j0-i0i0-Math.sqrt(delta))/2}if(q>=0){lambda=Math.sqrt(q);if(0===lambda){mu=0}else{mu=-i0j0/lambda}}else{lambda=Math.sqrt(-(i0j0*i0j0)/q);if(0===lambda){mu=Math.sqrt(i0i0-j0j0)}else{mu=-i0j0/lambda}}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]}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[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};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;for(j=0;j<3;++j){factor+=this.objectVectors[i][j]*rotation[2][j]/translation[2]}sopImagePoints[i]={x:(1+factor)*imagePoints[i].x,y:(1+factor)*imagePoints[i].y}}imageDifference=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);converged=0===error1.pixels||imageDifference<.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&&error2.euclidean>=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&&error2.euclidean>=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&&error1.euclidean>=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;for(j=0;j<3;++j){factor+=this.objectVectors[i][j]*rotation[2][j]/translation[2]}sopImagePoints[i].x=(1+factor)*imagePoints[i].x;sopImagePoints[i].y=(1+factor)*imagePoints[i].y}oldImageDifference=imageDifference;imageDifference=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===error.pixels||delta<.01}return error};POS.Posit.prototype.error=function(imagePoints,rotation,translation){var np=this.objectPoints.length,move=[],projection=[],errorvec=[],euclidean=0,pixels=0,maximum=0,i,j,k;if(!this.isValid(rotation,translation)){return{euclidean:-1,pixels:-1,maximum:-1}}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,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*=.01;for(i=0;i<3;++i){if(w[i]<wmax){w[i]=0}}for(j=0;j<3;++j){if(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===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;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};var SVD=SVD||{};SVD.svdcmp=function(a,m,n,w,v){var flag,i,its,j,jj,k,l,nm,anorm=0,c,f,g=0,h,s,scale=0,x,y,z,rv1=[];for(i=0;i<n;++i){l=i+1;rv1[i]=scale*g;g=s=scale=0;if(i<m){for(k=i;k<m;++k){scale+=Math.abs(a[k][i])}if(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,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;if(i<m&&i!==n-1){for(k=l;k<n;++k){scale+=Math.abs(a[i][k])}if(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,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]))}for(i=n-1;i>=0;--i){if(i<n-1){if(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,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}}v[i][i]=1;g=rv1[i];l=i}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}if(0!==g){g=1/g;for(j=l;j<n;++j){for(s=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}}++a[i][i]}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;s=1;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/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}}}z=w[k];if(l===k){if(z<0){w[k]=-z;for(j=0;j<n;++j){v[j][k]=-v[j][k]}}break}if(30===its){return false}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*h*y);g=SVD.pythag(f,1);f=((x-z)*(x+z)+h*(y/(f+SVD.sign(g,f))-h))/x;c=s=1;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!==z){z=1/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;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+ct*ct)}if(0===bt){return 0}ct=at/bt;return bt*Math.sqrt(1+ct*ct)};SVD.sign=function(a,b){return b>=0?Math.abs(a):-Math.abs(a)};var THREEx=THREEx||{};THREEx.ArucoContext=function(markerSize){this.canvas=document.createElement("canvas");this.canvas.width=80*4;this.canvas.height=60*4;var imageSmoothingEnabled=false;var context=this.canvas.getContext("2d");context.mozImageSmoothingEnabled=imageSmoothingEnabled;context.webkitImageSmoothingEnabled=imageSmoothingEnabled;context.msImageSmoothingEnabled=imageSmoothingEnabled;context.imageSmoothingEnabled=imageSmoothingEnabled;this.detector=new AR.Detector;this.posit=new POS.Posit(markerSize,this.canvas.width)};THREEx.ArucoContext.prototype.detect=function(videoElement){var _this=this;var canvas=this.canvas;var context=canvas.getContext("2d");context.drawImage(videoElement,0,0,canvas.width,canvas.height);var imageData=context.getImageData(0,0,canvas.width,canvas.height);var detectedMarkers=this.detector.detect(imageData);detectedMarkers.forEach(function(detectedMarker){var markerCorners=detectedMarker.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}}detectedMarker.pose=_this.posit.pose(poseCorners)});return detectedMarkers};THREEx.ArucoContext.updateObject3D=function(object3D,detectedMarker){var rotation=detectedMarker.pose.bestRotation;var translation=detectedMarker.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||{};THREEx.ArucoDebug=function(arucoContext){this.arucoContext=arucoContext;this.canvasElement=document.createElement("canvas");this.canvasElement.width=this.arucoContext.canvas.width;this.canvasElement.height=this.arucoContext.canvas.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()};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)};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);copyImage(cvImage,imageData);context.putImageData(imageData,0,0);return;function copyImage(src,dst){var i=src.data.length,j=i*4+3;while(i--){dst.data[j-=4]=255;dst.data[j-1]=dst.data[j-2]=dst.data[j-3]=src.data[i]}return dst}};THREEx.ArucoDebug.prototype.drawVideo=function(videoElement){var canvas=this.canvasElement;var context=canvas.getContext("2d");context.drawImage(videoElement,0,0,canvas.width,canvas.height)};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()};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(){};THREEx.ArucoMarkerGenerator.createSVG=function(markerId,svgSize){var domElement=document.createElement("div");domElement.innerHTML=new ArucoMarker(markerId).toSVG(svgSize);return domElement};THREEx.ArucoMarkerGenerator.createIMG=function(markerId,svgSize){var svgElement=THREEx.ArucoMarkerGenerator.createSVG(markerId,svgSize).firstChild;var xml=(new XMLSerializer).serializeToString(svgElement);var imageURL="data:image/svg+xml;base64,"+btoa(xml);var imageElement=document.createElement("img");
imageElement.src=imageURL;return imageElement};
three.js/examples/js-aruco/build/threex-aruco-prepacked.js 已删除 100644 → 0
浏览文件 @ 48bee7b7
var THREEx, SVD, POS, CV, AR;
(function () {
var _$0 = this;
function _1(id, corners) {
this.id = id;
this.corners = corners;
}
function _2() {
this.grey = new _$0.CV.Image();
this.thres = new _$0.CV.Image();
this.homography = new _$0.CV.Image();
this.binary = [];
this.contours = [];
this.polys = [];
this.candidates = [];
}
var _3 = _2.prototype;
function _4(image) {
_$0.CV.grayscale(image, this.grey);
_$0.CV.adaptiveThreshold(this.grey, this.thres, 2, 7);
this.contours = _$0.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);
}
function _5(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 = _$0.CV.approxPolyDP(contour, contour.length * epsilon);
this.polys.push(poly);
if (4 === poly.length && _$0.CV.isContourConvex(poly)) {
if (_$0.CV.minEdgeLength(poly) >= minLength) {
candidates.push(poly);
}
}
}
}
return candidates;
}
function _6(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;
}
function _7(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 (_$0.CV.perimeter(candidates[i]) < _$0.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;
}
function _8(imageSrc, candidates, warpSize) {
var markers = [],
len = candidates.length,
candidate,
marker,
i;
for (i = 0; i < len; ++i) {
candidate = candidates[i];
_$0.CV.warp(imageSrc, this.homography, candidate, warpSize);
_$0.CV.threshold(this.homography, this.homography, _$0.CV.otsu(this.homography));
marker = this.getMarker(this.homography, candidate);
if (marker) {
markers.push(marker);
}
}
return markers;
}
function _9(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 (_$0.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] = _$0.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 _$0.AR.Marker(this.mat2id(rotations[pair.second]), this.rotate2(candidate, 4 - pair.second));
