tags/1.1.1/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.NyARRaster;\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 int[][][] getPatArray()\r
  58     {\r
  59         return extpat;\r
  60     }\r
  61     public int getWidth()\r
  62     {\r
  63         return width;\r
  64     }\r
  65     public int getHeight()\r
  66     {\r
  67         return height;\r
  68     }\r
  69     private final NyARMat wk_get_cpara_a=new NyARMat(8,8);\r
  70     private final NyARMat wk_get_cpara_b=new NyARMat(8,1);\r
  71 \r
  72     /**\r
  73      * \r
  74      * @param world\r
  75      * @param vertex\r
  76      * @param para\r
  77      * [3x3]\r
  78      * @throws NyARException\r
  79      */\r
  80     /**\r
  81      * @param world\r
  82      * @param vertex\r
  83      * @param o_para\r
  84      * @throws NyARException\r
  85      */\r
  86     private void get_cpara(double vertex_0[], double vertex_1[],NyARMat o_para) throws NyARException\r
  87     {\r
  88         double world[][]=this.wk_pickFromRaster_world;\r
  89         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
  90         double[][] a_array=a.getArray();\r
  91         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
  92         double[][] b_array=b.getArray();\r
  93         double[] a_pt0,a_pt1,world_pti;\r
  94             \r
  95         for(int i = 0; i < 4; i++ ) {\r
  96             a_pt0=a_array[i*2];\r
  97             a_pt1=a_array[i*2+1];\r
  98             world_pti=world[i];\r
  99             \r
 100             a_pt0[0]=world_pti[0];//a->m[i*16+0]  = world[i][0];\r
 101             a_pt0[1]=world_pti[1];//a->m[i*16+1]  = world[i][1];\r
 102             a_pt0[2]=1.0;//a->m[i*16+2]  = 1.0;\r
 103             a_pt0[3]=0.0;//a->m[i*16+3]  = 0.0;\r
 104             a_pt0[4]=0.0;//a->m[i*16+4]  = 0.0;\r
 105             a_pt0[5]=0.0;//a->m[i*16+5]  = 0.0;\r
 106             a_pt0[6]=-world_pti[0] * vertex_0[i];//a->m[i*16+6]  = -world[i][0] * vertex[i][0];\r
 107             a_pt0[7]=-world_pti[1] * vertex_0[i];//a->m[i*16+7]  = -world[i][1] * vertex[i][0];\r
 108             a_pt1[0]=0.0;//a->m[i*16+8]  = 0.0;\r
 109             a_pt1[1]=0.0;//a->m[i*16+9]  = 0.0;\r
 110             a_pt1[2]=0.0;//a->m[i*16+10] = 0.0;\r
 111             a_pt1[3]=world_pti[0];//a->m[i*16+11] = world[i][0];\r
 112             a_pt1[4]=world_pti[1];//a->m[i*16+12] = world[i][1];\r
 113             a_pt1[5]=1.0;//a->m[i*16+13] = 1.0;\r
 114             a_pt1[6]=-world_pti[0] * vertex_1[i];//a->m[i*16+14] = -world[i][0] * vertex[i][1];\r
 115             a_pt1[7]=-world_pti[1] * vertex_1[i];//a->m[i*16+15] = -world[i][1] * vertex[i][1];\r
 116             b_array[i*2+0][0]=vertex_0[i];//b->m[i*2+0] = vertex[i][0];\r
 117             b_array[i*2+1][0]=vertex_1[i];//b->m[i*2+1] = vertex[i][1];\r
 118         }\r
 119         a.matrixSelfInv();\r
 120             \r
 121 \r
 122         o_para.matrixMul(a, b);\r
 123 \r
 124         \r
 125 \r
 126     }\r
 127 \r
 128   //   private final double[] wk_pickFromRaster_para=new double[9];//[3][3];\r
 129     private final double[][] wk_pickFromRaster_world={//double    world[4][2];\r
 130             {100.0,     100.0},\r
 131             {100.0+10.0,100.0},\r
 132             {100.0+10.0,100.0 + 10.0},\r
 133             {100.0,     100.0 + 10.0}\r
 134     };\r
