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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39 import jp.nyatla.nyartoolkit.core.types.*;
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41 * 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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45 public class NyARColorPatt_O3 implements INyARColorPatt
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47 private static final int AR_PATT_SAMPLE_NUM = 64;
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49 private int[] _patdata;
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50 private NyARBufferReader _buf_reader;
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51 private NyARIntSize _size;
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52 private NyARRgbPixelReader_INT1D_X8R8G8B8_32 _pixelreader;
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54 public NyARColorPatt_O3(int i_width, int i_height)
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56 this._size=new NyARIntSize(i_width,i_height);
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57 this._patdata = new int[i_height*i_width];
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58 this._buf_reader=new NyARBufferReader(this._patdata,NyARBufferReader.BUFFERFORMAT_INT1D_X8R8G8B8_32);
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59 this._pixelreader=new NyARRgbPixelReader_INT1D_X8R8G8B8_32(this._patdata,this._size);
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61 public int getWidth()
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63 return this._size.w;
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65 public int getHeight()
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67 return this._size.h;
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69 public NyARIntSize getSize()
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73 public INyARBufferReader getBufferReader()
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75 return this._buf_reader;
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77 public INyARRgbPixelReader getRgbPixelReader()
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79 return this._pixelreader;
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81 private final NyARMat wk_get_cpara_a = new NyARMat(8, 8);
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82 private final NyARMat wk_get_cpara_b = new NyARMat(8, 1);
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83 private final NyARMat wk_pickFromRaster_cpara = new NyARMat(8, 1);
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89 * @throws NyARException
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91 private boolean get_cpara(final NyARIntPoint2d[] i_vertex, NyARMat o_para)throws NyARException
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93 int[][] world = wk_pickFromRaster_world;
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94 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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95 double[][] a_array = a.getArray();
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96 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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97 double[][] b_array = b.getArray();
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98 double[] a_pt0, a_pt1;
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101 for (int i = 0; i < 4; i++) {
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102 a_pt0 = a_array[i * 2];
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103 a_pt1 = a_array[i * 2 + 1];
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104 world_pti = world[i];
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106 a_pt0[0] = (double) world_pti[0];// a->m[i*16+0] = world[i][0];
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107 a_pt0[1] = (double) world_pti[1];// a->m[i*16+1] = world[i][1];
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108 a_pt0[2] = 1.0;// a->m[i*16+2] = 1.0;
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109 a_pt0[3] = 0.0;// a->m[i*16+3] = 0.0;
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110 a_pt0[4] = 0.0;// a->m[i*16+4] = 0.0;
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111 a_pt0[5] = 0.0;// a->m[i*16+5] = 0.0;
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112 a_pt0[6] = (double) (-world_pti[0] * i_vertex[i].x);// a->m[i*16+6]= -world[i][0]*vertex[i][0];
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113 a_pt0[7] = (double) (-world_pti[1] * i_vertex[i].x);// a->m[i*16+7]=-world[i][1]*vertex[i][0];
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114 a_pt1[0] = 0.0;// a->m[i*16+8] = 0.0;
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115 a_pt1[1] = 0.0;// a->m[i*16+9] = 0.0;
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116 a_pt1[2] = 0.0;// a->m[i*16+10] = 0.0;
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117 a_pt1[3] = (double) world_pti[0];// a->m[i*16+11] = world[i][0];
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118 a_pt1[4] = (double) world_pti[1];// a->m[i*16+12] = world[i][1];
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119 a_pt1[5] = 1.0;// a->m[i*16+13] = 1.0;
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120 a_pt1[6] = (double) (-world_pti[0] * i_vertex[i].y);// a->m[i*16+14]=-world[i][0]*vertex[i][1];
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121 a_pt1[7] = (double) (-world_pti[1] * i_vertex[i].y);// a->m[i*16+15]=-world[i][1]*vertex[i][1];
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122 b_array[i * 2 + 0][0] = (double) i_vertex[i].x;// b->m[i*2+0] =vertex[i][0];
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123 b_array[i * 2 + 1][0] = (double) i_vertex[i].y;// b->m[i*2+1] =vertex[i][1];
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125 if (!a.matrixSelfInv()) {
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129 o_para.matrixMul(a, b);
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133 // private final double[] wk_pickFromRaster_para=new double[9];//[3][3];
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134 private final static int[][] wk_pickFromRaster_world = {// double world[4][2];
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135 { 100, 100 }, { 100 + 10, 100 }, { 100 + 10, 100 + 10 }, { 100, 100 + 10 } };
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140 * 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]
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144 * @throws Exception
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146 public boolean pickFromRaster(INyARRgbRaster image, NyARSquare i_square)throws NyARException
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148 NyARMat cpara = this.wk_pickFromRaster_cpara;
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149 NyARIntPoint2d[] local = i_square.imvertex;
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155 w1 = local[0].x - local[1].x;
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156 w2 = local[0].y - local[1].y;
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157 l1 = (w1 * w1 + w2 * w2);
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158 w1 = local[2].x - local[3].x;
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159 w2 = local[2].y - local[3].y;
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160 l2 = (w1 * w1 + w2 * w2);
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165 xdiv2 = this._size.w;
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166 while (xdiv2 * xdiv2 < l1) {
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169 if (xdiv2 > AR_PATT_SAMPLE_NUM) {
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170 xdiv2 = AR_PATT_SAMPLE_NUM;