}
function _a(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 = _$0.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;
}
function _b(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;
}
function _c(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;
}
function _d(src, rotation) {
var dst = [],
len = src.length,
i;
for (i = 0; i < len; ++i) {
dst[i] = src[(rotation + i) % len];
}
return dst;
}
function _f(width, height, data) {
this.width = width || 0;
this.height = height || 0;
this.data = data || [];
}
function _g(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;
}
function _h(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;
}
function _i(imageSrc, imageDst, kernelSize, threshold) {
var src = imageSrc.data,
dst = imageDst.data,
len = src.length,
tab = [],
i;
_$0.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;
}
function _j(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;
}
function _m() {
this.color = 0;
this.next = null;
}
function _n(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 = _$0.CV.stackBoxBlurMult[kernelSize],
shift = _$0.CV.stackBoxBlurShift[kernelSize],
stack,
stackStart,
color,
sum,
pos,
start,
p,
x,
y,
i;
stack = stackStart = new _$0.CV.BlurStack();
for (i = 1; i < size; ++i) {
stack = stack.next = new _$0.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;
}
function _o(imageSrc, imageDst, imageMean, kernelSize) {
var kernel = _$0.CV.gaussianKernel(kernelSize);
imageDst.width = imageSrc.width;
imageDst.height = imageSrc.height;
imageMean.width = imageSrc.width;
imageMean.height = imageSrc.height;
_$0.CV.gaussianBlurFilter(imageSrc, imageMean, kernel, true);
_$0.CV.gaussianBlurFilter(imageMean, imageDst, kernel, false);
return imageDst;
}
function _p(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;
}
function _q(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] = _$0.Math.exp(scale2X * x * x);
}
sum = 1 / sum;
for (i = 0; i < kernelSize; ++i) {
kernel[i] *= sum;
}
}
return kernel;
}
function _r(imageSrc, binary) {
var width = imageSrc.width,
height = imageSrc.height,
contours = [],
src,
deltas,
pos,
pix,
nbd,
outer,
hole,
i,
j;
src = _$0.CV.binaryBorder(imageSrc, binary);
deltas = _$0.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(_$0.CV.borderFollowing(src, pos, nbd, {
x: j,
y: i
}, hole, deltas));
}
}
}
}
return contours;
}
function _s(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 += _$0.CV.neighborhood[s][0];
point.y += _$0.CV.neighborhood[s][1];
if (pos4 === pos && pos3 === pos1) {
break;
}
pos3 = pos4;
s = s + 4 & 7;
}
}
return contour;
}
function _C(width) {
var deltas = [],
len = _$0.CV.neighborhood.length,
i = 0;
for (; i < len; ++i) {
deltas[i] = _$0.CV.neighborhood[i][0] + _$0.CV.neighborhood[i][1] * width;
}
return deltas.concat(deltas);
}
function _D(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 = _$0.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;
}
function _E(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 = _$0.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;
}
function _F(src, size) {
var rq = _$0.CV.square2quad(src);
rq[0] /= size;
rq[1] /= size;
rq[3] /= size;
rq[4] /= size;
rq[6] /= size;
rq[7] /= size;
return rq;
}
function _G(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;
}
function _H(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;
}
function _I(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 += _$0.Math.sqrt(dx * dx + dy * dy);
}
return p;
}
function _J(poly) {
var len = poly.length,
i = 0,
j = len - 1,
min = _$0.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 _$0.Math.sqrt(min);
}
function _K(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;
}
function _L(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;
}
function _N(modelSize, focalLength) {
this.objectPoints = this.buildModel(modelSize);
this.focalLength = focalLength;
this.objectVectors = [];
this.objectNormal = [];
this.objectMatrix = [[], [], []];
this.init();
}
var _O = _N.prototype;
function _P(a, n, b) {
var w = [],
v = [[], [], []],
s = [[], [], []],
wmax = 0.0,
cn = 0,
i,
j,
k;
_$0.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];
}
}
}
}
function _Q(error1, rotation1, translation1, error2, rotation2, translation2) {
this.bestError = error1;
this.bestRotation = rotation1;
this.bestTranslation = translation1;
this.alternativeError = error2;
this.alternativeRotation = rotation2;
this.alternativeTranslation = translation2;
}
function _R(modelSize) {
var half = modelSize / 2.0;
return [[-half, half, 0.0], [half, half, 0.0], [half, -half, 0.0], [-half, -half, 0.0]];
}
function _S() {
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 = _$0.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;
}
_$0.POS.pseudoInverse(vectors, np, this.objectMatrix);
}
function _T(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 _$0.POS.Pose(error1.pixels, rotation1, translation1, error2.pixels, rotation2, translation2) : new _$0.POS.Pose(error2.pixels, rotation2, translation2, error1.pixels, rotation1, translation1);
}
function _U(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 + _$0.Math.sqrt(delta)) / 2.0;
} else {
q = (j0j0 - i0i0 - _$0.Math.sqrt(delta)) / 2.0;
}
if (q >= 0.0) {
lambda = _$0.Math.sqrt(q);
if (0.0 === lambda) {
mu = 0.0;
} else {
mu = -i0j0 / lambda;
}
} else {
lambda = _$0.Math.sqrt(-(i0j0 * i0j0) / q);
if (0.0 === lambda) {
mu = _$0.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 = _$0.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;
}
function _V(rotation, translation) {
var np = this.objectPoints.length,
zmin = _$0.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;
}
function _W(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 += _$0.Math.abs(sopImagePoints[i].x - oldSopImagePoints[i].x);
imageDifference += _$0.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 += _$0.Math.abs(sopImagePoints[i].x - oldSopImagePoints[i].x);
imageDifference += _$0.Math.abs(sopImagePoints[i].y - oldSopImagePoints[i].y);
}
delta = _$0.Math.abs(imageDifference - oldImageDifference);
converged = 0.0 === error.pixels || delta < 0.01;
}
return error;
}
function _X(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 += _$0.Math.sqrt(errorvec[i][0] * errorvec[i][0] + errorvec[i][1] * errorvec[i][1]);
pixels += _$0.Math.abs(_$0.Math.round(projection[i][0]) - _$0.Math.round(imagePoints[i].x)) + _$0.Math.abs(_$0.Math.round(projection[i][1]) - _$0.Math.round(imagePoints[i].y));
if (_$0.Math.abs(errorvec[i][0]) > maximum) {
maximum = _$0.Math.abs(errorvec[i][0]);
}
if (_$0.Math.abs(errorvec[i][1]) > maximum) {
maximum = _$0.Math.abs(errorvec[i][1]);
}
}
return {
euclidean: euclidean / np,
pixels: pixels,
maximum: maximum
};
}
function _Z(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 += _$0.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 = -_$0.SVD.sign(_$0.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 += _$0.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 = -_$0.SVD.sign(_$0.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 = _$0.Math.max(anorm, _$0.Math.abs(w[i]) + _$0.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 = _$0.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 (_$0.Math.abs(rv1[l]) + anorm === anorm) {
flag = false;
break;
}
if (_$0.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 (_$0.Math.abs(f) + anorm === anorm) {
break;
}
g = w[i];
h = _$0.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 = _$0.SVD.pythag(f, 1.0);
f = ((x - z) * (x + z) + h * (y / (f + _$0.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 = _$0.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 = _$0.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;
}
function _10(a, b) {
var at = _$0.Math.abs(a),
bt = _$0.Math.abs(b),
ct;
if (at > bt) {
