branches/nyatla/src/jp/nyatla/nyartoolkit/core/NyARColorPatt_O3.java

   1 /* \r
   2  * PROJECT: NyARToolkit\r
   3  * --------------------------------------------------------------------------------\r
   4  * This work is based on the original ARToolKit developed by\r
   5  *   Hirokazu Kato\r
   6  *   Mark Billinghurst\r
   7  *   HITLab, University of Washington, Seattle\r
   8  * http://www.hitl.washington.edu/artoolkit/\r
   9  *\r
  10  * The NyARToolkit is Java version ARToolkit class library.\r
  11  * Copyright (C)2008 R.Iizuka\r
  12  *\r
  13  * This program is free software; you can redistribute it and/or\r
  14  * modify it under the terms of the GNU General Public License\r
  15  * as published by the Free Software Foundation; either version 2\r
  16  * of the License, or (at your option) any later version.\r
  17  * \r
  18  * This program is distributed in the hope that it will be useful,\r
  19  * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  20  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
  21  * GNU General Public License for more details.\r
  22  * \r
  23  * You should have received a copy of the GNU General Public License\r
  24  * along with this framework; if not, write to the Free Software\r
  25  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA\r
  26  * \r
  27  * For further information please contact.\r
  28  *      http://nyatla.jp/nyatoolkit/\r
  29  *      <airmail(at)ebony.plala.or.jp>\r
  30  * \r
  31  */\r
  32 package jp.nyatla.nyartoolkit.core;\r
  33 \r
  34 \r
  35 \r
  36 import jp.nyatla.nyartoolkit.NyARException;\r
  37 import jp.nyatla.nyartoolkit.core.raster.INyARRaster;\r
  38 \r
  39 /**\r
  40  * 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。\r
  41  * 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。\r
  42  * 演算順序を含む最適化をしたもの\r
  43  *\r
  44  */\r
  45 public class NyARColorPatt_O3 implements NyARColorPatt\r
  46 {\r
  47     private static final int AR_PATT_SAMPLE_NUM=64;//#define   AR_PATT_SAMPLE_NUM   64\r
  48     private int extpat[][][];\r
  49     private int width;\r
  50     private int height;\r
  51     public NyARColorPatt_O3(int i_width,int i_height)\r
  52     {\r
  53         this.width=i_width;\r
  54         this.height=i_height;\r
  55         this.extpat=new int[i_height][i_width][3];\r
  56     }\r
  57 //    public void setSize(int i_new_width,int i_new_height)\r
  58 //    {\r
  59 //      int array_w=this.extpat[0].length;\r
  60 //      int array_h=this.extpat.length;\r
  61 //      //十分なサイズのバッファがあるか確認\r
  62 //      if(array_w>=i_new_width && array_h>=i_new_height){\r
  63 //          //OK 十分だ→サイズ調整のみ\r
  64 //      }else{\r
  65 //          //足りないよ→取り直し\r
  66 //          this.extpat=new int[i_new_height][i_new_width][3];\r
  67 //      }\r
  68 //        this.width =i_new_width;\r
  69 //        this.height=i_new_height;\r
  70 //        return;\r
  71 //    }    \r
  72     public int[][][] getPatArray()\r
  73     {\r
  74         return extpat;\r
  75     }\r
  76     public int getWidth()\r
  77     {\r
  78         return width;\r
  79     }\r
  80     public int getHeight()\r
  81     {\r
  82         return height;\r
  83     }\r
