2 * PROJECT: NyARToolkit
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3 * --------------------------------------------------------------------------------
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4 * This work is based on the original ARToolKit developed by
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7 * HITLab, University of Washington, Seattle
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8 * http://www.hitl.washington.edu/artoolkit/
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10 * The NyARToolkit is Java version ARToolkit class library.
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11 * Copyright (C)2008 R.Iizuka
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13 * This program is free software; you can redistribute it and/or
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14 * modify it under the terms of the GNU General Public License
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15 * as published by the Free Software Foundation; either version 2
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16 * of the License, or (at your option) any later version.
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18 * This program is distributed in the hope that it will be useful,
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19 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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20 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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21 * GNU General Public License for more details.
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23 * You should have received a copy of the GNU General Public License
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24 * along with this framework; if not, write to the Free Software
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25 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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27 * For further information please contact.
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28 * http://nyatla.jp/nyatoolkit/
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29 * <airmail(at)ebony.plala.or.jp>
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32 package jp.nyatla.nyartoolkit.core.pickup;
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34 import jp.nyatla.nyartoolkit.NyARException;
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35 import jp.nyatla.nyartoolkit.core.NyARMat;
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36 import jp.nyatla.nyartoolkit.core.NyARSquare;
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37 import jp.nyatla.nyartoolkit.core.raster.rgb.*;
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38 import jp.nyatla.nyartoolkit.core.rasterreader.*;
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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。 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。
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44 public class NyARColorPatt_O1 implements INyARColorPatt
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46 private static final int AR_PATT_SAMPLE_NUM = 64;// #define
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47 // AR_PATT_SAMPLE_NUM 64
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49 private int extpat[][][];
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55 public NyARColorPatt_O1(int i_width, int i_height)
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57 this.width = i_width;
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58 this.height = i_height;
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59 this.extpat = new int[i_height][i_width][3];
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60 this.wk_pickFromRaster_ext_pat2 = new int[i_height][i_width][3];
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63 // public void setSize(int i_new_width,int i_new_height)
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65 // int array_w=this.extpat[0].length;
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66 // int array_h=this.extpat.length;
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67 // //十分なサイズのバッファがあるか確認
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68 // if(array_w>=i_new_width && array_h>=i_new_height){
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72 // this.wk_pickFromRaster_ext_pat2=new int[i_new_height][i_new_width][3];
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73 // this.extpat=new int[i_new_height][i_new_width][3];
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75 // this.width =i_new_width;
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76 // this.height=i_new_height;
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80 public int[][][] getPatArray()
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85 public int getWidth()
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90 public int getHeight()
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95 private final NyARMat wk_get_cpara_a = new NyARMat(8, 8);
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97 private final NyARMat wk_get_cpara_b = new NyARMat(8, 1);
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99 private final NyARMat wk_get_cpara_c = new NyARMat(8, 1);
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107 * @throws NyARException
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109 private boolean get_cpara(double world[][], double vertex[][], double[] para)
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110 throws NyARException
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112 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 );
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113 double[][] a_array = a.getArray();
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114 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 );
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115 double[][] b_array = b.getArray();
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116 double[] a_pt0, a_pt1, world_pti;
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118 for (int i = 0; i < 4; i++) {
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119 a_pt0 = a_array[i * 2];
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120 a_pt1 = a_array[i * 2 + 1];
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121 world_pti = world[i];
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123 a_pt0[0] = world_pti[0];// a->m[i*16+0] = world[i][0];
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124 a_pt0[1] = world_pti[1];// a->m[i*16+1] = world[i][1];
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125 a_pt0[2] = 1.0;// a->m[i*16+2] = 1.0;
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126 a_pt0[3] = 0.0;// a->m[i*16+3] = 0.0;
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127 a_pt0[4] = 0.0;// a->m[i*16+4] = 0.0;
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128 a_pt0[5] = 0.0;// a->m[i*16+5] = 0.0;