ct = bt / at;
return at * _$0.Math.sqrt(1.0 + ct * ct);
}
if (0.0 === bt) {
return 0.0;
}
ct = at / bt;
return bt * _$0.Math.sqrt(1.0 + ct * ct);
}
function _11(a, b) {
return b >= 0.0 ? _$0.Math.abs(a) : -_$0.Math.abs(a);
}
function _13(markerSize) {
this.canvas = _$0.document.createElement('canvas');
this.canvas.width = 80 * 8;
this.canvas.height = 60 * 4; // experiment with imageSmoothingEnabled
var imageSmoothingEnabled = false;
var context = this.canvas.getContext('2d');
context.mozImageSmoothingEnabled = imageSmoothingEnabled;
context.webkitImageSmoothingEnabled = imageSmoothingEnabled;
context.msImageSmoothingEnabled = imageSmoothingEnabled;
context.imageSmoothingEnabled = imageSmoothingEnabled;
this.detector = new _$0.AR.Detector();
this.posit = new _$0.POS.Posit(markerSize, this.canvas.width);
}
var _15 = _13.prototype;
function _14(object3D, detectedMarker) {
var rotation = detectedMarker.pose.bestRotation;
var translation = detectedMarker.pose.bestTranslation;
object3D.position.x = translation[0];
object3D.position.y = translation[1];
object3D.position.z = -translation[2];
object3D.rotation.x = -_$0.Math.asin(-rotation[1][2]);
object3D.rotation.y = -_$0.Math.atan2(rotation[0][2], rotation[2][2]);
object3D.rotation.z = _$0.Math.atan2(rotation[1][0], rotation[1][1]);
object3D.scale.x = markerSize;
object3D.scale.y = markerSize;
object3D.scale.z = markerSize;
}
function _16(arucoContext) {
this.arucoContext = arucoContext;
this.canvasElement = _$0.document.createElement('canvas');
this.canvasElement.width = this.arucoContext.canvas.width;
this.canvasElement.height = this.arucoContext.canvas.height;
}
var _17 = _16.prototype;
function _18() {}
function _19(markerId, svgSize) {
var domElement = _$0.document.createElement('div');
domElement.innerHTML = new ArucoMarker(markerId).toSVG(svgSize);
return domElement;
}
function _1a(markerId, svgSize) {
// get the svgElement
var svgElement = _$0.THREEx.ArucoMarkerGenerator.createSVG(markerId, svgSize).firstChild; // build imageURL
var xml = new XMLSerializer().serializeToString(svgElement);
var imageURL = 'data:image/svg+xml;base64,' + btoa(xml); // create imageElement
var imageElement = _$0.document.createElement('img');
imageElement.src = imageURL; // return imageElement
return imageElement;
}
function _1b(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); // compute the pose for each detectedMarkers
detectedMarkers.forEach(function (detectedMarker) {
// debugger
var markerCorners = detectedMarker.corners; // convert the corners
var poseCorners = new _$0.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
detectedMarker.pose = _this.posit.pose(poseCorners);
});
return detectedMarkers;
}
function _1c() {
var canvas = this.canvasElement;
var context = canvas.getContext('2d');
context.clearRect(0, 0, canvas.width, canvas.height);
}
function _1d() {
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";
});
}
function _1e() {
var contours = this.arucoContext.detector.polys;
var canvas = this.canvasElement;
this.drawContours(contours, 0, 0, canvas.width, canvas.height, function () {
return 'green';
});
}
function _1f() {
var contours = this.arucoContext.detector.candidates;
var canvas = this.canvasElement;
this.drawContours(contours, 0, 0, canvas.width, canvas.height, function () {
return 'red';
});
}
function _1g(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();
}
function _1h() {
var cvImage = arucoContext.detector.grey;
this.drawCVImage(cvImage);
}
function _1i() {
var cvImage = arucoContext.detector.thres;
this.drawCVImage(cvImage);
}
function _1j(cvImage) {
var detector = this.arucoContext.detector;
var canvas = this.canvasElement;
var context = canvas.getContext('2d');
var imageData = context.createImageData(canvas.width, canvas.height);
copyImage(cvImage, imageData);
context.putImageData(imageData, 0, 0);
return;
function copyImage(src, dst) {
var i = src.data.length,
j = i * 4 + 3;
while (i--) {
dst.data[j -= 4] = 255;
dst.data[j - 1] = dst.data[j - 2] = dst.data[j - 3] = src.data[i];
}
return dst;
}
;
}
function _1k(videoElement) {
var canvas = this.canvasElement;
var context = canvas.getContext('2d');
context.drawImage(videoElement, 0, 0, canvas.width, canvas.height);
}
function _1l(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 = _$0.Infinity;
y = _$0.Infinity;
for (j = 0; j !== corners.length; ++j) {
corner = corners[j];
x = _$0.Math.min(x, corner.x);
y = _$0.Math.min(y, corner.y);
}
context.strokeText(markers[i].id, x, y);
}
context.restore();
}
function _1m(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();
}
THREEx = undefined;
SVD = undefined;
POS = undefined;
CV = undefined;
AR = undefined;
_3.rotate2 = _d;
_3.rotate = _c;
_3.mat2id = _b;
_3.hammingDistance = _a;
_3.getMarker = _9;
_3.findMarkers = _8;
_3.notTooNear = _7;
_3.clockwiseCorners = _6;
_3.findCandidates = _5;
_3.detect = _4;
AR = {
Marker: _1,
Detector: _2
};
CV = {
Image: _f,
grayscale: _g,
threshold: _h,
adaptiveThreshold: _i,
otsu: _j,
stackBoxBlurMult: [1, 171, 205, 293, 57, 373, 79, 137, 241, 27, 391, 357, 41, 19, 283, 265],
stackBoxBlurShift: [0, 9, 10, 11, 9, 12, 10, 11, 12, 9, 13, 13, 10, 9, 13, 13],
BlurStack: _m,
stackBoxBlur: _n,
gaussianBlur: _o,
gaussianBlurFilter: _p,
gaussianKernel: _q,
findContours: _r,
borderFollowing: _s,
neighborhood: [[1, 0], [1, -1], [0, -1], [-1, -1], [-1, 0], [-1, 1], [0, 1], [1, 1]],
neighborhoodDeltas: _C,
approxPolyDP: _D,
warp: _E,
getPerspectiveTransform: _F,
square2quad: _G,
isContourConvex: _H,
perimeter: _I,
minEdgeLength: _J,
countNonZero: _K,
binaryBorder: _L
};
_O.error = _X;
_O.iterate = _W;
_O.isValid = _V;
_O.pos = _U;
_O.pose = _T;
_O.init = _S;
_O.buildModel = _R;
POS = {
Posit: _N,
pseudoInverse: _P,
Pose: _Q
};
SVD = {
svdcmp: _Z,
pythag: _10,
sign: _11
};
_13.updateObject3D = _14;
_18.createSVG = _19;
_18.createIMG = _1a;
_17.drawMarkerCorners = _1m;
_17.drawMarkerIDs = _1l;
_17.drawVideo = _1k;
_17.drawCVImage = _1j;
_17.drawDetectorThreshold = _1i;
_17.drawDetectorGrey = _1h;
_17.drawContours = _1g;
_17.drawContoursCandidates = _1f;
_17.drawContoursPolys = _1e;
_17.drawContoursContours = _1d;
_17.clear = _1c;
_15.detect = _1b;
THREEx = {
ArucoContext: _13,
ArucoDebug: _16,
ArucoMarkerGenerator: _18
};
}).call(this);
\ No newline at end of file
three.js/examples/js-aruco/build/threex-aruco.js 已删除 100644 → 0
浏览文件 @ 48bee7b7
/*
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(markerSize){
this.canvas = document.createElement('canvas');
this.canvas.width = 80*4
this.canvas.height = 60*4
// experiment with imageSmoothingEnabled
var imageSmoothingEnabled = false
var context = this.canvas.getContext('2d');
context.mozImageSmoothingEnabled = imageSmoothingEnabled;
context.webkitImageSmoothingEnabled = imageSmoothingEnabled;
context.msImageSmoothingEnabled = imageSmoothingEnabled;
context.imageSmoothingEnabled = imageSmoothingEnabled;
this.detector = new AR.Detector();
this.posit = new POS.Posit(markerSize, this.canvas.width);
}
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);
// compute the pose for each detectedMarkers
detectedMarkers.forEach(function(detectedMarker){
// debugger
var markerCorners = detectedMarker.corners;
// 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
detectedMarker.pose = _this.posit.pose(poseCorners);
})
return detectedMarkers
};
THREEx.ArucoContext.updateObject3D = function(object3D, detectedMarker){
var rotation = detectedMarker.pose.bestRotation
var translation = detectedMarker.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 || {}
THREEx.ArucoDebug = function(arucoContext){
this.arucoContext = arucoContext
this.canvasElement = document.createElement('canvas');
this.canvasElement.width = this.arucoContext.canvas.width
this.canvasElement.height = this.arucoContext.canvas.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);
copyImage(cvImage, imageData)
context.putImageData( imageData, 0, 0);
