com.irurueta.ar.calibration.QRPattern2D Maven / Gradle / Ivy
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/*
* Copyright (C) 2015 Alberto Irurueta Carro ([email protected])
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package com.irurueta.ar.calibration;
import com.irurueta.geometry.InhomogeneousPoint2D;
import com.irurueta.geometry.Point2D;
import java.io.Serializable;
import java.util.ArrayList;
import java.util.List;
/**
* Contains coordinates of ideal points for a QR code pattern version 2.
* When physical size of a 2D QR code is known, its corner markets can be
* used for camera calibration purposes.
* This pattern takes into account that a QR code has 3 finder patterns and
* 1 alignment pattern.
* The points returned by this pattern indicates where should these points be
* placed for a QR code having provided size.
* Points are returned in the following order:
* - Bottom-left finder pattern.
* - Top-left finder pattern (located at origin of coordinates 0,0).
* - Top-right finder pattern.
* - Bottom-right alignment pattern.
*
* The contents of this class are based on:
* http://www.thonky.com/qr-code-tutorial/module-placement-matrix/
*/
public class QRPattern2D extends Pattern2D implements Serializable {
/**
* Returns number of points used by this 2D pattern.
*/
public static final int NUMBER_OF_POINTS = 4;
/**
* Supported QR code version.
*/
public static final int QR_VERSION = 2;
/**
* Default number of horizontal and vertical modules (e.q. squares shown in QR).
* This follows expression: ((QR_VERSION - 1) * 4) + 21
*/
public static final int NUMBER_OF_MODULES = 25;
/**
* Offset of origin expressed in modules so that top-left finder pattern
* is placed at 0,0.
*/
public static final int ORIGIN_OFFSET = 4;
/**
* Default QR code width expressed in meters.
* This value is used to obtain a reference physical measure.
*/
public static final double DEFAULT_QR_CODE_WIDTH = 1.1e-2; // 1.1 cm
/**
* Default QR code height expressed in meters.
* This value is used to obtain a reference physical measure.
*/
public static final double DEFAULT_QR_CODE_HEIGHT = 1.1e-2; // 1.1 cm
/**
* QR code width expressed in meters.
* This value is used to obtain a reference physical measure.
*/
private double mCodeWidth;
/**
* QR code height expressed in meters.
* This value is used to obtain a reference physical measure.
*/
private double mCodeHeight;
/**
* Constructor.
*/
public QRPattern2D() {
mCodeWidth = DEFAULT_QR_CODE_WIDTH;
mCodeHeight = DEFAULT_QR_CODE_HEIGHT;
}
/**
* Returns QR code width expressed in meters.
* This value is used to obtain a reference physical measure.
*
* @return QR code width expressed in meters.
*/
public double getCodeWidth() {
return mCodeWidth;
}
/**
* Sets QR code width expressed in meters.
* This value is used to obtain a reference physical measure.
*
* @param codeWidth QR code width expressed in meters.
* @throws IllegalArgumentException if provided value is zero or negative.
*/
public void setCodeWidth(final double codeWidth) {
if (codeWidth <= 0.0) {
throw new IllegalArgumentException();
}
mCodeWidth = codeWidth;
}
/**
* Returns QR code height expressed in meters.
* This value is used to obtain a reference physical measure.
*
* @return QR code height expressed in meters.
*/
public double getCodeHeight() {
return mCodeHeight;
}
/**
* Sets QR code height expressed in meters.
* This value is used to obtain a reference physical measure.
*
* @param codeHeight QR code width expressed in meters.
* @throws IllegalArgumentException if provided value is zero or negative.
*/
public void setCodeHeight(final double codeHeight) {
if (codeHeight <= 0.0) {
throw new IllegalArgumentException();
}
mCodeHeight = codeHeight;
}
/**
* Returns ideal points coordinates contained in a QR 2D pattern and
* expressed in meters. These values are used for calibration purposes
*
* @return ideal points coordinates.
*/
@Override
public List getIdealPoints() {
final List points = new ArrayList<>();
// The size of a QR code (expressed in modules, i.e. each small square)
// can be calculated with the formula (((V-1)*4)+21), where V is the QR
// code version.
// For version 2, then the size will be 25 modules by 25 modules, where
// each module will be the smallest square that can be represented in the
// QR code and whose size will be equal to mCodeWidth/25 per
// mCodeHeight/25 expressed in meters (since both mCodeWidth and
// mCodeHeight are expressed in meters)
// Each finder pattern consists of an outer 7 modules by 7 modules outer
// black square, with an inner white square being 5x5 and finally and
// inner black square which is 3x3.
// Hence, assuming the top-left finder is at location 0,0 (which is
// indeed the module 3,3 assuming modules positions start at 1).
// Then the top-right finder pattern is located at:
// ([(((V-1)*4)+21) - 7], 0), where we have subtracted 7 to the QR code
// width expressed in modules to account for the fact that finder modules
// are centered at 3x3 (we subtract 4 modules for top-left plus 3 modules
// for top-right). For version 2 this is equal to (18, 0)
// Likewise, bottom-left module will be placed at
// (0, [(((V-1)*4)+21) - 7]). For version 2 this is equal to (0, 18)
// The alignment patterns are 5x5 black squares containing a
// 3x3 white inner square, which contains a 1x2 black square
// On QR version 2 alignment patterns are placed with a 6x6 module margin
// respect to QR code boundaries. Because bottom-left, top-left and
// top-right alignment patterns would overlap the finder patterns,
// version 2 only includes the bottom right alignment pattern, which
// is located at ([(((V-1)*4)+21) - 7 - 3], [(((V-1)*4)+21) - 7 - 3]),
// so for version 2 this is equal to (15, 15)
final double moduleWidth = mCodeWidth / NUMBER_OF_MODULES;
final double moduleHeight = mCodeHeight / NUMBER_OF_MODULES;
// below is equivalent to [(((V-1)*4)+21) - 7] = 18
final int finderModulePos = NUMBER_OF_MODULES - 3 - ORIGIN_OFFSET;
// below is always 15
final int alignModulePos = finderModulePos - 3;
// bottom-left finder pattern
points.add(new InhomogeneousPoint2D(0.0,
finderModulePos * moduleHeight));
// top-left finder pattern
points.add(new InhomogeneousPoint2D(0.0, 0.0));
// top-right finder pattern
points.add(new InhomogeneousPoint2D(
finderModulePos * moduleWidth, 0.0));
// bottom-right alignment pattern
points.add(new InhomogeneousPoint2D(
alignModulePos * moduleWidth,
alignModulePos * moduleHeight));
return points;
}
/**
* Returns number of 2D points used by this pattern.
*
* @return number of 2D points used by this pattern.
*/
@Override
public int getNumberOfPoints() {
return NUMBER_OF_POINTS;
}
/**
* Gets pattern type.
*
* @return pattern type.
*/
@Override
public Pattern2DType getType() {
return Pattern2DType.QR;
}
}