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--- /dev/null
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+
--- /dev/null
+ARToolkit Java class library NyARToolkit.\r
+Copyright (C)2008 R.Iizuka\r
+\r
+This program is free software; you can redistribute it and/or\r
+modify it under the terms of the GNU General Public License\r
+as published by the Free Software Foundation; either version 2\r
+of the License, or (at your option) any later version.\r
+\r
+This program is distributed in the hope that it will be useful,\r
+but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+GNU General Public License for more details.\r
+\r
+You should have received a copy of the GNU General Public License\r
+along with this program; if not, write to the Free Software\r
+Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.\r
+\r
+ \r
+\r
+Java版 ARToolkit クラスライブラリ NyARToolkit\r
+Copyright (C)2008 R.Iizuka\r
+\r
+このプログラムはフリーソフトウェアです。あなたはこれを、フリーソフトウェ\r
+ア財団によって発行された GNU 一般公衆利用許諾契約書(バージョン2か、希\r
+望によってはそれ以降のバージョンのうちどれか)の定める条件の下で再頒布\r
+または改変することができます。\r
+\r
+このプログラムは有用であることを願って頒布されますが、*全くの無保証* \r
+です。商業可能性の保証や特定の目的への適合性は、言外に示されたものも含\r
+め全く存在しません。詳しくはGNU 一般公衆利用許諾契約書をご覧ください。\r
+ \r
+あなたはこのプログラムと共に、GNU 一般公衆利用許諾契約書の複製物を一部\r
+受け取ったはずです。もし受け取っていなければ、フリーソフトウェア財団ま\r
+で請求してください(宛先は the Free Software Foundation, Inc., 59\r
+Temple Place, Suite 330, Boston, MA 02111-1307 USA)。
\ No newline at end of file
--- /dev/null
+準備中です。ゴメンネ\r
+\r
+Not ready.
\ No newline at end of file
--- /dev/null
+ARToolkit Java class library NyARToolkit.\r
+Copyright (C)2008 R.Iizuka\r
+\r
+version 1.3.1\r
+\r
+http://nyatla.jp/\r
+airmail(at)ebony.plala.or.jp\r
+--------------------------------------------------\r
+\r
+\r
+\r
+\r
+・NyARToolkit\r
+\r
+NyARToolkitは、nativeなコードを一切使用しない、Pure Javaのみで\r
+構成されたARToolkitクラスライブラリです。\r
+\r
+ARToolkit 2.72.1をベースに構築されています。\r
+\r
+J2SEでのみ動作を確認しました。\r
+J2MEやMIDP2.0にはそのうち対応します。\r
+\r
+\r
+ARToolkitは加藤博一先生とHuman Interface Technology Labにより\r
+開発されたAugmented Reality (AR) ライブラリです。\r
+詳しくはこちらをご覧下さい。\r
+http://www.hitl.washington.edu/artoolkit/\r
+\r
+\r
+・NyARToolkitの特徴\r
+\r
+ -ARToolKitの処理関数を全てクラスベースで再構築してあります。\r
+\r
+ -座標変換の演算性能が1.5倍ほど高速です。（JIT有効時）複数マーカー取り扱い時は、\r
+ オリジナルよりも良い成績が得られます。\r
+\r
+ -取り扱える画像サイズに制限がありません。\r
+\r
+ -取り扱えるマーカー個数の最大値が可変です。\r
+\r
+\r
+\r
+\r
+・構成\r
+\r
++-----------------------------------------------+\r
+| Application |\r
++-------+---------+--------+--------+-----------+\r
+|NyARJMF|CaptureQT| NyARJoglNyARJ3d | |\r
++-------+---------+--------+--------+ |\r
+| JMF |QuickTime| JOGL | Java3D |NyARToolkit|\r
++-------+---------+--------+--------+ |\r
+| Camera | 3D | |\r
+------------------------------------+-----------+\r
+\r
+\r
+映像キャプチャにはJMF、又はQuickTimeを使用することが出来ます。\r
+\r
+3D描画にはJOGL又はJava3Dを使用することが出来ます。\r
+\r
+NyARJMF/CaptureQT/NyARJog/NyARJ3dは、下位のキャプチャモジュール\r
+や3Dライブラリを使いやすくするためのラッパークラス群です。\r
+\r
+これらとNyARToolkitは疎結合になっており、インタフェイスをあわせる\r
+ことで、自作モジュール等との差し替えが出来ます。\r
+\r
+\r
+\r
+\r
+・サンプルなど\r
+\r
+１．動作させる前に、JMFとJOGLかJava3Dをインストールしてください。\r
+ QuickTimeを使う場合には、QuickTime for Javaも必要です。\r
+\r
+\r
+動作確認したバージョンと入手先はこちらです。\r
+\r
+JMF JavaTM Media Framework 2.1.1e\r
+http://java.sun.com/products/java-media/jmf/index.jsp\r
+\r
+jogl-1.1.1-pre-20080328-xxxx-i586.zip\r
+https://jogl.dev.java.net/\r
+\r
+java3d-1_5_1-xxxx-i586.exe\r
+https://java3d.dev.java.net/binary-builds.html\r
+\r
+QuickTime 7.5\r
+http://www.apple.com/quicktime/qtjava/\r
+\r
+\r
+\r
+２．eclipseで空のワークスペースを作成し、sample,src,src.utils\r
+ ディレクトリをインポートしてください。\r
+\r
+srcにはNyARToolkit本体、src.utilsにはキャプチャや3Dライブラリとの\r
+インタフェイスクラス群、sampleにはこれらを組み合わせた動作する\r
+サンプルプログラムがあります。\r
+\r
+\r
+\r
+\r
+・プロジェクトの説明\r
+\r
+ライブラリ\r
+\r
+NyARToolkit\r
+ NyARToolkitライブラリの本体です。依存する外部モジュールはありません。\r
+\r
+NyARToolkit.utils.jmf\r
+ JMFからの画像をNyARToolkitに取り込むクラス群があります。\r
+ 外部ライブラリは、JMFに依存します。\r
+\r
+NyARToolkit.utils.qt\r
+ QuickTimeからの画像をNyARToolkitに取り込むクラス群があります。\r
+ 外部ライブラリは、JMF、QuickTime for Javaに依存します。\r
+\r
+NyARToolkit.utils.jogl\r
+ OpenGLとNyARToolkitのインタフェイスクラス群があります。\r
+ 外部ライブラリは、JMF,JOGLに依存します。\r
+\r
+NyARToolkit.utils.java3d\r
+ Java3DとNyARToolkitのインタフェイスクラス群があります。\r
+ 外部ライブラリは、JMF,Java3Dに依存します。\r
+\r
+\r
+サンプル\r
+\r
+NyARToolkit.sample.jogl\r
+ JOGL/JMFを使ったサンプルプログラムがあります。\r
+\r
+ -jp.nyatla.nyartoolkit.jogl.sample.JavaSimpleLite\r
+ 単一のマーカーを認識するARToolkitのsimpleLite相当のサンプルです。\r
+ -jp.nyatla.nyartoolkit.jogl.sample.JavaSimpleLite2\r
+ 複数のマーカーを認識するサンプルです。～100個程度のマーカーを同時に\r
+ 認識します。\r
+\r
+\r
+NyARToolkit.sample.java3d\r
+ JOGL/JMFを使ったサンプルプログラムです。\r
+ \r
+ -jp.nyatla.nyartoolkit.java3d.sample\r
+ simpleLiteをJava3Dで動かすサンプルがあります。\r
+\r
+NyARToolkit.sample.jmf\r
+ JMFを使ったサンプルプログラムです。\r
+\r
+ -jp.nyatla..nyartoolkit.jmf.sample\r
+ JMFでキャプチャした画像をNyARToolkitで処理するサンプルプログラムです。\r
+ \r
+\r
+NyARToolkit.sample.qt\r
+ Quicktime for Javaを使ったサンプルプログラムです。\r
+\r
+ -jp.nyatla.nyartoolkit.qt.sample\r
+ QuickTimeでキャプチャした画像をNyARToolkitで処理するサンプルプログラムです。\r
+ \r
+\r
+\r
+\r
+\r
+・足りない機能等\r
+\r
+カメラキャリブレーション、マーカーのセーブ機能等がありません。\r
+今後実装していきます。\r
+\r
+\r
+\r
+\r
+・ライセンス\r
+GPLv2以降です。詳しくはLICENCE.txtをみてください。\r
+\r
+\r
+\r
+\r
+・謝辞\r
+\r
+arc@dmzさん\r
+http://digitalmuseum.jp/\r
+\r
+QuickTimeキャプチャモジュールを提供をして頂きました。有難うございます。
\ No newline at end of file
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<classpath>\r
+ <classpathentry path="" kind="src"/>\r
+ <classpathentry path="org.eclipse.jdt.launching.JRE_CONTAINER" kind="con"/>\r
+ <classpathentry path="C:/Program Files/JMF2.1.1e/lib/jmf.jar" kind="lib"/>\r
+ <classpathentry path="C:/Program Files/Java/Java3D/1.5.1/lib/ext/j3dcore.jar" kind="lib"/>\r
+ <classpathentry path="C:/Program Files/Java/Java3D/1.5.1/lib/ext/j3dutils.jar" kind="lib"/>\r
+ <classpathentry path="C:/Program Files/Java/Java3D/1.5.1/lib/ext/vecmath.jar" kind="lib"/>\r
+ <classpathentry path="/NyARToolKit" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="/NyARToolkit.utils.jmf" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="/NyARToolkit.utils.java3d" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="" kind="output"/>\r
+</classpath>\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<projectDescription>\r
+ <name>NyARToolkit.sample.java3d</name>\r
+ <comment></comment>\r
+ <projects>\r
+ </projects>\r
+ <buildSpec>\r
+ <buildCommand>\r
+ <name>org.eclipse.jdt.core.javabuilder</name>\r
+ <arguments>\r
+ </arguments>\r
+ </buildCommand>\r
+ </buildSpec>\r
+ <natures>\r
+ <nature>org.eclipse.jdt.core.javanature</nature>\r
+ </natures>\r
+</projectDescription>\r
--- /dev/null
+/**\r
+ * Java3Dサンプルプログラム\r
+ * シングルマーカー追跡用のBehaviorを使って、背景と１個のマーカーに連動したTransformGroup\r
+ * を動かします。\r
+ * (c)2008 A虎＠nyatla.jp\r
+ * airmail@ebony.plala.or.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.java3d.sample;\r
+\r
+import java.awt.BorderLayout;\r
+import javax.media.j3d.*;\r
+\r
+import com.sun.j3d.utils.universe.*;\r
+import java.awt.*;\r
+import javax.swing.JFrame;\r
+import javax.vecmath.*;\r
+\r
+import jp.nyatla.nyartoolkit.core.*;\r
+import jp.nyatla.nyartoolkit.java3d.utils.*;\r
+\r
+import com.sun.j3d.utils.geometry.ColorCube;\r
+\r
+public class NyARJava3D extends JFrame implements NyARSingleMarkerBehaviorListener \r
+{\r
+ private final String CARCODE_FILE ="../../Data/patt.hiro";\r
+ private final String PARAM_FILE ="../../Data/camera_para.dat";\r
+ //NyARToolkit関係\r
+ private NyARSingleMarkerBehaviorHolder nya_behavior;\r
+ private J3dNyARParam ar_param;\r
+ //universe関係\r
+ private Canvas3D canvas;\r
+ private Locale locale;\r
+ private VirtualUniverse universe;\r
+ public static void main(String[] args)\r
+ {\r
+ try{\r
+ NyARJava3D frame = new NyARJava3D();\r
+ \r
+ frame.setVisible(true);\r
+ Insets ins=frame.getInsets();\r
+ frame.setSize(320+ins.left+ins.right,240+ins.top+ins.bottom);\r
+ frame.startCapture();\r
+ frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);\r
+ }catch(Exception e){\r
+ e.printStackTrace();\r
+ }\r
+ }\r
+ public void onUpdate(boolean i_is_marker_exist,Transform3D i_transform3d)\r
+ {\r
+ /*\r
+ * TODO:Please write your behavior operation code here.\r
+ * マーカーの姿勢を元に他の３Dオブジェクトを操作するときは、ここに処理を書きます。*/\r
+ \r
+ }\r
+ public void startCapture() throws Exception\r
+ {\r
+ nya_behavior.start(); \r
+ }\r
+ public NyARJava3D() throws Exception\r
+ {\r
+ super("Java3D Example NyARToolkit");\r
+\r
+ //NyARToolkitの準備\r
+ NyARCode ar_code =new NyARCode(16,16);\r
+ ar_code.loadFromARFile(CARCODE_FILE);\r
+ ar_param=new J3dNyARParam();\r
+ ar_param.loadFromARFile(PARAM_FILE);\r
+ ar_param.changeSize(320,240);\r
+ \r
+ //localeの作成とlocateとviewの設定\r
+ universe = new VirtualUniverse();\r
+ locale = new Locale( universe );\r
+ canvas=new Canvas3D( SimpleUniverse.getPreferredConfiguration());\r
+ View view = new View();\r
+ ViewPlatform viewPlatform = new ViewPlatform();\r
+ view.attachViewPlatform( viewPlatform );\r
+ view.addCanvas3D(canvas);\r
+ view.setPhysicalBody( new PhysicalBody() );\r
+ view.setPhysicalEnvironment( new PhysicalEnvironment());\r
+\r
+ //視界の設定(カメラ設定から取得)\r
+ Transform3D camera_3d=ar_param.getCameraTransform();\r
+ view.setCompatibilityModeEnable(true);\r
+ view.setProjectionPolicy(View.PERSPECTIVE_PROJECTION);\r
+ view.setLeftProjection(camera_3d);\r
+ \r
+ //視点設定(0,0,0から、Y軸を180度回転してZ+方向を向くようにする。)\r
+ TransformGroup viewGroup = new TransformGroup();\r
+ Transform3D viewTransform = new Transform3D();\r
+ viewTransform.rotY(Math.PI);\r
+ viewTransform.setTranslation(new Vector3d(0.0,0.0,0.0));\r
+ viewGroup.setTransform( viewTransform );\r
+ viewGroup.addChild( viewPlatform );\r
+ BranchGroup viewRoot = new BranchGroup();\r
+ viewRoot.addChild( viewGroup );\r
+ locale.addBranchGraph( viewRoot );\r
+\r
+ \r
+ //バックグラウンドの作成\r
+ Background background =new Background();\r
+ BoundingSphere bounds = new BoundingSphere();\r
+ bounds.setRadius( 10.0 ); \r
+ background.setApplicationBounds(bounds);\r
+ background.setImageScaleMode(Background.SCALE_FIT_ALL);\r
+ background.setCapability(Background.ALLOW_IMAGE_WRITE);\r
+ BranchGroup root = new BranchGroup();\r
+ root.addChild(background);\r
+ \r
+ //TransformGroupで囲ったシーングラフの作成\r
+ TransformGroup transform=new TransformGroup();\r
+ transform.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE);\r
+ transform.addChild(createSceneGraph());\r
+ root.addChild(transform);\r
+ \r
+ //NyARToolkitのBehaviorを作る。(マーカーサイズはメートルで指定すること)\r
+ nya_behavior=new NyARSingleMarkerBehaviorHolder(ar_param,30f,ar_code,0.08);\r
+ //Behaviorに連動するグループをセット\r
+ nya_behavior.setTransformGroup(transform);\r
+ nya_behavior.setBackGround(background);\r
+ \r
+ //出来たbehaviorをセット\r
+ root.addChild(nya_behavior.getBehavior());\r
+ nya_behavior.setUpdateListener(this);\r
+ \r
+ //表示ブランチをLocateにセット\r
+ locale.addBranchGraph(root);\r
+ \r
+ //ウインドウの設定\r
+ setLayout(new BorderLayout());\r
+ add(canvas,BorderLayout.CENTER);\r
+ }\r
+ /**\r
+ * シーングラフを作って、そのノードを返す。\r
+ * このノードは40mmの色つきナタデココを表示するシーン。ｚ軸を基準に20mm上に浮かせてる。\r
+ * @return\r
+ */\r
+ private Node createSceneGraph()\r
+ {\r
+ TransformGroup tg=new TransformGroup();\r
+ Transform3D mt=new Transform3D();\r
+ mt.setTranslation(new Vector3d(0.00,0.0,20*0.001));\r
+ // 大きさ 40mmの色付き立方体を、Z軸上で20mm動かして配置）\r
+ tg.setTransform(mt);\r
+ tg.addChild(new ColorCube(20*0.001));\r
+ return tg;\r
+ }\r
+}\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<classpath>\r
+ <classpathentry path="" kind="src"/>\r
+ <classpathentry path="org.eclipse.jdt.launching.JRE_CONTAINER" kind="con"/>\r
+ <classpathentry path="C:/Program Files/JMF2.1.1e/lib/jmf.jar" kind="lib"/>\r
+ <classpathentry path="/NyARToolKit" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="/NyARToolkit.utils.jmf" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="" kind="output"/>\r
+</classpath>\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<projectDescription>\r
+ <name>NyARToolkit.sample.jmf</name>\r
+ <comment></comment>\r
+ <projects>\r
+ <project>NyARToolKit</project>\r
+ </projects>\r
+ <buildSpec>\r
+ <buildCommand>\r
+ <name>org.eclipse.jdt.core.javabuilder</name>\r
+ <arguments>\r
+ </arguments>\r
+ </buildCommand>\r
+ </buildSpec>\r
+ <natures>\r
+ <nature>org.eclipse.jdt.core.javanature</nature>\r
+ </natures>\r
+</projectDescription>\r
--- /dev/null
+/**
+ * VFM+ARToolkitテストプログラム
+ * カメラから取り込んだデータからマーカーを検出して、一致度と変換行列を表示します。
+ * (c)2008 A虎＠nyatla.jp
+ * airmail(at)ebony.plala.or.jp
+ * http://nyatla.jp/
+ */
+package jp.nyatla.nyartoolkit.jmf.sample;
+
+import javax.media.*;
+
+import javax.media.util.BufferToImage;
+import javax.media.format.*;
+
+import jp.nyatla.nyartoolkit.NyARException;
+import jp.nyatla.nyartoolkit.jmf.utils.*;
+
+import java.awt.*;
+
+import jp.nyatla.nyartoolkit.core.*;
+import jp.nyatla.nyartoolkit.detector.*;
+
+
+
+
+
+
+public class NyarToolkitLinkTest extends Frame implements JmfCaptureListener
+{
+ private final String CARCODE_FILE ="../../Data/patt.hiro";
+ private final String PARAM_FILE ="../../Data/camera_para.dat";
+ private JmfCameraCapture capture;
+ private NyARSingleDetectMarker nya;
+ private JmfNyARRaster_RGB raster;
+ private NyARTransMatResult trans_mat_result=new NyARTransMatResult();
+
+ public NyarToolkitLinkTest() throws NyARException,NyARException
+ {
+ setTitle("JmfCaptureTest");
+ setBounds(0,0,320+64,240+64);
+ //キャプチャの準備
+ capture=new JmfCameraCapture(320,240,30f,JmfCameraCapture.PIXEL_FORMAT_RGB);
+ capture.setCaptureListener(this);
+
+ //NyARToolkitの準備
+ NyARParam ar_param=new NyARParam();
+ NyARCode ar_code =new NyARCode(16,16);
+ ar_param.loadFromARFile(PARAM_FILE);
+ ar_param.changeSize(320,240);
+ nya=new NyARSingleDetectMarker(ar_param,ar_code,80.0);
+ ar_code.loadFromARFile(CARCODE_FILE);
+ //キャプチャイメージ用のラスタを準備
+ raster=new JmfNyARRaster_RGB(320,240);
+ }
+
+
+
+ public void onUpdateBuffer(Buffer i_buffer)
+ {
+ try{
+ //キャプチャしたバッファをラスタにセット
+ raster.setBuffer(i_buffer);
+
+ //キャプチャしたイメージを表示用に加工
+ BufferToImage b2i=new BufferToImage((VideoFormat)i_buffer.getFormat());
+ Image img=b2i.createImage(i_buffer);
+
+ Graphics g = getGraphics();
+ double[][] atm=null;
+
+ //マーカー検出
+ boolean is_marker_exist=nya.detectMarkerLite(raster,100);
+ if(is_marker_exist){
+ //変換行列を取得
+ nya.getTransmationMatrix(this.trans_mat_result);
+ atm=this.trans_mat_result.getArray();
+ }
+ //情報を画面に書く
+ g.drawImage(img, 32, 32,this);
+ if(is_marker_exist){
+ g.drawString("マーカー検出:"+nya.getConfidence(),32,50);
+ for(int i=0;i<3;i++){
+ for(int i2=0;i2<4;i2++){
+ g.drawString("["+i+"]["+i2+"]"+atm[i][i2],32,50+(1+i2*3+i)*16);
+ }
+
+ }
+ }else{
+ g.drawString("マーカー未検出:",32,100);
+ }
+ }catch(Exception e){
+ e.printStackTrace();
+ }
+
+
+
+
+ }
+ private void startCapture()
+ {
+ try{
+ capture.start();
+ }catch(Exception e){
+ e.printStackTrace();
+ }
+ }
+ public static void main(String[] args) {
+ try{
+ NyarToolkitLinkTest mainwin = new NyarToolkitLinkTest();
+ mainwin.setVisible(true);
+ mainwin.startCapture();
+ }catch(Exception e){
+ e.printStackTrace();
+ }
+
+ }
+
+}
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<classpath>\r
+ <classpathentry path="" kind="src"/>\r
+ <classpathentry path="org.eclipse.jdt.launching.JRE_CONTAINER" kind="con"/>\r
+ <classpathentry path="C:/Program Files/JMF2.1.1e/lib/jmf.jar" kind="lib"/>\r
+ <classpathentry path="C:/Program Files/Java/jogl/lib/gluegen-rt.jar" kind="lib"/>\r
+ <classpathentry path="C:/Program Files/Java/jogl/lib/jogl.jar" kind="lib"/>\r
+ <classpathentry path="/NyARToolKit" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="/NyARToolkit.utils.jmf" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="/NyARToolkit.utils.jogl" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="" kind="output"/>\r
+</classpath>\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<projectDescription>\r
+ <name>NyARToolkit.sample.jogl</name>\r
+ <comment></comment>\r
+ <projects>\r
+ </projects>\r
+ <buildSpec>\r
+ <buildCommand>\r
+ <name>org.eclipse.jdt.core.javabuilder</name>\r
+ <arguments>\r
+ </arguments>\r
+ </buildCommand>\r
+ </buildSpec>\r
+ <natures>\r
+ <nature>org.eclipse.jdt.core.javanature</nature>\r
+ </natures>\r
+</projectDescription>\r
--- /dev/null
+/**\r
+ * simpleLiteと同じようなテストプログラム\r
+ * 最も一致する"Hiro"マーカーを一つ選択して、その上に立方体を表示します。\r
+ * (c)2008 A虎＠nyatla.jp\r
+ * airmail(at)ebony.plala.or.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.jogl.sample;\r
+\r
+import java.awt.event.WindowAdapter;\r
+import java.awt.event.WindowEvent;\r
+import java.awt.*;\r
+\r
+import javax.media.Buffer;\r
+\r
+import javax.media.opengl.GL;\r