  84     private final NyARMat wk_get_cpara_a=new NyARMat(8,8);\r
  85     private final NyARMat wk_get_cpara_b=new NyARMat(8,1);\r
  86 \r
  87     /**\r
  88      * @param world\r
  89      * @param vertex\r
  90      * @param o_para\r
  91      * @throws NyARException\r
  92      */\r
  93     private boolean get_cpara(double vertex_0[], double vertex_1[],NyARMat o_para) throws NyARException\r
  94     {\r
  95         double world[][]=this.wk_pickFromRaster_world;\r
  96         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 );\r
  97         double[][] a_array=a.getArray();\r
  98         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 );\r
  99         double[][] b_array=b.getArray();\r
 100         double[] a_pt0,a_pt1,world_pti;\r
 101 \r
 102         for(int i = 0; i < 4; i++ ) {\r
 103             a_pt0=a_array[i*2];\r
 104             a_pt1=a_array[i*2+1];\r
 105             world_pti=world[i];\r
 106 \r
 107             a_pt0[0]=world_pti[0];//a->m[i*16+0]  = world[i][0];\r
 108             a_pt0[1]=world_pti[1];//a->m[i*16+1]  = world[i][1];\r
 109             a_pt0[2]=1.0;//a->m[i*16+2]  = 1.0;\r
 110             a_pt0[3]=0.0;//a->m[i*16+3]  = 0.0;\r
 111             a_pt0[4]=0.0;//a->m[i*16+4]  = 0.0;\r
 112             a_pt0[5]=0.0;//a->m[i*16+5]  = 0.0;\r
 113             a_pt0[6]=-world_pti[0] * vertex_0[i];//a->m[i*16+6]  = -world[i][0] * vertex[i][0];\r
 114             a_pt0[7]=-world_pti[1] * vertex_0[i];//a->m[i*16+7]  = -world[i][1] * vertex[i][0];\r
 115             a_pt1[0]=0.0;//a->m[i*16+8]  = 0.0;\r
 116             a_pt1[1]=0.0;//a->m[i*16+9]  = 0.0;\r
 117             a_pt1[2]=0.0;//a->m[i*16+10] = 0.0;\r
 118             a_pt1[3]=world_pti[0];//a->m[i*16+11] = world[i][0];\r
 119             a_pt1[4]=world_pti[1];//a->m[i*16+12] = world[i][1];\r
 120             a_pt1[5]=1.0;//a->m[i*16+13] = 1.0;\r
 121             a_pt1[6]=-world_pti[0] * vertex_1[i];//a->m[i*16+14] = -world[i][0] * vertex[i][1];\r
 122             a_pt1[7]=-world_pti[1] * vertex_1[i];//a->m[i*16+15] = -world[i][1] * vertex[i][1];\r
 123             b_array[i*2+0][0]=vertex_0[i];//b->m[i*2+0] = vertex[i][0];\r
 124             b_array[i*2+1][0]=vertex_1[i];//b->m[i*2+1] = vertex[i][1];\r
 125         }\r
 126         if(!a.matrixSelfInv()){\r
 127             return false;\r
 128         }           \r
 129 \r
 130         o_para.matrixMul(a, b);\r
 131         return true;\r
 132     }\r
 133 \r
 134   //   private final double[] wk_pickFromRaster_para=new double[9];//[3][3];\r
 135     private final double[][] wk_pickFromRaster_world={//double    world[4][2];\r
 136             {100.0,     100.0},\r
 137             {100.0+10.0,100.0},\r
 138             {100.0+10.0,100.0 + 10.0},\r
 139             {100.0,     100.0 + 10.0}\r
 140     };\r
 141     /**\r
 142      * pickFromRaster関数から使う変数です。\r
 143      *\r
 144      */\r
 145     private static void initValue_wk_pickFromRaster_ext_pat2(int[][][] i_ext_pat2,int i_width,int i_height)\r
 146     {\r
 147         int i,i2;\r
 148         int[][] pt2;\r
 149         int[]   pt1;\r
 150         for(i=i_height-1;i>=0;i--){\r
 151             pt2=i_ext_pat2[i];\r