return
function copyImage(src, dst){
var i = src.data.length, j = (i * 4) + 3;
while(i --){
dst.data[j -= 4] = 255;
dst.data[j - 1] = dst.data[j - 2] = dst.data[j - 3] = src.data[i];
}
return dst;
};
}
//////////////////////////////////////////////////////////////////////////////
// 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(){
}
THREEx.ArucoMarkerGenerator.createSVG = function(markerId, svgSize){
var domElement = document.createElement('div');
domElement.innerHTML = new ArucoMarker(markerId).toSVG(svgSize);
return domElement
}
THREEx.ArucoMarkerGenerator.createIMG = function(markerId, svgSize){
// get the svgElement
var svgElement = THREEx.ArucoMarkerGenerator.createSVG(markerId, svgSize).firstChild
// build imageURL
var xml = new XMLSerializer().serializeToString(svgElement);
var imageURL = 'data:image/svg+xml;base64,' + btoa(xml)
// create imageElement
var imageElement = document.createElement('img');
imageElement.src = imageURL
// return imageElement
return imageElement;
}
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<html>
<!-- <script src='vendor/Three.js'></script> -->
<script src='../../vendor/three.js/build/three.js'></script>
<script src='../vendor/js-aruco/src/svd.js'></script>
<script src='../vendor/js-aruco/src/posit1.js'></script>
<script src='../vendor/js-aruco/src/cv.js'></script>
<script src='../vendor/js-aruco/src/aruco.js'></script>
<script src='../threex-arucocontext.js'></script>
<script src='../threex-arucodebug.js'></script>
<!-- <script src='../build/threex-aruco-min.js'></script> -->
<!-- <script src='../build/threex-aruco-prepacked.js'></script> -->
<div>
<form>
<label>clear canvas<input id='checkboxClearCanvas' name="imgsel" type="radio"></label>
<br/>
<label>draw video<input id='checkboxDrawVideo' name="imgsel" type="radio" checked="checked" ></label>
<br/>
<label>draw detector grey<input id='checkboxDetectorGrey' name="imgsel" type="radio"></label>
<br/>
<label>draw detector threshold<input id='checkboxDetectorThreshold' name="imgsel" type="radio"></label>
</form>
<label>draw marker corners<input id='checkboxMarkerCorners' type="checkbox" checked="checked" ></label>
<br/>
<label>draw marker ids<input id='checkboxMarkerId' type="checkbox" checked="checked" ></label>
<br/>
<label>draw contours contours<input id='checkboxContoursContours' type="checkbox"></label>
<br/>
<label>draw contours polys<input id='checkboxContoursPolys' type="checkbox"></label>
<br/>
<label>draw contours candiddates<input id='checkboxContoursCandidates' type="checkbox"></label>
</div>
<body style='background-color: darkgray;'>
<div id='webGLContainer' style='display: inline;'></div>
<script>
navigator.getUserMedia = navigator.getUserMedia || navigator.webkitGetUserMedia || navigator.mozGetUserMedia;
var videoElement = document.createElement('video')
// videoElement.width = 320
// videoElement.height = 240
videoElement.autoplay = true
//////////////////////////////////////////////////////////////////////////////
// Code Separator
//////////////////////////////////////////////////////////////////////////////
navigator.getUserMedia({video:true}, function (stream){
if (window.URL) {
videoElement.src = window.URL.createObjectURL(stream);
} else if (videoElement.mozSrcObject !== undefined) {
videoElement.mozSrcObject = stream;
} else {
videoElement.src = stream;
}
},
function(error){
}
);
var markerSize = 1.0; //millimeters
var arucoContext = new THREEx.ArucoContext(markerSize)
var arucoDebug = new THREEx.ArucoDebug(arucoContext)
document.body.appendChild(arucoDebug.canvasElement)
var renderer = new THREE.WebGLRenderer();
renderer.setClearColor(0xffffff, 1);
renderer.setSize(arucoContext.canvas.width, arucoContext.canvas.height);
document.getElementById('webGLContainer').appendChild(renderer.domElement);
var sceneOrtho = new THREE.Scene();
var cameraOrtho = new THREE.OrthographicCamera(-0.5, 0.5, 0.5, -0.5);
sceneOrtho.add(cameraOrtho);
var scenePersp = new THREE.Scene();
var cameraPersp = new THREE.PerspectiveCamera(42, arucoContext.canvas.width / arucoContext.canvas.height, 0.01, 100);
scenePersp.add(cameraPersp);
//////////////////////////////////////////////////////////////////////////////
// Code Separator
//////////////////////////////////////////////////////////////////////////////
var videoTexture = new THREE.Texture(videoElement)
videoTexture.minFilter = THREE.LinearFilter
var geometry = new THREE.PlaneGeometry(1.0, 1.0)
var material = new THREE.MeshBasicMaterial({
map: videoTexture,
depthTest: false,
depthWrite: false
})
var videoMesh = new THREE.Mesh(geometry, material);
videoMesh.position.z = -1;
sceneOrtho.add(videoMesh);
var geometry = new THREE.PlaneGeometry(1.0, 1.0, 10, 10)
var material = new THREE.MeshBasicMaterial( {
color: 'hotpink',
wireframe: true
} )
var model = new THREE.Mesh(geometry, material);
var arWorldRoot = new THREE.Group
arWorldRoot.add(model)
scenePersp.add(arWorldRoot);
//////////////////////////////////////////////////////////////////////////////
// render loop
//////////////////////////////////////////////////////////////////////////////
var lastDetectionAt = null
requestAnimationFrame(function onAnimationFrame(){
// update videoMesh
videoMesh.material.map.needsUpdate = true;
var present = Date.now()/1000
if( lastDetectionAt === null || present-lastDetectionAt >= 1/30){
lastDetectionAt = Date.now()/1000
// if( videoElement.readyState >= videoElement.HAVE_CURRENT_DATA ){
// detect markers in imageData
var detectedMarkers = arucoContext.detect(videoElement)
if( detectedMarkers.length > 0 ){
var detectedMarker = detectedMarkers[0]
THREEx.ArucoContext.updateObject3D(arWorldRoot, detectedMarker);
arWorldRoot.visible = true
}else{
arWorldRoot.visible = false
}
if( document.querySelector('#checkboxClearCanvas').checked ) arucoDebug.clear()
if( document.querySelector('#checkboxDrawVideo').checked ) arucoDebug.drawVideo(videoElement)
if( document.querySelector('#checkboxDetectorGrey').checked ) arucoDebug.drawDetectorGrey()
if( document.querySelector('#checkboxDetectorThreshold').checked ) arucoDebug.drawDetectorThreshold()
if( document.querySelector('#checkboxMarkerCorners').checked ) arucoDebug.drawMarkerCorners(detectedMarkers)
if( document.querySelector('#checkboxMarkerId').checked ) arucoDebug.drawMarkerIDs(detectedMarkers)
if( document.querySelector('#checkboxContoursContours').checked ) arucoDebug.drawContoursContours()
if( document.querySelector('#checkboxContoursPolys').checked ) arucoDebug.drawContoursPolys()
if( document.querySelector('#checkboxContoursCandidates').checked ) arucoDebug.drawContoursCandidates()
}
// render scene
renderer.autoClear = false;
renderer.clear();
renderer.render(sceneOrtho, cameraOrtho);
renderer.render(scenePersp, cameraPersp);
requestAnimationFrame(onAnimationFrame);
});
</script>
<style media="screen">
img {
width: 128px;
height: 128px;
padding: 8em;
}
</style>
<br/>
<div>
<img src="images/1001.png"/>
<img src="images/1001.png"/>
<img src="images/1001.png"/>
<img src="images/1001.png"/>
</div>
</body>
</html>
three.js/examples/js-aruco/examples/marker-generator.html 已删除 100644 → 0
浏览文件 @ 48bee7b7
<script src="../vendor/aruco-marker.js"></script>
<script src="../threex-arucomarkergenerator.js"></script>
<body><script>
// var domElement = THREEx.ArucoMarkerGenerator.createSVG(1001, '100px')
// document.body.appendChild(domElement)
var domElement = THREEx.ArucoMarkerGenerator.createIMG(1001, '256px')
document.body.appendChild(domElement)
</script></body>
three.js/examples/js-aruco/examples/performance.html 已删除 100644 → 0
浏览文件 @ 48bee7b7
<html>
<!-- <script src='vendor/Three.js'></script> -->
<script src='../../vendor/three.js/build/three.js'></script>
<script src='../vendor/js-aruco/src/svd.js'></script>
<script src='../vendor/js-aruco/src/posit1.js'></script>
<script src='../vendor/js-aruco/src/cv.js'></script>
<script src='../vendor/js-aruco/src/aruco.js'></script>
