src/jp/nyatla/nyartoolkit/core/pickup/NyARColorPatt_O1.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 edition ARToolKit class library.\r
  11  * Copyright (C)2008-2009 Ryo Iizuka\r
  12  *\r
  13  * This program is free software: you can redistribute it and/or modify\r
  14  * it under the terms of the GNU General Public License as published by\r
  15  * the Free Software Foundation, either version 3 of the License, or\r
  16  * (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 program.  If not, see <http://www.gnu.org/licenses/>.\r
  25  * \r
  26  * For further information please contact.\r
  27  *      http://nyatla.jp/nyatoolkit/\r
  28  *      <airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>\r
  29  * \r
  30  */\r
  31 package jp.nyatla.nyartoolkit.core.pickup;\r
  32 \r
  33 import jp.nyatla.nyartoolkit.NyARException;\r
  34 import jp.nyatla.nyartoolkit.core.NyARMat;\r
  35 import jp.nyatla.nyartoolkit.core.raster.rgb.*;\r
  36 import jp.nyatla.nyartoolkit.core.rasterreader.*;\r
  37 import jp.nyatla.nyartoolkit.core.squaredetect.NyARSquare;\r
  38 import jp.nyatla.nyartoolkit.core.types.*;\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。 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
  41  * 演算順序以外の最適化をしたもの\r
  42  * \r
  43  */\r
  44 public class NyARColorPatt_O1 implements INyARColorPatt\r
  45 {\r
  46         private static final int AR_PATT_SAMPLE_NUM = 64;\r
  47         \r
  48         private int[] _patdata;\r
  49         private NyARBufferReader _buf_reader;\r
  50         private NyARRgbPixelReader_INT1D_X8R8G8B8_32 _pixelreader;\r
  51 \r
  52         private NyARIntSize _size;\r
  53 \r
  54         public NyARColorPatt_O1(int i_width, int i_height)\r
  55         {\r
  56                 //入力制限\r
  57                 assert i_width<=64 && i_height<=64;\r
  58                 \r
  59                 this._size=new NyARIntSize(i_width,i_height);\r
  60                 this._patdata = new int[i_height*i_width];\r
  61                 this._buf_reader=new NyARBufferReader(this._patdata,NyARBufferReader.BUFFERFORMAT_INT1D_X8R8G8B8_32);\r
  62                 this._pixelreader=new NyARRgbPixelReader_INT1D_X8R8G8B8_32(this._patdata,this._size);\r
  63                 return;\r
  64         }\r
  65 \r
  66         public final int getWidth()\r
  67         {\r
  68                 return this._size.w;\r
  69         }\r
  70         public final int getHeight()\r
  71         {\r
  72                 return this._size.h;\r
  73         }\r
  74         public final NyARIntSize getSize()\r
  75         {\r
  76                 return  this._size;\r
  77         }\r
  78         public final INyARBufferReader getBufferReader()\r
  79         {\r
  80                 return this._buf_reader;\r
  81         }\r
  82         public final INyARRgbPixelReader getRgbPixelReader()\r
  83         {\r
  84                 return this._pixelreader;\r
  85         }\r
  86 \r
  87         private final NyARMat __get_cpara_a = new NyARMat(8, 8);\r
  88         private final NyARMat __get_cpara_b = new NyARMat(8, 1);\r
  89         private final static double[][] __get__cpara_world = {{ 100.0, 100.0 }, { 100.0 + 10.0, 100.0 }, { 100.0 + 10.0, 100.0 + 10.0 },{ 100.0, 100.0 + 10.0 } };\r
  90         \r
  91         final protected boolean get_cpara(final NyARIntPoint2d[] i_vertex, NyARMat o_para)throws NyARException\r
  92         {\r
  93                 double[][] world = __get__cpara_world;\r
  94                 NyARMat a = __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
  95                 double[][] a_array = a.getArray();\r
  96                 NyARMat b = __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
  97                 double[][] b_array = b.getArray();\r
  98                 double[] a_pt0, a_pt1;\r
  99                 double[] world_pti;\r
 100 \r
 101                 for (int i = 0; i < 4; i++) {\r
 102                         a_pt0 = a_array[i * 2];\r
 103                         a_pt1 = a_array[i * 2 + 1];\r