 152             for(i2=i_width-1;i2>=0;i2--){\r
 153                 pt1=pt2[i2];\r
 154                 pt1[0]=0;\r
 155                 pt1[1]=0;\r
 156                 pt1[2]=0;\r
 157             }\r
 158         }\r
 159     }\r
 160     private final double[][] wk_pickFromRaster_local=new double[2][4];\r
 161     private final NyARMat wk_pickFromRaster_cpara=new NyARMat(8,1);\r
 162     /**\r
 163      * 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。\r
 164      * Optimize:STEP[769->750]\r
 165      * @param image\r
 166      * @param i_marker\r
 167      * @throws Exception\r
 168      */\r
 169     public boolean pickFromRaster(INyARRaster image, NyARSquare i_square) throws NyARException\r
 170     {\r
 171         NyARMat cpara=this.wk_pickFromRaster_cpara;\r
 172         //localの計算\r
 173         double[] local_0=wk_pickFromRaster_local[0];//double    local[4][2];    \r
 174         double[] local_1=wk_pickFromRaster_local[1];//double    local[4][2];    \r
 175         //\r
 176         for(int i = 0; i < 4; i++ ) {\r
 177             local_0[i] = i_square.imvertex[i][0];\r
 178             local_1[i] = i_square.imvertex[i][1];\r
 179         }\r
 180         //xdiv2,ydiv2の計算\r
 181         int xdiv2, ydiv2;\r
 182         int l1,l2;\r
 183         double w1,w2;\r
 184 \r
 185         //x計算\r
 186         w1=local_0[0] - local_0[1];\r
 187         w2=local_1[0] - local_1[1];\r
 188         l1 = (int)(w1*w1+w2*w2);\r
 189         w1=local_0[2] - local_0[3];\r
 190         w2=local_1[2] - local_1[3];\r
 191         l2 = (int)(w1*w1+w2*w2);\r
 192         if( l2 > l1 ){\r
 193             l1 = l2;\r
 194         }\r
 195         l1=l1/4;\r
 196         xdiv2 =this.width;\r
 197         while( xdiv2*xdiv2 < l1 ){\r
 198             xdiv2*=2;\r
 199         }\r
 200         if( xdiv2 > AR_PATT_SAMPLE_NUM)\r
 201         {\r
 202             xdiv2 =AR_PATT_SAMPLE_NUM;\r
 203         }\r
 204         \r
 205         //y計算\r
 206         w1=local_0[1] - local_0[2];\r
 207         w2=local_1[1] - local_1[2];\r
 208         l1 = (int)(w1*w1+ w2*w2);\r
 209         w1=local_0[3] - local_0[0];\r
 210         w2=local_1[3] - local_1[0];\r
 211         l2 = (int)(w1*w1+ w2*w2);\r
 212         if( l2 > l1 ){\r
 213             l1 = l2;\r
 214         }\r
 215         ydiv2 =this.height;\r
 216         l1=l1/4;\r
 217         while( ydiv2*ydiv2 < l1 ){\r
 218             ydiv2*=2;\r
 219         }\r
 220         if( ydiv2 >AR_PATT_SAMPLE_NUM)\r
 221         {\r
 222             ydiv2 = AR_PATT_SAMPLE_NUM;\r
 223         }       \r
 224         \r
 225         //cparaの計算\r
 226         if(!get_cpara(local_0,local_1,cpara)){\r
 227             return false;\r
 228         }\r
 229         updateExtpat(image,cpara,xdiv2,ydiv2);\r
 230 \r
 231         return true;\r
 232     }\r
 233     //かなり大きいワークバッファを取るな…。\r
 234     private double[] wk_updateExtpat_para00_xw;\r
 235     private double[] wk_updateExtpat_para10_xw;\r
 236     private double[] wk_updateExtpat_para20_xw;\r
 237     private int[] wk_updateExtpat_rgb_buf;\r
 238     private int[] wk_updateExtpat_x_rgb_index;\r
 239     private int[] wk_updateExtpat_y_rgb_index;\r
 240     private int[] wk_updateExtpat_i_rgb_index;\r
