Blame |
Last modification |
View Log
| RSS feed
/*
* PROJECT: NyARToolkit
* --------------------------------------------------------------------------------
* This work is based on the original ARToolKit developed by
* Hirokazu Kato
* Mark Billinghurst
* HITLab, University of Washington, Seattle
* http://www.hitl.washington.edu/artoolkit/
*
* The NyARToolkit is Java version ARToolkit class library.
* Copyright (C)2008 R.Iizuka
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this framework; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
* For further information please contact.
* http://nyatla.jp/nyatoolkit/
* <airmail(at)ebony.plala.or.jp>
*
*/
package jp.nyatla.nyartoolkit.core;
import jp.nyatla.nyartoolkit.NyARException;
import jp.nyatla.nyartoolkit.core.raster.NyARRaster;
/**
* 24ビットカラーのマーカーを保持するために使うクラスです。
* このクラスは、ARToolkitのパターンと、ラスタから取得したパターンを保持します。
* 演算順序以外の最適化をしたもの
*
*/
public class NyARColorPatt_O1 implements NyARColorPatt
{
private static final int AR_PATT_SAMPLE_NUM=64;//#define AR_PATT_SAMPLE_NUM 64
private int extpat[][][];
private int width;
private int height;
public NyARColorPatt_O1(int i_width,int i_height)
{
this.width =i_width;
this.height=i_height;
this.extpat=new int[i_height][i_width][3];
this.wk_pickFromRaster_ext_pat2=new int[i_height][i_width][3];
}
// public void setSize(int i_new_width,int i_new_height)
// {
// int array_w=this.extpat[0].length;
// int array_h=this.extpat.length;
// //十分なサイズのバッファがあるか確認
// if(array_w>=i_new_width && array_h>=i_new_height){
// //OK 十分だ→サイズ調整のみ
// }else{
// //足りないよ→取り直し
// this.wk_pickFromRaster_ext_pat2=new int[i_new_height][i_new_width][3];
// this.extpat=new int[i_new_height][i_new_width][3];
// }
// this.width =i_new_width;
// this.height=i_new_height;
// return;
// }
public int[][][] getPatArray()
{
return extpat;
}
public int getWidth()
{
return width;
}
public int getHeight()
{
return height;
}
private final NyARMat wk_get_cpara_a=new NyARMat(8,8);
private final NyARMat wk_get_cpara_b=new NyARMat(8,1);
private final NyARMat wk_get_cpara_c=new NyARMat(8,1);
/**
*
* @param world
* @param vertex
* @param para
* [3x3]
* @throws NyARException
*/
private boolean get_cpara( double world[][], double vertex[][],double[] para) throws NyARException
{
NyARMat a =wk_get_cpara_a;//次処理で値を設定するので、初期化不要// new NyARMat( 8, 8 );
double[][] a_array=a.getArray();
NyARMat b =wk_get_cpara_b;//次処理で値を設定するので、初期化不要// new NyARMat( 8, 1 );
double[][] b_array=b.getArray();
double[] a_pt0,a_pt1,world_pti;
for(int i = 0; i < 4; i++ ) {
a_pt0=a_array[i*2];
a_pt1=a_array[i*2+1];
world_pti=world[i];
a_pt0[0]=world_pti[0];//a->m[i*16+0] = world[i][0];
a_pt0[1]=world_pti[1];//a->m[i*16+1] = world[i][1];
a_pt0[2]=1.0;//a->m[i*16+2] = 1.0;
a_pt0[3]=0.0;//a->m[i*16+3] = 0.0;
a_pt0[4]=0.0;//a->m[i*16+4] = 0.0;
a_pt0[5]=0.0;//a->m[i*16+5] = 0.0;
a_pt0[6]=-world_pti[0] * vertex[i][0];//a->m[i*16+6] = -world[i][0] * vertex[i][0];
a_pt0[7]=-world_pti[1] * vertex[i][0];//a->m[i*16+7] = -world[i][1] * vertex[i][0];
a_pt1[0]=0.0;//a->m[i*16+8] = 0.0;
a_pt1[1]=0.0;//a->m[i*16+9] = 0.0;
a_pt1[2]=0.0;//a->m[i*16+10] = 0.0;
a_pt1[3]=world_pti[0];//a->m[i*16+11] = world[i][0];
a_pt1[4]=world_pti[1];//a->m[i*16+12] = world[i][1];
a_pt1[5]=1.0;//a->m[i*16+13] = 1.0;