+import javax.media.opengl.GLAutoDrawable;\r
+import javax.media.opengl.GLEventListener;\r
+import javax.media.opengl.GLCanvas;\r
+\r
+import com.sun.opengl.util.Animator;\r
+\r
+import jp.nyatla.nyartoolkit.core.NyARCode;\r
+\r
+import jp.nyatla.nyartoolkit.jmf.utils.JmfCameraCapture;\r
+import jp.nyatla.nyartoolkit.jmf.utils.JmfCaptureListener;\r
+import jp.nyatla.nyartoolkit.jogl.utils.*;\r
+\r
+\r
+public class JavaSimpleLite implements GLEventListener,JmfCaptureListener\r
+{\r
+ private final String CARCODE_FILE ="../../Data/patt.hiro";\r
+ private final String PARAM_FILE ="../../Data/camera_para.dat";\r
+ \r
+ private final static int SCREEN_X=320;\r
+ private final static int SCREEN_Y=240;\r
+ private Animator animator;\r
+ private GLNyARRaster_RGB cap_image;\r
+ \r
+ private JmfCameraCapture capture;\r
+ private GL gl;\r
+ private NyARGLUtil glnya;\r
+\r
+\r
+ //NyARToolkit関係\r
+ private GLNyARSingleDetectMarker nya;\r
+ private GLNyARParam ar_param;\r
+ /**\r
+ * 立方体を書く\r
+ *\r
+ */\r
+ void drawCube()\r
+ {\r
+ // Colour cube data.\r
+ int polyList = 0;\r
+ float fSize = 0.5f;//マーカーサイズに対して0.5倍なので、4cmのナタデココ\r
+ int f, i; \r
+ float[][] cube_vertices=new float[][]{\r
+ {1.0f, 1.0f, 1.0f}, {1.0f, -1.0f, 1.0f}, {-1.0f, -1.0f, 1.0f}, {-1.0f, 1.0f, 1.0f},\r
+ {1.0f, 1.0f, -1.0f}, {1.0f, -1.0f, -1.0f}, {-1.0f, -1.0f, -1.0f}, {-1.0f, 1.0f, -1.0f}\r
+ };\r
+ float[][] cube_vertex_colors=new float[][]{\r
+ {1.0f, 1.0f, 1.0f}, {1.0f, 1.0f, 0.0f}, {0.0f, 1.0f, 0.0f}, {0.0f, 1.0f, 1.0f},\r
+ {1.0f, 0.0f, 1.0f}, {1.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 1.0f}\r
+ };\r
+ int cube_num_faces = 6;\r
+ short[][] cube_faces =new short[][]{\r
+ {3, 2, 1, 0}, {2, 3, 7, 6}, {0, 1, 5, 4}, {3, 0, 4, 7}, {1, 2, 6, 5}, {4, 5, 6, 7}\r
+ };\r
+ \r
+ if (polyList==0) {\r
+ polyList = gl.glGenLists (1);\r
+ gl.glNewList(polyList, GL.GL_COMPILE);\r
+ gl.glBegin(GL.GL_QUADS);\r
+ for (f = 0; f < cube_num_faces; f++)\r
+ for (i = 0; i < 4; i++) {\r
+ gl.glColor3f (cube_vertex_colors[cube_faces[f][i]][0], cube_vertex_colors[cube_faces[f][i]][1], cube_vertex_colors[cube_faces[f][i]][2]);\r
+ gl.glVertex3f(cube_vertices[cube_faces[f][i]][0] * fSize, cube_vertices[cube_faces[f][i]][1] * fSize, cube_vertices[cube_faces[f][i]][2] * fSize);\r
+ }\r
+ gl.glEnd();\r
+ gl.glColor3f(0.0f, 0.0f, 0.0f);\r
+ for (f = 0; f < cube_num_faces; f++) {\r
+ gl.glBegin (GL.GL_LINE_LOOP);\r
+ for (i = 0; i < 4; i++)\r
+ gl.glVertex3f(cube_vertices[cube_faces[f][i]][0] * fSize, cube_vertices[cube_faces[f][i]][1] * fSize, cube_vertices[cube_faces[f][i]][2] * fSize);\r
+ gl.glEnd ();\r
+ }\r
+ gl.glEndList ();\r
+ }\r
+ \r
+ gl.glPushMatrix(); // Save world coordinate system.\r
+ gl.glTranslatef(0.0f, 0.0f, 0.5f); // Place base of cube on marker surface.\r
+ gl.glRotatef(0.0f, 0.0f, 0.0f, 1.0f); // Rotate about z axis.\r
+ gl.glDisable(GL.GL_LIGHTING); // Just use colours.\r
+ gl.glCallList(polyList); // Draw the cube.\r
+ gl.glPopMatrix(); // Restore world coordinate system.\r
+ \r
+ }\r
+ \r
+ \r
+ \r
+ public JavaSimpleLite()\r
+ {\r
+ Frame frame = new Frame("Java simpleLite with NyARToolkit");\r
+\r
+\r
+ // 3Dを描画するコンポーネント\r
+ GLCanvas canvas = new GLCanvas();\r
+ frame.add(canvas);\r
+ canvas.addGLEventListener(this);\r
+ frame.addWindowListener(new WindowAdapter() {\r
+ public void windowClosing(WindowEvent e) {\r
+ System.exit(0);\r
+ }\r
+ });\r
+\r
+ frame.setVisible(true);\r
+ Insets ins=frame.getInsets();\r
+ frame.setSize(SCREEN_X+ins.left+ins.right,SCREEN_Y+ins.top+ins.bottom);\r
+ canvas.setBounds(ins.left,ins.top,SCREEN_X,SCREEN_Y);\r
+ }\r
+\r
+ public void init(GLAutoDrawable drawable) {\r
+ gl = drawable.getGL();\r
+ gl.glClearColor(0.0f, 0.0f, 0.0f, 0.0f);\r
+ //NyARToolkitの準備\r
+ try{\r
+ //キャプチャの準備\r
+ capture=new JmfCameraCapture(SCREEN_X,SCREEN_Y,15f,JmfCameraCapture.PIXEL_FORMAT_RGB);\r
+ capture.setCaptureListener(this);\r
+ //NyARToolkitの準備\r
+ ar_param=new GLNyARParam();\r
+ NyARCode ar_code =new NyARCode(16,16);\r
+ ar_param.loadFromARFile(PARAM_FILE);\r
+ ar_param.changeSize(SCREEN_X,SCREEN_Y);\r
+ nya=new GLNyARSingleDetectMarker(ar_param,ar_code,80.0);\r
+ nya.setContinueMode(true);//ここをtrueにすると、transMatContinueモード（History計算）になります。\r
+ ar_code.loadFromARFile(CARCODE_FILE);\r
+ //NyARToolkit用の支援クラス\r
+ glnya=new NyARGLUtil(gl,ar_param);\r
+ //GL対応のRGBラスタオブジェクト\r
+ cap_image=new GLNyARRaster_RGB(gl,ar_param);\r
+ //キャプチャ開始\r
+ capture.start();\r
+ }catch(Exception e){\r
+ e.printStackTrace();\r
+ }\r
+ animator = new Animator(drawable);\r
+\r
+ animator.start();\r
+\r
+ }\r
+\r
+ public void reshape(GLAutoDrawable drawable,\r
+ int x, int y,\r
+ int width, int height)\r
+ {\r
+ gl.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT);\r
+ gl.glViewport(0, 0, width, height);\r
+\r
+ //視体積の設定\r
+ gl.glMatrixMode(GL.GL_PROJECTION);\r
+ gl.glLoadIdentity();\r
+ //見る位置\r
+ gl.glMatrixMode(GL.GL_MODELVIEW);\r
+ gl.glLoadIdentity();\r
+ }\r
+\r
+ public void display(GLAutoDrawable drawable)\r
+ {\r
+ \r
+ try{\r
+ if(!cap_image.hasData()){\r
+ return;\r
+ } \r
+ gl.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame. \r
+ //画像チェックしてマーカー探して、背景を書く\r
+ boolean is_marker_exist;\r
+ synchronized(cap_image){\r
+ is_marker_exist=nya.detectMarkerLite(cap_image,110);\r
+ //背景を書く\r
+ glnya.drawBackGround(cap_image, 1.0);\r
+ }\r
+ //あったら立方体を書く\r
+ if(is_marker_exist){\r
+ //マーカーの一致度を調査するならば、ここでnya.getConfidence()で一致度を調べて下さい。\r
+ // Projection transformation.\r
+ gl.glMatrixMode(GL.GL_PROJECTION);\r
+ gl.glLoadMatrixd(ar_param.getCameraFrustumRH(),0);\r
+ gl.glMatrixMode(GL.GL_MODELVIEW);\r
+ // Viewing transformation.\r
+ gl.glLoadIdentity();\r
+ gl.glLoadMatrixd(nya.getCameraViewRH(),0);\r
+\r
+ \r
+ // All other lighting and geometry goes here.\r
+ drawCube();\r
+ }\r
+ Thread.sleep(1);//タスク実行権限を一旦渡す\r
+ }catch(Exception e){\r
+ e.printStackTrace();\r
+ }\r
+ \r
+ }\r
+ public void onUpdateBuffer(Buffer i_buffer)\r
+ {\r
+ try{\r
+ synchronized(cap_image){\r
+ cap_image.setBuffer(i_buffer, true);\r
+ }\r
+ }catch(Exception e){\r
+ e.printStackTrace();\r
+ } \r
+ }\r
+\r
+ public void displayChanged(GLAutoDrawable drawable,\r
+ boolean modeChanged,\r
+ boolean deviceChanged) {}\r
+\r
+ public static void main(String[] args) {\r
+ new JavaSimpleLite();\r
+ }\r
+}\r
+\r
--- /dev/null
+/**\r
+ * simpleLiteの複数マーカー同時認識バージョン\r
+ * "Hiro"のマーカーと"人"のマーカーの混在環境で、Hiroのマーカー全てに\r
+ * 立方体を表示します。\r
+ * (c)2008 A虎＠nyatla.jp\r
+ * airmail(at)ebony.plala.or.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.jogl.sample;\r
+\r
+import java.awt.event.WindowAdapter;\r
+import java.awt.event.WindowEvent;\r
+import java.awt.*;\r
+\r
+import javax.media.Buffer;\r
+\r
+import javax.media.opengl.GL;\r
+import javax.media.opengl.GLAutoDrawable;\r
+import javax.media.opengl.GLEventListener;\r
+import javax.media.opengl.GLCanvas;\r
+\r
+import com.sun.opengl.util.Animator;\r
+\r
+import jp.nyatla.nyartoolkit.core.NyARCode;\r
+\r
+import jp.nyatla.nyartoolkit.jmf.utils.JmfCameraCapture;\r
+import jp.nyatla.nyartoolkit.jmf.utils.JmfCaptureListener;\r
+import jp.nyatla.nyartoolkit.jogl.utils.*;\r
+\r
+\r
+public class JavaSimpleLite2 implements GLEventListener,JmfCaptureListener\r
+{\r
+ private final String CARCODE_FILE1 ="../../Data/patt.hiro";\r
+ private final String CARCODE_FILE2 ="../../Data/patt.kanji";\r
+ private final String PARAM_FILE ="../../Data/camera_para.dat";\r
+ \r
+ private final static int SCREEN_X=640;\r
+ private final static int SCREEN_Y=480;\r
+ private Animator animator;\r
+ private GLNyARRaster_RGB cap_image;\r
+ \r
+ private JmfCameraCapture capture;\r
+ private GL gl;\r
+ private NyARGLUtil glnya;\r
+\r
+\r
+ //NyARToolkit関係\r
+ private GLNyARDetectMarker nya;\r
+ private GLNyARParam ar_param;\r
+ /**\r
+ * 立方体を書く\r
+ *\r
+ */\r
+ void drawCube()\r
+ {\r
+ // Colour cube data.\r
+ int polyList = 0;\r
+ float fSize = 0.5f;//マーカーサイズに対して0.5倍なので、4cmのナタデココ\r
+ int f, i; \r
+ float[][] cube_vertices=new float[][]{\r
+ {1.0f, 1.0f, 1.0f}, {1.0f, -1.0f, 1.0f}, {-1.0f, -1.0f, 1.0f}, {-1.0f, 1.0f, 1.0f},\r
+ {1.0f, 1.0f, -1.0f}, {1.0f, -1.0f, -1.0f}, {-1.0f, -1.0f, -1.0f}, {-1.0f, 1.0f, -1.0f}\r
+ };\r
+ float[][] cube_vertex_colors=new float[][]{\r
+ {1.0f, 1.0f, 1.0f}, {1.0f, 1.0f, 0.0f}, {0.0f, 1.0f, 0.0f}, {0.0f, 1.0f, 1.0f},\r
+ {1.0f, 0.0f, 1.0f}, {1.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 1.0f}\r
+ };\r
+ int cube_num_faces = 6;\r
+ short[][] cube_faces =new short[][]{\r
+ {3, 2, 1, 0}, {2, 3, 7, 6}, {0, 1, 5, 4}, {3, 0, 4, 7}, {1, 2, 6, 5}, {4, 5, 6, 7}\r
+ };\r
+ \r
+ if (polyList==0) {\r
+ polyList = gl.glGenLists (1);\r
+ gl.glNewList(polyList, GL.GL_COMPILE);\r
+ gl.glBegin(GL.GL_QUADS);\r
+ for (f = 0; f < cube_num_faces; f++)\r
+ for (i = 0; i < 4; i++) {\r
+ gl.glColor3f (cube_vertex_colors[cube_faces[f][i]][0], cube_vertex_colors[cube_faces[f][i]][1], cube_vertex_colors[cube_faces[f][i]][2]);\r
+ gl.glVertex3f(cube_vertices[cube_faces[f][i]][0] * fSize, cube_vertices[cube_faces[f][i]][1] * fSize, cube_vertices[cube_faces[f][i]][2] * fSize);\r
+ }\r
+ gl.glEnd();\r
+ gl.glColor3f(0.0f, 0.0f, 0.0f);\r
+ for (f = 0; f < cube_num_faces; f++) {\r
+ gl.glBegin (GL.GL_LINE_LOOP);\r
+ for (i = 0; i < 4; i++)\r
+ gl.glVertex3f(cube_vertices[cube_faces[f][i]][0] * fSize, cube_vertices[cube_faces[f][i]][1] * fSize, cube_vertices[cube_faces[f][i]][2] * fSize);\r
+ gl.glEnd ();\r
+ }\r
+ gl.glEndList ();\r
+ }\r
+ \r
+ gl.glPushMatrix(); // Save world coordinate system.\r
+ gl.glTranslatef(0.0f, 0.0f, 0.5f); // Place base of cube on marker surface.\r
+ gl.glRotatef(0.0f, 0.0f, 0.0f, 1.0f); // Rotate about z axis.\r
+ gl.glDisable(GL.GL_LIGHTING); // Just use colours.\r
+ gl.glCallList(polyList); // Draw the cube.\r
+ gl.glPopMatrix(); // Restore world coordinate system.\r
+ \r
+ }\r
+ \r
+ \r
+ \r
+ public JavaSimpleLite2()\r
+ {\r
+ Frame frame = new Frame("Java simpleLite with NyARToolkit");\r
+\r
+\r
+ // 3Dを描画するコンポーネント\r
+ GLCanvas canvas = new GLCanvas();\r
+ frame.add(canvas);\r
+ canvas.addGLEventListener(this);\r
+ frame.addWindowListener(new WindowAdapter() {\r
+ public void windowClosing(WindowEvent e) {\r
+ System.exit(0);\r
+ }\r
+ });\r
+\r
+ frame.setVisible(true);\r
+ Insets ins=frame.getInsets();\r
+ frame.setSize(SCREEN_X+ins.left+ins.right,SCREEN_Y+ins.top+ins.bottom);\r
+ canvas.setBounds(ins.left,ins.top,SCREEN_X,SCREEN_Y);\r
+ }\r
+\r
+ public void init(GLAutoDrawable drawable) {\r
+ gl = drawable.getGL();\r
+ gl.glClearColor(0.0f, 0.0f, 0.0f, 0.0f);\r
+ //NyARToolkitの準備\r
+ try{\r
+ //キャプチャの準備\r
+ capture=new JmfCameraCapture(SCREEN_X,SCREEN_Y,15f,JmfCameraCapture.PIXEL_FORMAT_RGB);\r
+ capture.setCaptureListener(this);\r
+ //NyARToolkitの準備\r
+ ar_param=new GLNyARParam();\r
+ ar_param.loadFromARFile(PARAM_FILE);\r
+ ar_param.changeSize(SCREEN_X,SCREEN_Y);\r
+\r
+ //ARコードを2個ロード\r
+ double[] width=new double[]{80.0,80.0};\r
+ NyARCode[] ar_codes=new NyARCode[2];\r
+ ar_codes[0]=new NyARCode(16,16);\r
+ ar_codes[0].loadFromARFile(CARCODE_FILE1);\r
+ ar_codes[1]=new NyARCode(16,16);\r
+ ar_codes[1].loadFromARFile(CARCODE_FILE2);\r
+ nya=new GLNyARDetectMarker(ar_param,ar_codes,width,2);\r
+ nya.setContinueMode(false);//ここをtrueにすると、transMatContinueモード（History計算）になります。\r
+ //NyARToolkit用の支援クラス\r
+ glnya=new NyARGLUtil(gl,ar_param);\r
+ //GL対応のRGBラスタオブジェクト\r
+ cap_image=new GLNyARRaster_RGB(gl,ar_param);\r
+ //キャプチャ開始\r
+ capture.start();\r
+ }catch(Exception e){\r
+ e.printStackTrace();\r
+ }\r
+ animator = new Animator(drawable);\r
+\r
+ animator.start();\r
+\r
+ }\r
+\r
+ public void reshape(GLAutoDrawable drawable,\r
+ int x, int y,\r
+ int width, int height)\r
+ {\r
+ gl.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT);\r
+ gl.glViewport(0, 0, width, height);\r
+\r
+ //視体積の設定\r
+ gl.glMatrixMode(GL.GL_PROJECTION);\r
+ gl.glLoadIdentity();\r
+ //見る位置\r
+ gl.glMatrixMode(GL.GL_MODELVIEW);\r
+ gl.glLoadIdentity();\r
+ }\r
+\r
+ public void display(GLAutoDrawable drawable)\r
+ {\r
+ \r
+ try{\r
+ if(!cap_image.hasData()){\r
+ return;\r
+ } \r
+ gl.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame. \r
+ //画像チェックしてマーカー探して、背景を書く\r
+ int found_markers;\r
+ synchronized(cap_image){\r
+ found_markers=nya.detectMarkerLite(cap_image,110);\r
+ //背景を書く\r
+ glnya.drawBackGround(cap_image, 1.0);\r
+ }\r
+ //あったら立方体を書く\r
+ double[] matrix=new double[16]; \r
+ for(int i=0;i<found_markers;i++){\r
+ //1番のマーカーでなければ表示しない。\r
+ if(nya.getARCodeIndex(i)!=0){\r
+ continue;\r
+ }\r
+ //マーカーの一致度を調査するならば、ここでnya.getConfidence()で一致度を調べて下さい。\r
+ // Projection transformation.\r
+ gl.glMatrixMode(GL.GL_PROJECTION);\r
+ gl.glLoadMatrixd(ar_param.getCameraFrustumRH(),0);\r
+ gl.glMatrixMode(GL.GL_MODELVIEW);\r
+ // Viewing transformation.\r
+ gl.glLoadIdentity();\r
+ nya.getCameraViewRH(i,matrix);\r
+ gl.glLoadMatrixd(matrix,0);\r
+\r
+ \r
+ // All other lighting and geometry goes here.\r
+ drawCube();\r
+ }\r
+ Thread.sleep(1);//タスク実行権限を一旦渡す \r
+ }catch(Exception e){\r
+ e.printStackTrace();\r
+ }\r
+ }\r
+ public void onUpdateBuffer(Buffer i_buffer)\r
+ {\r
+ try{\r
+ synchronized(cap_image){\r
+ cap_image.setBuffer(i_buffer, true);\r
+ }\r
+ }catch(Exception e){\r
+ e.printStackTrace();\r
+ } \r
+ }\r
+\r
+ public void displayChanged(GLAutoDrawable drawable,\r
+ boolean modeChanged,\r
+ boolean deviceChanged) {}\r
+\r
+ public static void main(String[] args) {\r
+ new JavaSimpleLite2();\r
+ }\r
+}\r
+\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<classpath>\r
+ <classpathentry path="" kind="src"/>\r
+ <classpathentry path="org.eclipse.jdt.launching.JRE_CONTAINER" kind="con"/>\r
+ <classpathentry path="C:/Program Files/JMF2.1.1e/lib/jmf.jar" kind="lib"/>\r
+ <classpathentry path="C:/Program Files/QuickTime/QTSystem/QTJava.zip" kind="lib"/>\r
+ <classpathentry path="/NyARToolKit" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="/NyARToolkit.utils.qt" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="bin" kind="output"/>\r
+</classpath>\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<projectDescription>\r
+ <name>NyARToolkit.sample.qt</name>\r
+ <comment></comment>\r
+ <projects>\r
+ <project>NyARToolKit</project>\r
+ <project>NyARToolkit.utils.qt</project>\r
+ </projects>\r
+ <buildSpec>\r
+ <buildCommand>\r
+ <name>org.eclipse.jdt.core.javabuilder</name>\r
+ <arguments>\r
+ </arguments>\r
+ </buildCommand>\r
+ </buildSpec>\r
+ <natures>\r
+ <nature>org.eclipse.jdt.core.javanature</nature>\r
+ </natures>\r
+</projectDescription>\r
--- /dev/null
+/**
+ * VFM+ARToolkitテストプログラム
+ * カメラから取り込んだデータからマーカーを検出して、一致度と変換行列を表示します。
+ * (c)2008 A虎＠nyatla.jp
+ * airmail(at)ebony.plala.or.jp
+ * http://nyatla.jp/
+ */
+package jp.nyatla.nyartoolkit.qt.sample;
+
+import jp.nyatla.nyartoolkit.NyARException;
+import jp.nyatla.nyartoolkit.qt.utils.*;
+
+import java.awt.*;
+
+import jp.nyatla.nyartoolkit.core.*;
+import jp.nyatla.nyartoolkit.detector.*;
+
+
+public class NyarToolkitLinkTest extends Frame implements QtCaptureListener
+{
+ private final String CARCODE_FILE ="../../Data/patt.hiro";
+ private final String PARAM_FILE ="../../Data/camera_para.dat";
+ private QtCameraCapture capture;
+ private NyARSingleDetectMarker nya;
+ private QtNyARRaster_RGB raster;
+ private NyARTransMatResult trans_mat_result=new NyARTransMatResult();
+
+ public NyarToolkitLinkTest() throws NyARException,NyARException
+ {
+ setTitle("QtCaptureTest");
+ setBounds(0,0,320+64,240+64);
+ //キャプチャの準備
+ capture=new QtCameraCapture(320,240,30f);
+ capture.setCaptureListener(this);
+
+ //NyARToolkitの準備
+ NyARParam ar_param=new NyARParam();
+ NyARCode ar_code =new NyARCode(16,16);
+ ar_param.loadFromARFile(PARAM_FILE);
+ ar_param.changeSize(320,240);
+ nya=new NyARSingleDetectMarker(ar_param,ar_code,80.0);
+ ar_code.loadFromARFile(CARCODE_FILE);
+ //キャプチャイメージ用のラスタを準備
+ raster=new QtNyARRaster_RGB(320,240);
+ }
+
+
+
+ public void onUpdateBuffer(byte[] pixels)
+ {
+ try{
+ //キャプチャしたバッファをラスタにセット
+ raster.setBuffer(pixels);
+
+ //キャプチャしたイメージを表示用に加工
+ Image img= raster.createImage();
+
+ Graphics g = getGraphics();
+ double[][] atm=null;
+
+ //マーカー検出
+ boolean is_marker_exist=nya.detectMarkerLite(raster,100);
+ if(is_marker_exist){
+ //変換行列を取得
+ nya.getTransmationMatrix(this.trans_mat_result);
+ atm=this.trans_mat_result.getArray();
+ }
+ //情報を画面に書く
+ g.drawImage(img, 32, 32,this);
+ if(is_marker_exist){
+ g.drawString("マーカー検出:"+nya.getConfidence(),32,50);
+ for(int i=0;i<3;i++){
+ for(int i2=0;i2<4;i2++){