 241     private int wk_updateExtpat_buffer_size=0;\r
 242 \r
 243     /**\r
 244      * ワークバッファを予約する\r
 245      * @param i_xdiv2\r
 246      */\r
 247     private void reservWorkBuffers(int i_xdiv2)\r
 248     {\r
 249         if(this.wk_updateExtpat_buffer_size<i_xdiv2){\r
 250             wk_updateExtpat_para00_xw=new double[i_xdiv2];\r
 251             wk_updateExtpat_para10_xw=new double[i_xdiv2];\r
 252             wk_updateExtpat_para20_xw=new double[i_xdiv2];\r
 253             wk_updateExtpat_rgb_buf=new int[i_xdiv2*3];\r
 254             wk_updateExtpat_x_rgb_index=new int[i_xdiv2];\r
 255             wk_updateExtpat_y_rgb_index=new int[i_xdiv2];\r
 256             wk_updateExtpat_i_rgb_index=new int[i_xdiv2];\r
 257             this.wk_updateExtpat_buffer_size=i_xdiv2;\r
 258         }\r
 259         //十分なら何もしない。\r
 260         return;\r
 261     }\r
 262     \r
 263     private void updateExtpat(INyARRaster image,NyARMat i_cpara,int i_xdiv2,int i_ydiv2) throws NyARException\r
 264     {\r
 265         int img_x=image.getWidth();\r
 266         int img_y=image.getHeight();\r
 267         final int[][][] L_extpat=this.extpat;\r
 268         final int L_WIDTH=this.width;\r
 269         final int L_HEIGHT=this.height;\r
 270         /*wk_pickFromRaster_ext_pat2ワーク変数を初期化する。*/\r
 271         //int[][][] ext_pat2=wk_pickFromRaster_ext_pat2;//ARUint32  ext_pat2[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3];\r
 272         int extpat_j[][],extpat_j_i[];\r
 273         //int ext_pat2_j[][],ext_pat2_j_i[];\r
 274 \r
 275         initValue_wk_pickFromRaster_ext_pat2(L_extpat,L_WIDTH,L_HEIGHT);\r
 276 \r
 277         double[][] cpara_array=i_cpara.getArray();\r
 278         double para21_x_yw,para01_x_yw,para11_x_yw;\r
 279         double para00,para01,para02,para10,para11,para12,para20,para21;\r
 280         para00 = cpara_array[0*3+0][0];//para[i][0] = c->m[i*3+0];\r
 281         para01 = cpara_array[0*3+1][0];//para[i][1] = c->m[i*3+1];\r
 282         para02 = cpara_array[0*3+2][0];//para[i][2] = c->m[i*3+2];\r
 283         para10 = cpara_array[1*3+0][0];//para[i][0] = c->m[i*3+0];\r
 284         para11 = cpara_array[1*3+1][0];//para[i][1] = c->m[i*3+1];\r
 285         para12 = cpara_array[1*3+2][0];//para[i][2] = c->m[i*3+2];\r
 286         para20 = cpara_array[2*3+0][0];//para[2][0] = c->m[2*3+0];\r
 287         para21 = cpara_array[2*3+1][0];//para[2][1] = c->m[2*3+1];\r
 288 \r
 289         \r
 290         double          d,yw;\r
 291         int             xc, yc;\r
 292         int i,j;\r
 293         //      arGetCode_put_zero(ext_pat2);//put_zero( (ARUint8 *)ext_pat2, AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3*sizeof(ARUint32) );\r
 294         int xdiv = i_xdiv2/L_WIDTH;//xdiv = xdiv2/Config.AR_PATT_SIZE_X;\r
 295         int ydiv = i_ydiv2/L_HEIGHT;//ydiv = ydiv2/Config.AR_PATT_SIZE_Y;\r
 296         \r
 297         //計算バッファを予約する\r
 298         this.reservWorkBuffers(i_xdiv2);        \r
 299         double[] para00_xw=this.wk_updateExtpat_para00_xw;\r
 300         double[] para10_xw=this.wk_updateExtpat_para10_xw;\r
 301         double[] para20_xw=this.wk_updateExtpat_para20_xw;\r