a_pt1[6]=-world_pti[0] * vertex[i][1];//a->m[i*16+14] = -world[i][0] * vertex[i][1];
a_pt1[7]=-world_pti[1] * vertex[i][1];//a->m[i*16+15] = -world[i][1] * vertex[i][1];
b_array[i*2+0][0]=vertex[i][0];//b->m[i*2+0] = vertex[i][0];
b_array[i*2+1][0]=vertex[i][1];//b->m[i*2+1] = vertex[i][1];
}
// JartkException.trap("未チェックのパス");
if(!a.matrixSelfInv()){
return false;//逆行列を求められないので失敗
}
// JartkException.trap("未チェックのパス");
NyARMat c = wk_get_cpara_c;//次処理で結果を受け取るので、初期化不要//new NyARMat( 8, 1 );
double[][] c_array=c.getArray();
c.matrixMul(a, b);
for(int i = 0; i < 2; i++ ) {
para[i*3+0] = c_array[i*3+0][0];//para[i][0] = c->m[i*3+0];
para[i*3+1] = c_array[i*3+1][0];//para[i][1] = c->m[i*3+1];
para[i*3+2] = c_array[i*3+2][0];//para[i][2] = c->m[i*3+2];
}
para[2*3+0] = c_array[2*3+0][0];//para[2][0] = c->m[2*3+0];
para[2*3+1] = c_array[2*3+1][0];//para[2][1] = c->m[2*3+1];
para[2*3+2] = 1.0;//para[2][2] = 1.0;
return true;
}
private final double[][] wk_pickFromRaster_local=new double[4][2];
private final double[] wk_pickFromRaster_para=new double[9];//[3][3];
private int[][][] wk_pickFromRaster_ext_pat2=null;//コンストラクタでint[height][width][3]を作る
private final double[][] wk_pickFromRaster_world={//double world[4][2];
{100.0, 100.0},
{100.0+10.0,100.0},
{100.0+10.0,100.0 + 10.0},
{100.0, 100.0 + 10.0}
};
/**
* pickFromRaster関数から使う変数です。
*
*/
private static void initValue_wk_pickFromRaster_ext_pat2(int[][][] i_ext_pat2,int i_width,int i_height)
{
int i,i2;
int[][] pt2;
int[] pt1;
for(i=i_height-1;i>=0;i--){
pt2=i_ext_pat2[i];
for(i2=i_width-1;i2>=0;i2--){
pt1=pt2[i2];
pt1[0]=0;
pt1[1]=0;
pt1[2]=0;
}
}
}
private final int[] wk_pickFromRaster_rgb_tmp=new int[3];
/**
* imageから、i_markerの位置にあるパターンを切り出して、保持します。
* Optimize:STEP[769->]
* @param image
* @param i_marker
* @return
* 切り出しに失敗した
* @throws Exception
*/
public boolean pickFromRaster(NyARRaster image, NyARMarker i_marker) throws NyARException
{
double d, xw, yw;
int xc, yc;
int xdiv, ydiv;
int xdiv2, ydiv2;
int lx1, lx2, ly1, ly2;
int img_x=image.getWidth();
int img_y=image.getHeight();
double xdiv2_reciprocal; // [tp]
double ydiv2_reciprocal; // [tp]
int[] x_coord=i_marker.x_coord;
int[] y_coord=i_marker.y_coord;
double[][] local=wk_pickFromRaster_local;//double local[4][2];
int[] vertex=i_marker.mkvertex;
for(int i = 0; i < 4; i++ ) {
local[i][0] = x_coord[vertex[i]];
local[i][1] = y_coord[vertex[i]];
}
double[][] world=wk_pickFromRaster_world;
/* world[0][0] = 100.0;
world[0][1] = 100.0;
world[1][0] = 100.0 + 10.0;
world[1][1] = 100.0;
world[2][0] = 100.0 + 10.0;
world[2][1] = 100.0 + 10.0;
world[3][0] = 100.0;
world[3][1] = 100.0 + 10.0;*/
double[] para =wk_pickFromRaster_para; //double para[3][3];
//パターンの切り出しに失敗することもある。
if(!get_cpara( world, local, para )){
return false;
}
lx1 = (int)((local[0][0] - local[1][0])*(local[0][0] - local[1][0])+ (local[0][1] - local[1][1])*(local[0][1] - local[1][1]));
lx2 = (int)((local[2][0] - local[3][0])*(local[2][0] - local[3][0])+ (local[2][1] - local[3][1])*(local[2][1] - local[3][1]));
ly1 = (int)((local[1][0] - local[2][0])*(local[1][0] - local[2][0])+ (local[1][1] - local[2][1])*(local[1][1] - local[2][1]));
ly2 = (int)((local[3][0] - local[0][0])*(local[3][0] - local[0][0])+ (local[3][1] - local[0][1])*(local[3][1] - local[0][1]));