+ g.drawString("["+i+"]["+i2+"]"+atm[i][i2],32,50+(1+i2*3+i)*16);
+ }
+
+ }
+ }else{
+ g.drawString("マーカー未検出:",32,100);
+ }
+ }catch(Exception e){
+ e.printStackTrace();
+ }
+
+
+
+
+ }
+ private void startCapture()
+ {
+ try{
+ capture.start();
+ }catch(Exception e){
+ e.printStackTrace();
+ }
+ }
+ public static void main(String[] args) {
+ try{
+ NyarToolkitLinkTest mainwin = new NyarToolkitLinkTest();
+ mainwin.setVisible(true);
+ mainwin.startCapture();
+ }catch(Exception e){
+ e.printStackTrace();
+ }
+
+ }
+
+}
--- /dev/null
+/**
+ * VFMキャプチャテストプログラム
+ * (c)2008 A虎＠nyatla.jp
+ * airmail@ebony.plala.or.jp
+ * http://nyatla.jp/
+ */
+package jp.nyatla.nyartoolkit.qt.sample;
+
+import jp.nyatla.nyartoolkit.NyARException;
+import jp.nyatla.nyartoolkit.qt.utils.*;
+
+import java.awt.*;
+
+
+
+public class QtCaptureTest extends Frame implements QtCaptureListener{
+ public QtCaptureTest() throws NyARException
+ {
+ setTitle("QtCaptureTest");
+ setBounds(0,0,320+64,240+64);
+ capture=new QtCameraCapture(320,240,30f);
+ capture.setCaptureListener(this);
+ //キャプチャイメージ用のラスタを準備
+ raster=new QtNyARRaster_RGB(320,240);
+ }
+
+
+
+ private QtCameraCapture capture;
+ private QtNyARRaster_RGB raster;
+ public void onUpdateBuffer(byte[] pixels)
+ {
+ raster.setBuffer(pixels);
+ Image img=raster.createImage();
+ Graphics g = getGraphics();
+ g.drawImage(img, 32, 32,this);
+ }
+ private void startCapture()
+ {
+ try{
+ capture.start();
+ }catch(Exception e){
+ e.printStackTrace();
+ }
+ }
+ public static void main(String[] args) {
+ try{
+ QtCaptureTest mainwin = new QtCaptureTest();
+ mainwin.setVisible(true);
+ mainwin.startCapture();
+ }catch(Exception e){
+ e.printStackTrace();
+ }
+
+ }
+
+}
--- /dev/null
+/**\r
+ * QuickTimeお手軽キャプチャクラス\r
+ * (c)2008 arc@dmz, A虎＠nyatla.jp\r
+ * arc@digitalmuseum.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.qt.utils;\r
+\r
+import java.awt.Dimension;\r
+import java.awt.event.ActionEvent;\r
+import java.awt.event.ActionListener;\r
+import java.io.File;\r
+\r
+import javax.swing.Timer;\r
+\r
+import quicktime.QTException;\r
+import quicktime.QTSession;\r
+import quicktime.io.QTFile;\r
+import quicktime.qd.PixMap;\r
+import quicktime.qd.QDConstants;\r
+import quicktime.qd.QDGraphics;\r
+import quicktime.qd.QDRect;\r
+import quicktime.std.StdQTConstants;\r
+import quicktime.std.movies.Movie;\r
+import quicktime.std.movies.media.DataRef;\r
+import quicktime.std.sg.SGVideoChannel;\r
+import quicktime.std.sg.SequenceGrabber;\r
+import quicktime.util.RawEncodedImage;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+\r
+\r
+public class QtCameraCapture implements ActionListener\r
+{\r
+\r
+ private Dimension image_size;\r
+ private QtCaptureListener capture_listener;\r
+\r
+ protected float fps = 30; // キャプチャ画像を取得するfps\r
+ protected byte[] pixels; // キャプチャ画像の実データを保持するバイト型配列\r
+\r
+ // キャプチャに使うタイマー\r
+ private Timer timer;\r
+\r
+ // QTJava用のあれこれ\r
+ private QDGraphics graphics;\r
+ private QDRect bounds;\r
+ private SequenceGrabber grabber;\r
+ private SGVideoChannel channel;\r
+ private RawEncodedImage rawEncodedImage;\r
+ private Movie movie;\r
+\r
+ // ピクセルフォーマット変換用の一時変数\r
+ private int[] pixels_int;\r
+ \r
+ public static final int PIXEL_FORMAT_RGB = quicktime.util.EndianOrder.isNativeLittleEndian() ?\r
+ QDConstants.k32BGRAPixelFormat : QDGraphics.kDefaultPixelFormat;\r
+ public QtCameraCapture(int i_width,int i_height,float i_rate)\r
+ {\r
+ image_size = new Dimension(i_width,i_height);\r
+ fps = i_rate;\r
+ }\r
+ public Dimension getSize()\r
+ {\r
+ return image_size;\r
+ }\r
+ public byte[] readBuffer() throws NyARException\r
+ {\r
+ if(grabber==null){\r
+ throw new NyARException();\r
+ }\r
+ return pixels;\r
+ }\r
+ public void setCaptureListener(QtCaptureListener i_listener) throws NyARException\r
+ {\r
+ if(grabber!=null){\r
+ throw new NyARException();\r
+ }\r
+ capture_listener=i_listener;\r
+ \r
+ }\r
+\r
+ public void prepSetInput(Object input) throws QTException {\r
+ QTSession.open();\r
+ bounds = new QDRect(image_size.width, image_size.height);\r
+ graphics = new QDGraphics(\r
+ quicktime.util.EndianOrder.isNativeLittleEndian() ?\r
+ QDConstants.k32BGRAPixelFormat : QDGraphics.kDefaultPixelFormat,\r
+ bounds);\r
+ if (input != null && input.getClass().equals(File.class)) {\r
+ movie = quicktime.std.movies.Movie.fromDataRef(\r
+ new DataRef(new QTFile((File) input)),\r
+ StdQTConstants.newMovieActive\r
+ );\r
+ } else {\r
+ grabber = new SequenceGrabber();\r
+ grabber.setGWorld(graphics, null);\r
+ channel = new SGVideoChannel(grabber);\r
+ channel.setBounds(bounds);\r
+\r
+ // seqGrabPreview == 2, Processingでmagic numberとしてハードコートされていた…\r
+ channel.setUsage(StdQTConstants.seqGrabPreview);\r
+\r
+ if (input != null) {\r
+ try {\r
+ channel.setDevice(input.toString());\r
+ } catch (QTException e) {\r
+ e.printStackTrace();\r
+ throw e;\r
+ }\r
+ }\r
+ }\r
+ }\r
+\r
+ /**\r
+ * Webcamの設定ダイアログを表示する。\r
+ * 既定のWebcamでは駄目な場合(複数のWebcamが接続されているPCなど)ではこれを実行するとよい。\r
+ */\r
+ public void prepShowDialog() throws QTException { channel.settingsDialog(); }\r
+\r
+ public void start() throws NyARException\r
+ {\r
+ try {\r
+\r
+ if (grabber == null) prepSetInput(null);\r
+\r
+ if (movie == null) {\r
+ grabber.prepare(true, false); // あってもなくてもよさそう\r
+ grabber.startPreview();\r
+ } else {\r
+ movie.preroll(0, 1.0f);\r
+ while (movie.maxLoadedTimeInMovie() == 0)\r
+ movie.task(100);\r
+ movie.setRate(1);\r
+ movie.getPict(movie.getTime()).draw(graphics, bounds);\r
+ }\r
+ PixMap pixmap = graphics.getPixMap();\r
+ rawEncodedImage = pixmap.getPixelData();\r
+\r
+ image_size.width = rawEncodedImage.getRowBytes() / 4;\r
+ pixels = new byte[image_size.width * image_size.height * 3];\r
+ pixels_int = new int[image_size.width * image_size.height];\r
+ } catch (QTException e) {\r
+ QTSession.close();\r
+ throw new NyARException(e);\r
+ }\r
+\r
+ // キャプチャイメージを定期的に更新するタイマー\r
+ timer = new Timer((int) (1000/fps), this);\r
+ timer.start();\r
+ }\r
+ public void stop()\r
+ {\r
+ finalize();\r
+ }\r
+\r
+ /** タイマー処理。キャプチャイメージの更新結果をリスナに伝える。 */\r
+ public void actionPerformed(ActionEvent event) {\r
+\r
+ // 画像をQTJavaのRawEncodedImageとして取得\r
+ try {\r
+ if (movie == null) {\r
+ grabber.idle();\r
+ } else {\r
+ if (movie.isDone()) movie.goToBeginning();\r
+ movie.getPict(movie.getTime()).draw(graphics, bounds);\r
+ }\r
+ } catch (QTException e) {\r
+ QTSession.close();\r
+ e.printStackTrace();\r
+ }\r
+\r
+ // RawEncodedImageをint列に落とし込む\r
+ rawEncodedImage.copyToArray(0, pixels_int, 0, pixels_int.length);\r
+\r
+ // バイト列を生成する\r
+ int idx_byte = 0;\r
+ for (int idx = 0; idx < image_size.width*image_size.height; idx ++) {\r
+ pixels[idx_byte ++] = (byte) (pixels_int[idx] >> 16);\r
+ pixels[idx_byte ++] = (byte) (pixels_int[idx] >> 8 & 0xff);\r
+ pixels[idx_byte ++] = (byte) (pixels_int[idx] & 0xff);\r
+ }\r
+\r
+ // 各リスナに更新されたバイト列を渡す\r
+ capture_listener.onUpdateBuffer(pixels);\r
+ }\r
+\r
+ protected void finalize()\r
+ {\r
+ try {\r
+ if (movie == null) {\r
+ grabber.stop();\r
+ grabber.release();\r
+ grabber.disposeChannel(channel);\r
+ }\r
+ } catch (Exception e) {\r
+ e.printStackTrace();\r
+ } finally {\r
+ QTSession.close();\r
+ }\r
+ timer.stop();\r
+ }\r
+\r
+}\r
--- /dev/null
+/**\r
+ * QuickTimeお手軽キャプチャ用リスナ\r
+ * (c)2008 arc@dmz, A虎＠nyatla.jp\r
+ * arc@digitalmuseum.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.qt.utils;\r
+\r
+\r
+public interface QtCaptureListener{\r
+ public void onUpdateBuffer(byte[] i_buffer);\r
+ \r
+}
\ No newline at end of file
--- /dev/null
+/**\r
+ * RGB形式のbyte配列をラップするNyARRasterです。\r
+ * 保持したデータからBufferedImageを出力する機能も持ちます。\r
+ * (c)2008 arc@dmz, A虎＠nyatla.jp\r
+ * arc@digitalmuseum.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.qt.utils;\r
+\r
+\r
+import java.awt.image.BufferedImage;\r
+import java.awt.image.DataBuffer;\r
+import java.awt.image.WritableRaster;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.raster.NyARRaster;\r
+\r
+\r
+public class QtNyARRaster_RGB implements NyARRaster\r
+{\r
+ protected byte[] ref_buf;\r
+ protected int width=0;\r
+ protected int height=0;\r
+ private WritableRaster raster;\r
+ private BufferedImage image;\r
+\r
+\r
+ /**\r
+ * RGB形式のJMFバッファをラップするオブジェクトをつくります。\r
+ * 生成直後のオブジェクトはデータを持ちません。\r
+ * メンバ関数はsetBufferを実行後に使用可能になります。\r
+ */\r
+ public QtNyARRaster_RGB(int i_width,int i_height)\r
+ {\r
+ ref_buf=null;\r
+ width=i_width;\r
+ height=i_height;\r
+ raster = WritableRaster.createInterleavedRaster(DataBuffer.TYPE_BYTE,\r
+ width, height,\r
+ width*3, 3,\r
+ new int[] { 0, 1, 2 }, null); \r
+ image = new BufferedImage(width, height,\r
+ BufferedImage.TYPE_3BYTE_BGR);\r
+ }\r
+ /**\r
+ * javax.media.Bufferを分析して、その分析結果をNyARRasterに適合する形で保持します。\r
+ * 関数実行後に外部でi_bufferの内容変更した場合には、再度setBuffer関数を呼び出してください。\r
+ * @param i_buffer\r
+ * RGB形式のデータを格納したjavax.media.Bufferオブジェクトを指定してください。\r
+ * @return\r
+ * i_bufferをラップしたオブジェクトを返します。\r
+ * @throws NyARException\r
+ */\r
+ public void setBuffer(byte[] i_buffer)\r
+ {\r
+ ref_buf=i_buffer;\r
+ }\r
+ public int getPixelTotal(int i_x,int i_y)\r
+ {\r
+ int bp=(i_x+i_y*width)*3;\r
+ byte[] ref=this.ref_buf;\r
+ return (ref[bp] & 0xff)+(ref[bp+1] & 0xff)+(ref[bp+2] & 0xff);\r
+ }\r
+ public void getPixelTotalRowLine(int i_row,int[] o_line)\r
+ {\r
+ final byte[] ref=this.ref_buf;\r
+ int bp=(i_row+1)*this.width*3-3;\r
+ for(int i=this.width-1;i>=0;i--){\r
+ o_line[i]=(ref[bp] & 0xff)+(ref[bp+1] & 0xff)+(ref[bp+2] & 0xff);\r
+ bp-=3;\r
+ }\r
+ } \r
+ public int getWidth()\r
+ {\r
+ return width;\r
+ }\r
+ public int getHeight()\r
+ {\r
+ return height;\r
+ }\r
+ public void getPixel(int i_x,int i_y,int[] i_rgb)\r
+ {\r
+ int bp=(i_x+i_y*this.width)*3;\r
+ byte[] ref=this.ref_buf;\r
+ i_rgb[0]=ref[bp+0];//R\r
+ i_rgb[1]=ref[bp+1];//G\r
+ i_rgb[2]=ref[bp+2];//B\r
+ }\r
+ /**\r
+ * データを持っているかを返します。\r
+ * @return\r
+ */\r
+ public boolean hasData()\r
+ {\r
+ return ref_buf!=null;\r
+ }\r
+ public void getPixelSet(int[] i_x,int i_y[],int i_num,int[] o_rgb)\r
+ {\r
+ int width=this.width;\r
+ byte[] ref=this.ref_buf;\r
+ int bp;\r
+ for(int i=i_num-1;i>=0;i--){\r
+ bp=(i_x[i]+i_y[i]*width)*3;\r
+ o_rgb[i*3+0]=ref[bp+0];//R\r
+ o_rgb[i*3+1]=ref[bp+1];//G\r
+ o_rgb[i*3+2]=ref[bp+2];//B\r
+ } \r
+ return;\r
+ }\r
+\r
+ /** 保持しているデータからBufferedImageを作って返します。 */\r
+ public BufferedImage createImage() {\r
+ raster.setDataElements(0, 0, width, height, ref_buf);\r
+ image.setData(raster);\r
+ return image;\r
+ }\r
+}\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<classpath>\r
+ <classpathentry path="" kind="src"/>\r
+ <classpathentry path="org.eclipse.jdt.launching.JRE_CONTAINER" kind="con"/>\r
+ <classpathentry path="/NyARToolKit" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="C:/Program Files/Java/Java3D/1.5.1/lib/ext/j3dcore.jar" kind="lib"/>\r
+ <classpathentry path="C:/Program Files/Java/Java3D/1.5.1/lib/ext/j3dutils.jar" kind="lib"/>\r
+ <classpathentry path="C:/Program Files/Java/Java3D/1.5.1/lib/ext/vecmath.jar" kind="lib"/>\r
+ <classpathentry path="C:/Program Files/JMF2.1.1e/lib/jmf.jar" kind="lib"/>\r
+ <classpathentry path="/NyARToolkit.utils.jmf" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="" kind="output"/>\r
+</classpath>\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<projectDescription>\r
+ <name>NyARToolkit.utils.java3d</name>\r
+ <comment></comment>\r
+ <projects>\r
+ </projects>\r
+ <buildSpec>\r
+ <buildCommand>\r
+ <name>org.eclipse.jdt.core.javabuilder</name>\r
+ <arguments>\r
+ </arguments>\r
+ </buildCommand>\r
+ </buildSpec>\r
+ <natures>\r
+ <nature>org.eclipse.jdt.core.javanature</nature>\r
+ </natures>\r
+</projectDescription>\r
--- /dev/null
+/**\r
+ * NyARParamにOpenGL向け関数を追加したもの\r
+ * (c)2008 A虎＠nyatla.jp\r
+ * airmail(at)ebony.plala.or.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.java3d.utils;\r
+\r
+import jp.nyatla.nyartoolkit.core.*;\r
+import javax.media.j3d.Transform3D;\r
+\r
+public class J3dNyARParam extends NyARParam\r
+{\r
+ private double view_distance_min=0.01;//1cm～10.0m\r
+ private double view_distance_max=10.0;\r
+ private Transform3D m_projection=null;\r
+ /**\r
+ * 視体積の近い方をメートルで指定\r
+ * @param i_new_value\r
+ */\r
+ public void setViewDistanceMin(double i_new_value)\r
+ {\r
+ m_projection=null;//キャッシュ済変数初期化\r
+ view_distance_min=i_new_value;\r
+ }\r
+ /**\r
+ * 視体積の遠い方をメートルで指定\r
+ * @param i_new_value\r
+ */\r
+ public void setViewDistanceMax(double i_new_value)\r
+ {\r
+ m_projection=null;//キャッシュ済変数初期化\r
+ view_distance_max=i_new_value;\r
+ }\r
+ /**\r
+ * void arglCameraFrustumRH(const ARParam *cparam, const double focalmin, const double focalmax, GLdouble m_projection[16])\r
+ * 関数の置き換え\r
+ * @param focalmin\r
+ * @param focalmax\r
+ * @return\r
+ */\r
+ public Transform3D getCameraTransform()\r
+ {\r
+ //既に値がキャッシュされていたらそれを使う\r
+ if(m_projection!=null){\r
+ return m_projection;\r
+ }\r
+ //無ければ計算\r
+\r
+ NyARMat trans_mat=new NyARMat(3,4);\r
+ NyARMat icpara_mat=new NyARMat(3,4);\r
+ double[][] p=new double[3][3], q=new double[4][4];\r
+ double width, height;\r
+ int i, j;\r
+ \r
+ width = xsize;\r
+ height = ysize;\r
+ \r
+ decompMat(icpara_mat,trans_mat);\r
+\r
+ double[][] icpara=icpara_mat.getArray();\r
+ double[][] trans=trans_mat.getArray();\r
+ for (i = 0; i < 4; i++) {\r
+ icpara[1][i] = (height - 1)*(icpara[2][i]) - icpara[1][i];\r
+ }\r
+ \r
+ for(i = 0; i < 3; i++) {\r
+ for(j = 0; j < 3; j++) {\r
+ p[i][j] = icpara[i][j] / icpara[2][2];\r
+ }\r
+ }\r
+ //p[0][0],p[1][1]=n\r
+ //p[0][2],p[1][2]=t+b\r
+\r
+ //Projectionの計算\r
+ q[0][0] = (2.0 * p[0][0] / (width - 1));\r
+ q[0][1] = (2.0 * p[0][1] / (width - 1));\r
+ q[0][2] = -((2.0 * p[0][2] / (width - 1)) - 1.0);\r
+ q[0][3] = 0.0;\r
+ \r
+ q[1][0] = 0.0;\r
+ q[1][1] = -(2.0 * p[1][1] / (height - 1));\r
+ q[1][2] = -((2.0 * p[1][2] / (height - 1)) - 1.0);\r
+ q[1][3] = 0.0;\r
+ \r
+ q[2][0] = 0.0;\r
+ q[2][1] = 0.0;\r
+ q[2][2] = (view_distance_max + view_distance_min)/(view_distance_min - view_distance_max);\r
+ q[2][3] = 2.0 * view_distance_max * view_distance_min / (view_distance_min - view_distance_max);\r
+ \r
+ q[3][0] = 0.0;\r
+ q[3][1] = 0.0;\r
+ q[3][2] = -1.0;\r
+ q[3][3] = 0.0;\r
+ \r
+ q[2][2]=q[2][2]*-1;\r
+ q[2][3]=q[2][3]*-1;\r
+ \r
+ double[] tmp_projection=new double[16];\r
+ for (i = 0; i < 4; i++) { // Row.\r
+ // First 3 columns of the current row.\r
+ for (j = 0; j < 3; j++) { // Column.\r
+ tmp_projection[i + j*4] =(\r
+ q[i][0] * trans[0][j] +\r
+ q[i][1] * trans[1][j] +\r
+ q[i][2] * trans[2][j]);\r
+ }\r
+ // Fourth column of the current row.\r
+ tmp_projection[i + 3*4]=\r
+ q[i][0] * trans[0][3] +\r
+ q[i][1] * trans[1][3] +\r
+ q[i][2] * trans[2][3] +\r
+ q[i][3];\r
+ }\r
+ m_projection=new Transform3D(tmp_projection);\r
+ m_projection.transpose();\r
+ return m_projection;\r
+ }\r
+}\r
--- /dev/null
+/**\r
+ * NyARRaster_RGBにOpenGL向け関数を追加したもの\r
+ * (c)2008 A虎＠nyatla.jp\r
+ * airmail(at)ebony.plala.or.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.java3d.utils;\r
+\r
+import java.awt.image.*;\r
+import java.awt.color.*;\r
+\r
+import javax.media.j3d.ImageComponent;\r
+import javax.media.j3d.ImageComponent2D;\r
+\r
+\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.NyARParam;\r
+import jp.nyatla.nyartoolkit.jmf.utils.*;\r
+\r
+/**\r
+ * \r
+ * このクラスは、Java3Dと互換性のあるNyARToolkitのラスタイメージを保持します。\r
+ *\r
+ */\r
+public class J3dNyARRaster_RGB extends JmfNyARRaster_RGB\r
+{\r
+ private ImageComponent2D imc2d;\r
+ private byte[] i2d_buf;\r
+ private BufferedImage bufferd_image;\r
+\r
+ /**\r
+ * JMFのキャプチャ画像をこのクラスのBufferedImageにコピーします。\r
+ * @param i_buffer\r
+ * 画像の格納されたバッファを指定して下さい。\r
+ * 画像サイズはコンストラクタで与えたパラメタと同じサイズである必要があります。\r
+ */\r
+ public void setBuffer(javax.media.Buffer i_buffer) throws NyARException\r
+ {\r
+ super.setBuffer(i_buffer);\r
+ //メモ：この時点では、ref_dataにはi_bufferの参照値が入ってる。\r
+ synchronized(this){\r
+ //キャプチャデータをi2dのバッファにコピーする。（これ省略したいなあ…。）\r
+ System.arraycopy(this.ref_buf,0,this.i2d_buf,0,this.i2d_buf.length);\r
+ }\r
+ //ここでref_bufの参照値をref_bufへ移動\r
+ this.ref_buf=this.i2d_buf;\r
+ } \r
+ public J3dNyARRaster_RGB(NyARParam i_cparam)\r
+ {\r
+ super(i_cparam.getX(),i_cparam.getY());\r
+\r
+ //RGBのラスタを作る。\r
+ this.bufferd_image = new BufferedImage(this.width,this.height,BufferedImage.TYPE_3BYTE_BGR);\r
+ i2d_buf=((DataBufferByte)bufferd_image.getRaster().getDataBuffer()).getData();\r
+ this.imc2d= new ImageComponent2D(ImageComponent2D.FORMAT_RGB, this.bufferd_image, true, true);\r