 104                         world_pti = world[i];\r
 105 \r
 106                         a_pt0[0] = (double) world_pti[0];// a->m[i*16+0] = world[i][0];\r
 107                         a_pt0[1] = (double) world_pti[1];// a->m[i*16+1] = world[i][1];\r
 108                         a_pt0[2] = 1.0;// a->m[i*16+2] = 1.0;\r
 109                         a_pt0[3] = 0.0;// a->m[i*16+3] = 0.0;\r
 110                         a_pt0[4] = 0.0;// a->m[i*16+4] = 0.0;\r
 111                         a_pt0[5] = 0.0;// a->m[i*16+5] = 0.0;\r
 112                         a_pt0[6] = (double) (-world_pti[0] * i_vertex[i].x);// a->m[i*16+6]= -world[i][0]*vertex[i][0];\r
 113                         a_pt0[7] = (double) (-world_pti[1] * i_vertex[i].x);// a->m[i*16+7]=-world[i][1]*vertex[i][0];\r
 114                         a_pt1[0] = 0.0;// a->m[i*16+8] = 0.0;\r
 115                         a_pt1[1] = 0.0;// a->m[i*16+9] = 0.0;\r
 116                         a_pt1[2] = 0.0;// a->m[i*16+10] = 0.0;\r
 117                         a_pt1[3] = (double) world_pti[0];// a->m[i*16+11] = world[i][0];\r
 118                         a_pt1[4] = (double) world_pti[1];// a->m[i*16+12] = world[i][1];\r
 119                         a_pt1[5] = 1.0;// a->m[i*16+13] = 1.0;\r
 120                         a_pt1[6] = (double) (-world_pti[0] * i_vertex[i].y);// a->m[i*16+14]=-world[i][0]*vertex[i][1];\r
 121                         a_pt1[7] = (double) (-world_pti[1] * i_vertex[i].y);// a->m[i*16+15]=-world[i][1]*vertex[i][1];\r
 122                         b_array[i * 2 + 0][0] = (double) i_vertex[i].x;// b->m[i*2+0] =vertex[i][0];\r
 123                         b_array[i * 2 + 1][0] = (double) i_vertex[i].y;// b->m[i*2+1] =vertex[i][1];\r
 124                 }\r
 125                 if (!a.matrixSelfInv()) {\r
 126                         return false;\r
 127                 }\r
 128 \r
 129                 o_para.matrixMul(a, b);\r
 130                 return true;\r
 131         }       \r
 132         private final int[] __pickFromRaster_rgb_tmp = new int[3];\r
 133         private final NyARMat __pickFromRaster_cpara_c = new NyARMat(8, 1);\r
 134         \r
 135         /**\r
 136          * 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->]\r
 137          * \r
 138          * @param image\r
 139          * @param i_marker\r
 140          * @return 切り出しに失敗した\r
 141          * @throws Exception\r
 142          */\r
 143         public boolean pickFromRaster(INyARRgbRaster image, NyARSquare i_square)throws NyARException\r
 144         {\r
 145                 final NyARIntPoint2d[] local = i_square.imvertex;\r
 146 \r
 147                 // パターンの切り出しに失敗することもある。\r
 148                 NyARMat cpara = this.__pickFromRaster_cpara_c;\r
 149                 if (!get_cpara(i_square.imvertex, cpara)) {\r
 150                         return false;\r
 151                 }\r
 152                 final double[][] para=cpara.getArray();\r
 153                 final double para00=para[0*3+0][0];\r
 154                 final double para01=para[0*3+1][0];\r
 155                 final double para02=para[0*3+2][0];\r
 156                 final double para10=para[1*3+0][0];\r
 157                 final double para11=para[1*3+1][0];\r
 158                 final double para12=para[1*3+2][0];\r
 159                 final double para20=para[2*3+0][0];\r
 160                 final double para21=para[2*3+1][0];\r
 161                 final double para22=1.0;\r
 162                 \r
 163                 int lx1 = (int) ((local[0].x - local[1].x) * (local[0].x - local[1].x) + (local[0].y - local[1].y)* (local[0].y - local[1].y));\r
 164                 int lx2 = (int) ((local[2].x - local[3].x) * (local[2].x - local[3].x) + (local[2].y - local[3].y)* (local[2].y - local[3].y));\r
 165                 int ly1 = (int) ((local[1].x - local[2].x) * (local[1].x - local[2].x) + (local[1].y - local[2].y)* (local[1].y - local[2].y));\r
 166                 int ly2 = (int) ((local[3].x - local[0].x) * (local[3].x - local[0].x) + (local[3].y - local[0].y)* (local[3].y - local[0].y));\r