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129 a_pt0[6] = -world_pti[0] * vertex[i][0];// a->m[i*16+6] =
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132 a_pt0[7] = -world_pti[1] * vertex[i][0];// a->m[i*16+7] =
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135 a_pt1[0] = 0.0;// a->m[i*16+8] = 0.0;
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136 a_pt1[1] = 0.0;// a->m[i*16+9] = 0.0;
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137 a_pt1[2] = 0.0;// a->m[i*16+10] = 0.0;
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138 a_pt1[3] = world_pti[0];// a->m[i*16+11] = world[i][0];
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139 a_pt1[4] = world_pti[1];// a->m[i*16+12] = world[i][1];
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140 a_pt1[5] = 1.0;// a->m[i*16+13] = 1.0;
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141 a_pt1[6] = -world_pti[0] * vertex[i][1];// a->m[i*16+14] =
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144 a_pt1[7] = -world_pti[1] * vertex[i][1];// a->m[i*16+15] =
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147 b_array[i * 2 + 0][0] = vertex[i][0];// b->m[i*2+0] =
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149 b_array[i * 2 + 1][0] = vertex[i][1];// b->m[i*2+1] =
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152 // JartkException.trap("未チェックのパス");
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153 if (!a.matrixSelfInv()) {
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154 return false;// 逆行列を求められないので失敗
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157 // JartkException.trap("未チェックのパス");
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158 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 );
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159 double[][] c_array = c.getArray();
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162 for (int i = 0; i < 2; i++) {
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163 para[i * 3 + 0] = c_array[i * 3 + 0][0];// para[i][0] = c->m[i*3+0];
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164 para[i * 3 + 1] = c_array[i * 3 + 1][0];// para[i][1] = c->m[i*3+1];
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165 para[i * 3 + 2] = c_array[i * 3 + 2][0];// para[i][2] = c->m[i*3+2];
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167 para[2 * 3 + 0] = c_array[2 * 3 + 0][0];// para[2][0] = c->m[2*3+0];
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168 para[2 * 3 + 1] = c_array[2 * 3 + 1][0];// para[2][1] = c->m[2*3+1];
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169 para[2 * 3 + 2] = 1.0;// para[2][2] = 1.0;
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173 private final double[][] wk_pickFromRaster_local = new double[4][2];
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175 private final double[] wk_pickFromRaster_para = new double[9];// [3][3];
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177 private int[][][] wk_pickFromRaster_ext_pat2 = null;// コンストラクタでint[height][width][3]を作る
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179 private final double[][] wk_pickFromRaster_world = {// double world[4][2];
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180 { 100.0, 100.0 }, { 100.0 + 10.0, 100.0 }, { 100.0 + 10.0, 100.0 + 10.0 },
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181 { 100.0, 100.0 + 10.0 } };
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184 * pickFromRaster関数から使う変数です。
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187 private static void initValue_wk_pickFromRaster_ext_pat2(
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188 int[][][] i_ext_pat2, int i_width, int i_height)
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193 for (i = i_height - 1; i >= 0; i--) {
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194 pt2 = i_ext_pat2[i];
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195 for (i2 = i_width - 1; i2 >= 0; i2--) {
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204 private final int[] wk_pickFromRaster_rgb_tmp = new int[3];
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207 * 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->]
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211 * @return 切り出しに失敗した
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212 * @throws Exception
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214 public boolean pickFromRaster(INyARRgbRaster image, NyARSquare i_square)throws NyARException
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220 int lx1, lx2, ly1, ly2;
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222 int img_x = image.getWidth();
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223 int img_y = image.getHeight();
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225 double xdiv2_reciprocal; // [tp]
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226 double ydiv2_reciprocal; // [tp]
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228 // int[] x_coord=i_marker.x_coord;
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229 // int[] y_coord=i_marker.y_coord;
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230 // int[] vertex=i_marker.mkvertex;
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231 double[][] local = wk_pickFromRaster_local;// double local[4][2];
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233 for (int i = 0; i < 4; i++) {
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234 local[i][0] = i_square.imvertex[i].x;
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235 local[i][1] = i_square.imvertex[i].y;
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238 double[][] world = wk_pickFromRaster_world;
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240 * world[0][0] = 100.0; world[0][1] = 100.0; world[1][0] = 100.0 + 10.0;
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241 * world[1][1] = 100.0; world[2][0] = 100.0 + 10.0; world[2][1] = 100.0 +
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242 * 10.0; world[3][0] = 100.0; world[3][1] = 100.0 + 10.0;
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244 double[] para = wk_pickFromRaster_para; // double para[3][3];
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245 // パターンの切り出しに失敗することもある。
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246 if (!get_cpara(world, local, para)) {
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249 lx1 = (int) ((local[0][0] - local[1][0]) * (local[0][0] - local[1][0]) + (local[0][1] - local[1][1])
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250 * (local[0][1] - local[1][1]));
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251 lx2 = (int) ((local[2][0] - local[3][0]) * (local[2][0] - local[3][0]) + (local[2][1] - local[3][1])
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252 * (local[2][1] - local[3][1]));
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253 ly1 = (int) ((local[1][0] - local[2][0]) * (local[1][0] - local[2][0]) + (local[1][1] - local[2][1])