+ imc2d.setCapability(ImageComponent.ALLOW_IMAGE_WRITE);\r
+ }\r
+ /**\r
+ * 自身の格納しているImageComponent2Dオブジェクトを作り直します。\r
+ * Java3D1.5がDirectXで動いた（らしいとき）に、ImageComponent2Dのインスタンス\r
+ * IDが異ならないと、Behavior内でイメージの更新を通知できない事象に対応するために実装してあります。\r
+ * Behavior内でgetImageComponent2()関数を実行する直前に呼び出すことで、この事象を回避することができます。\r
+ * \r
+ */\r
+ public void renewImageComponent2D()\r
+ {\r
+ this.imc2d= new ImageComponent2D(ImageComponent2D.FORMAT_RGB, this.bufferd_image, true, true);\r
+ this.imc2d.setCapability(ImageComponent.ALLOW_IMAGE_WRITE); \r
+ }\r
+ public ImageComponent2D getImageComponent2D()\r
+ {\r
+ return this.imc2d;\r
+ }\r
+}\r
--- /dev/null
+/**\r
+ * NyARToolkitのBehaviorホルダー\r
+ * (c)2008 A虎＠nyatla.jp\r
+ * airmail@ebony.plala.or.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.java3d.utils;\r
+\r
+import java.util.Enumeration;\r
+\r
+import javax.media.Buffer;\r
+import javax.media.j3d.*;\r
+import javax.vecmath.*;\r
+\r
+import jp.nyatla.nyartoolkit.core.NyARParam;\r
+import jp.nyatla.nyartoolkit.core.NyARTransMatResult;\r
+import jp.nyatla.nyartoolkit.detector.NyARSingleDetectMarker;\r
+import jp.nyatla.nyartoolkit.jmf.*;\r
+import jp.nyatla.nyartoolkit.jmf.utils.JmfCameraCapture;\r
+import jp.nyatla.nyartoolkit.jmf.utils.JmfCaptureListener;\r
+import jp.nyatla.nyartoolkit.*;\r
+import jp.nyatla.nyartoolkit.core.*;\r
+\r
+/**\r
+ * NyARToolkitと連動したBehaviorを返却するクラスです。\r
+ * 提供できるBehaviorは、BackgroundとTransformgroupです。\r
+ *\r
+ */\r
+public class NyARSingleMarkerBehaviorHolder implements JmfCaptureListener\r
+{\r
+ private NyARParam cparam;\r
+ private JmfCameraCapture capture;\r
+ private J3dNyARRaster_RGB nya_raster;//最大3スレッドで共有されるので、排他制御かけること。\r
+ private NyARSingleDetectMarker nya;\r
+ //Behaviorホルダ\r
+ private NyARBehavior nya_behavior;\r
+ public NyARSingleMarkerBehaviorHolder(NyARParam i_cparam,float i_rate,NyARCode i_ar_code,double i_marker_width) throws NyARException\r
+ {\r
+ nya_behavior=null;\r
+ cparam=i_cparam;\r
+ capture=new JmfCameraCapture(cparam.getX(),cparam.getY(),i_rate,JmfCameraCapture.PIXEL_FORMAT_RGB);\r
+ capture.setCaptureListener(this);\r
+ nya_raster=new J3dNyARRaster_RGB(cparam); \r
+ nya=new NyARSingleDetectMarker(cparam,i_ar_code,i_marker_width);\r
+ nya_behavior=new NyARBehavior(nya,nya_raster,i_rate);\r
+ }\r
+ public Behavior getBehavior()\r
+ {\r
+ return nya_behavior;\r
+ }\r
+ /**\r
+ * i_back_groundにキャプチャ画像を転送するようにBehaviorを設定します。\r
+ * i_back_groungはALLOW_IMAGE_WRITE属性を持つものである必要があります。\r
+ * @param i_back_groung\r
+ * @return\r
+ */\r
+ public void setBackGround(Background i_back_ground)\r
+ {\r
+ //コール先で排他制御\r
+ nya_behavior.setRelatedBackGround(i_back_ground);\r
+ }\r
+ /**\r
+ * i_trgroupの座標系をマーカーにあわせるようにBehaviorを設定します。\r
+ *\r
+ */\r
+ public void setTransformGroup(TransformGroup i_trgroup)\r
+ {\r
+ //コール先で排他制御\r
+ nya_behavior.setRelatedTransformGroup(i_trgroup);\r
+ }\r
+ /**\r
+ * 座標系再計算後に呼び出されるリスナです。\r
+ * @param i_listener\r
+ */\r
+ public void setUpdateListener(NyARSingleMarkerBehaviorListener i_listener)\r
+ {\r
+ //コール先で排他制御\r
+ nya_behavior.setUpdateListener(i_listener);\r
+ }\r
+ /**\r
+ * ラスタを更新 コールバック関数だから呼んじゃらめえ\r
+ */\r
+ public void onUpdateBuffer(Buffer i_buffer)\r
+ {\r
+ try{\r
+ synchronized(nya_raster){\r
+ nya_raster.setBuffer(i_buffer);\r
+ }\r
+ }catch(Exception e){\r
+ e.printStackTrace();\r
+ }\r
+ }\r
+ public void start() throws NyARException\r
+ {\r
+ //開始\r
+ capture.start();\r
+ }\r
+ public void stop()\r
+ {\r
+ capture.stop();\r
+ }\r
+}\r
+\r
+\r
+class NyARBehavior extends Behavior\r
+{\r
+ private NyARTransMatResult trans_mat_result=new NyARTransMatResult(); \r
+ private NyARSingleDetectMarker related_nya;\r
+ private TransformGroup trgroup;\r
+ private Background back_ground;\r
+ private J3dNyARRaster_RGB raster;\r
+ private WakeupCondition wakeup;\r
+ private NyARSingleMarkerBehaviorListener listener;\r
+ public void initialize()\r
+ {\r
+ wakeupOn(wakeup);\r
+ }\r
+ /**\r
+ * i_related_ic2dの内容で定期的にi_back_groundを更新するBehavior\r
+ * @param i_back_ground\r
+ * @param i_related_ic2d\r
+ */\r
+ public NyARBehavior(NyARSingleDetectMarker i_related_nya,J3dNyARRaster_RGB i_related_raster,float i_rate)\r
+ {\r
+ super();\r
+ wakeup=new WakeupOnElapsedTime((int)(1000/i_rate));\r
+ related_nya=i_related_nya;\r
+ trgroup =null;\r
+ raster =i_related_raster;\r
+ back_ground=null;\r
+ listener=null;\r
+ this.setSchedulingBounds(new BoundingSphere(new Point3d(), 100.0));\r
+ }\r
+ public void setRelatedBackGround(Background i_back_ground)\r
+ {\r
+ synchronized(raster){\r
+ back_ground=i_back_ground;\r
+ }\r
+ }\r
+ public void setRelatedTransformGroup(TransformGroup i_trgroup)\r
+ {\r
+ synchronized(raster){\r
+ trgroup=i_trgroup;\r
+ } \r
+ }\r
+ public void setUpdateListener(NyARSingleMarkerBehaviorListener i_listener)\r
+ {\r
+ synchronized(raster){\r
+ listener=i_listener;\r
+ }\r
+ }\r
+ /**\r
+ * いわゆるイベントハンドラ\r
+ */\r
+ public void processStimulus(Enumeration criteria)\r
+ {\r
+ try{\r
+ synchronized(raster){\r
+ Transform3D t3d=null;\r
+ boolean is_marker_exist=false;\r
+ if(back_ground!=null){\r
+ raster.renewImageComponent2D();/*DirectXモードのときの対策*/\r
+ back_ground.setImage(raster.getImageComponent2D());\r
+ }\r
+ if(raster.hasData()){\r
+ is_marker_exist=related_nya.detectMarkerLite(raster, 100);\r
+ if(is_marker_exist){\r
+ related_nya.getTransmationMatrix(this.trans_mat_result);\r
+ double[][] src=this.trans_mat_result.getArray();\r
+ Matrix4d matrix=new Matrix4d(\r
+ src[0][0],-src[1][0],-src[2][0],0,\r
+ -src[0][1], src[1][1], src[2][1],0,\r
+ -src[0][2], src[1][2], src[2][2],0,\r
+ -src[0][3], src[1][3], src[2][3],1);\r
+ matrix.transpose();\r
+ t3d=new Transform3D(matrix);\r
+ if(trgroup!=null){\r
+ trgroup.setTransform(t3d);\r
+ }\r
+ }\r
+ }\r
+ if(listener!=null)\r
+ {\r
+ listener.onUpdate(is_marker_exist, t3d);\r
+ }\r
+ }\r
+ wakeupOn(wakeup); \r
+ }catch(Exception e){\r
+ e.printStackTrace();\r
+ }\r
+ }\r
+}\r
+\r
--- /dev/null
+/**\r
+ * NyARToolkitのBehaviorのリスナ\r
+ * (c)2008 A虎＠nyatla.jp\r
+ * airmail@ebony.plala.or.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.java3d.utils;\r
+\r
+import javax.media.j3d.*;\r
+\r
+public interface NyARSingleMarkerBehaviorListener\r
+{\r
+ /**\r
+ * このリスナは、リスナにマーカーに連動してオブジェクトを操作するチャンスを与えます。\r
+ * リスナはNyARSingleMarkerBehavior関数内のprocessStimulus関数から呼び出されます。\r
+ * \r
+ * @param i_is_marker_exist\r
+ * マーカーが存在する場合true、存在しない場合、falseです。\r
+ * @param i_transform3d\r
+ * マーカーが存在する場合、その変換行列が指定されます。\r
+ * i_is_marker_existがtrueの時だけ有効です。\r
+ */\r
+ public void onUpdate(boolean i_is_marker_exist,Transform3D i_transform3d);\r
+}\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<classpath>\r
+ <classpathentry path="" kind="src"/>\r
+ <classpathentry path="org.eclipse.jdt.launching.JRE_CONTAINER" kind="con"/>\r
+ <classpathentry path="/NyARToolKit" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="C:/Program Files/JMF2.1.1e/lib/jmf.jar" kind="lib"/>\r
+ <classpathentry path="" kind="output"/>\r
+</classpath>\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<projectDescription>\r
+ <name>NyARToolkit.utils.jmf</name>\r
+ <comment></comment>\r
+ <projects>\r
+ <project>NyARToolKit</project>\r
+ </projects>\r
+ <buildSpec>\r
+ <buildCommand>\r
+ <name>org.eclipse.jdt.core.javabuilder</name>\r
+ <arguments>\r
+ </arguments>\r
+ </buildCommand>\r
+ </buildSpec>\r
+ <natures>\r
+ <nature>org.eclipse.jdt.core.javanature</nature>\r
+ </natures>\r
+</projectDescription>\r
--- /dev/null
+/**\r
+ * JMFお手軽キャプチャクラス\r
+ * (c)2008 A虎＠nyatla.jp\r
+ * airmail@ebony.plala.or.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.jmf.utils;\r
+\r
+\r
+\r
+import javax.media.*;\r
+import javax.media.protocol.*;\r
+import javax.media.control.*;\r
+import javax.media.format.*;\r
+import java.awt.*;\r
+import java.util.*;\r
+import javax.media.protocol.DataSource;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+\r
+\r
+\r
+\r
+\r
+public class JmfCameraCapture\r
+{\r
+ private Dimension image_size;\r
+ private JmfCaptureListener capture_listener;\r
+ private DataSource jmf_data_source;\r
+ private MonitorStream jmf_monitor_stream;\r
+ private Processor jmf_processor;\r
+ private VideoFormat jmf_video_format;\r
+ \r
+ private Buffer read_buf=new Buffer();\r
+ public static final String PIXEL_FORMAT_RGB="RGB";\r
+ public JmfCameraCapture(int i_width,int i_height,float i_rate,String i_pixcel_format)\r
+ {\r
+ String encoding = i_pixcel_format;//comboEncoding.getSelectedItem();\r
+ image_size = new Dimension(i_width,i_height);\r
+ jmf_video_format = new VideoFormat(encoding, image_size, Format.NOT_SPECIFIED,null,i_rate);\r
+ }\r
+ public Dimension getSize()\r
+ {\r
+ return image_size;\r
+ }\r
+ public javax.media.Buffer readBuffer() throws NyARException\r
+ {\r
+ if(jmf_monitor_stream==null){\r
+ throw new NyARException();\r
+ }\r
+ try{\r
+ jmf_monitor_stream.read(read_buf);\r
+ }catch(Exception e){\r
+ throw new NyARException(e);\r
+ }\r
+ return read_buf;\r
+ }\r
+ public void setCaptureListener(JmfCaptureListener i_listener) throws NyARException\r
+ {\r
+ if(jmf_processor!=null){\r
+ throw new NyARException();\r
+ }\r
+ capture_listener=i_listener;\r
+ \r
+ }\r
+ public void start() throws NyARException\r
+ {\r
+ \r
+ DataSource ds=getCaptureDS(jmf_video_format);\r
+ VideoFormat[] formats=new VideoFormat[]{new VideoFormat(null)};\r
+ ProcessorModel pm = new ProcessorModel(ds,formats,null);//, formats, ftd);\r
+ Processor processor;\r
+ try {\r
+ processor = Manager.createRealizedProcessor(pm);\r
+ } catch (Exception e){\r
+ // Make sure the capture devices are released\r
+ ds.disconnect();\r
+ throw new NyARException(e);\r
+ }\r
+ // Get the monitor control:\r
+ // Since there are more than one MonitorControl objects\r
+ // exported by the DataSource, we get the specific one\r
+ // that is also the MonitorStream object.\r
+ jmf_monitor_stream=(MonitorStream)ds.getControl("jmfsample.MonitorStream");\r
+ jmf_monitor_stream.setCaptureListener(capture_listener);\r
+ jmf_data_source=ds;\r
+ jmf_processor=processor;\r
+ jmf_processor.start();\r
+ }\r
+ public void stop()\r
+ {\r
+ jmf_processor.stop();\r
+ jmf_processor.close();\r
+ jmf_processor = null;\r
+ \r
+ }\r
+ protected void finalize()\r
+ {\r
+ if(jmf_processor!=null){\r
+ jmf_processor.stop();\r
+ jmf_processor.close();\r
+ jmf_processor = null;\r
+ }\r
+ }\r
+ private static DataSource getCaptureDS(VideoFormat vf) {\r
+ DataSource dsVideo = null;\r
+ DataSource ds = null;\r
+\r
+ // Create a capture DataSource for the video\r
+ // If there is no video capture device, then exit with null\r
+ if (vf != null) {\r
+ dsVideo = createDataSource(vf);\r
+ if (dsVideo == null)\r
+ return null;\r
+ }\r
+\r
+\r
+ // Create the monitoring datasource wrapper\r
+ if (dsVideo != null) {\r
+ dsVideo = new MonitorCDS(dsVideo);\r
+ return dsVideo;\r
+ }\r
+\r
+ // Merge the data sources, if both audio and video are available\r
+ try {\r
+ ds = Manager.createMergingDataSource(new DataSource[]{dsVideo});\r
+ } catch (IncompatibleSourceException ise){\r
+ return null;\r
+ }\r
+\r
+ return ds;\r
+ }\r
+\r
+ private static DataSource createDataSource(Format format) {\r
+ DataSource ds;\r
+ Vector devices;\r
+ CaptureDeviceInfo cdi;\r
+ MediaLocator ml;\r
+\r
+ // Find devices for format\r
+ devices = CaptureDeviceManager.getDeviceList(format);\r
+ if (devices.size() < 1) {\r
+ System.err.println("! No Devices for " + format);\r
+ return null;\r
+ }\r
+ // Pick the first device\r
+ cdi = (CaptureDeviceInfo) devices.elementAt(0);\r
+\r
+ ml = cdi.getLocator();\r
+\r
+ try {\r
+ ds = Manager.createDataSource(ml);\r
+ ds.connect();\r
+ if (ds instanceof CaptureDevice)\r
+ {\r
+ setCaptureFormat((CaptureDevice) ds, format);\r
+ }\r
+ } catch (Exception e) {\r
+ System.err.println(e);\r
+ return null;\r
+ }\r
+ return ds;\r
+ }\r
+\r
+ private static void setCaptureFormat(CaptureDevice cdev, Format format) {\r
+ FormatControl [] fcs = cdev.getFormatControls();\r
+ if (fcs.length < 1){\r
+ return;\r
+ }\r
+ FormatControl fc = fcs[0];\r
+ Format [] formats = fc.getSupportedFormats();\r
+ for (int i = 0; i < formats.length; i++) {\r
+ if (formats[i].matches(format)){\r
+ format = formats[i].intersects(format);\r
+ fc.setFormat(format);\r
+ break;\r
+ }\r
+ }\r
+ }\r
+}
\ No newline at end of file
--- /dev/null
+/**\r
+ * JMFお手軽キャプチャ用リスナ\r
+ * (c)2008 A虎＠nyatla.jp\r
+ * airmail@ebony.plala.or.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.jmf.utils;\r
+\r
+import javax.media.Buffer;\r
+\r
+public interface JmfCaptureListener{\r
+ public void onUpdateBuffer(Buffer i_buffer);\r
+ \r
+}
\ No newline at end of file
--- /dev/null
+/**\r
+ * RGB形式のJMFバッファをラップするNyARRasterです。\r
+ * JMFから得たラスタデータのピクセル並び順を考慮します。\r
+ * (c)2008 A虎＠nyatla.jp\r
+ * airmail(at)ebony.plala.or.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.jmf.utils;\r
+\r
+\r
+import javax.media.format.RGBFormat;\r
+import java.awt.Dimension;\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.raster.NyARRaster;\r
+\r
+\r
+public class JmfNyARRaster_RGB implements NyARRaster\r
+{\r
+ public final static int PIXEL_ORDER_RGB=1;\r
+ public final static int PIXEL_ORDER_BGR=2;\r
+ protected int pix_type;\r
+ private int red_idx;\r
+ private int green_idx;\r
+ private int blue_idx;\r
+ protected byte[] ref_buf;\r
+ protected int width=0;\r
+ protected int height=0;\r
+\r
+ /**\r
+ * RGB形式のJMFバッファをラップするオブジェクトをつくります。\r
+ * 生成直後のオブジェクトはデータを持ちません。\r
+ * メンバ関数はsetBufferを実行後に使用可能になります。\r
+ */\r
+ public JmfNyARRaster_RGB(int i_width,int i_height)\r
+ {\r
+ ref_buf=null;\r
+ width=i_width;\r
+ height=i_height;\r
+ }\r
+ /**\r
+ * フォーマットを解析して、インスタンスのフォーマットプロパティを初期化します。\r
+ * \r
+ * @param i_buffer\r
+ * @throws NyARException\r
+ */\r
+ protected void initFormatProperty(RGBFormat i_fmt) throws NyARException\r
+ {\r
+ //データサイズの確認\r
+ Dimension s=i_fmt.getSize();\r
+ if(width!=s.width || height !=s.height){\r
+ throw new NyARException();\r
+ }\r
+ //データ配列の確認\r
+ red_idx =i_fmt.getRedMask()-1;\r
+ green_idx=i_fmt.getGreenMask()-1;\r
+ blue_idx =i_fmt.getBlueMask()-1;\r
+ \r
+ //色配列の特定\r
+ if(red_idx==0 && blue_idx==2){\r
+ pix_type=PIXEL_ORDER_RGB;\r
+ }else if(red_idx==2 && blue_idx==0){\r
+ pix_type=PIXEL_ORDER_BGR;\r
+ }else{\r
+ throw new NyARException("Unknown pixel order.");\r
+ } \r
+ }\r
+ /**\r
+ * javax.media.Bufferを分析して、その分析結果をNyARRasterに適合する形で保持します。\r
+ * 関数実行後に外部でi_bufferの内容変更した場合には、再度setBuffer関数を呼び出してください。\r
+ * @param i_buffer\r
+ * RGB形式のデータを格納したjavax.media.Bufferオブジェクトを指定してください。\r
+ * @return\r
+ * i_bufferをラップしたオブジェクトを返します。\r
+ * @throws NyARException\r
+ */\r
+ public void setBuffer(javax.media.Buffer i_buffer) throws NyARException\r
+ {\r
+ initFormatProperty((RGBFormat)i_buffer.getFormat());\r
+ ref_buf=(byte[])i_buffer.getData();\r
+ }\r
+ public int getPixelTotal(int i_x,int i_y)\r
+ {\r
+ int bp=(i_x+i_y*width)*3;\r
+ byte[] ref=this.ref_buf;\r
+ return (ref[bp] & 0xff)+(ref[bp+1] & 0xff)+(ref[bp+2] & 0xff);\r
+ }\r
+ public void getPixelTotalRowLine(int i_row,int[] o_line)\r
+ {\r
+ final byte[] ref=this.ref_buf;\r
+ int bp=(i_row+1)*this.width*3-3;\r
+ for(int i=this.width-1;i>=0;i--){\r
+ o_line[i]=(ref[bp] & 0xff)+(ref[bp+1] & 0xff)+(ref[bp+2] & 0xff);\r
+ bp-=3;\r
+ }\r
+ } \r
+ public int getWidth()\r
+ {\r
+ return width;\r
+ }\r
+ public int getHeight()\r
+ {\r
+ return height;\r
+ }\r
+ public void getPixel(int i_x,int i_y,int[] i_rgb)\r
+ {\r
+ int bp=(i_x+i_y*this.width)*3;\r
+ byte[] ref=this.ref_buf;\r
+ i_rgb[0]=(ref[bp+this.red_idx] & 0xff);//R\r
+ i_rgb[1]=(ref[bp+this.green_idx] & 0xff);//G\r
+ i_rgb[2]=(ref[bp+this.blue_idx] & 0xff);//B\r
+ }\r
+ /**\r
+ * ピクセルの順序タイプを返します。\r
+ * @return\r
+ * その値\r
+ */\r
+ public int getPixelOrder()\r
+ {\r
+ return pix_type;\r
+ }\r
+ /**\r
+ * データを持っているかを返します。\r
+ * @return\r
+ */\r
+ public boolean hasData()\r
+ {\r
+ return ref_buf!=null;\r
+ }\r
+ public void getPixelSet(int[] i_x,int i_y[],int i_num,int[] o_rgb)\r
+ {\r
+ int ri=this.red_idx;\r
+ int bi=this.green_idx;\r
+ int gi=this.blue_idx;\r
+ int width=this.width;\r
+ byte[] ref=this.ref_buf;\r
+ int bp;\r
+ for(int i=i_num-1;i>=0;i--){\r
+ bp=(i_x[i]+i_y[i]*width)*3;\r
+ o_rgb[i*3+0]=(ref[bp+ri] & 0xff);//R\r
+ o_rgb[i*3+1]=(ref[bp+gi] & 0xff);//G\r
+ o_rgb[i*3+2]=(ref[bp+bi] & 0xff);//B\r
+ } \r
+ return;\r
+ }\r
+}\r
--- /dev/null
+/*
+ * Copyright (c) 1996-2001 Sun Microsystems, Inc. All Rights Reserved.