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174 w1 = local[1].x - local[2].x;
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175 w2 = local[1].y - local[2].y;
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176 l1 = (w1 * w1 + w2 * w2);
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177 w1 = local[3].x - local[0].x;
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178 w2 = local[3].y - local[0].y;
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179 l2 = (w1 * w1 + w2 * w2);
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183 ydiv2 = this._size.h;
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185 while (ydiv2 * ydiv2 < l1) {
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188 if (ydiv2 > AR_PATT_SAMPLE_NUM) {
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189 ydiv2 = AR_PATT_SAMPLE_NUM;
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193 if (!get_cpara(local, cpara)) {
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196 updateExtpat(image, cpara, xdiv2, ydiv2);
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200 private int[] __updateExtpat_rgbset;
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201 private int[] __updateExtpat_xc;
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202 private int[] __updateExtpat_yc;
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203 private double[] __updateExtpat_xw;
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204 private double[] __updateExtpat_yw;
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205 private int _last_pix_resolution_x=0;
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206 private int _last_pix_resolution_y=0;
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207 private void reservWorkBuffers(int i_xdiv,int i_ydiv)
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209 if(this._last_pix_resolution_x<i_xdiv || this._last_pix_resolution_y<i_ydiv){
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210 this.__updateExtpat_xc=new int[i_xdiv*i_ydiv];
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211 this.__updateExtpat_yc=new int[i_xdiv*i_ydiv];
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212 this.__updateExtpat_xw=new double[i_xdiv];
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213 this.__updateExtpat_yw=new double[i_ydiv];
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214 this.__updateExtpat_rgbset=new int[i_xdiv*i_ydiv*3];
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218 private static double LT_POS=102.5;
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219 private static double SQ_SIZE=5.0;
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221 //分割数16未満になると少し遅くなるかも。
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222 private void updateExtpat(INyARRgbRaster image, NyARMat i_cpara, int i_xdiv2,int i_ydiv2) throws NyARException
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228 final int pat_size_w=this._size.w;
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229 final int xdiv = i_xdiv2 / pat_size_w;// xdiv = xdiv2/Config.AR_PATT_SIZE_X;
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230 final int ydiv = i_ydiv2 / this._size.h;// ydiv = ydiv2/Config.AR_PATT_SIZE_Y;
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231 final int xdiv_x_ydiv = xdiv * ydiv;
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233 final double[][] para=i_cpara.getArray();
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234 final double para00=para[0*3+0][0];
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235 final double para01=para[0*3+1][0];
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236 final double para02=para[0*3+2][0];
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237 final double para10=para[1*3+0][0];
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238 final double para11=para[1*3+1][0];
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239 final double para12=para[1*3+2][0];
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240 final double para20=para[2*3+0][0];
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241 final double para21=para[2*3+1][0];
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243 INyARRgbPixelReader reader=image.getRgbPixelReader();
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244 final int img_width=image.getWidth();
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245 final int img_height=image.getHeight();
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248 reservWorkBuffers(xdiv,ydiv);
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249 final double[] xw=this.__updateExtpat_xw;
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250 final double[] yw=this.__updateExtpat_yw;
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251 final int[] xc=this.__updateExtpat_xc;
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252 final int[] yc=this.__updateExtpat_yc;
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253 int[] rgb_set = this.__updateExtpat_rgbset;
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256 for(int iy=this._size.h-1;iy>=0;iy--){
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257 for(int ix=pat_size_w-1;ix>=0;ix--){
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259 reciprocal= 1.0 / i_xdiv2;
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260 for(i=xdiv-1;i>=0;i--){
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261 xw[i]=LT_POS + SQ_SIZE * (ix*xdiv+i + 0.5) * reciprocal;
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263 reciprocal= 1.0 / i_ydiv2;
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264 for(i=ydiv-1;i>=0;i--){
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265 yw[i]=LT_POS + SQ_SIZE * (iy*ydiv+i + 0.5) * reciprocal;
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267 //1ピクセルを構成するピクセル座標の集合をxc,yc配列に取得
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268 int number_of_pix=0;
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269 for(i=ydiv-1;i>=0;i--)
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271 final double para01_x_yw_para02=para01 * yw[i] + para02;
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272 final double para11_x_yw_para12=para11 * yw[i] + para12;
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273 final double para12_x_yw_para22=para21 * yw[i]+ 1.0;
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274 for(j=xdiv-1;j>=0;j--){
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276 final double d = para20 * xw[j] + para12_x_yw_para22;
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278 throw new NyARException();
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280 final int xcw= (int) ((para00 * xw[j] + para01_x_yw_para02) / d);
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281 final int ycw= (int) ((para10 * xw[j] + para11_x_yw_para12) / d);
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282 if(xcw<0 || xcw>=img_width || ycw<0 ||ycw>=img_height){
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285 xc[number_of_pix] =xcw;
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286 yc[number_of_pix] =ycw;
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291 reader.getPixelSet(xc,yc,number_of_pix, rgb_set);
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293 for(i=number_of_pix*3-1;i>=0;i-=3){
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294 r += rgb_set[i-2];// R
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295 g += rgb_set[i-1];// G
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296 b += rgb_set[i];// B
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299 this._patdata[iy*pat_size_w+ix]=(((r / xdiv_x_ydiv)&0xff)<<16)|(((g / xdiv_x_ydiv)&0xff)<<8)|(((b / xdiv_x_ydiv)&0xff));
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