 135     /**\r
 136      * pickFromRaster関数から使う変数です。\r
 137      *\r
 138      */\r
 139     private static void initValue_wk_pickFromRaster_ext_pat2(int[][][] i_ext_pat2,int i_width,int i_height)\r
 140     {\r
 141         int i,i2;\r
 142         int[][] pt2;\r
 143         int[]   pt1;\r
 144         for(i=i_height-1;i>=0;i--){\r
 145             pt2=i_ext_pat2[i];\r
 146             for(i2=i_width-1;i2>=0;i2--){\r
 147                 pt1=pt2[i2];\r
 148                 pt1[0]=0;\r
 149                 pt1[1]=0;\r
 150                 pt1[2]=0;\r
 151             }\r
 152         }\r
 153     }\r
 154     private final double[][] wk_pickFromRaster_local=new double[2][4];\r
 155     private final NyARMat wk_pickFromRaster_cpara=new NyARMat(8,1);\r
 156     /**\r
 157      * 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
 158      * Optimize:STEP[769->750]\r
 159      * @param image\r
 160      * @param i_marker\r
 161      * @throws Exception\r
 162      */\r
 163     public void pickFromRaster(NyARRaster image, NyARMarker i_marker) throws NyARException\r
 164     {\r
 165         NyARMat cpara=this.wk_pickFromRaster_cpara;\r
 166         //localの計算\r
 167         int[] x_coord=i_marker.x_coord;\r
 168         int[] y_coord=i_marker.y_coord;\r
 169         int[] vertex=i_marker.mkvertex;\r
 170         double[] local_0=wk_pickFromRaster_local[0];//double    local[4][2];    \r
 171         double[] local_1=wk_pickFromRaster_local[1];//double    local[4][2];    \r
 172         for(int i = 0; i < 4; i++ ) {\r
 173             local_0[i] = x_coord[vertex[i]];\r
 174             local_1[i] = y_coord[vertex[i]];\r
 175         }\r
 176         //xdiv2,ydiv2の計算\r
 177         int xdiv2, ydiv2;\r
 178         int l1,l2;\r
 179         double w1,w2;\r
 180 \r
 181         //x計算\r
 182         w1=local_0[0] - local_0[1];\r
 183         w2=local_1[0] - local_1[1];\r
 184         l1 = (int)(w1*w1+w2*w2);\r
 185         w1=local_0[2] - local_0[3];\r
 186         w2=local_1[2] - local_1[3];\r
 187         l2 = (int)(w1*w1+w2*w2);\r
 188         if( l2 > l1 ){\r
 189             l1 = l2;\r
 190         }\r
 191         l1=l1/4;\r
 192         xdiv2 =this.width;\r
 193         while( xdiv2*xdiv2 < l1 ){\r
 194             xdiv2*=2;\r
 195         }\r
 196         if( xdiv2 > AR_PATT_SAMPLE_NUM)\r
 197         {\r
 198             xdiv2 =AR_PATT_SAMPLE_NUM;\r
 199         }\r
 200         \r
 201         //y計算\r
 202         w1=local_0[1] - local_0[2];\r
 203         w2=local_1[1] - local_1[2];\r
 204         l1 = (int)(w1*w1+ w2*w2);\r
 205         w1=local_0[3] - local_0[0];\r
 206         w2=local_1[3] - local_1[0];\r
 207         l2 = (int)(w1*w1+ w2*w2);\r
 208         if( l2 > l1 ){\r
 209             l1 = l2;\r
 210         }\r
 211         ydiv2 =this.height;\r
 212         l1=l1/4;\r
 213         while( ydiv2*ydiv2 < l1 ){\r
 214             ydiv2*=2;\r
 215         }\r
 216         if( ydiv2 >AR_PATT_SAMPLE_NUM)\r
 217         {\r
 218             ydiv2 = AR_PATT_SAMPLE_NUM;\r
 219         }       \r
 220         \r
 221         //cparaの計算\r
 222         get_cpara(local_0,local_1,cpara);\r
 223         updateExtpat(image,cpara,xdiv2,ydiv2);\r
 224 \r
 225         return;\r
 226     }\r
 227     //かなり大きいワークバッファを取るな…。\r
 228     private double[] wk_updateExtpat_para00_xw;\r