+ *
+ * Sun grants you ("Licensee") a non-exclusive, royalty free, license to use,
+ * modify and redistribute this software in source and binary code form,
+ * provided that i) this copyright notice and license appear on all copies of
+ * the software; and ii) Licensee does not utilize the software in a manner
+ * which is disparaging to Sun.
+ *
+ * This software is provided "AS IS," without a warranty of any kind. ALL
+ * EXPRESS OR IMPLIED CONDITIONS, REPRESENTATIONS AND WARRANTIES, INCLUDING ANY
+ * IMPLIED WARRANTY OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE OR
+ * NON-INFRINGEMENT, ARE HEREBY EXCLUDED. SUN AND ITS LICENSORS SHALL NOT BE
+ * LIABLE FOR ANY DAMAGES SUFFERED BY LICENSEE AS A RESULT OF USING, MODIFYING
+ * OR DISTRIBUTING THE SOFTWARE OR ITS DERIVATIVES. IN NO EVENT WILL SUN OR ITS
+ * LICENSORS BE LIABLE FOR ANY LOST REVENUE, PROFIT OR DATA, OR FOR DIRECT,
+ * INDIRECT, SPECIAL, CONSEQUENTIAL, INCIDENTAL OR PUNITIVE DAMAGES, HOWEVER
+ * CAUSED AND REGARDLESS OF THE THEORY OF LIABILITY, ARISING OUT OF THE USE OF
+ * OR INABILITY TO USE SOFTWARE, EVEN IF SUN HAS BEEN ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGES.
+ *
+ * This software is not designed or intended for use in on-line control of
+ * aircraft, air traffic, aircraft navigation or aircraft communications; or in
+ * the design, construction, operation or maintenance of any nuclear
+ * facility. Licensee represents and warrants that it will not use or
+ * redistribute the Software for such purposes.
+ */
+package jp.nyatla.nyartoolkit.jmf.utils;
+
+
+import javax.media.*;
+import javax.media.protocol.*;
+import javax.media.control.*;
+
+import java.io.IOException;
+
+
+
+public class MonitorCDS extends PushBufferDataSource{
+
+ private PushBufferDataSource delegate = null;
+ private PushBufferStream [] delStreams = null;
+ private MonitorStream monitorStream = null;
+ private PushBufferStream [] monitorStreams = null;
+ boolean delStarted = false; // variable used by MonitorStream also
+ private Control [] controls;
+
+ public MonitorCDS(DataSource ds)
+ {
+ // Get the stream from the actual datasource
+ // and create a MonitorStream from it
+ // Export the MonitorControl interface of the MonitorStream
+ if (ds instanceof PushBufferDataSource)
+ {
+ delegate = (PushBufferDataSource) ds;
+ delStreams = delegate.getStreams();
+ monitorStream = new MonitorStream(delStreams[0], this);
+ monitorStreams = new PushBufferStream[] {monitorStream};
+ }
+ }
+
+ public Object [] getControls()
+ {
+ return controls;
+ }
+
+ public Object getControl(String value) {
+ if (value.equals("jmfsample.MonitorStream") || value.equals("javax.media.control.MonitorControl"))
+ return monitorStream;
+ else
+ return null;
+ }
+
+ public javax.media.CaptureDeviceInfo getCaptureDeviceInfo()
+ {
+ return ((CaptureDevice)delegate).getCaptureDeviceInfo();
+ }
+
+ public FormatControl[] getFormatControls()
+ {
+ return ((CaptureDevice)delegate).getFormatControls();
+ }
+
+ public String getContentType()
+ {
+ return delegate.getContentType();
+ }
+
+ public void connect() throws IOException
+ {
+ if (delegate == null)
+ throw new IOException("Incompatible DataSource");
+ // Delegate is already connected
+ }
+
+ public void disconnect()
+ {
+ monitorStream.setEnabled(false);
+ delegate.disconnect();
+ }
+
+ public synchronized void start() throws IOException
+ {
+ startDelegate();
+ delStarted = true;
+ }
+
+ public synchronized void stop() throws IOException
+ {
+ if (!monitorStream.isEnabled()) {
+ stopDelegate();
+ }
+ delStarted = false;
+ }
+
+ public Time getDuration()
+ {
+ return delegate.getDuration();
+ }
+
+ public PushBufferStream [] getStreams()
+ {
+ return monitorStreams;
+ }
+
+ void startDelegate() throws IOException
+ {
+ delegate.start();
+ }
+
+ void stopDelegate() throws IOException
+ {
+ delegate.stop();
+ }
+
+}
--- /dev/null
+/*
+ * Copyright (c) 1996-2001 Sun Microsystems, Inc. All Rights Reserved.
+ *
+ * Sun grants you ("Licensee") a non-exclusive, royalty free, license to use,
+ * modify and redistribute this software in source and binary code form,
+ * provided that i) this copyright notice and license appear on all copies of
+ * the software; and ii) Licensee does not utilize the software in a manner
+ * which is disparaging to Sun.
+ *
+ * This software is provided "AS IS," without a warranty of any kind. ALL
+ * EXPRESS OR IMPLIED CONDITIONS, REPRESENTATIONS AND WARRANTIES, INCLUDING ANY
+ * IMPLIED WARRANTY OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE OR
+ * NON-INFRINGEMENT, ARE HEREBY EXCLUDED. SUN AND ITS LICENSORS SHALL NOT BE
+ * LIABLE FOR ANY DAMAGES SUFFERED BY LICENSEE AS A RESULT OF USING, MODIFYING
+ * OR DISTRIBUTING THE SOFTWARE OR ITS DERIVATIVES. IN NO EVENT WILL SUN OR ITS
+ * LICENSORS BE LIABLE FOR ANY LOST REVENUE, PROFIT OR DATA, OR FOR DIRECT,
+ * INDIRECT, SPECIAL, CONSEQUENTIAL, INCIDENTAL OR PUNITIVE DAMAGES, HOWEVER
+ * CAUSED AND REGARDLESS OF THE THEORY OF LIABILITY, ARISING OUT OF THE USE OF
+ * OR INABILITY TO USE SOFTWARE, EVEN IF SUN HAS BEEN ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGES.
+ *
+ * This software is not designed or intended for use in on-line control of
+ * aircraft, air traffic, aircraft navigation or aircraft communications; or in
+ * the design, construction, operation or maintenance of any nuclear
+ * facility. Licensee represents and warrants that it will not use or
+ * redistribute the Software for such purposes.
+ */
+package jp.nyatla.nyartoolkit.jmf.utils;
+
+
+
+import javax.media.*;
+import javax.media.protocol.*;
+
+import javax.media.util.BufferToImage;
+import java.io.IOException;
+import java.awt.*;
+
+public class MonitorStream implements PushBufferStream, BufferTransferHandler {
+
+ JmfCaptureListener img_listener;
+ PushBufferStream actual = null;
+ boolean dataAvailable = false;
+ boolean terminate = false;
+ boolean enabled = false;
+ Object bufferLock = new Object();
+ Buffer cbuffer = new Buffer();
+ BufferTransferHandler transferHandler = null;
+ Component component = null;
+ MonitorCDS cds;
+ BufferToImage bti = null;
+
+ MonitorStream(PushBufferStream actual, MonitorCDS cds) {
+ this.actual = actual;
+ actual.setTransferHandler(this);
+ this.cds = cds;
+ }
+
+ public javax.media.Format getFormat()
+ {
+ return actual.getFormat();
+ }
+ /**
+ * 非同期READ
+ */
+ public void read(Buffer buffer) throws IOException
+ {
+ // Wait for data to be available
+ // Doesn't get used much because the transferData
+ // call is made when data IS available. And most
+ // Processors/Players read the data in the same
+ // thread that called transferData, although that's
+ // not a safe assumption to make
+ if (!dataAvailable) {
+ synchronized (bufferLock) {
+ while (!dataAvailable && !terminate) {
+ try {
+ bufferLock.wait(100);
+ } catch (InterruptedException ie) {
+ }
+ }
+ }
+ }
+
+ if (dataAvailable) {
+ synchronized (bufferLock) {
+ // Copy the buffer attributes, but swap the data
+ // attributes so that no extra copy is made.
+ buffer.copy(cbuffer, true);
+ //dataAvailable = false;
+ }
+ }
+// return;
+ }
+ public void setCaptureListener(JmfCaptureListener i_listener)
+ {
+ img_listener=i_listener;
+ }
+
+ public void transferData(PushBufferStream pbs)
+ {
+ // Get the data from the original source stream
+ synchronized (bufferLock) {
+ try {
+ pbs.read(cbuffer);
+ } catch (IOException ioe) {
+ return;
+ }
+ dataAvailable = true;
+ bufferLock.notifyAll();
+ }
+ if(img_listener!=null){
+ img_listener.onUpdateBuffer(cbuffer);
+ }
+
+/*
+ // Display data if monitor is active
+ if (isEnabled()) {
+ if (bti == null) {
+ VideoFormat vf = (VideoFormat) cbuffer.getFormat();
+ bti = new BufferToImage(vf);
+ }
+ if (bti != null && component != null) {
+ Image im = bti.createImage(cbuffer);
+ Graphics g = component.getGraphics();
+ Dimension size = component.getSize();
+ if (g != null)
+ g.drawImage(im, 0, 0, component);
+ }
+ }
+*/
+ // Maybe synchronize this with setTransferHandler() ?
+ if (transferHandler != null && cds.delStarted)
+ transferHandler.transferData(this);
+ }
+
+ public void setTransferHandler(BufferTransferHandler transferHandler) {
+ this.transferHandler = transferHandler;
+ }
+
+ public boolean setEnabled(boolean value) {
+ enabled = value;
+ if (value == false) {
+ if (!cds.delStarted) {
+ try {
+ cds.stopDelegate();
+ } catch (IOException ioe) {
+ }
+ }
+ } else {
+ // Start the capture datasource if the monitor is enabled
+ try {
+ cds.startDelegate();
+ }catch (IOException ioe) {
+ }
+ }
+ return enabled;
+ }
+
+ public boolean isEnabled()
+ {
+ return enabled;
+ }
+
+
+
+ public float setPreviewFrameRate(float rate)
+ {
+ System.err.println("TODO");
+ return rate;
+ }
+
+ public ContentDescriptor getContentDescriptor()
+ {
+ return actual.getContentDescriptor();
+ }
+
+ public long getContentLength()
+ {
+ return actual.getContentLength();
+ }
+
+ public boolean endOfStream() {
+ return actual.endOfStream();
+ }
+
+ public Object [] getControls() {
+ return new Object[0];
+ }
+
+ public Object getControl(String str) {
+ return null;
+ }
+
+
+}
--- /dev/null
+/**
+ * VFMキャプチャテストプログラム
+ * (c)2008 A虎＠nyatla.jp
+ * airmail@ebony.plala.or.jp
+ * http://nyatla.jp/
+ */
+package jp.nyatla.nyartoolkit.jmf.utils.sample;
+
+import javax.media.*;
+
+import javax.media.util.BufferToImage;
+import javax.media.format.*;
+import jp.nyatla.nyartoolkit.NyARException;
+import jp.nyatla.nyartoolkit.jmf.utils.*;
+
+import java.awt.*;
+
+
+
+public class JmfCaptureTest extends Frame implements JmfCaptureListener{
+ public JmfCaptureTest() throws NyARException
+ {
+ setTitle("JmfCaptureTest");
+ setBounds(0,0,320+64,240+64);
+ capture=new JmfCameraCapture(320,240,30f,JmfCameraCapture.PIXEL_FORMAT_RGB);
+ capture.setCaptureListener(this);
+ }
+
+
+
+ private JmfCameraCapture capture;
+ public void onUpdateBuffer(Buffer i_buffer)
+ {
+ BufferToImage b2i=new BufferToImage((VideoFormat)i_buffer.getFormat());
+ Image img=b2i.createImage(i_buffer);
+ Graphics g = getGraphics();
+ g.drawImage(img, 32, 32,this);
+ }
+ private void startCapture()
+ {
+ try{
+ capture.start();
+ }catch(Exception e){
+ e.printStackTrace();
+ }
+ }
+ public static void main(String[] args) {
+ try{
+ JmfCaptureTest mainwin = new JmfCaptureTest();
+ mainwin.setVisible(true);
+ mainwin.startCapture();
+ }catch(Exception e){
+ e.printStackTrace();
+ }
+
+ }
+
+}
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<classpath>\r
+ <classpathentry path="" kind="src"/>\r
+ <classpathentry path="org.eclipse.jdt.launching.JRE_CONTAINER" kind="con"/>\r
+ <classpathentry path="/NyARToolKit" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="/NyARToolkit.utils.jmf" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="C:/Program Files/Java/jogl/lib/gluegen-rt.jar" kind="lib"/>\r
+ <classpathentry path="C:/Program Files/Java/jogl/lib/jogl.jar" kind="lib"/>\r
+ <classpathentry path="C:/Program Files/JMF2.1.1e/lib/jmf.jar" kind="lib"/>\r
+ <classpathentry path="" kind="output"/>\r
+</classpath>\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<projectDescription>\r
+ <name>NyARToolkit.utils.jogl</name>\r
+ <comment></comment>\r
+ <projects>\r
+ </projects>\r
+ <buildSpec>\r
+ <buildCommand>\r
+ <name>org.eclipse.jdt.core.javabuilder</name>\r
+ <arguments>\r
+ </arguments>\r
+ </buildCommand>\r
+ </buildSpec>\r
+ <natures>\r
+ <nature>org.eclipse.jdt.core.javanature</nature>\r
+ </natures>\r
+</projectDescription>\r
--- /dev/null
+/**\r
+ * NyARSingleDetectMarkerにOpenGL向け関数を追加したもの\r
+ * (c)2008 A虎＠nyatla.jp\r
+ * airmail(at)ebony.plala.or.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.jogl.utils;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.NyARCode;\r
+import jp.nyatla.nyartoolkit.core.NyARParam;\r
+import jp.nyatla.nyartoolkit.core.NyARTransMatResult;\r
+import jp.nyatla.nyartoolkit.detector.*;\r
+\r
+public class GLNyARDetectMarker extends NyARDetectMarker\r
+{\r
+ private NyARTransMatResult trans_mat_result=new NyARTransMatResult();\r
+ private double view_scale_factor=0.025;//#define VIEW_SCALEFACTOR 0.025 // 1.0 ARToolKit unit becomes 0.025 of my OpenGL units.\r
+ public GLNyARDetectMarker(NyARParam i_param,NyARCode[] i_code,double[] i_marker_width,int i_number_of_code) throws NyARException\r
+ {\r
+ super(i_param,i_code,i_marker_width,i_number_of_code); \r
+ }\r
+ public void setScaleFactor(double i_new_value)\r
+ {\r
+ view_scale_factor=i_new_value;\r
+ }\r
+ /**\r
+ * @param i_index\r
+ * マーカーのインデックス番号を指定します。\r
+ * 直前に実行したdetectMarkerLiteの戻り値未満かつ0以上である必要があります。\r
+ * @param o_result\r
+ * 結果値を格納する配列を指定してください。double[16]以上が必要です。\r
+ * @throws NyARException\r
+ */\r
+ public void getCameraViewRH(int i_index,double[] o_result) throws NyARException\r
+ {\r
+ //座標を計算\r
+ this.getTransmationMatrix(i_index,this.trans_mat_result);\r
+ //行列変換\r
+ double[][] para=this.trans_mat_result.getArray();\r
+ o_result[0 + 0*4] = para[0][0]; // R1C1\r
+ o_result[0 + 1*4] = para[0][1]; // R1C2\r
+ o_result[0 + 2*4] = para[0][2];\r
+ o_result[0 + 3*4] = para[0][3];\r
+ o_result[1 + 0*4] = -para[1][0]; // R2\r
+ o_result[1 + 1*4] = -para[1][1];\r
+ o_result[1 + 2*4] = -para[1][2];\r
+ o_result[1 + 3*4] = -para[1][3];\r
+ o_result[2 + 0*4] = -para[2][0]; // R3\r
+ o_result[2 + 1*4] = -para[2][1];\r
+ o_result[2 + 2*4] = -para[2][2];\r
+ o_result[2 + 3*4] = -para[2][3];\r
+ o_result[3 + 0*4] = 0.0;\r
+ o_result[3 + 1*4] = 0.0;\r
+ o_result[3 + 2*4] = 0.0;\r
+ o_result[3 + 3*4] = 1.0;\r
+ if (view_scale_factor != 0.0) {\r
+ o_result[12] *= view_scale_factor;\r
+ o_result[13] *= view_scale_factor;\r
+ o_result[14] *= view_scale_factor;\r
+ }\r
+ return;\r
+ }\r
+}\r
--- /dev/null
+/**\r
+ * NyARParamにOpenGL向け関数を追加したもの\r
+ * (c)2008 A虎＠nyatla.jp\r
+ * airmail(at)ebony.plala.or.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.jogl.utils;\r
+\r
+import jp.nyatla.nyartoolkit.core.*;\r
+public class GLNyARParam extends NyARParam\r
+{\r
+ private double view_distance_min=0.1;//#define VIEW_DISTANCE_MIN 0.1 // Objects closer to the camera than this will not be displayed.\r
+ private double view_distance_max=100.0;//#define VIEW_DISTANCE_MAX 100.0 // Objects further away from the camera than this will not be displayed.\r
+ private double[] m_projection=null;\r
+ public void setViewDistanceMin(double i_new_value)\r
+ {\r
+ m_projection=null;//キャッシュ済変数初期化\r
+ view_distance_min=i_new_value;\r
+ }\r
+ public void setViewDistanceMax(double i_new_value)\r
+ {\r
+ m_projection=null;//キャッシュ済変数初期化\r
+ view_distance_max=i_new_value;\r
+ }\r
+ /**\r
+ * void arglCameraFrustumRH(const ARParam *cparam, const double focalmin, const double focalmax, GLdouble m_projection[16])\r
+ * 関数の置き換え\r
+ * @param focalmin\r
+ * @param focalmax\r
+ * @return\r
+ */\r
+ public double[] getCameraFrustumRH()\r
+ {\r
+ //既に値がキャッシュされていたらそれを使う\r
+ if(m_projection!=null){\r
+ return m_projection;\r
+ }\r
+ //無ければ計算\r
+ m_projection=new double[16];\r