if( lx2 > lx1 ){
lx1 = lx2;
}
if( ly2 > ly1 ){
ly1 = ly2;
}
xdiv2 =this.width;
ydiv2 =this.height;
while( xdiv2*xdiv2 < lx1/4 ){
xdiv2*=2;
}
while( ydiv2*ydiv2 < ly1/4 ){
ydiv2*=2;
}
if( xdiv2 > AR_PATT_SAMPLE_NUM)
{
xdiv2 =AR_PATT_SAMPLE_NUM;
}
if( ydiv2 >AR_PATT_SAMPLE_NUM)
{
ydiv2 = AR_PATT_SAMPLE_NUM;
}
xdiv = xdiv2/width;//xdiv = xdiv2/Config.AR_PATT_SIZE_X;
ydiv = ydiv2/height;//ydiv = ydiv2/Config.AR_PATT_SIZE_Y;
/*wk_pickFromRaster_ext_pat2ワーク変数を初期化する。*/
int[][][] ext_pat2=wk_pickFromRaster_ext_pat2;//ARUint32 ext_pat2[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3];
int extpat_j[][],extpat_j_i[];
int ext_pat2_j[][],ext_pat2_j_i[];
initValue_wk_pickFromRaster_ext_pat2(ext_pat2,this.width,this.height);
xdiv2_reciprocal = 1.0 / xdiv2;
ydiv2_reciprocal = 1.0 / ydiv2;
int i,j;
int[] rgb_tmp=wk_pickFromRaster_rgb_tmp;
// arGetCode_put_zero(ext_pat2);//put_zero( (ARUint8 *)ext_pat2, AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3*sizeof(ARUint32) );
for(j = 0; j < ydiv2; j++ ) {
yw = 102.5 + 5.0 * (j+0.5) * ydiv2_reciprocal;
for(i = 0; i < xdiv2; i++ ) {
xw = 102.5 + 5.0 * (i+0.5) * xdiv2_reciprocal;
d = para[2*3+0]*xw + para[2*3+1]*yw + para[2*3+2];
if( d == 0 ){
throw new NyARException();
}
xc = (int)((para[0*3+0]*xw + para[0*3+1]*yw + para[0*3+2])/d);
yc = (int)((para[1*3+0]*xw + para[1*3+1]*yw + para[1*3+2])/d);
if( xc >= 0 && xc < img_x && yc >= 0 && yc < img_y ) {
image.getPixel(xc, yc, rgb_tmp);
ext_pat2_j_i=ext_pat2[j/ydiv][i/xdiv];
ext_pat2_j_i[0] += rgb_tmp[0];//R
ext_pat2_j_i[1] += rgb_tmp[1];//G
ext_pat2_j_i[2] += rgb_tmp[2];//B
// System.out.println(xc+":"+yc+":"+rgb_tmp[0]+":"+rgb_tmp[1]+":"+rgb_tmp[2]);
}
}
}
// short[][][] ext_pat=new short[Config.AR_PATT_SIZE_Y][Config.AR_PATT_SIZE_X][3];//ARUint32 ext_pat2[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3];
/*<Optimize>*/
int xdiv_x_ydiv=xdiv*ydiv;
for(j = this.height-1; j>=0; j--){
extpat_j=extpat[j];
ext_pat2_j=ext_pat2[j];
for(i = this.width-1; i>=0; i--){ // PRL 2006-06-08.
ext_pat2_j_i=ext_pat2_j[i];
extpat_j_i=extpat_j[i];
extpat_j_i[0]=(ext_pat2_j_i[0] / xdiv_x_ydiv);//ext_pat[j][i][0] = (byte)(ext_pat2[j][i][0] / (xdiv*ydiv));
extpat_j_i[1]=(ext_pat2_j_i[1] / xdiv_x_ydiv);//ext_pat[j][i][1] = (byte)(ext_pat2[j][i][1] / (xdiv*ydiv));
extpat_j_i[2]=(ext_pat2_j_i[2] / xdiv_x_ydiv);//ext_pat[j][i][2] = (byte)(ext_pat2[j][i][2] / (xdiv*ydiv));
}
}/*
int xdiv_mul_ydiv=xdiv*ydiv;
short [][] extpat_pt_2;
short[] extpat_pt_1;
int[][] ext_pat2_pt_2;
int[] ext_pat2_pt_1;
for(int j=this.height-1; j>=0; j--){//for(int j = 0; j < this.height; j++ ){
extpat_pt_2=extpat[j];
ext_pat2_pt_2=ext_pat2[j];
for(int i = this.width-1; i>=0; i--){//for(int i = 0; i < this.width; i++ ){ // PRL 2006-06-08.
extpat_pt_1=extpat_pt_2[i];
ext_pat2_pt_1=ext_pat2_pt_2[i];
extpat_pt_1[0]=(short)(ext_pat2_pt_1[0] / xdiv_mul_ydiv);//ext_pat[j][i][0] = (byte)(ext_pat2[j][i][0] / (xdiv*ydiv));
extpat_pt_1[1]=(short)(ext_pat2_pt_1[1] / xdiv_mul_ydiv);//ext_pat[j][i][1] = (byte)(ext_pat2[j][i][1] / (xdiv*ydiv));
extpat_pt_1[2]=(short)(ext_pat2_pt_1[2] / xdiv_mul_ydiv);//ext_pat[j][i][2] = (byte)(ext_pat2[j][i][2] / (xdiv*ydiv));
}
}
/*</Optimize>*/
return true;
}
}