 229     private double[] wk_updateExtpat_para10_xw;\r
 230     private double[] wk_updateExtpat_para20_xw;\r
 231     private int[] wk_updateExtpat_rgb_buf;\r
 232     private int[] wk_updateExtpat_x_rgb_index;\r
 233     private int[] wk_updateExtpat_y_rgb_index;\r
 234     private int[] wk_updateExtpat_i_rgb_index;\r
 235     private int wk_updateExtpat_buffer_size=0;\r
 236 \r
 237     /**\r
 238      * ワークバッファを予約する\r
 239      * @param i_xdiv2\r
 240      */\r
 241     private void reservWorkBuffers(int i_xdiv2)\r
 242     {\r
 243         if(this.wk_updateExtpat_buffer_size<i_xdiv2){\r
 244             wk_updateExtpat_para00_xw=new double[i_xdiv2];\r
 245             wk_updateExtpat_para10_xw=new double[i_xdiv2];\r
 246             wk_updateExtpat_para20_xw=new double[i_xdiv2];\r
 247             wk_updateExtpat_rgb_buf=new int[i_xdiv2*3];\r
 248             wk_updateExtpat_x_rgb_index=new int[i_xdiv2];\r
 249             wk_updateExtpat_y_rgb_index=new int[i_xdiv2];\r
 250             wk_updateExtpat_i_rgb_index=new int[i_xdiv2];\r
 251             this.wk_updateExtpat_buffer_size=i_xdiv2;\r
 252         }\r
 253         //十分なら何もしない。\r
 254         return;\r
 255     }\r
 256     \r
 257     private void updateExtpat(NyARRaster image,NyARMat i_cpara,int i_xdiv2,int i_ydiv2) throws NyARException\r
 258     {\r
 259         int img_x=image.getWidth();\r
 260         int img_y=image.getHeight();\r
 261         final int[][][] L_extpat=this.extpat;\r
 262         final int L_WIDTH=this.width;\r
 263         final int L_HEIGHT=this.height;\r
 264         /*wk_pickFromRaster_ext_pat2ワーク変数を初期化する。*/\r
 265         //int[][][] ext_pat2=wk_pickFromRaster_ext_pat2;//ARUint32  ext_pat2[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3];\r
 266         int extpat_j[][],extpat_j_i[];\r
 267         //int ext_pat2_j[][],ext_pat2_j_i[];\r
 268 \r
 269         initValue_wk_pickFromRaster_ext_pat2(L_extpat,L_WIDTH,L_HEIGHT);\r
 270 \r
 271         double[][] cpara_array=i_cpara.getArray();\r
 272         double para21_x_yw,para01_x_yw,para11_x_yw;\r
 273         double para00,para01,para02,para10,para11,para12,para20,para21;\r
 274         para00 = cpara_array[0*3+0][0];//para[i][0] = c->m[i*3+0];\r
 275         para01 = cpara_array[0*3+1][0];//para[i][1] = c->m[i*3+1];\r
 276         para02 = cpara_array[0*3+2][0];//para[i][2] = c->m[i*3+2];\r
 277         para10 = cpara_array[1*3+0][0];//para[i][0] = c->m[i*3+0];\r
 278         para11 = cpara_array[1*3+1][0];//para[i][1] = c->m[i*3+1];\r
 279         para12 = cpara_array[1*3+2][0];//para[i][2] = c->m[i*3+2];\r
 280         para20 = cpara_array[2*3+0][0];//para[2][0] = c->m[2*3+0];\r
 281         para21 = cpara_array[2*3+1][0];//para[2][1] = c->m[2*3+1];\r
 282 \r
 283         \r
 284         double          d,yw;\r
 285         int             xc, yc;\r
 286         int i,j;\r
 287         //      arGetCode_put_zero(ext_pat2);//put_zero( (ARUint8 *)ext_pat2, AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3*sizeof(ARUint32) );\r
 288         int xdiv = i_xdiv2/L_WIDTH;//xdiv = xdiv2/Config.AR_PATT_SIZE_X;\r
 289         int ydiv = i_ydiv2/L_HEIGHT;//ydiv = ydiv2/Config.AR_PATT_SIZE_Y;\r
 290         \r
 291         //計算バッファを予約する\r
 292         this.reservWorkBuffers(i_xdiv2);        \r
 293         double[] para00_xw=this.wk_updateExtpat_para00_xw;\r