+ NyARMat trans_mat=new NyARMat(3,4);\r
+ NyARMat icpara_mat=new NyARMat(3,4);\r
+ double[][] p=new double[3][3], q=new double[4][4];\r
+ int width, height;\r
+ int i, j;\r
+ \r
+ width = xsize;\r
+ height = ysize;\r
+ \r
+ decompMat(icpara_mat,trans_mat);\r
+\r
+ double[][] icpara=icpara_mat.getArray();\r
+ double[][] trans=trans_mat.getArray();\r
+ for (i = 0; i < 4; i++) {\r
+ icpara[1][i] = (height - 1)*(icpara[2][i]) - icpara[1][i];\r
+ }\r
+ \r
+ for(i = 0; i < 3; i++) {\r
+ for(j = 0; j < 3; j++) {\r
+ p[i][j] = icpara[i][j] / icpara[2][2];\r
+ }\r
+ }\r
+ q[0][0] = (2.0 * p[0][0] / (width - 1));\r
+ q[0][1] = (2.0 * p[0][1] / (width - 1));\r
+ q[0][2] = -((2.0 * p[0][2] / (width - 1)) - 1.0);\r
+ q[0][3] = 0.0;\r
+ \r
+ q[1][0] = 0.0;\r
+ q[1][1] = -(2.0 * p[1][1] / (height - 1));\r
+ q[1][2] = -((2.0 * p[1][2] / (height - 1)) - 1.0);\r
+ q[1][3] = 0.0;\r
+ \r
+ q[2][0] = 0.0;\r
+ q[2][1] = 0.0;\r
+ q[2][2] = (view_distance_max + view_distance_min)/(view_distance_min - view_distance_max);\r
+ q[2][3] = 2.0 * view_distance_max * view_distance_min / (view_distance_min - view_distance_max);\r
+ \r
+ q[3][0] = 0.0;\r
+ q[3][1] = 0.0;\r
+ q[3][2] = -1.0;\r
+ q[3][3] = 0.0;\r
+ \r
+ for (i = 0; i < 4; i++) { // Row.\r
+ // First 3 columns of the current row.\r
+ for (j = 0; j < 3; j++) { // Column.\r
+ m_projection[i + j*4] =\r
+ q[i][0] * trans[0][j] +\r
+ q[i][1] * trans[1][j] +\r
+ q[i][2] * trans[2][j];\r
+ }\r
+ // Fourth column of the current row.\r
+ m_projection[i + 3*4]=\r
+ q[i][0] * trans[0][3] +\r
+ q[i][1] * trans[1][3] +\r
+ q[i][2] * trans[2][3] +\r
+ q[i][3];\r
+ }\r
+ return m_projection;\r
+ }\r
+}\r
--- /dev/null
+/**\r
+ * NyARRaster_RGBにOpenGL用のデータ変換機能を追加したものです。\r
+ * \r
+ * (c)2008 A虎＠nyatla.jp\r
+ * airmail(at)ebony.plala.or.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.jogl.utils;\r
+\r
+import javax.media.format.RGBFormat;\r
+import javax.media.opengl.GL;\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.jmf.utils.*;\r
+import jp.nyatla.nyartoolkit.core.*;\r
+\r
+public class GLNyARRaster_RGB extends JmfNyARRaster_RGB\r
+{\r
+ private byte[] gl_buf;\r
+ private int gl_flag;\r
+\r
+ public GLNyARRaster_RGB(GL i_ref_gl,NyARParam i_param)\r
+ {\r
+ super(i_param.getX(),i_param.getY());\r
+ this.gl_flag=GL.GL_RGB;\r
+ this.gl_buf=new byte[this.width*this.height*3];\r
+ }\r
+ public void setBuffer(javax.media.Buffer i_buffer,boolean i_is_reverse) throws NyARException\r
+ {\r
+ //JMFデータでフォーマットプロパティを初期化\r
+ initFormatProperty((RGBFormat)i_buffer.getFormat());\r
+ \r
+ byte[] src_buf=(byte[])i_buffer.getData();\r
+ //GL用のデータを準備\r
+ if(i_is_reverse){\r
+ int length=this.width*3;\r
+ int src_idx=0;\r
+ int dest_idx=(this.height-1)*length;\r
+ for(int i=0;i<this.height;i++){\r
+ System.arraycopy(src_buf,src_idx,this.gl_buf,dest_idx,length);\r
+ src_idx+=length;\r
+ dest_idx-=length;\r
+ }\r
+ }else{\r
+ System.arraycopy(src_buf,0,gl_buf,0,src_buf.length);\r
+ }\r
+ //GLのフラグ設定\r
+ switch(this.pix_type){\r
+ case GLNyARRaster_RGB.PIXEL_ORDER_BGR:\r
+ this.gl_flag=GL.GL_BGR;\r
+ break;\r
+ case GLNyARRaster_RGB.PIXEL_ORDER_RGB:\r
+ this.gl_flag=GL.GL_RGB;\r
+ break;\r
+ default:\r
+ throw new NyARException();\r
+ }\r
+ //ref_bufをgl_bufに差し替える\r
+ ref_buf=gl_buf;\r
+ }\r
+ /**\r
+ * GLでそのまま描画できるRGBバッファを返す。\r
+ * @return\r
+ */\r
+ public byte[] getGLRgbArray()\r
+ {\r
+ return this.ref_buf;\r
+ }\r
+ /**\r
+ * GL用のRGBバッファのバイト並びタイプを返す。\r
+ * @return\r
+ */\r
+ public int getGLPixelFlag()\r
+ {\r
+ return this.gl_flag;\r
+ }\r
+}\r
--- /dev/null
+/**\r
+ * NyARSingleDetectMarkerにOpenGL向け関数を追加したもの\r
+ * (c)2008 A虎＠nyatla.jp\r
+ * airmail(at)ebony.plala.or.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.jogl.utils;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.NyARCode;\r
+import jp.nyatla.nyartoolkit.core.NyARParam;\r
+import jp.nyatla.nyartoolkit.core.NyARTransMatResult;\r
+import jp.nyatla.nyartoolkit.detector.*;\r
+\r
+public class GLNyARSingleDetectMarker extends NyARSingleDetectMarker\r
+{\r
+ private NyARTransMatResult trans_mat_result=new NyARTransMatResult();\r
+ private double view_scale_factor=0.025;//#define VIEW_SCALEFACTOR 0.025 // 1.0 ARToolKit unit becomes 0.025 of my OpenGL units.\r
+ public GLNyARSingleDetectMarker(NyARParam i_param,NyARCode i_code,double i_marker_width) throws NyARException\r
+ {\r
+ super(i_param,i_code,i_marker_width); \r
+ }\r
+ public void setScaleFactor(double i_new_value)\r
+ {\r
+ view_scale_factor=i_new_value;\r
+ }\r
+ // public static void arglCameraViewRH(const double para[3][4], GLdouble m_modelview[16], const double scale)\r
+ public double[] getCameraViewRH() throws NyARException\r
+ {\r
+ double[] result=new double[16];\r
+ getCameraViewRH(result);\r
+ return result;\r
+ }\r
+ /**\r
+ * \r
+ * @param o_result\r
+ * 結果値を格納する配列を指定してください。double[16]以上が必要です。\r
+ * @throws NyARException\r
+ */\r
+ public void getCameraViewRH(double[] o_result) throws NyARException\r
+ {\r
+ //座標を計算\r
+ this.getTransmationMatrix(this.trans_mat_result);\r
+ //行列変換\r
+ double[][] para=this.trans_mat_result.getArray();\r
+ o_result[0 + 0*4] = para[0][0]; // R1C1\r
+ o_result[0 + 1*4] = para[0][1]; // R1C2\r
+ o_result[0 + 2*4] = para[0][2];\r
+ o_result[0 + 3*4] = para[0][3];\r
+ o_result[1 + 0*4] = -para[1][0]; // R2\r
+ o_result[1 + 1*4] = -para[1][1];\r
+ o_result[1 + 2*4] = -para[1][2];\r
+ o_result[1 + 3*4] = -para[1][3];\r
+ o_result[2 + 0*4] = -para[2][0]; // R3\r
+ o_result[2 + 1*4] = -para[2][1];\r
+ o_result[2 + 2*4] = -para[2][2];\r
+ o_result[2 + 3*4] = -para[2][3];\r
+ o_result[3 + 0*4] = 0.0;\r
+ o_result[3 + 1*4] = 0.0;\r
+ o_result[3 + 2*4] = 0.0;\r
+ o_result[3 + 3*4] = 1.0;\r
+ if (view_scale_factor != 0.0) {\r
+ o_result[12] *= view_scale_factor;\r
+ o_result[13] *= view_scale_factor;\r
+ o_result[14] *= view_scale_factor;\r
+ }\r
+ return;\r
+ }\r
+}\r
--- /dev/null
+/**\r
+ * NyARToolkit用のJOGL支援関数群\r
+ * (c)2008 A虎＠nyatla.jp\r
+ * airmail(at)ebony.plala.or.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.jogl.utils;\r
+import java.nio.ByteBuffer;\r
+import java.nio.IntBuffer;\r
+\r
+import javax.media.opengl.GL;\r
+import javax.media.opengl.glu.GLU;\r
+\r
+import jp.nyatla.nyartoolkit.core.*;\r
+\r
+public class NyARGLUtil\r
+{\r
+ private NyARParam ar_param;\r
+ private javax.media.opengl.GL gl;\r
+ private javax.media.opengl.glu.GLU glu;\r
+ public NyARGLUtil(javax.media.opengl.GL i_gl,NyARParam i_camera_param)\r
+ {\r
+ this.ar_param=i_camera_param;\r
+ this.gl=i_gl;\r
+ this.glu=new GLU();\r
+ }\r
+ /**\r
+ * GLNyARRaster_RGBをバックグラウンドに書き出す。\r
+ * @param image\r
+ * @param zoom\r
+ */\r
+ public void drawBackGround(GLNyARRaster_RGB i_raster,double i_zoom)\r
+ {\r
+ IntBuffer texEnvModeSave=IntBuffer.allocate(1); \r
+ boolean lightingSave;\r
+ boolean depthTestSave;\r
+ javax.media.opengl.GL gl_=this.gl;\r
+ \r
+ // Prepare an orthographic projection, set camera position for 2D drawing, and save GL state.\r
+ gl_.glGetTexEnviv(GL.GL_TEXTURE_ENV, GL.GL_TEXTURE_ENV_MODE, texEnvModeSave); // Save GL texture environment mode.\r
+ if (texEnvModeSave.array()[0] != GL.GL_REPLACE){\r
+ gl_.glTexEnvi(GL.GL_TEXTURE_ENV, GL.GL_TEXTURE_ENV_MODE, GL.GL_REPLACE);\r
+ }\r
+ lightingSave = gl_.glIsEnabled(GL.GL_LIGHTING); // Save enabled state of lighting.\r
+ if (lightingSave == true){\r
+ gl_.glDisable(GL.GL_LIGHTING);\r
+ }\r
+ depthTestSave = gl_.glIsEnabled(GL.GL_DEPTH_TEST); // Save enabled state of depth test.\r
+ if (depthTestSave == true){\r
+ gl_.glDisable(GL.GL_DEPTH_TEST);\r
+ }\r
+ gl_.glMatrixMode(GL.GL_PROJECTION);\r
+ gl_.glPushMatrix();\r
+ gl_.glLoadIdentity();\r
+ glu.gluOrtho2D(0.0,ar_param.getX(),0.0,ar_param.getY());\r
+ gl_.glMatrixMode(GL.GL_MODELVIEW);\r
+ gl_.glPushMatrix();\r
+ gl_.glLoadIdentity();\r
+ arglDispImageStateful(i_raster,i_zoom);\r
+\r
+\r
+ // Restore previous projection, camera position, and GL state.\r
+ gl_.glMatrixMode(GL.GL_PROJECTION);\r
+ gl_.glPopMatrix();\r
+ gl_.glMatrixMode(GL.GL_MODELVIEW);\r
+ gl_.glPopMatrix();\r
+ if (depthTestSave){\r
+ gl_.glEnable(GL.GL_DEPTH_TEST); // Restore enabled state of depth test.\r
+ }\r
+ if (lightingSave){\r
+ gl_.glEnable(GL.GL_LIGHTING); // Restore enabled state of lighting.\r
+ }\r
+ if (texEnvModeSave.get(0) != GL.GL_REPLACE){\r
+ gl_.glTexEnvi(GL.GL_TEXTURE_ENV, GL.GL_TEXTURE_ENV_MODE, texEnvModeSave.get(0)); // Restore GL texture environment mode.\r
+ }\r
+ gl_.glEnd();\r
+ }\r
+ /**\r
+ * arglDispImageStateful関数モドキ\r
+ * @param image\r
+ * @param zoom\r
+ */\r
+ private void arglDispImageStateful(GLNyARRaster_RGB i_raster,double zoom)\r
+ {\r
+ javax.media.opengl.GL gl_=this.gl;\r
+ int width =i_raster.getWidth();\r
+ int height=i_raster.getHeight();\r
+ float zoomf;\r
+ IntBuffer params=IntBuffer.allocate(4);\r
+ zoomf = (float)zoom;\r
+ gl_.glDisable(GL.GL_TEXTURE_2D);\r
+ gl_.glGetIntegerv(GL.GL_VIEWPORT,params);\r
+ gl_.glPixelZoom(zoomf * ((float)(params.get(2)) / (float)width),-zoomf * ((float)(params.get(3)) / (float)height));\r
+ gl_.glWindowPos2f(0.0f,(float)height);\r
+ gl_.glPixelStorei(GL.GL_UNPACK_ALIGNMENT, 1);\r
+ ByteBuffer buf=ByteBuffer.wrap(i_raster.getGLRgbArray());\r
+ gl_.glDrawPixels(width,height,i_raster.getGLPixelFlag(),GL.GL_UNSIGNED_BYTE,buf);\r
+ } \r
+}\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<classpath>\r
+ <classpathentry path="" kind="src"/>\r
+ <classpathentry path="org.eclipse.jdt.launching.JRE_CONTAINER" kind="con"/>\r
+ <classpathentry path="/NyARToolKit" combineaccessrules="false" kind="src"/>\r
+ <classpathentry path="C:/Program Files/QuickTime/QTSystem/QTJava.zip" kind="lib"/>\r
+ <classpathentry path="C:/Program Files/JMF2.1.1e/lib/jmf.jar" kind="lib"/>\r
+ <classpathentry path="" kind="output"/>\r
+</classpath>\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<projectDescription>\r
+ <name>NyARToolkit.utils.qt</name>\r
+ <comment></comment>\r
+ <projects>\r
+ </projects>\r
+ <buildSpec>\r
+ <buildCommand>\r
+ <name>org.eclipse.jdt.core.javabuilder</name>\r
+ <arguments>\r
+ </arguments>\r
+ </buildCommand>\r
+ </buildSpec>\r
+ <natures>\r
+ <nature>org.eclipse.jdt.core.javanature</nature>\r
+ </natures>\r
+</projectDescription>\r
--- /dev/null
+/**\r
+ * QuickTimeお手軽キャプチャクラス\r
+ * (c)2008 arc@dmz, A虎＠nyatla.jp\r
+ * arc@digitalmuseum.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.qt.utils;\r
+\r
+import java.awt.Dimension;\r
+import java.awt.event.ActionEvent;\r
+import java.awt.event.ActionListener;\r
+import java.io.File;\r
+\r
+import javax.swing.Timer;\r
+\r
+import quicktime.QTException;\r
+import quicktime.QTSession;\r
+import quicktime.io.QTFile;\r
+import quicktime.qd.PixMap;\r
+import quicktime.qd.QDConstants;\r
+import quicktime.qd.QDGraphics;\r
+import quicktime.qd.QDRect;\r
+import quicktime.std.StdQTConstants;\r
+import quicktime.std.movies.Movie;\r
+import quicktime.std.movies.media.DataRef;\r
+import quicktime.std.sg.SGVideoChannel;\r
+import quicktime.std.sg.SequenceGrabber;\r
+import quicktime.util.RawEncodedImage;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+\r
+\r
+public class QtCameraCapture implements ActionListener\r
+{\r
+\r
+ private Dimension image_size;\r
+ private QtCaptureListener capture_listener;\r
+\r
+ protected float fps = 30; // キャプチャ画像を取得するfps\r
+ protected byte[] pixels; // キャプチャ画像の実データを保持するバイト型配列\r
+\r
+ // キャプチャに使うタイマー\r
+ private Timer timer;\r
+\r
+ // QTJava用のあれこれ\r
+ private QDGraphics graphics;\r
+ private QDRect bounds;\r
+ private SequenceGrabber grabber;\r
+ private SGVideoChannel channel;\r
+ private RawEncodedImage rawEncodedImage;\r
+ private Movie movie;\r
+\r
+ // ピクセルフォーマット変換用の一時変数\r
+ private int[] pixels_int;\r
+ \r
+ public static final int PIXEL_FORMAT_RGB = quicktime.util.EndianOrder.isNativeLittleEndian() ?\r
+ QDConstants.k32BGRAPixelFormat : QDGraphics.kDefaultPixelFormat;\r
+ public QtCameraCapture(int i_width,int i_height,float i_rate)\r
+ {\r
+ image_size = new Dimension(i_width,i_height);\r
+ fps = i_rate;\r
+ }\r
+ public Dimension getSize()\r
+ {\r
+ return image_size;\r
+ }\r
+ public byte[] readBuffer() throws NyARException\r
+ {\r
+ if(grabber==null){\r
+ throw new NyARException();\r
+ }\r
+ return pixels;\r
+ }\r
+ public void setCaptureListener(QtCaptureListener i_listener) throws NyARException\r
+ {\r
+ if(grabber!=null){\r
+ throw new NyARException();\r
+ }\r
+ capture_listener=i_listener;\r
+ \r
+ }\r
+\r
+ public void prepSetInput(Object input) throws QTException {\r
+ QTSession.open();\r
+ bounds = new QDRect(image_size.width, image_size.height);\r
+ graphics = new QDGraphics(\r
+ quicktime.util.EndianOrder.isNativeLittleEndian() ?\r
+ QDConstants.k32BGRAPixelFormat : QDGraphics.kDefaultPixelFormat,\r
+ bounds);\r
+ if (input != null && input.getClass().equals(File.class)) {\r
+ movie = quicktime.std.movies.Movie.fromDataRef(\r
+ new DataRef(new QTFile((File) input)),\r
+ StdQTConstants.newMovieActive\r
+ );\r
+ } else {\r
+ grabber = new SequenceGrabber();\r
+ grabber.setGWorld(graphics, null);\r
+ channel = new SGVideoChannel(grabber);\r
+ channel.setBounds(bounds);\r
+\r
+ // seqGrabPreview == 2, Processingでmagic numberとしてハードコートされていた…\r
+ channel.setUsage(StdQTConstants.seqGrabPreview);\r
+\r
+ if (input != null) {\r
+ try {\r
+ channel.setDevice(input.toString());\r
+ } catch (QTException e) {\r
+ e.printStackTrace();\r
+ throw e;\r
+ }\r
+ }\r
+ }\r
+ }\r
+\r
+ /**\r
+ * Webcamの設定ダイアログを表示する。\r
+ * 既定のWebcamでは駄目な場合(複数のWebcamが接続されているPCなど)ではこれを実行するとよい。\r
+ */\r
+ public void prepShowDialog() throws QTException { channel.settingsDialog(); }\r
+\r
+ public void start() throws NyARException\r
+ {\r
+ try {\r
+\r
+ if (grabber == null) prepSetInput(null);\r
+\r
+ if (movie == null) {\r
+ grabber.prepare(true, false); // あってもなくてもよさそう\r
+ grabber.startPreview();\r
+ } else {\r
+ movie.preroll(0, 1.0f);\r
+ while (movie.maxLoadedTimeInMovie() == 0)\r
+ movie.task(100);\r
+ movie.setRate(1);\r
+ movie.getPict(movie.getTime()).draw(graphics, bounds);\r
+ }\r
+ PixMap pixmap = graphics.getPixMap();\r
+ rawEncodedImage = pixmap.getPixelData();\r
+\r
+ image_size.width = rawEncodedImage.getRowBytes() / 4;\r
+ pixels = new byte[image_size.width * image_size.height * 3];\r
+ pixels_int = new int[image_size.width * image_size.height];\r
+ } catch (QTException e) {\r
+ QTSession.close();\r
+ throw new NyARException(e);\r
+ }\r
+\r
+ // キャプチャイメージを定期的に更新するタイマー\r
+ timer = new Timer((int) (1000/fps), this);\r
+ timer.start();\r
+ }\r
+ public void stop()\r
+ {\r
+ finalize();\r
+ }\r
+\r
+ /** タイマー処理。キャプチャイメージの更新結果をリスナに伝える。 */\r
+ public void actionPerformed(ActionEvent event) {\r
+\r
+ // 画像をQTJavaのRawEncodedImageとして取得\r
+ try {\r
+ if (movie == null) {\r
+ grabber.idle();\r
+ } else {\r
+ if (movie.isDone()) movie.goToBeginning();\r
+ movie.getPict(movie.getTime()).draw(graphics, bounds);\r
+ }\r
+ } catch (QTException e) {\r
+ QTSession.close();\r
+ e.printStackTrace();\r
+ }\r
+\r
+ // RawEncodedImageをint列に落とし込む\r
+ rawEncodedImage.copyToArray(0, pixels_int, 0, pixels_int.length);\r