<script src='../threex-arucocontext.js'></script>
<script src='../threex-arucodebug.js'></script>
<!-- <script src='../build/threex-aruco-min.js'></script> -->
<!-- <script src='../build/threex-aruco-prepacked.js'></script> -->
<body style='background-color: darkgray;'>
<div id='webGLContainer' style='display: inline;'></div>
<script>
navigator.getUserMedia = navigator.getUserMedia || navigator.webkitGetUserMedia || navigator.mozGetUserMedia;
var videoElement = document.createElement('video')
// videoElement.width = 320
// videoElement.height = 240
videoElement.autoplay = true
//////////////////////////////////////////////////////////////////////////////
// Code Separator
//////////////////////////////////////////////////////////////////////////////
navigator.getUserMedia({video:true}, function (stream){
if (window.URL) {
videoElement.src = window.URL.createObjectURL(stream);
} else if (videoElement.mozSrcObject !== undefined) {
videoElement.mozSrcObject = stream;
} else {
videoElement.src = stream;
}
},
function(error){
}
);
var markerSize = 1.0; //millimeters
var arucoContext = new THREEx.ArucoContext(markerSize)
var renderer = new THREE.WebGLRenderer();
renderer.setClearColor(0xffffff, 1);
renderer.setSize(arucoContext.canvas.width, arucoContext.canvas.height);
document.getElementById('webGLContainer').appendChild(renderer.domElement);
var sceneOrtho = new THREE.Scene();
var cameraOrtho = new THREE.OrthographicCamera(-0.5, 0.5, 0.5, -0.5);
sceneOrtho.add(cameraOrtho);
var scenePersp = new THREE.Scene();
var cameraPersp = new THREE.PerspectiveCamera(42, arucoContext.canvas.width / arucoContext.canvas.height, 0.01, 100);
scenePersp.add(cameraPersp);
//////////////////////////////////////////////////////////////////////////////
// Code Separator
//////////////////////////////////////////////////////////////////////////////
var videoTexture = new THREE.Texture(videoElement)
videoTexture.minFilter = THREE.LinearFilter
var geometry = new THREE.PlaneGeometry(1.0, 1.0)
var material = new THREE.MeshBasicMaterial({
map: videoTexture,
depthTest: false,
depthWrite: false
})
var videoMesh = new THREE.Mesh(geometry, material);
videoMesh.position.z = -1;
sceneOrtho.add(videoMesh);
var geometry = new THREE.PlaneGeometry(1.0, 1.0, 10, 10)
var material = new THREE.MeshBasicMaterial( {
color: 'hotpink',
wireframe: true
} )
var model = new THREE.Mesh(geometry, material);
var arWorldRoot = new THREE.Group
arWorldRoot.add(model)
scenePersp.add(arWorldRoot);
//////////////////////////////////////////////////////////////////////////////
// render loop
//////////////////////////////////////////////////////////////////////////////
var lastDetectionAt = null
requestAnimationFrame(function onAnimationFrame(){
// update videoMesh
videoMesh.material.map.needsUpdate = true;
var present = Date.now()/1000
if( lastDetectionAt === null || present-lastDetectionAt >= 1/30){
lastDetectionAt = Date.now()/1000
// if( videoElement.readyState >= videoElement.HAVE_CURRENT_DATA ){
// detect markers in imageData
// console.time('detect');
var detectedMarkers = arucoContext.detect(videoElement)
// console.timeEnd('detect');
if( detectedMarkers.length > 0 ){
var detectedMarker = detectedMarkers[0]
THREEx.ArucoContext.updateObject3D(arWorldRoot, detectedMarker);
arWorldRoot.visible = true
}else{
arWorldRoot.visible = false
}
}
// render scene
renderer.autoClear = false;
renderer.clear();
renderer.render(sceneOrtho, cameraOrtho);
renderer.render(scenePersp, cameraPersp);
requestAnimationFrame(onAnimationFrame);
});
</script>
<style media="screen">
img {
width: 128px;
height: 128px;
padding: 8em;
}
</style>
<br/>
<div>
<!-- <img src="images/1001.png"/> -->
<img src="images/1001.png"/>
</div>
</body>
</html>
three.js/examples/js-aruco/threex-arucocontext.js 已删除 100644 → 0
浏览文件 @ 48bee7b7
var THREEx = THREEx || {}
THREEx.ArucoContext = function(markerSize){
this.canvas = document.createElement('canvas');
this.canvas.width = 80*4
this.canvas.height = 60*4
// experiment with imageSmoothingEnabled
var imageSmoothingEnabled = false
var context = this.canvas.getContext('2d');
context.mozImageSmoothingEnabled = imageSmoothingEnabled;
context.webkitImageSmoothingEnabled = imageSmoothingEnabled;
context.msImageSmoothingEnabled = imageSmoothingEnabled;
context.imageSmoothingEnabled = imageSmoothingEnabled;
this.detector = new AR.Detector();
this.posit = new POS.Posit(markerSize, this.canvas.width);
}
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);
// compute the pose for each detectedMarkers
// FIXME: i fix we should have one posit estimator per marker
detectedMarkers.forEach(function(detectedMarker){
var markerCorners = detectedMarker.corners;
// 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
detectedMarker.pose = _this.posit.pose(poseCorners);
})
return detectedMarkers
};
THREEx.ArucoContext.updateObject3D = function(object3D, detectedMarker){
var rotation = detectedMarker.pose.bestRotation
var translation = detectedMarker.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;
}
three.js/examples/js-aruco/threex-arucodebug.js 已删除 100644 → 0
浏览文件 @ 48bee7b7
var THREEx = THREEx || {}
THREEx.ArucoDebug = function(arucoContext){
this.arucoContext = arucoContext
this.canvasElement = document.createElement('canvas');
this.canvasElement.width = this.arucoContext.canvas.width
this.canvasElement.height = this.arucoContext.canvas.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();
}
three.js/examples/js-aruco/threex-arucomarkergenerator.js 已删除 100644 → 0
浏览文件 @ 48bee7b7
var THREEx = THREEx || {}
THREEx.ArucoMarkerGenerator = function(){
}
THREEx.ArucoMarkerGenerator.createSVG = function(markerId, svgSize){
var domElement = document.createElement('div');
domElement.innerHTML = new ArucoMarker(markerId).toSVG(svgSize);
return domElement
}
THREEx.ArucoMarkerGenerator.createIMG = function(markerId, svgSize){
// get the svgElement
var svgElement = THREEx.ArucoMarkerGenerator.createSVG(markerId, svgSize).firstChild
// build imageURL
var xml = new XMLSerializer().serializeToString(svgElement);
var imageURL = 'data:image/svg+xml;base64,' + btoa(xml)
// create imageElement
var imageElement = document.createElement('img');
imageElement.src = imageURL
// return imageElement
return imageElement;
}
three.js/examples/js-aruco/vendor/aruco-marker.js 已删除 100644 → 0
浏览文件 @ 48bee7b7
/*! aruco-marker 1.0.0 2014-06-19 - MIT Licensed, see http://github.com/bhollis/aruco-marker */
// Export for use via AMD, Node.js, or a browser global.
// See https://github.com/umdjs/umd/blob/master/returnExportsGlobal.js
(function (root, factory) {
if (typeof define === 'function' && define.amd) {
// AMD. Register as an anonymous module.
define([], function () {
return (root.ArucoMarker = factory());
});
} else if (typeof exports === 'object') {
// Node. Does not work with strict CommonJS, but
// only CommonJS-like enviroments that support module.exports,
// like Node.
module.exports = factory();
} else {
// Browser globals
root.ArucoMarker = factory();
}
}(this, function () {
// Create an ArucoMarker object by its ID, which can then be used to generate images.
// The id must be in the range [0..1023]
// Based on https://github.com/rmsalinas/aruco/blob/master/trunk/src/arucofidmarkers.cpp
function ArucoMarker(id) {
if (id < 0 || id > 1023) {
throw new RangeError('Marker ID must be in the range [0..1023]');
}
this.id = id;
}
ArucoMarker.prototype = {
// Generate a marker as a 5x5 matrix of 0s and 1s.
markerMatrix: function() {
var ids = [16, 23, 9, 14];
var index, val, x, y;
var marker = [[0, 0, 0, 0, 0],
[0, 0, 0, 0, 0],
[0, 0, 0, 0, 0],
[0, 0, 0, 0, 0],
[0, 0, 0, 0, 0]];
for (y = 0; y < 5; y++) {
index = (this.id >> 2 * (4 - y)) & 3;
val = ids[index];
for (x = 0; x < 5; x++) {
if ((val >> (4 - x)) & 1) {
marker[x][y] = 1;
} else {
marker[x][y] = 0;
}
}
}
return marker;
},
// Create an SVG image of the marker, as a string.
