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/*
* 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。
* 演算順序を含む最適化をしたもの
*
*/
public class NyARColorPatt_O2 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_O2(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 o_para
* @throws NyARException
*/
private boolean get_cpara(double vertex_0[], double vertex_1[],NyARMat o_para) throws NyARException
{
double world[][]=this.wk_pickFromRaster_world;
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_0[i];//a->m[i*16+6] = -world[i][0] * vertex[i][0];
a_pt0[7]=-world_pti[1] * vertex_0[i];//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_1[i];//a->m[i*16+14] = -world[i][0] * vertex[i][1];
a_pt1[7]=-world_pti[1] * vertex_1[i];//a->m[i*16+15] = -world[i][1] * vertex[i][1];
b_array[i*2+0][0]=vertex_0[i];//b->m[i*2+0] = vertex[i][0];
b_array[i*2+1][0]=vertex_1[i];//b->m[i*2+1] = vertex[i][1];
}
// JartkException.trap("未チェックのパス");
if(!a.matrixSelfInv()){
return false;
}
// 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();
o_para.matrixMul(a, b);
// para[0*3+0] = c_array[0*3+0][0];//para[i][0] = c->m[i*3+0];
// para[0*3+1] = c_array[0*3+1][0];//para[i][1] = c->m[i*3+1];
// para[0*3+2] = c_array[0*3+2][0];//para[i][2] = c->m[i*3+2];
// para[1*3+0] = c_array[1*3+0][0];//para[i][0] = c->m[i*3+0];
// para[1*3+1] = c_array[1*3+1][0];//para[i][1] = c->m[i*3+1];
// para[i*3+2] = c_array[1*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_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 double[][] wk_pickFromRaster_local=new double[2][4];
private final int[] wk_pickFromRaster_rgb_tmp=new int[3];
private final NyARMat wk_pickFromRaster_cpara=new NyARMat(8,1);
/**
* 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->750]
* @param image
* @param i_marker
* @throws Exception
*/
public boolean pickFromRaster(NyARRaster image, NyARMarker i_marker) throws NyARException
{
NyARMat cpara=this.wk_pickFromRaster_cpara;
//localの計算
int[] x_coord=i_marker.x_coord;
int[] y_coord=i_marker.y_coord;
int[] vertex=i_marker.mkvertex;
double[] local_0=wk_pickFromRaster_local[0];//double local[4][2];
double[] local_1=wk_pickFromRaster_local[1];//double local[4][2];
for(int i = 0; i < 4; i++ ) {
local_0[i] = x_coord[vertex[i]];
local_1[i] = y_coord[vertex[i]];
}
//xdiv2,ydiv2の計算
int xdiv2, ydiv2;
int l1,l2;
double w1,w2;
//x計算
w1=local_0[0] - local_0[1];
w2=local_1[0] - local_1[1];
l1 = (int)(w1*w1+w2*w2);
w1=local_0[2] - local_0[3];
w2=local_1[2] - local_1[3];
l2 = (int)(w1*w1+w2*w2);
if( l2 > l1 ){
l1 = l2;
}
l1=l1/4;
xdiv2 =this.width;
while( xdiv2*xdiv2 < l1 ){
xdiv2*=2;
}
if( xdiv2 > AR_PATT_SAMPLE_NUM)
{
xdiv2 =AR_PATT_SAMPLE_NUM;
}
//y計算
w1=local_0[1] - local_0[2];
w2=local_1[1] - local_1[2];
l1 = (int)(w1*w1+ w2*w2);
w1=local_0[3] - local_0[0];
w2=local_1[3] - local_1[0];
l2 = (int)(w1*w1+ w2*w2);
if( l2 > l1 ){
l1 = l2;
}
ydiv2 =this.height;
l1=l1/4;
while( ydiv2*ydiv2 < l1 ){
ydiv2*=2;
}
if( ydiv2 >AR_PATT_SAMPLE_NUM)
{
ydiv2 = AR_PATT_SAMPLE_NUM;
}
//cparaの計算
if(!get_cpara(local_0,local_1,cpara)){
return false;
}
int img_x=image.getWidth();
int img_y=image.getHeight();
/*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);
double[][] cpara_array=cpara.getArray();
double para21_x_yw,para01_x_yw,para11_x_yw;
double para00,para01,para02,para10,para11,para12,para20,para21;
para00 = cpara_array[0*3+0][0];//para[i][0] = c->m[i*3+0];
para01 = cpara_array[0*3+1][0];//para[i][1] = c->m[i*3+1];
para02 = cpara_array[0*3+2][0];//para[i][2] = c->m[i*3+2];
para10 = cpara_array[1*3+0][0];//para[i][0] = c->m[i*3+0];
para11 = cpara_array[1*3+1][0];//para[i][1] = c->m[i*3+1];
para12 = cpara_array[1*3+2][0];//para[i][2] = c->m[i*3+2];
para20 = cpara_array[2*3+0][0];//para[2][0] = c->m[2*3+0];
para21 = cpara_array[2*3+1][0];//para[2][1] = c->m[2*3+1];
//para22 = 1.0;//para[2][2] = 1.0;
double d, xw, yw;
int xc, yc;
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) );
int xdiv = xdiv2/width;//xdiv = xdiv2/Config.AR_PATT_SIZE_X;
int ydiv = ydiv2/height;//ydiv = ydiv2/Config.AR_PATT_SIZE_Y;
double xdiv2_reciprocal = 1.0 / xdiv2;
double ydiv2_reciprocal = 1.0 / ydiv2;
for(j = 0; j < ydiv2; j++ ) {
yw = 102.5 + 5.0 * ((double)j+0.5) * ydiv2_reciprocal;
para21_x_yw=para21*yw+1.0;
para11_x_yw=para11*yw+para12;
para01_x_yw=para01*yw+para02;
ext_pat2_j=ext_pat2[j/ydiv];
for(i = 0; i < xdiv2; i++ ) {
xw = 102.5 + 5.0 * ((double)i+0.5) * xdiv2_reciprocal;
d = para20*xw + para21_x_yw;
if( d == 0 ){
throw new NyARException();
}
xc = (int)((para00*xw + para01_x_yw)/d);
yc = (int)((para10*xw + para11_x_yw)/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[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
}
}
}
/*<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));
}
}
return true;
}
}