+\r
+ // バイト列を生成する\r
+ int idx_byte = 0;\r
+ for (int idx = 0; idx < image_size.width*image_size.height; idx ++) {\r
+ pixels[idx_byte ++] = (byte) (pixels_int[idx] >> 16);\r
+ pixels[idx_byte ++] = (byte) (pixels_int[idx] >> 8 & 0xff);\r
+ pixels[idx_byte ++] = (byte) (pixels_int[idx] & 0xff);\r
+ }\r
+\r
+ // 各リスナに更新されたバイト列を渡す\r
+ capture_listener.onUpdateBuffer(pixels);\r
+ }\r
+\r
+ protected void finalize()\r
+ {\r
+ try {\r
+ if (movie == null) {\r
+ grabber.stop();\r
+ grabber.release();\r
+ grabber.disposeChannel(channel);\r
+ }\r
+ } catch (Exception e) {\r
+ e.printStackTrace();\r
+ } finally {\r
+ QTSession.close();\r
+ }\r
+ timer.stop();\r
+ }\r
+\r
+}\r
--- /dev/null
+/**\r
+ * QuickTimeお手軽キャプチャ用リスナ\r
+ * (c)2008 arc@dmz, A虎＠nyatla.jp\r
+ * arc@digitalmuseum.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.qt.utils;\r
+\r
+\r
+public interface QtCaptureListener{\r
+ public void onUpdateBuffer(byte[] i_buffer);\r
+ \r
+}
\ No newline at end of file
--- /dev/null
+/**\r
+ * RGB形式のbyte配列をラップするNyARRasterです。\r
+ * 保持したデータからBufferedImageを出力する機能も持ちます。\r
+ * (c)2008 arc@dmz, A虎＠nyatla.jp\r
+ * arc@digitalmuseum.jp\r
+ * http://nyatla.jp/\r
+ */\r
+package jp.nyatla.nyartoolkit.qt.utils;\r
+\r
+\r
+import java.awt.image.BufferedImage;\r
+import java.awt.image.DataBuffer;\r
+import java.awt.image.WritableRaster;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.raster.NyARRaster;\r
+\r
+\r
+public class QtNyARRaster_RGB implements NyARRaster\r
+{\r
+ protected byte[] ref_buf;\r
+ protected int width=0;\r
+ protected int height=0;\r
+ private WritableRaster raster;\r
+ private BufferedImage image;\r
+\r
+\r
+ /**\r
+ * RGB形式のJMFバッファをラップするオブジェクトをつくります。\r
+ * 生成直後のオブジェクトはデータを持ちません。\r
+ * メンバ関数はsetBufferを実行後に使用可能になります。\r
+ */\r
+ public QtNyARRaster_RGB(int i_width,int i_height)\r
+ {\r
+ ref_buf=null;\r
+ width=i_width;\r
+ height=i_height;\r
+ raster = WritableRaster.createInterleavedRaster(DataBuffer.TYPE_BYTE,\r
+ width, height,\r
+ width*3, 3,\r
+ new int[] { 0, 1, 2 }, null); \r
+ image = new BufferedImage(width, height,\r
+ BufferedImage.TYPE_3BYTE_BGR);\r
+ }\r
+ /**\r
+ * javax.media.Bufferを分析して、その分析結果をNyARRasterに適合する形で保持します。\r
+ * 関数実行後に外部でi_bufferの内容変更した場合には、再度setBuffer関数を呼び出してください。\r
+ * @param i_buffer\r
+ * RGB形式のデータを格納したjavax.media.Bufferオブジェクトを指定してください。\r
+ * @return\r
+ * i_bufferをラップしたオブジェクトを返します。\r
+ * @throws NyARException\r
+ */\r
+ public void setBuffer(byte[] i_buffer)\r
+ {\r
+ ref_buf=i_buffer;\r
+ }\r
+ public int getPixelTotal(int i_x,int i_y)\r
+ {\r
+ int bp=(i_x+i_y*width)*3;\r
+ byte[] ref=this.ref_buf;\r
+ return (ref[bp] & 0xff)+(ref[bp+1] & 0xff)+(ref[bp+2] & 0xff);\r
+ }\r
+ public void getPixelTotalRowLine(int i_row,int[] o_line)\r
+ {\r
+ final byte[] ref=this.ref_buf;\r
+ int bp=(i_row+1)*this.width*3-3;\r
+ for(int i=this.width-1;i>=0;i--){\r
+ o_line[i]=(ref[bp] & 0xff)+(ref[bp+1] & 0xff)+(ref[bp+2] & 0xff);\r
+ bp-=3;\r
+ }\r
+ } \r
+ public int getWidth()\r
+ {\r
+ return width;\r
+ }\r
+ public int getHeight()\r
+ {\r
+ return height;\r
+ }\r
+ public void getPixel(int i_x,int i_y,int[] i_rgb)\r
+ {\r
+ int bp=(i_x+i_y*this.width)*3;\r
+ byte[] ref=this.ref_buf;\r
+ i_rgb[0]=ref[bp+0];//R\r
+ i_rgb[1]=ref[bp+1];//G\r
+ i_rgb[2]=ref[bp+2];//B\r
+ }\r
+ /**\r
+ * データを持っているかを返します。\r
+ * @return\r
+ */\r
+ public boolean hasData()\r
+ {\r
+ return ref_buf!=null;\r
+ }\r
+ public void getPixelSet(int[] i_x,int i_y[],int i_num,int[] o_rgb)\r
+ {\r
+ int width=this.width;\r
+ byte[] ref=this.ref_buf;\r
+ int bp;\r
+ for(int i=i_num-1;i>=0;i--){\r
+ bp=(i_x[i]+i_y[i]*width)*3;\r
+ o_rgb[i*3+0]=ref[bp+0];//R\r
+ o_rgb[i*3+1]=ref[bp+1];//G\r
+ o_rgb[i*3+2]=ref[bp+2];//B\r
+ } \r
+ return;\r
+ }\r
+\r
+ /** 保持しているデータからBufferedImageを作って返します。 */\r
+ public BufferedImage createImage() {\r
+ raster.setDataElements(0, 0, width, height, ref_buf);\r
+ image.setData(raster);\r
+ return image;\r
+ }\r
+}\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<classpath>\r
+ <classpathentry kind="src" path=""/>\r
+ <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>\r
+ <classpathentry kind="output" path=""/>\r
+</classpath>\r
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>\r
+<projectDescription>\r
+ <name>NyARToolKit</name>\r
+ <comment></comment>\r
+ <projects>\r
+ </projects>\r
+ <buildSpec>\r
+ <buildCommand>\r
+ <name>org.eclipse.jdt.core.javabuilder</name>\r
+ <arguments>\r
+ </arguments>\r
+ </buildCommand>\r
+ </buildSpec>\r
+ <natures>\r
+ <nature>org.eclipse.jdt.core.javanature</nature>\r
+ </natures>\r
+</projectDescription>\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit;\r
+\r
+public class NyARException extends Exception {\r
+ private static final long serialVersionUID = 1L;\r
+ public NyARException(){\r
+ super();\r
+ }\r
+ public NyARException(Exception e){\r
+ super(e);\r
+ }\r
+ public NyARException(String m){\r
+ super(m);\r
+ }\r
+ public static void trap(String m) throws NyARException\r
+ {\r
+ throw new NyARException("トラップ:"+m);\r
+ }\r
+}\r
--- /dev/null
+package jp.nyatla.nyartoolkit.base;\r
+\r
+public class Config {\r
+ //Version系情報\r
+// public static final int AR_HEADER_VERSION_MAJOR=2; //#define AR_HEADER_VERSION_MAJOR 2\r
+// public static final int AR_HEADER_VERSION_MINOR=72;//#define AR_HEADER_VERSION_MINOR 72\r
+//\r
+// public static final int AR_HEADER_VERSION_TINY=0;//#define AR_HEADER_VERSION_TINY 0\r
+//\r
+// public static final int AR_HEADER_VERSION_BUILD=0;//#define AR_HEADER_VERSION_BUILD 0\r
+// \r
+// public static final String AR_HEADER_VERSION_STRING="2.72.0";//#define AR_HEADER_VERSION_STRING "2.72.0"\r
+//\r
+// public static final boolean AR_HAVE_HEADER_VERSION_2=true;//#define AR_HAVE_HEADER_VERSION_2\r
+// public static final boolean AR_HAVE_HEADER_VERSION_2_72=true;//#define AR_HAVE_HEADER_VERSION_2_72\r
+\r
+\r
+ /*ビデオ入力系？*/\r
+ /*------------------------------------------------------------*/\r
+\r
+// public static final int AR_DRAW_BY_GL_DRAW_PIXELS =0;//#define AR_DRAW_BY_GL_DRAW_PIXELS 0\r
+// public static final int AR_DRAW_BY_TEXTURE_MAPPING=1;//#define AR_DRAW_BY_TEXTURE_MAPPING 1\r
+// public static final int AR_DRAW_TEXTURE_FULL_IMAGE=0;//#define AR_DRAW_TEXTURE_FULL_IMAGE 0\r
+// public static final int AR_DRAW_TEXTURE_HALF_IMAGE=1;//#define AR_DRAW_TEXTURE_HALF_IMAGE 1\r
+// public static final int AR_IMAGE_PROC_IN_FULL=0;//#define AR_IMAGE_PROC_IN_FULL 0\r
+// public static final int AR_IMAGE_PROC_IN_HALF=1;//#define AR_IMAGE_PROC_IN_HALF 1\r
+// public static final int AR_FITTING_TO_IDEAL=0;//#define AR_FITTING_TO_IDEAL 0\r
+// public static final int AR_FITTING_TO_INPUT=1;//#define AR_FITTING_TO_INPUT 1\r
+\r
+// public static final int AR_TEMPLATE_MATCHING_COLOR=0;//#define AR_TEMPLATE_MATCHING_COLOR 0\r
+// public static final int AR_TEMPLATE_MATCHING_BW=1;//#define AR_TEMPLATE_MATCHING_BW 1\r
+// public static final int AR_MATCHING_WITHOUT_PCA=0;//#define AR_MATCHING_WITHOUT_PCA 0\r
+// public static final int AR_MATCHING_WITH_PCA=1;//#define AR_MATCHING_WITH_PCA 1\r
+ \r
+// public static final int DEFAULT_TEMPLATE_MATCHING_MODE=AR_TEMPLATE_MATCHING_BW;//#define DEFAULT_TEMPLATE_MATCHING_MODE AR_TEMPLATE_MATCHING_COLOR\r
+// public static final int DEFAULT_MATCHING_PCA_MODE=AR_MATCHING_WITH_PCA;//#define DEFAULT_MATCHING_PCA_MODE AR_MATCHING_WITHOUT_PCA\r
+\r
+\r
+ //#ifdef _WIN32\r
+// public static final int DEFAULT_IMAGE_PROC_MODE =AR_IMAGE_PROC_IN_FULL;//# define DEFAULT_IMAGE_PROC_MODE AR_IMAGE_PROC_IN_FULL\r
+// public static final int DEFAULT_FITTING_MODE =AR_FITTING_TO_INPUT;//# define DEFAULT_FITTING_MODE AR_FITTING_TO_INPUT\r
+// public static final int DEFAULT_DRAW_MODE =AR_DRAW_BY_TEXTURE_MAPPING;//# define DEFAULT_DRAW_MODE AR_DRAW_BY_TEXTURE_MAPPING\r
+// public static final int DEFAULT_DRAW_TEXTURE_IMAGE =AR_DRAW_TEXTURE_FULL_IMAGE;//# define DEFAULT_DRAW_TEXTURE_IMAGE AR_DRAW_TEXTURE_FULL_IMAGE\r
+ //#endif\r
+\r
+// public static final int AR_PIX_SIZE_DEFAULT=\r
+// (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ABGR) || (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGRA) || (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGBA) || (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_ARGB)?4:\r
+// ((AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGR) || (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGB)?3:\r
+// ((AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_2vuy) || (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_yuvs)?2:\r
+// ((AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_MONO)?1:-1)));\r
+// public static final int AR_GET_TRANS_MAT_MAX_LOOP_COUNT=5;//#define AR_GET_TRANS_MAT_MAX_LOOP_COUNT 5\r
+// public static final double AR_GET_TRANS_MAT_MAX_FIT_ERROR=1.0;//#define AR_GET_TRANS_MAT_MAX_FIT_ERROR 1.0\r
+// public static final double AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR=1.0;//#define AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR 1.0\r
+\r
+// public static final int AR_AREA_MAX=100000;//#define AR_AREA_MAX 100000\r
+// public static final int AR_AREA_MIN=70;//#define AR_AREA_MIN 70\r
+\r
+\r
+// public static final int AR_SQUARE_MAX=30;//#define AR_SQUARE_MAX 30\r
+// public static final int AR_CHAIN_MAX=10000;//#define AR_CHAIN_MAX 10000\r
+// public static final int AR_PATT_NUM_MAX=50;//#define AR_PATT_NUM_MAX 50 \r
+// public static final int AR_PATT_SIZE_X=16;//#define AR_PATT_SIZE_X 16 \r
+// public static final int AR_PATT_SIZE_Y=16;//#define AR_PATT_SIZE_Y 16 \r
+// public static final int AR_PATT_SAMPLE_NUM=64;//#define AR_PATT_SAMPLE_NUM 64\r
+\r
+// public static final double AR_GL_CLIP_NEAR=50.0;//#define AR_GL_CLIP_NEAR 50.0\r
+// public static final double AR_GL_CLIP_FAR=5000.0;//#define AR_GL_CLIP_FAR 5000.0\r
+\r
+// public static final int AR_HMD_XSIZE=640;//#define AR_HMD_XSIZE 640\r
+// public static final int AR_HMD_YSIZE=480;//#define AR_HMD_YSIZE 480\r
+\r
+// public static final int AR_PARAM_NMIN=6;//#define AR_PARAM_NMIN 6\r
+// public static final int AR_PARAM_NMAX=1000;//#define AR_PARAM_NMAX 1000\r
+// public static final double AR_PARAM_C34=100.0;//#define AR_PARAM_C34 100.0\r
+}\r
--- /dev/null
+package jp.nyatla.nyartoolkit.base;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.NyARMat;\r
+\r
+\r
+\r
+\r
+public class Param {\r
+ private static final int AR_PARAM_NMIN=6;//#define AR_PARAM_NMIN 6\r
+ private static final int AR_PARAM_NMAX=1000;//#define AR_PARAM_NMAX 1000\r
+ private static final double AR_PARAM_C34=100.0;//#define AR_PARAM_C34 100.0\r
+\r
+ /*\r
+ typedef struct {\r
+ int xsize, ysize;\r
+ double matL[3][4];\r
+ double matR[3][4];\r
+ double matL2R[3][4];\r
+ double dist_factorL[4];\r
+ double dist_factorR[4];\r
+ } ARSParam;*/\r
+/* static class ARSParam{\r
+ int xsize, ysize;\r
+ Double2dArray matL=new Double2dArray(3,4);\r
+ Double2dArray matR=new Double2dArray(3,4);\r
+ Double2dArray matL2R=new Double2dArray(3,4);\r
+ double[] dist_factorL=new double[4];\r
+ double[] dist_factorR=new double[4];\r
+ }*/\r
+ private static final int arParamGet_AR_PARAM_CDMIN = 12;\r
+ /*int arParamGet( double global[][3], double screen[][2], int data_num,double mat[3][4] );*/\r
+ public static int arParamGet( double global[][], double[][] screen, int num,double[][] mat) throws NyARException\r
+ {\r
+ NyARMat mat_a, mat_at, mat_r;//ARMat *mat_a, *mat_at, *mat_r, mat_cpara;\r
+ NyARMat mat_wm1,mat_wm2;//ARMat *mat_wm1, *mat_wm2;\r
+ int i;\r
+ \r
+ if(num < AR_PARAM_NMIN){\r
+ return( -1 );\r
+ }\r
+ if(num > AR_PARAM_NMAX){\r
+ return( -1 );\r
+ }\r
+ NyARException.trap("未チェックのパス");{\r
+ mat_a = new NyARMat(2*num,arParamGet_AR_PARAM_CDMIN-1 );//mat_a = arMatrixAlloc( 2*num, AR_PARAM_CDMIN-1 );\r
+ mat_at =new NyARMat(arParamGet_AR_PARAM_CDMIN-1, 2*num );//mat_at = arMatrixAlloc( AR_PARAM_CDMIN-1, 2*num );\r
+ mat_r = new NyARMat(2*num,1);//mat_r = arMatrixAlloc( 2*num, 1 );\r
+ mat_wm1 =new NyARMat(arParamGet_AR_PARAM_CDMIN-1, arParamGet_AR_PARAM_CDMIN-1 );//mat_wm1 = arMatrixAlloc( AR_PARAM_CDMIN-1, AR_PARAM_CDMIN-1 );\r
+ mat_wm2 =new NyARMat(arParamGet_AR_PARAM_CDMIN-1, 2*num );//mat_wm2 = arMatrixAlloc( AR_PARAM_CDMIN-1, 2*num );\r
+ }\r
+/*\r
+ mat_a = Matrix.arMatrixAlloc( 2*num, arParamGet_AR_PARAM_CDMIN-1 );//mat_a = arMatrixAlloc( 2*num, AR_PARAM_CDMIN-1 );\r
+ if( mat_a == null){\r
+ return -1;\r
+ }\r
+ mat_at =Matrix.arMatrixAlloc(arParamGet_AR_PARAM_CDMIN-1, 2*num );//mat_at = arMatrixAlloc( AR_PARAM_CDMIN-1, 2*num );\r
+ if(mat_at == null){\r
+ return -1;\r
+ }\r
+ mat_r = Matrix.arMatrixAlloc( 2*num, 1 );//mat_r = arMatrixAlloc( 2*num, 1 );\r
+ if(mat_r ==null){\r
+ return -1;\r
+ }\r
+ mat_wm1 = Matrix.arMatrixAlloc(arParamGet_AR_PARAM_CDMIN-1, arParamGet_AR_PARAM_CDMIN-1 );//mat_wm1 = arMatrixAlloc( AR_PARAM_CDMIN-1, AR_PARAM_CDMIN-1 );\r
+ if( mat_wm1 == null) {\r
+ return -1;\r
+ }\r
+ mat_wm2 = Matrix.arMatrixAlloc(arParamGet_AR_PARAM_CDMIN-1, 2*num );//mat_wm2 = arMatrixAlloc( AR_PARAM_CDMIN-1, 2*num );\r
+ if( mat_wm2 == null ) {\r
+ return -1;\r
+ }\r
+*/\r
+ /* Initializing array */\r
+ mat_a.zeroClear();//Javaではゼロクリアされるので不要\r
+// pa1=mat_a.getPointer();//pa1 = mat_a->m;\r
+// for(i = 0; i < 2 * num * (arParamGet_AR_PARAM_CDMIN-1); i++){\r
+// {//*pa1++ = 0.0;\r
+// pa1.set(0.0);\r
+// pa1.incPtr();}\r
+// }\r
+ double[][] pa1 =mat_a.getArray();\r
+ double[][] pa2 =mat_a.getArray();\r
+ /* Calculate A,R matrix */\r
+ double[][] pr=mat_r.getArray();\r
+ int pr_ptr_col=0;\r
+ for(i = 0; i < num; i++) {//for(i = 0, pr = mat_r->m; i < num; i++) {\r
+ int pa1_ptr_row =2*i; //pa1 = &(mat_a->m[ (2*i) * (AR_PARAM_CDMIN-1)\r
+ int pa2_ptr_row =2*i+1;//pa2 = &(mat_a->m[ (2*i+1) * (AR_PARAM_CDMIN-1) + 4]);\r
+\r
+\r
+// pa1=mat_a.getPointer((2*i)*(arParamGet_AR_PARAM_CDMIN-1)); ]);\r
+// pa2=mat_a.getPointer((2*i+1)*(arParamGet_AR_PARAM_CDMIN-1) + 4);\r
+ //*pa1++ = global[i][0]; *pa1++ = global[i][1];\r
+ pa1[pa1_ptr_row][ 0]=global[i][0];\r
+ pa1[pa1_ptr_row][ 1]=global[i][1];\r
+ //*pa1++ = global[i][2]; *pa1++ = 1.0;\r
+ pa1[pa1_ptr_row][ 2]=global[i][2];\r
+ pa1[pa1_ptr_row][ 3]=1.0;\r
+ //*pa2++ = global[i][0]; *pa2++ = global[i][1];\r
+ pa2[pa2_ptr_row][ 4]=global[i][0];\r
+ pa2[pa2_ptr_row][ 5]=global[i][1];\r
+ //*pa2++ = global[i][2]; *pa2++ = 1.0;\r
+ pa2[pa2_ptr_row][ 6]=global[i][2];\r
+ pa2[pa2_ptr_row][ 7]=1.0;\r
+ //pa1 += 4;\r
+ //*pa1++ = -global[i][0] * screen[i][0];\r
+ pa1[pa1_ptr_row][ 8]=-global[i][0] * screen[i][0];\r
+ //*pa1++ = -global[i][1] * screen[i][0];\r
+ pa1[pa1_ptr_row][ 9]=-global[i][1] * screen[i][0];\r
+ //*pa1 = -global[i][2] * screen[i][0];\r
+ pa1[pa1_ptr_row][10]=-global[i][2]* screen[i][0];\r
+ //*pa2++ = -global[i][0] * screen[i][1];\r
+ pa2[pa2_ptr_row][ 8]=-global[i][0] * screen[i][1];\r
+ //*pa2++ = -global[i][1] * screen[i][1];\r
+ pa2[pa2_ptr_row][ 9]=-global[i][1] * screen[i][1];\r
+ //*pa2 = -global[i][2] * screen[i][1];\r
+ pa2[pa2_ptr_row][10]=-global[i][2] * screen[i][1];\r