// Optionally pass a size (in any SVG-compatible units) or leave it out to size it on your own.
toSVG: function(size) {
var x, y;
var marker = this.markerMatrix();
var image;
if (size) {
size = 'height="' + size + '" width="' + size + '"';
} else {
size = '';
}
image = '<svg ' + size + ' viewBox="0 0 7 7" version="1.1" xmlns="http://www.w3.org/2000/svg">\n' +
' <rect x="0" y="0" width="7" height="7" fill="black"/>\n';
for (y = 0; y < 5; y++) {
for (x = 0; x < 5; x++) {
if (marker[x][y] === 1) {
image += ' <rect x="' + (x + 1) + '" y="' + (y + 1) +
'" width="1" height="1" fill="white" ' +
// Slight stroke to get around aliasing issues with adjacent rectangles
'stroke="white" stroke-width="0.01" />\n';
}
}
}
image += '</svg>';
return image;
}
};
return ArucoMarker;
}));
three.js/examples/js-aruco/vendor/js-aruco/src/aruco.js 已删除 100644 → 0
浏览文件 @ 48bee7b7
/*
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;
};
three.js/examples/js-aruco/vendor/js-aruco/src/cv.js 已删除 100644 → 0
浏览文件 @ 48bee7b7
/*
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;
};
three.js/examples/js-aruco/vendor/js-aruco/src/posit1.js 已删除 100644 → 0
浏览文件 @ 48bee7b7
/*
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;
};
three.js/examples/js-aruco/vendor/js-aruco/src/posit2.js 已删除 100644 → 0
浏览文件 @ 48bee7b7
/*
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:
- "3D Pose Estimation"
Andrew Kirillow
http://www.aforgenet.com/articles/posit/
*/
var POS = POS || {};
POS.Posit = function(modelSize, focalLength){
this.model = this.buildModel(modelSize);
this.focalLength = focalLength;
this.init();
};
POS.Posit.prototype.buildModel = function(modelSize){
var half = modelSize / 2.0;
return [
new Vec3(-half, half, 0.0),
new Vec3( half, half, 0.0),
new Vec3( half, -half, 0.0),
new Vec3(-half, -half, 0.0) ];
};
POS.Posit.prototype.init = function(){
var d = new Vec3(), v = new Mat3(), u;
this.modelVectors = Mat3.fromRows(
Vec3.sub(this.model[1], this.model[0]),
Vec3.sub(this.model[2], this.model[0]),
Vec3.sub(this.model[3], this.model[0]) );
u = Mat3.clone(this.modelVectors);
SVD.svdcmp(u.m, 3, 3, d.v, v.m);
this.modelPseudoInverse = Mat3.mult(
Mat3.mult(v, Mat3.fromDiagonal( Vec3.inverse(d) ) ), Mat3.transpose(u) );
this.modelNormal = v.column( d.minIndex() );
};
POS.Posit.prototype.pose = function(points){
var eps = new Vec3(1.0, 1.0, 1.0),
rotation1 = new Mat3(), rotation2 = new Mat3(),
translation1 = new Vec3(), translation2 = new Vec3(),
error1, error2;
this.pos(points, eps, rotation1, rotation2, translation1, translation2);
error1 = this.iterate(points, rotation1, translation1);
error2 = this.iterate(points, rotation2, translation2);
return error1 < error2?
new POS.Pose(error1, rotation1.m, translation1.v, error2, rotation2.m, translation2.v):
new POS.Pose(error2, rotation2.m, translation2.v, error1, rotation1.m, translation1.v);
};
POS.Posit.prototype.pos = function(points, eps, rotation1, rotation2, translation1, translation2){
var xi = new Vec3(points[1].x, points[2].x, points[3].x),
yi = new Vec3(points[1].y, points[2].y, points[3].y),
xs = Vec3.addScalar( Vec3.mult(xi, eps), -points[0].x),
ys = Vec3.addScalar( Vec3.mult(yi, eps), -points[0].y),
i0 = Mat3.multVector(this.modelPseudoInverse, xs),
j0 = Mat3.multVector(this.modelPseudoInverse, ys),
s = j0.square() - i0.square(),
ij = Vec3.dot(i0, j0),
r = 0.0, theta = 0.0,
i, j, k, inorm, jnorm, scale, temp, lambda, mu;
if (0.0 === s){
r = Math.sqrt( Math.abs(2.0 * ij) );
theta = (-Math.PI / 2.0) * (ij < 0.0? -1: (ij > 0.0? 1.0: 0.0) );
}else{
r = Math.sqrt( Math.sqrt(s * s + 4.0 * ij * ij) );
theta = Math.atan(-2.0 * ij / s);
if (s < 0.0){
theta += Math.PI;
}
theta /= 2.0;
}
lambda = r * Math.cos(theta);
mu = r * Math.sin(theta);
//First possible rotation/translation
i = Vec3.add(i0, Vec3.multScalar(this.modelNormal, lambda) );
j = Vec3.add(j0, Vec3.multScalar(this.modelNormal, mu) );
inorm = i.normalize();
jnorm = j.normalize();
k = Vec3.cross(i, j);
rotation1.copy( Mat3.fromRows(i, j, k) );
scale = (inorm + jnorm) / 2.0;
temp = Mat3.multVector(rotation1, this.model[0]);
translation1.v = [
points[0].x / scale - temp.v[0],
points[0].y / scale - temp.v[1],
this.focalLength / scale];
//Second possible rotation/translation
i = Vec3.sub(i0, Vec3.multScalar(this.modelNormal, lambda) );
j = Vec3.sub(j0, Vec3.multScalar(this.modelNormal, mu) );
inorm = i.normalize();
jnorm = j.normalize();
k = Vec3.cross(i, j);
rotation2.copy( Mat3.fromRows(i, j, k) );
scale = (inorm + jnorm) / 2.0;
temp = Mat3.multVector(rotation2, this.model[0]);
translation2.v = [
points[0].x / scale - temp.v[0],
points[0].y / scale - temp.v[1],
this.focalLength / scale];
};
POS.Posit.prototype.iterate = function(points, rotation, translation){
var prevError = Infinity,
rotation1 = new Mat3(), rotation2 = new Mat3(),
translation1 = new Vec3(), translation2 = new Vec3(),
i = 0, eps, error, error1, error2;
for (; i < 100; ++ i){
eps = Vec3.addScalar( Vec3.multScalar(
Mat3.multVector( this.modelVectors, rotation.row(2) ), 1.0 / translation.v[2]), 1.0);
this.pos(points, eps, rotation1, rotation2, translation1, translation2);
error1 = this.getError(points, rotation1, translation1);
error2 = this.getError(points, rotation2, translation2);
if (error1 < error2){
rotation.copy(rotation1);
translation.copy(translation1);
error = error1;
}else{
rotation.copy(rotation2);
translation.copy(translation2);
error = error2;
}
if ( (error <= 2.0) || (error > prevError) ){
break;
}
prevError = error;
}
return error;
};
POS.Posit.prototype.getError = function(points, rotation, translation){
var v1 = Vec3.add( Mat3.multVector(rotation, this.model[0]), translation),
v2 = Vec3.add( Mat3.multVector(rotation, this.model[1]), translation),
v3 = Vec3.add( Mat3.multVector(rotation, this.model[2]), translation),
v4 = Vec3.add( Mat3.multVector(rotation, this.model[3]), translation),
modeled, ia1, ia2, ia3, ia4, ma1, ma2, ma3, ma4;
v1 = v1.v; v2 = v2.v; v3 = v3.v; v4 = v4.v;
v1[0] *= this.focalLength / v1[2];
v1[1] *= this.focalLength / v1[2];
v2[0] *= this.focalLength / v2[2];