 302         int[] x_rgb_index=this.wk_updateExtpat_x_rgb_index;\r
 303         int[] y_rgb_index=this.wk_updateExtpat_y_rgb_index;\r
 304         int[] i_rgb_index=this.wk_updateExtpat_i_rgb_index;\r
 305         int[] rgb_buf=this.wk_updateExtpat_rgb_buf;\r
 306         double xw;\r
 307         for(i=0;i<i_xdiv2;i++){\r
 308             xw= 102.5 + 5.0 * ((double)i+0.5) /i_xdiv2;\r
 309             para20_xw[i]=para20*xw;\r
 310             para00_xw[i]=para00*xw;\r
 311             para10_xw[i]=para10*xw;\r
 312         }\r
 313 \r
 314         int index_num;\r
 315 \r
 316         \r
 317         for(j = 0; j < i_ydiv2; j++ ) {\r
 318             yw = 102.5 + 5.0 * ((double)j+0.5) /i_ydiv2;\r
 319             para21_x_yw=para21*yw+1.0;\r
 320             para11_x_yw=para11*yw+para12;\r
 321             para01_x_yw=para01*yw+para02;\r
 322             extpat_j=L_extpat[j/ydiv];\r
 323             index_num=0;\r
 324             //ステップ１．RGB取得用のマップを作成\r
 325             for(i = 0; i < i_xdiv2; i++ ) {\r
 326                 d = para20_xw[i] + para21_x_yw;\r
 327                 if( d == 0 ){\r
 328                     throw new NyARException();\r
 329                 }\r
 330                 xc = (int)((para00_xw[i] + para01_x_yw)/d);\r
 331                 yc = (int)((para10_xw[i] + para11_x_yw)/d);\r
 332                 //範囲外は無視\r
 333                 if(xc<0 || xc >=img_x || yc<0 || yc >=img_y){\r
 334                     continue;\r
 335                 }\r
 336 //              ピクセル値の計算\r
 337 //              image.getPixel(xc,yc,rgb_buf);\r
 338 //                ext_pat2_j_i=ext_pat2_j[i/xdiv];\r
 339 //                ext_pat2_j_i[0] += rgb_buf[0];//R\r
 340 //                ext_pat2_j_i[1] += rgb_buf[1];//G\r
 341 //                ext_pat2_j_i[2] += rgb_buf[2];//B\r
 342 \r
 343                 x_rgb_index[index_num]=xc;\r
 344                 y_rgb_index[index_num]=yc;\r
 345                 i_rgb_index[index_num]=i/xdiv;\r
 346                 index_num++;\r
 347             }\r
 348 //          //ステップ２．ピクセル配列を取得\r
 349             image.getPixelSet(x_rgb_index,y_rgb_index,index_num,rgb_buf);\r
 350 //          //ピクセル値の計算\r
 351             for(i=index_num-1;i>=0;i--){\r
 352                 extpat_j_i=extpat_j[i_rgb_index[i]];\r
 353                 extpat_j_i[0] += rgb_buf[i*3+0];//R\r
 354                 extpat_j_i[1] += rgb_buf[i*3+1];//G\r
 355                 extpat_j_i[2] += rgb_buf[i*3+2];//B\r
 356             }\r
 357         }\r
 358         /*<Optimize>*/\r
 359         int xdiv_x_ydiv=xdiv*ydiv;\r
 360         for(j =L_HEIGHT-1; j>=0; j--){\r
 361             extpat_j=L_extpat[j];\r
 362             for(i = L_WIDTH-1; i>=0; i--){                              // PRL 2006-06-08.\r
 363                 extpat_j_i=extpat_j[i];\r
 364                 extpat_j_i[0]/=(xdiv_x_ydiv);//ext_pat[j][i][0] = (byte)(ext_pat2[j][i][0] / (xdiv*ydiv));\r
 365                 extpat_j_i[1]/=(xdiv_x_ydiv);//ext_pat[j][i][1] = (byte)(ext_pat2[j][i][1] / (xdiv*ydiv));\r
 366                 extpat_j_i[2]/=(xdiv_x_ydiv);//ext_pat[j][i][2] = (byte)(ext_pat2[j][i][2] / (xdiv*ydiv));\r
 367             }\r
 368         }\r
 369         return; \r
 370     }\r
 371 }