 167                 if (lx2 > lx1) {\r
 168                         lx1 = lx2;\r
 169                 }\r
 170                 if (ly2 > ly1) {\r
 171                         ly1 = ly2;\r
 172                 }\r
 173                 \r
 174                 int sample_pixel_x = this._size.w;\r
 175                 int sample_pixel_y = this._size.h;\r
 176                 while (sample_pixel_x * sample_pixel_x < lx1 / 4) {\r
 177                         sample_pixel_x *= 2;\r
 178                 }\r
 179                 while (sample_pixel_y * sample_pixel_y < ly1 / 4) {\r
 180                         sample_pixel_y *= 2;\r
 181                 }\r
 182 \r
 183                 if (sample_pixel_x > AR_PATT_SAMPLE_NUM) {\r
 184                         sample_pixel_x = AR_PATT_SAMPLE_NUM;\r
 185                 }\r
 186                 if (sample_pixel_y > AR_PATT_SAMPLE_NUM) {\r
 187                         sample_pixel_y = AR_PATT_SAMPLE_NUM;\r
 188                 }\r
 189 \r
 190                 final int xdiv = sample_pixel_x / this._size.w;// xdiv = xdiv2/Config.AR_PATT_SIZE_X;\r
 191                 final int ydiv = sample_pixel_y / this._size.h;// ydiv = ydiv2/Config.AR_PATT_SIZE_Y;\r
 192 \r
 193 \r
 194                 int img_x = image.getWidth();\r
 195                 int img_y = image.getHeight();\r
 196 \r
 197                 final double xdiv2_reciprocal = 1.0 / sample_pixel_x;\r
 198                 final double ydiv2_reciprocal = 1.0 / sample_pixel_y;\r
 199                 int r,g,b;\r
 200                 int[] rgb_tmp = __pickFromRaster_rgb_tmp;\r
 201 \r
 202                 //ピクセルリーダーを取得\r
 203                 INyARRgbPixelReader reader=image.getRgbPixelReader();\r
 204                 final int xdiv_x_ydiv = xdiv * ydiv;\r
 205 \r
 206                 for(int iy=0;iy<this._size.h;iy++){\r
 207                         for(int ix=0;ix<this._size.w;ix++){\r
 208                                 r=g=b=0;\r
 209                                 //1ピクセルを作成\r
 210                                 for(int j=0;j<ydiv;j++){\r
 211                                         final double yw = 102.5 + 5.0 * (iy*ydiv+j + 0.5) * ydiv2_reciprocal;                                           \r
 212                                         for(int i=0;i<xdiv;i++){\r
 213                                                 final double xw = 102.5 + 5.0 * (ix*xdiv+i + 0.5) * xdiv2_reciprocal;\r
 214                                                 final double d = para20 * xw + para21 * yw+ para22;\r
 215                                                 if (d == 0) {\r
 216                                                         throw new NyARException();\r
 217                                                 }\r
 218                                                 final int xc = (int) ((para00 * xw + para01 * yw + para02) / d);\r
 219                                                 final int yc = (int) ((para10 * xw + para11 * yw + para12) / d);\r
 220         \r
 221                                                 if (xc >= 0 && xc < img_x && yc >= 0 && yc < img_y) {\r
 222                                                         reader.getPixel(xc, yc, rgb_tmp);\r
 223                                                         r += rgb_tmp[0];// R\r
 224                                                         g += rgb_tmp[1];// G\r
 225                                                         b += rgb_tmp[2];// B\r
 226                                                         // System.out.println(xc+":"+yc+":"+rgb_tmp[0]+":"+rgb_tmp[1]+":"+rgb_tmp[2]);\r
 227                                                 }\r
 228                                         }\r
 229                                 }\r
 230                                 this._patdata[iy*this._size.w+ix]=(((r / xdiv_x_ydiv)&0xff)<<16)|(((g / xdiv_x_ydiv)&0xff)<<8)|(((b / xdiv_x_ydiv)&0xff));\r
 231                         }\r
 232                 }\r
 233                 return true;\r
 234         }\r
 235         \r
 236 }