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254 * (local[1][1] - local[2][1]));
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255 ly2 = (int) ((local[3][0] - local[0][0]) * (local[3][0] - local[0][0]) + (local[3][1] - local[0][1])
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256 * (local[3][1] - local[0][1]));
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263 xdiv2 = this.width;
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264 ydiv2 = this.height;
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266 while (xdiv2 * xdiv2 < lx1 / 4) {
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269 while (ydiv2 * ydiv2 < ly1 / 4) {
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273 if (xdiv2 > AR_PATT_SAMPLE_NUM) {
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274 xdiv2 = AR_PATT_SAMPLE_NUM;
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276 if (ydiv2 > AR_PATT_SAMPLE_NUM) {
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277 ydiv2 = AR_PATT_SAMPLE_NUM;
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280 xdiv = xdiv2 / width;// xdiv = xdiv2/Config.AR_PATT_SIZE_X;
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281 ydiv = ydiv2 / height;// ydiv = ydiv2/Config.AR_PATT_SIZE_Y;
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283 /* wk_pickFromRaster_ext_pat2ワーク変数を初期化する。 */
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284 int[][][] ext_pat2 = wk_pickFromRaster_ext_pat2;// ARUint32 ext_pat2[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3];
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285 int extpat_j[][], extpat_j_i[];
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286 int ext_pat2_j[][], ext_pat2_j_i[];
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288 initValue_wk_pickFromRaster_ext_pat2(ext_pat2, this.width, this.height);
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290 xdiv2_reciprocal = 1.0 / xdiv2;
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291 ydiv2_reciprocal = 1.0 / ydiv2;
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293 int[] rgb_tmp = wk_pickFromRaster_rgb_tmp;
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296 INyARRgbPixelReader reader=image.getRgbPixelReader();
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298 // arGetCode_put_zero(ext_pat2);//put_zero( (ARUint8 *)ext_pat2,
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299 // AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3*sizeof(ARUint32) );
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300 for (j = 0; j < ydiv2; j++) {
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301 yw = 102.5 + 5.0 * (j + 0.5) * ydiv2_reciprocal;
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302 for (i = 0; i < xdiv2; i++) {
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303 xw = 102.5 + 5.0 * (i + 0.5) * xdiv2_reciprocal;
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304 d = para[2 * 3 + 0] * xw + para[2 * 3 + 1] * yw
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307 throw new NyARException();
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309 xc = (int) ((para[0 * 3 + 0] * xw + para[0 * 3 + 1] * yw + para[0 * 3 + 2]) / d);
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310 yc = (int) ((para[1 * 3 + 0] * xw + para[1 * 3 + 1] * yw + para[1 * 3 + 2]) / d);
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312 if (xc >= 0 && xc < img_x && yc >= 0 && yc < img_y) {
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313 reader.getPixel(xc, yc, rgb_tmp);
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314 ext_pat2_j_i = ext_pat2[j / ydiv][i / xdiv];
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316 ext_pat2_j_i[0] += rgb_tmp[0];// R
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317 ext_pat2_j_i[1] += rgb_tmp[1];// G
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318 ext_pat2_j_i[2] += rgb_tmp[2];// B
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319 // System.out.println(xc+":"+yc+":"+rgb_tmp[0]+":"+rgb_tmp[1]+":"+rgb_tmp[2]);
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323 // short[][][] ext_pat=new
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324 // short[Config.AR_PATT_SIZE_Y][Config.AR_PATT_SIZE_X][3];//ARUint32
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325 // ext_pat2[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3];
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327 int xdiv_x_ydiv = xdiv * ydiv;
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328 for (j = this.height - 1; j >= 0; j--) {
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329 extpat_j = extpat[j];
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330 ext_pat2_j = ext_pat2[j];
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331 for (i = this.width - 1; i >= 0; i--) { // PRL 2006-06-08.
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332 ext_pat2_j_i = ext_pat2_j[i];
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333 extpat_j_i = extpat_j[i];
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334 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));
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335 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));
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336 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));
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339 * int xdiv_mul_ydiv=xdiv*ydiv; short [][] extpat_pt_2; short[]
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340 * extpat_pt_1; int[][] ext_pat2_pt_2; int[] ext_pat2_pt_1; for(int
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341 * j=this.height-1; j>=0; j--){//for(int j = 0; j < this.height; j++ ){
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342 * extpat_pt_2=extpat[j]; ext_pat2_pt_2=ext_pat2[j]; for(int i =
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343 * this.width-1; i>=0; i--){//for(int i = 0; i < this.width; i++ ){ //
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344 * PRL 2006-06-08. extpat_pt_1=extpat_pt_2[i];
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345 * ext_pat2_pt_1=ext_pat2_pt_2[i];
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346 * extpat_pt_1[0]=(short)(ext_pat2_pt_1[0] /
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347 * xdiv_mul_ydiv);//ext_pat[j][i][0] = (byte)(ext_pat2[j][i][0] /
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348 * (xdiv*ydiv)); extpat_pt_1[1]=(short)(ext_pat2_pt_1[1] /
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349 * xdiv_mul_ydiv);//ext_pat[j][i][1] = (byte)(ext_pat2[j][i][1] /
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350 * (xdiv*ydiv)); extpat_pt_1[2]=(short)(ext_pat2_pt_1[2] /
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351 * xdiv_mul_ydiv);//ext_pat[j][i][2] = (byte)(ext_pat2[j][i][2] /
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352 * (xdiv*ydiv)); } } /*</Optimize>
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