v2[1] *= this.focalLength / v2[2];
v3[0] *= this.focalLength / v3[2];
v3[1] *= this.focalLength / v3[2];
v4[0] *= this.focalLength / v4[2];
v4[1] *= this.focalLength / v4[2];
modeled = [
{x: v1[0], y: v1[1]},
{x: v2[0], y: v2[1]},
{x: v3[0], y: v3[1]},
{x: v4[0], y: v4[1]}
];
ia1 = this.angle( points[0], points[1], points[3] );
ia2 = this.angle( points[1], points[2], points[0] );
ia3 = this.angle( points[2], points[3], points[1] );
ia4 = this.angle( points[3], points[0], points[2] );
ma1 = this.angle( modeled[0], modeled[1], modeled[3] );
ma2 = this.angle( modeled[1], modeled[2], modeled[0] );
ma3 = this.angle( modeled[2], modeled[3], modeled[1] );
ma4 = this.angle( modeled[3], modeled[0], modeled[2] );
return ( Math.abs(ia1 - ma1) +
Math.abs(ia2 - ma2) +
Math.abs(ia3 - ma3) +
Math.abs(ia4 - ma4) ) / 4.0;
};
POS.Posit.prototype.angle = function(a, b, c){
var x1 = b.x - a.x, y1 = b.y - a.y,
x2 = c.x - a.x, y2 = c.y - a.y;
return Math.acos( (x1 * x2 + y1 * y2) /
(Math.sqrt(x1 * x1 + y1 * y1) * Math.sqrt(x2 * x2 + y2 * y2) ) ) * 180.0 / Math.PI;
};
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;
};
var Vec3 = function(x, y, z){
this.v = [x || 0.0, y || 0.0, z || 0.0];
};
Vec3.prototype.copy = function(a){
var v = this.v;
a = a.v;
v[0] = a[0];
v[1] = a[1];
v[2] = a[2];
return this;
};
Vec3.add = function(a, b){
var vector = new Vec3(), v = vector.v;
a = a.v; b = b.v;
v[0] = a[0] + b[0];
v[1] = a[1] + b[1];
v[2] = a[2] + b[2];
return vector;
};
Vec3.sub = function(a, b){
var vector = new Vec3(), v = vector.v;
a = a.v; b = b.v;
v[0] = a[0] - b[0];
v[1] = a[1] - b[1];
v[2] = a[2] - b[2];
return vector;
};
Vec3.mult = function(a, b){
var vector = new Vec3(), v = vector.v;
a = a.v; b = b.v;
v[0] = a[0] * b[0];
v[1] = a[1] * b[1];
v[2] = a[2] * b[2];
return vector;
};
Vec3.addScalar = function(a, b){
var vector = new Vec3(), v = vector.v;
a = a.v;
v[0] = a[0] + b;
v[1] = a[1] + b;
v[2] = a[2] + b;
return vector;
};
Vec3.multScalar = function(a, b){
var vector = new Vec3(), v = vector.v;
a = a.v;
v[0] = a[0] * b;
v[1] = a[1] * b;
v[2] = a[2] * b;
return vector;
};
Vec3.dot = function(a, b){
a = a.v; b = b.v;
return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
};
Vec3.cross = function(a, b){
a = a.v; b = b.v;
return new Vec3(
a[1] * b[2] - a[2] * b[1],
a[2] * b[0] - a[0] * b[2],
a[0] * b[1] - a[1] * b[0]);
};
Vec3.prototype.normalize = function(){
var v = this.v,
len = Math.sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
if (len > 0.0){
v[0] /= len;
v[1] /= len;
v[2] /= len;
}
return len;
};
Vec3.inverse = function(a){
var vector = new Vec3(), v = vector.v;
a = a.v;
if (a[0] !== 0.0){
v[0] = 1.0 / a[0];
}
if (a[1] !== 0.0){
v[1] = 1.0 / a[1];
}
if (a[2] !== 0.0){
v[2] = 1.0 / a[2];
}
return vector;
};
Vec3.prototype.square = function(){
var v = this.v;
return v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
};
Vec3.prototype.minIndex = function(){
var v = this.v;
return v[0] < v[1]? (v[0] < v[2]? 0: 2): (v[1] < v[2]? 1: 2);
};
var Mat3 = function(){
this.m = [ [0.0, 0.0, 0.0],
[0.0, 0.0, 0.0],
[0.0, 0.0, 0.0] ];
};
Mat3.clone = function(a){
var matrix = new Mat3(), m = matrix.m;
a = a.m;
m[0][0] = a[0][0];
m[0][1] = a[0][1];
m[0][2] = a[0][2];
m[1][0] = a[1][0];
m[1][1] = a[1][1];
m[1][2] = a[1][2];
m[2][0] = a[2][0];
m[2][1] = a[2][1];
m[2][2] = a[2][2];
return matrix;
};
Mat3.prototype.copy = function(a){
var m = this.m;
a = a.m;
m[0][0] = a[0][0];
m[0][1] = a[0][1];
m[0][2] = a[0][2];
m[1][0] = a[1][0];
m[1][1] = a[1][1];
m[1][2] = a[1][2];
m[2][0] = a[2][0];
m[2][1] = a[2][1];
m[2][2] = a[2][2];
return this;
};
Mat3.fromRows = function(a, b, c){
var matrix = new Mat3(), m = matrix.m;
a = a.v; b = b.v; c = c.v;
m[0][0] = a[0];
m[0][1] = a[1];
m[0][2] = a[2];
m[1][0] = b[0];
m[1][1] = b[1];
m[1][2] = b[2];
m[2][0] = c[0];
m[2][1] = c[1];
m[2][2] = c[2];
return matrix;
};
Mat3.fromDiagonal = function(a){
var matrix = new Mat3(), m = matrix.m;
a = a.v;
m[0][0] = a[0];
m[1][1] = a[1];
m[2][2] = a[2];
return matrix;
};
Mat3.transpose = function(a){
var matrix = new Mat3(), m = matrix.m;
a = a.m;
m[0][0] = a[0][0];
m[0][1] = a[1][0];
m[0][2] = a[2][0];
m[1][0] = a[0][1];
m[1][1] = a[1][1];
m[1][2] = a[2][1];
m[2][0] = a[0][2];
m[2][1] = a[1][2];
m[2][2] = a[2][2];
return matrix;
};
Mat3.mult = function(a, b){
var matrix = new Mat3(), m = matrix.m;
a = a.m; b = b.m;
m[0][0] = a[0][0] * b[0][0] + a[0][1] * b[1][0] + a[0][2] * b[2][0];
m[0][1] = a[0][0] * b[0][1] + a[0][1] * b[1][1] + a[0][2] * b[2][1];
m[0][2] = a[0][0] * b[0][2] + a[0][1] * b[1][2] + a[0][2] * b[2][2];
m[1][0] = a[1][0] * b[0][0] + a[1][1] * b[1][0] + a[1][2] * b[2][0];
m[1][1] = a[1][0] * b[0][1] + a[1][1] * b[1][1] + a[1][2] * b[2][1];
m[1][2] = a[1][0] * b[0][2] + a[1][1] * b[1][2] + a[1][2] * b[2][2];
m[2][0] = a[2][0] * b[0][0] + a[2][1] * b[1][0] + a[2][2] * b[2][0];
m[2][1] = a[2][0] * b[0][1] + a[2][1] * b[1][1] + a[2][2] * b[2][1];
m[2][2] = a[2][0] * b[0][2] + a[2][1] * b[1][2] + a[2][2] * b[2][2];
return matrix;
};
Mat3.multVector = function(m, a){
m = m.m; a = a.v;
return new Vec3(
m[0][0] * a[0] + m[0][1] * a[1] + m[0][2] * a[2],
m[1][0] * a[0] + m[1][1] * a[1] + m[1][2] * a[2],
m[2][0] * a[0] + m[2][1] * a[1] + m[2][2] * a[2]);
};
Mat3.prototype.column = function(index){
var m = this.m;
return new Vec3( m[0][index], m[1][index], m[2][index] );
};
Mat3.prototype.row = function(index){
var m = this.m;
return new Vec3( m[index][0], m[index][1], m[index][2] );
};
three.js/examples/js-aruco/vendor/js-aruco/src/svd.js 已删除 100644 → 0
浏览文件 @ 48bee7b7
/*
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);
};
three.js/examples/threex-aruco/threex-arucocontext.js
浏览文件 @ 0eeeccd9
......@@ -63,6 +63,9 @@ THREEx.ArucoContext.updateObject3D = function(object3D, detectedMarker){
object3D.rotation.y = -Math.atan2(rotation[0][2], rotation[2][2]);
object3D.rotation.z = Math.atan2(rotation[1][0], rotation[1][1]);
// TODO this function must die!!!!
var markerSize = 1
object3D.scale.x = markerSize;
object3D.scale.y = markerSize;
object3D.scale.z = markerSize;
......