 294         double[] para10_xw=this.wk_updateExtpat_para10_xw;\r
 295         double[] para20_xw=this.wk_updateExtpat_para20_xw;\r
 296         int[] x_rgb_index=this.wk_updateExtpat_x_rgb_index;\r
 297         int[] y_rgb_index=this.wk_updateExtpat_y_rgb_index;\r
 298         int[] i_rgb_index=this.wk_updateExtpat_i_rgb_index;\r
 299         int[] rgb_buf=this.wk_updateExtpat_rgb_buf;\r
 300         double xw;\r
 301         for(i=0;i<i_xdiv2;i++){\r
 302             xw= 102.5 + 5.0 * ((double)i+0.5) /i_xdiv2;\r
 303             para20_xw[i]=para20*xw;\r
 304             para00_xw[i]=para00*xw;\r
 305             para10_xw[i]=para10*xw;\r
 306         }\r
 307 \r
 308         int index_num;\r
 309 \r
 310         \r
 311         for(j = 0; j < i_ydiv2; j++ ) {\r
 312             yw = 102.5 + 5.0 * ((double)j+0.5) /i_ydiv2;\r
 313             para21_x_yw=para21*yw+1.0;\r
 314             para11_x_yw=para11*yw+para12;\r
 315             para01_x_yw=para01*yw+para02;\r
 316             extpat_j=L_extpat[j/ydiv];\r
 317             index_num=0;\r
 318             //ステップ１．RGB取得用のマップを作成\r
 319             for(i = 0; i < i_xdiv2; i++ ) {\r
 320                 d = para20_xw[i] + para21_x_yw;\r
 321                 if( d == 0 ){\r
 322                     throw new NyARException();\r
 323                 }\r
 324                 xc = (int)((para00_xw[i] + para01_x_yw)/d);\r
 325                 yc = (int)((para10_xw[i] + para11_x_yw)/d);\r
 326                 //範囲外は無視\r
 327                 if(xc<0 || xc >=img_x || yc<0 || yc >=img_y){\r
 328                     continue;\r
 329                 }\r
 330 //              ピクセル値の計算\r
 331 //              image.getPixel(xc,yc,rgb_buf);\r
 332 //                ext_pat2_j_i=ext_pat2_j[i/xdiv];\r
 333 //                ext_pat2_j_i[0] += rgb_buf[0];//R\r
 334 //                ext_pat2_j_i[1] += rgb_buf[1];//G\r
 335 //                ext_pat2_j_i[2] += rgb_buf[2];//B\r
 336 \r
 337                 x_rgb_index[index_num]=xc;\r
 338                 y_rgb_index[index_num]=yc;\r
 339                 i_rgb_index[index_num]=i/xdiv;\r
 340                 index_num++;\r
 341             }\r
 342 //          //ステップ２．ピクセル配列を取得\r
 343             image.getPixelSet(x_rgb_index,y_rgb_index,index_num,rgb_buf);\r
 344 //          //ピクセル値の計算\r
 345             for(i=index_num-1;i>=0;i--){\r
 346                 extpat_j_i=extpat_j[i_rgb_index[i]];\r
 347                 extpat_j_i[0] += rgb_buf[i*3+0];//R\r
 348                 extpat_j_i[1] += rgb_buf[i*3+1];//G\r
 349                 extpat_j_i[2] += rgb_buf[i*3+2];//B\r
 350             }\r
 351         }\r
 352         /*<Optimize>*/\r
 353         int xdiv_x_ydiv=xdiv*ydiv;\r
 354         for(j =L_HEIGHT-1; j>=0; j--){\r
 355             extpat_j=L_extpat[j];\r
 356             for(i = L_WIDTH-1; i>=0; i--){                              // PRL 2006-06-08.\r
 357                 extpat_j_i=extpat_j[i];\r
 358                 extpat_j_i[0]/=(xdiv_x_ydiv);//ext_pat[j][i][0] = (byte)(ext_pat2[j][i][0] / (xdiv*ydiv));\r
 359                 extpat_j_i[1]/=(xdiv_x_ydiv);//ext_pat[j][i][1] = (byte)(ext_pat2[j][i][1] / (xdiv*ydiv));\r
 360                 extpat_j_i[2]/=(xdiv_x_ydiv);//ext_pat[j][i][2] = (byte)(ext_pat2[j][i][2] / (xdiv*ydiv));\r
 361             }\r
 362         }\r
 363         return; \r
 364     }\r
 365 }