three.js/threex-armarkercontrols.js
浏览文件 @ 0eeeccd9
......@@ -38,6 +38,11 @@ THREEx.ArMarkerControls = function(context, object3d, parameters){
// add this marker to artoolkitsystem
context.addMarker(this)
if( _this.context.arucoContext !== null ){
// IF ARUCO
console.log('init arucoControls here')
}else{
// IF ARTOOLKIT
// wait for arController to be initialized before going on with the init
var delayedInitTimerId = setInterval(function(){
// check if arController is init
......@@ -49,6 +54,7 @@ THREEx.ArMarkerControls = function(context, object3d, parameters){
// launch the _postInit
_this._postInit()
}, 1000/50)
}
return
}
......@@ -61,7 +67,6 @@ THREEx.ArMarkerControls.prototype.constructor = THREEx.ArMarkerControls;
//////////////////////////////////////////////////////////////////////////////
THREEx.ArMarkerControls.prototype._postInit = function(){
var _this = this
var markerObject3D = this.object3d;
// check if arController is init
var arController = this.context.arController
console.assert(arController !== null )
......@@ -75,15 +80,6 @@ THREEx.ArMarkerControls.prototype._postInit = function(){
}else if( _this.parameters.type === 'barcode' ){
_this.markerId = _this.parameters.barcodeValue
arController.trackBarcodeMarkerId(_this.markerId, _this.parameters.size);
}else if( _this.parameters.type === 'multiMarker' ){
// TODO rename patternUrl into .url - as it is used in multiple parameters
arController.loadMultiMarker(_this.parameters.patternUrl, function(markerId, markerNum) {
_this.markerId = markerId
});
arController.addEventListener('getMultiMarker', function(event) {
if( event.data.multiMarkerId !== _this.markerId ) return
onMarkerFound(event)
});
}else if( _this.parameters.type === 'unknown' ){
_this.markerId = null
}else{
......@@ -107,19 +103,24 @@ THREEx.ArMarkerControls.prototype._postInit = function(){
return
function onMarkerFound(event){
// honor his.parameters.minConfidence
if( event.data.type === artoolkit.PATTERN_MARKER && event.data.marker.cfPatt < _this.parameters.minConfidence ) return
if( event.data.type === artoolkit.BARCODE_MARKER && event.data.marker.cfMatt < _this.parameters.minConfidence ) return
var modelViewMatrix = new THREE.Matrix4().fromArray(event.data.matrix)
_this.notifyFoundModelViewMatrix(modelViewMatrix)
}
}
THREEx.ArMarkerControls.prototype.notifyFoundModelViewMatrix = function(modelViewMatrix){
var markerObject3D = this.object3d;
// mark object as visible
markerObject3D.visible = true
// data.matrix is the model view matrix
var modelViewMatrix = new THREE.Matrix4().fromArray(event.data.matrix)
if( this.context.arucoContext === null ){
// apply context._axisTransformMatrix - change artoolkit axis to match usual webgl one
var tmpMatrix = new THREE.Matrix4().copy(_this.context._projectionAxisTransformMatrix)
var tmpMatrix = new THREE.Matrix4().copy(this.context._projectionAxisTransformMatrix)
tmpMatrix.multiply(modelViewMatrix)
// change axis orientation on marker - artoolkit say Z is normal to the marker - ar.js say Y is normal to the marker
......@@ -127,12 +128,12 @@ THREEx.ArMarkerControls.prototype._postInit = function(){
tmpMatrix.multiply(markerAxisTransformMatrix)
modelViewMatrix.copy(tmpMatrix)
}
// change markerObject3D.matrix based on parameters.changeMatrixMode
if( _this.parameters.changeMatrixMode === 'modelViewMatrix' ){
if( this.parameters.changeMatrixMode === 'modelViewMatrix' ){
markerObject3D.matrix.copy(modelViewMatrix)
}else if( _this.parameters.changeMatrixMode === 'cameraTransformMatrix' ){
}else if( this.parameters.changeMatrixMode === 'cameraTransformMatrix' ){
markerObject3D.matrix.getInverse( modelViewMatrix )
}else {
console.assert(false)
......@@ -142,8 +143,7 @@ THREEx.ArMarkerControls.prototype._postInit = function(){
markerObject3D.matrix.decompose(markerObject3D.position, markerObject3D.quaternion, markerObject3D.scale)
// dispatchEvent
_this.dispatchEvent( { type: 'markerFound' } );
}
this.dispatchEvent( { type: 'markerFound' } );
}
Object.assign( THREEx.ArMarkerControls.prototype, THREE.EventDispatcher.prototype );
......
three.js/threex-artoolkitcontext.js
浏览文件 @ 0eeeccd9
......@@ -35,7 +35,8 @@ THREEx.ArToolkitContext = function(parameters){
this.arController = null;
this._cameraParameters = null
this.arucoContext = null;
this._arMarkersControls = []
}
......@@ -50,10 +51,15 @@ THREEx.ArToolkitContext.REVISION = '1.0.1-dev'
* return the projection matrix
*/
THREEx.ArToolkitContext.prototype.getProjectionMatrix = function(srcElement){
if( this.arucoContext !== null ){
console.assert(false, 'dont call this function with aruco')
}else{
console.assert(this.arController, 'arController MUST be initialized to call this function')
// get projectionMatrixArr from artoolkit
var projectionMatrixArr = this.arController.getCameraMatrix();
var projectionMatrix = new THREE.Matrix4().fromArray(projectionMatrixArr)
}
// apply context._axisTransformMatrix - change artoolkit axis to match usual webgl one
projectionMatrix.multiply(this._projectionAxisTransformMatrix)
......@@ -65,15 +71,16 @@ THREEx.ArToolkitContext.prototype.getProjectionMatrix = function(srcElement){
//////////////////////////////////////////////////////////////////////////////
// Code Separator
//////////////////////////////////////////////////////////////////////////////
THREEx.ArToolkitContext.prototype.init = function(onCompleted){
THREEx.ArToolkitContext.prototype.init =
THREEx.ArToolkitContext.prototype.initArtoolkit = function(onCompleted){
var _this = this
var canvasWidth = this.parameters.canvasWidth
var canvasHeight = this.parameters.canvasHeight
// console.log('ArToolkitContext: _onSourceReady width', canvasWidth, 'height', canvasHeight)
_this._cameraParameters = new ARCameraParam(_this.parameters.cameraParametersUrl, function() {
var cameraParameters = new ARCameraParam(_this.parameters.cameraParametersUrl, function() {
// init controller
var arController = new ARController(canvasWidth, canvasHeight, _this._cameraParameters);
var arController = new ARController(canvasWidth, canvasHeight, cameraParameters);
_this.arController = arController
arController.ctx.mozImageSmoothingEnabled = _this.parameters.imageSmoothingEnabled;
......@@ -123,13 +130,21 @@ THREEx.ArToolkitContext.prototype.init = function(onCompleted){
return this
}
THREEx.ArToolkitContext.prototype.initAruco = function(onCompleted){
// FIXME markerSize is in controls
var markerSize = 1
this.arucoContext = new THREEx.ArucoContext(markerSize)
setTimeout(function(){
onCompleted && onCompleted()
})
}
////////////////////////////////////////////////////////////////////////////////
// Code Separator
////////////////////////////////////////////////////////////////////////////////
THREEx.ArToolkitContext.prototype.update = function(srcElement){
// be sure arController is fully initialized
var arController = this.arController
if (!arController) return false;
if (this.arucoContext === null && this.arController === null) return false;
// honor this.parameters.maxDetectionRate
var present = performance.now()
......@@ -162,7 +177,11 @@ THREEx.ArToolkitContext.prototype.update = function(srcElement){
})
// process this frame
arController.process(srcElement)
if( this.arucoContext !== null ){
this._updateAruco(srcElement)
}else{
this._updateArtoolkit(srcElement)
}
// dispatch event
this.dispatchEvent({
......@@ -175,6 +194,38 @@ THREEx.ArToolkitContext.prototype.update = function(srcElement){
}
THREEx.ArToolkitContext.prototype._updateAruco = function(srcElement){
// console.log('update aruco here')
var _this = this
var arMarkersControls = this._arMarkersControls
var detectedMarkers = this.arucoContext.detect(srcElement)
detectedMarkers.forEach(function(detectedMarker){
// console.log('detectedMarker', detectedMarker)
var foundControls = null
for(var i = 0; i < arMarkersControls.length; i++){
if( arMarkersControls[i].parameters.barcodeValue === detectedMarker.id ){
foundControls = arMarkersControls[i]
break;
}
}
if( foundControls === null ) return
var tmpObject3d = new THREE.Object3D
THREEx.ArucoContext.updateObject3D(tmpObject3d, detectedMarker);
tmpObject3d.updateMatrix()
var modelViewMatrix = new THREE.Matrix4()
modelViewMatrix.copy(tmpObject3d.matrix)
foundControls.notifyFoundModelViewMatrix(modelViewMatrix)
console.log('position', foundControls.object3d.quaternion)
})
}
THREEx.ArToolkitContext.prototype._updateArtoolkit = function(srcElement){
this.arController.process(srcElement)
}
////////////////////////////////////////////////////////////////////////////////
// Code Separator
////////////////////////////////////////////////////////////////////////////////
......
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