+ //*pr++ = screen[i][0] * AR_PARAM_C34;\r
+ pr[0][pr_ptr_col]=screen[i][0] * AR_PARAM_C34;pr_ptr_col++;\r
+ //*pr++ = screen[i][1] * AR_PARAM_C34;\r
+ pr[0][pr_ptr_col]=screen[i][1] * AR_PARAM_C34;pr_ptr_col++;\r
+ }\r
+\r
+ NyARException.trap("未チェックのパス");\r
+ NyARMat.matrixTrans(mat_at, mat_a );//if( arMatrixTrans( mat_at, mat_a ) < 0 ){\r
+\r
+ NyARException.trap("未チェックのパス");\r
+ mat_wm1.matrixMul(mat_at, mat_a );//if( arMatrixMul( mat_wm1, mat_at, mat_a ) < 0 ) {\r
+ NyARException.trap("未チェックのパス");\r
+ mat_wm1.matrixSelfInv();//if( arMatrixSelfInv( mat_wm1 ) < 0 ) {\r
+\r
+ NyARException.trap("未チェックのパス");\r
+ mat_wm2.matrixMul(mat_wm1, mat_at );//if( arMatrixMul( mat_wm2, mat_wm1, mat_at ) < 0 ) {\r
+\r
+ //mat_cpara.row = AR_PARAM_CDMIN-1;//mat_cpara.row = AR_PARAM_CDMIN-1;\r
+ //mat_cpara.clm = 1;\r
+ //mat_cpara.m = &(mat[0][0]);\r
+ /*1次元行列から3x4行列に転写。高負荷なところじゃないから地道に転写でOK*/\r
+ NyARMat mat_cpara=new NyARMat(arParamGet_AR_PARAM_CDMIN-1,1);\r
+ double[][] mat_cpara_array=mat_cpara.getArray();\r
+ NyARException.trap("未チェックのパス");\r
+ mat_cpara.matrixMul(mat_wm2, mat_r );//if( arMatrixMul( &mat_cpara, mat_wm2, mat_r ) < 0 ) {\r
+\r
+ for(int i2=0;i<3;i++){\r
+ for(int i3=0;i3<4;i3++){\r
+ mat[i2][i3]=mat_cpara_array[i2*4+i3][0];\r
+ }\r
+ }\r
+ //ARMat.wrap(mat.array(),arParamGet_AR_PARAM_CDMIN-1,1);}\r
+\r
+ mat[2][3]=AR_PARAM_C34;//mat[2][3] = AR_PARAM_C34;\r
+\r
+ return 0;\r
+ }\r
+\r
+/* //int arsParamChangeSize( ARSParam *source, int xsize, int ysize, ARSParam *newparam );\r
+ public static int arsParamChangeSize( ARSParam source, int xsize, int ysize, ARSParam newparam)\r
+ {\r
+ double scale;\r
+\r
+ newparam.xsize=xsize;//newparam->xsize = xsize;\r
+ newparam.ysize=ysize;//newparam->ysize = ysize;\r
+\r
+ scale=(double)xsize/ (double)(source.xsize);//scale = (double)xsize / (double)(source->xsize);\r
+ for(int i = 0; i < 4; i++ ){\r
+ newparam.matL.set(0,i,source.matL.get(0,i)*scale);//newparam->matL[0][i] = source->matL[0][i] * scale;\r
+ newparam.matL.set(1,i,source.matL.get(1,i)*scale);//newparam->matL[1][i] = source->matL[1][i] * scale;\r
+ newparam.matL.set(2,i,source.matL.get(2,i));//newparam->matL[2][i] = source->matL[2][i];\r
+ }\r
+ for(int i = 0; i < 4; i++ ) {\r
+ newparam.matR.set(0,i,source.matR.get(0,i)*scale);//newparam->matR[0][i] = source->matR[0][i] * scale;\r
+ newparam.matR.set(1,i,source.matR.get(1,i)*scale);//newparam->matR[1][i] = source->matR[1][i] * scale;\r
+ newparam.matR.set(2,i,source.matR.get(2,i));//newparam->matR[2][i] = source->matR[2][i];\r
+ }\r
+ for(int i = 0; i < 4; i++ ) {\r
+ newparam.matL2R.set(0,i,source.matL2R.get(0,i));//newparam->matL2R[0][i] = source->matL2R[0][i];\r
+ newparam.matL2R.set(1,i,source.matL2R.get(1,i));//newparam->matL2R[1][i] = source->matL2R[1][i];\r
+ newparam.matL2R.set(2,i,source.matL2R.get(2,i));//newparam->matL2R[2][i] = source->matL2R[2][i];\r
+ }\r
+\r
+ newparam.dist_factorL[0] = source.dist_factorL[0] * scale;//newparam->dist_factorL[0] = source->dist_factorL[0] * scale;\r
+ newparam.dist_factorL[1] = source.dist_factorL[1] * scale;//newparam->dist_factorL[1] = source->dist_factorL[1] * scale;\r
+ newparam.dist_factorL[2] = source.dist_factorL[2] / (scale*scale);//newparam->dist_factorL[2] = source->dist_factorL[2] / (scale*scale);\r
+ newparam.dist_factorL[3] = source.dist_factorL[3];//newparam->dist_factorL[3] = source->dist_factorL[3];\r
+\r
+ newparam.dist_factorR[0] = source.dist_factorR[0] * scale;//newparam->dist_factorR[0] = source->dist_factorR[0] * scale;\r
+ newparam.dist_factorR[1] = source.dist_factorR[1] * scale;//newparam->dist_factorR[1] = source->dist_factorR[1] * scale;\r
+ newparam.dist_factorR[2] = source.dist_factorR[2] / (scale*scale);//newparam->dist_factorR[2] = source->dist_factorR[2] / (scale*scale);\r
+ newparam.dist_factorR[3] = source.dist_factorR[3];//newparam->dist_factorR[3] = source->dist_factorR[3];\r
+\r
+ return 0;\r
+ }*/\r
+/* //int arsParamSave( char *filename, ARSParam *sparam );\r
+ public static int arsParamSave(String filename, ARSParam sparam) throws Exception\r
+ { \r
+ //int xsize, ysize;\r
+ //Double2dArray matL=new Double2dArray(3,4);\r
+ //Double2dArray matR=new Double2dArray(3,4);\r
+ //Double2dArray matL2R=new Double2dArray(3,4);\r
+ //double dist_factorL[]=new double[4];\r
+ //double dist_factorR[]=new double[4];\r
+\r
+ byte[] buf=new byte[(4+4+(3*4*8)*3+(4*8)*2)];\r
+ \r
+ //バッファをラップ\r
+ ByteBuffer bb = ByteBuffer.wrap(buf);\r
+ bb.order(ByteOrder.BIG_ENDIAN);\r
+\r
+ //書き込み\r
+ bb.putInt(sparam.xsize);\r
+ bb.putInt(sparam.ysize);\r
+ for(int i=0;i<3;i++){\r
+ for(int i2=0;i2<4;i2++){\r
+ bb.putDouble(sparam.matL.get(i, i2));\r
+ }\r
+ }\r
+ for(int i=0;i<3;i++){\r
+ for(int i2=0;i2<4;i2++){\r
+ bb.putDouble(sparam.matR.get(i, i2));\r
+ }\r
+ }\r
+ for(int i=0;i<3;i++){\r
+ for(int i2=0;i2<4;i2++){\r
+ bb.putDouble(sparam.matL2R.get(i, i2));\r
+ }\r
+ }\r
+ for(int i=0;i<4;i++){\r
+ bb.putDouble(sparam.dist_factorL[i]);\r
+ }\r
+ for(int i=0;i<4;i++){\r
+ bb.putDouble(sparam.dist_factorR[i]);\r
+ }\r
+ //ファイルに保存\r
+ FileOutputStream fs=new FileOutputStream(filename);\r
+ fs.write(buf);\r
+ fs.close();\r
+ \r
+ return 0;\r
+ }*/\r
+/* //int arsParamLoad( char *filename, ARSParam *sparam );\r
+ public static int arsParamLoad(String filename, ARSParam sparam ) throws Exception\r
+ {\r
+ //ファイルを読んどく\r
+ FileInputStream fs=new FileInputStream(filename);\r
+ File f=new File(filename);\r
+ int file_size=(int)f.length();\r
+ byte[] buf=new byte[file_size];\r
+ fs.read(buf);\r
+ fs.close();\r
+ \r
+ //バッファを加工\r
+ ByteBuffer bb = ByteBuffer.wrap(buf);\r
+ bb.order(ByteOrder.BIG_ENDIAN);\r
+ \r
+ //固定回数パースして配列に格納 \r
+ sparam.xsize=bb.getInt();\r
+ sparam.ysize=bb.getInt();\r
+ for(int i=0;i<3;i++){\r
+ for(int i2=0;i2<4;i2++){\r
+ sparam.matL.set(i,i2,bb.getDouble());\r
+ }\r
+ }\r
+ for(int i=0;i<3;i++){\r
+ for(int i2=0;i2<4;i2++){\r
+ sparam.matR.set(i,i2,bb.getDouble());\r
+ }\r
+ }\r
+ for(int i=0;i<3;i++){\r
+ for(int i2=0;i2<4;i2++){\r
+ sparam.matL2R.set(i,i2,bb.getDouble());\r
+ }\r
+ }\r
+ for(int i=0;i<3;i++){\r
+ sparam.dist_factorL[i]=bb.getDouble();\r
+ }\r
+ for(int i=0;i<3;i++){\r
+ sparam.dist_factorR[i]=bb.getDouble();\r
+ }\r
+ return 0;\r
+ }*/\r
+/*\r
+ // int arsParamGetMat( double matL[3][4], double matR[3][4],double cparaL[3][4], double cparaR[3][4], double matL2R[3][4] );\r
+ public static int arsParamGetMat(double[][] matL, double[][] matR,double[][] cparaL, double[][] cparaR, double[][] matL2R) throws JartkException\r
+ {\r
+ ARMat t1,t2,t3;//ARMat *t1, *t2, *t3;\r
+ //double transL[3][4], transR[3][4];\r
+ Double2dArray transL=new Double2dArray(3,4);\r
+ Double2dArray transR=new Double2dArray(3,4);\r
+ \r
+ arParamDecompMat( matL,cparaL,transL);\r
+ arParamDecompMat( matR,cparaR,transR);\r
+ JartkException.trap("未チェックパス");{\r
+ t1=new ARMat(4,4);//t1 = arMatrixAlloc( 4, 4 );\r
+ t2=new ARMat(4,4);//t2 = arMatrixAlloc( 4, 4 );\r
+ }\r
+ double[][] t1_array=t1.getArray();\r
+ double[][] t2_array=t2.getArray();\r
+ for(int j = 0; j < 3; j++ ){\r
+ for(int i = 0; i < 4; i++ ) {\r
+ JartkException.trap("未チェックパス");{\r
+ t1_array[j][i]=transL.get(j,i);//t1->m[j*4+i] = transL[j][i];\r
+ t2_array[j][i]=transL.get(j,i);//t2->m[j*4+i] = transR[j][i];\r
+ }\r
+ }\r
+ }\r
+ JartkException.trap("未チェックパス");{\r
+ t1_array[3][0]=t1_array[3][1]=t1_array[3][2]=0.0;//t1->m[12] = t1->m[13] = t1->m[14] = 0.0;\r
+ t1_array[3][3]=1.0;//t1->m[15] = 1.0;\r
+ t2_array[3][0]=t2_array[3][1]=t2_array[3][2]=0.0;//t2->m[12] = t2->m[13] = t2->m[14] = 0.0;\r
+ t2_array[3][3]=1.0;//t2->m[15] = 1.0;\r
+ }\r
+ JartkException.trap("未チェックのパス");\r
+ t1.matrixSelfInv();//if( arMatrixSelfInv(t1) != 0 ) {\r
+\r
+ JartkException.trap("未チェックのパス"); \r
+ t3 =ARMat.matrixAllocMul(t2, t1);//t3 = arMatrixAllocMul(t2, t1);\r
+ double[][] t3_array=t3.getArray();\r
+ if(t3==null){\r
+ return -1;\r
+ }\r
+ \r
+ for(int j = 0; j < 3; j++ ) {\r
+ for(int i = 0; i < 4; i++ ) {\r
+ JartkException.trap("未チェックパス");\r
+ matL2R[j][i]=t3_array[j][i];//matL2R[j][i] = t3->m[j*4+i];\r
+ }\r
+ }\r
+ return 0;\r
+ }\r
+*/ //int arsParamDisp( ARSParam *sparam )\r
+/* public static int arsParamDisp( ARSParam sparam)\r
+ {\r
+ System.out.println("--------------------------------------");//printf("--------------------------------------\n");\r
+ System.out.println("SIZE = "+sparam.xsize+", "+sparam.ysize);// printf("SIZE = %d, %d\n", sparam->xsize, sparam->ysize);\r
+ System.out.println("-- Left --");//printf("-- Left --\n");\r
+ System.out.println("Distotion factor = "+sparam.dist_factorL[0]+" "+sparam.dist_factorL[1]+" "+sparam.dist_factorL[2]+" "+sparam.dist_factorL[3]);//printf("Distotion factor = %f %f %f %f\n", sparam->dist_factorL[0],sparam->dist_factorL[1], sparam->dist_factorL[2], sparam->dist_factorL[3] );\r
+ for(int j = 0; j < 3; j++ ) {\r
+ for(int i = 0; i < 4; i++ ){\r
+ System.out.print(sparam.matL.get(j,i)+" ");//printf("%7.5f ", sparam->matL[j][i]);\r
+ }\r
+ System.out.println();//printf("\n");\r
+ }\r
+ \r
+ System.out.println("-- Right --");//printf("-- Right --\n");\r
+ System.out.println("Distotion factor = "+sparam.dist_factorR[0]+" "+sparam.dist_factorR[1]+" "+sparam.dist_factorR[2]+" "+sparam.dist_factorR[3]);//printf("Distotion factor = %f %f %f %f\n", sparam->dist_factorR[0],sparam->dist_factorR[1], sparam->dist_factorR[2], sparam->dist_factorR[3]);\r
+ for(int j = 0; j < 3; j++ ){\r
+ for(int i = 0; i < 4; i++ ){\r
+ System.out.println(sparam.matR.get(j,i)+" ");//printf("%7.5f ", sparam->matR[j][i]);\r
+ }\r
+ System.out.println();//printf("\n");\r
+ }\r
+ \r
+ System.out.println("-- Left => Right --");//printf("-- Left => Right --\n");\r
+ for(int j = 0; j < 3; j++ ) {\r
+ for(int i = 0; i < 4; i++ ){\r
+ //printf("%7.5f ", sparam->matL2R[j][i]);\r
+ }\r
+ System.out.println();//printf("\n");\r
+ }\r
+ \r
+ System.out.println("--------------------------------------");//printf("--------------------------------------\n");\r
+ \r
+ return 0; \r
+ }*/\r
+}\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+import java.io.FileInputStream;\r
+import java.io.InputStream;\r
+import java.io.InputStreamReader;\r
+import java.io.StreamTokenizer;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+\r
+\r
+\r
+\r
+\r
+/**\r
+ * ARToolKitのマーカーコードを1個保持します。\r
+ *\r
+ */\r
+public class NyARCode{\r
+ private int[][][][] pat;//static int pat[AR_PATT_NUM_MAX][4][AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3];\r
+ private double[] patpow=new double[4];//static double patpow[AR_PATT_NUM_MAX][4];\r
+ private short[][][] patBW;//static int patBW[AR_PATT_NUM_MAX][4][AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3];\r
+ private double[] patpowBW=new double[4];//static double patpowBW[AR_PATT_NUM_MAX][4]; \r
+ private int width,height;\r
+ public int[][][][] getPat()\r
+ {\r
+ return pat;\r
+ }\r
+ public double [] getPatPow()\r
+ {\r
+ return patpow;\r
+ }\r
+ public short[][][] getPatBW()\r
+ {\r
+ return patBW;\r
+ }\r
+ public double[] getPatPowBW()\r
+ {\r
+ return patpowBW;\r
+ }\r
+ public int getWidth()\r
+ {\r
+ return width;\r
+ }\r
+ public int getHeight()\r
+ {\r
+ return height;\r
+ }\r
+ \r
+ public NyARCode(int i_width,int i_height)\r
+ {\r
+ width=i_width;\r
+ height=i_height;\r
+ pat=new int[4][height][width][3];//static int pat[AR_PATT_NUM_MAX][4][AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3];\r
+ patBW=new short[4][height][width];//static int patBW[AR_PATT_NUM_MAX][4][AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3];\r
+ }\r
+ /**\r
+ * int arLoadPatt( const char *filename );\r
+ * ARToolKitのパターンファイルをロードする。\r
+ * ファイル形式はBGR形式で記録されたパターンファイルであること。\r
+ * @param filename\r
+ * @return\r
+ * @throws Exception\r
+ */\r
+ public void loadFromARFile(String filename) throws NyARException\r
+ {\r
+ try {\r
+ loadFromARFile(new FileInputStream(filename));\r
+\r
+ } catch (Exception e) {\r
+ throw new NyARException(e);\r
+ }\r
+ }\r
+ /**\r
+ * \r
+ * @param i_stream\r
+ * @throws NyARException\r
+ */\r
+ public void loadFromARFile(InputStream i_stream) throws NyARException\r
+ {\r
+ try{\r
+ StreamTokenizer st=new StreamTokenizer(new InputStreamReader(i_stream));\r
+ //パターンデータはGBRAで並んでる。\r
+ for(int h=0; h<4; h++ ) {\r
+ int l = 0;\r
+ for(int i3 = 0; i3 < 3; i3++ ) {\r
+ for(int i2 = 0; i2 < height; i2++ ) {\r
+ for(int i1 = 0; i1 < width; i1++ ){\r
+ //数値のみ読み出す\r
+ switch(st.nextToken()){//if( fscanf(fp, "%d", &j) != 1 ) {\r
+ case StreamTokenizer.TT_NUMBER:\r
+ break;\r
+ default:\r
+ throw new NyARException();\r
+ }\r
+ short j=(short)(255-st.nval);//j = 255-j;\r
+ //標準ファイルのパターンはBGRでならんでるからRGBに並べなおす\r
+ switch(i3){\r
+ case 0:pat[h][i2][i1][2] = j;break;//pat[patno][h][(i2*Config.AR_PATT_SIZE_X+i1)*3+2] = j;break;\r
+ case 1:pat[h][i2][i1][1] = j;break;//pat[patno][h][(i2*Config.AR_PATT_SIZE_X+i1)*3+1] = j;break;\r
+ case 2:pat[h][i2][i1][0] = j;break;//pat[patno][h][(i2*Config.AR_PATT_SIZE_X+i1)*3+0] = j;break;\r
+ }\r
+ //pat[patno][h][(i2*Config.AR_PATT_SIZE_X+i1)*3+i3] = j;\r
+ if( i3 == 0 ){\r
+ patBW[h][i2][i1] = j;//patBW[patno][h][i2*Config.AR_PATT_SIZE_X+i1] = j;\r
+ }else{\r
+ patBW[h][i2][i1] += j;//patBW[patno][h][i2*Config.AR_PATT_SIZE_X+i1] += j;\r
+ }\r
+ if( i3 == 2 ){\r
+ patBW[h][i2][i1] /= 3;//patBW[patno][h][i2*Config.AR_PATT_SIZE_X+i1] /= 3;\r
+ }\r
+ l += j;\r
+ }\r
+ }\r
+ }\r
+ \r
+ l /= (height*width*3);\r
+ \r
+ int m = 0;\r
+ for(int i = 0; i < height; i++ ) {//for( i = 0; i < AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3; i++ ) {\r
+ for(int i2 = 0; i2 < width; i2++ ) {\r
+ for(int i3 = 0; i3 < 3; i3++ ) {\r
+ pat[h][i][i2][i3] -= l;\r
+ m += (pat[h][i][i2][i3]*pat[h][i][i2][i3]);\r
+ }\r
+ }\r
+ }\r
+ patpow[h] = Math.sqrt((double)m);\r
+ if( patpow[h] == 0.0 ){\r
+ patpow[h] = 0.0000001;\r
+ }\r
+ \r
+ m = 0;\r
+ for(int i = 0; i < height; i++ ) {\r
+ for(int i2 = 0; i2 < width; i2++ ) {\r
+ patBW[h][i][i2] -= l;\r
+ m += (patBW[h][i][i2]*patBW[h][i][i2]);\r
+ }\r
+ }\r
+ patpowBW[h] = Math.sqrt((double)m);\r
+ if(patpowBW[h] == 0.0 ){\r
+ patpowBW[h] = 0.0000001;\r
+ }\r
+ }\r
+ }catch(Exception e){\r
+ throw new NyARException(e);\r
+ }\r
+ }\r
+}\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.raster.*;\r
+\r
+public interface NyARColorPatt\r
+{\r
+// 消すかも。\r
+// /**\r
+// * カラーパターンのサイズを変更します。\r
+// * 変更を行うと、既にgetPatArrayで参照中の配列内容は不定になり、インスタンスのパラメータは初期状態に戻ります。\r
+// * @param i_new_width\r
+// * 新しいパターン幅\r
+// * @param i_new_height\r
+// * 新しいパターン高\r
+// */\r
+// public void setSize(int i_new_width,int i_new_height);\r
+ /**\r
+ * カラーパターンの幅をピクセル値で返します。\r
+ * @return\r
+ */\r
+ public int getWidth();\r
+ /**\r
+ * カラーパターンの高さをピクセル値で返します。\r
+ * @return\r
+ */\r
+ public int getHeight();\r
+ /**\r
+ * カメラパターンを格納した配列への参照値を返します。\r
+ * 配列は最低でも[height][wight][3]のサイズを持ちますが、\r
+ * 配列のlengthとwidth,heightの数は一致しないことがあります。\r
+ * setSize関数を実行すると、以前に呼び出されたgetPatArrayが返した値は不定になります。\r
+ * @return\r
+ */\r
+ public int[][][] getPatArray();\r
+ /**\r
+ * ラスタイメージからi_marker部分のカラーパターンを抽出して、保持します。\r
+ * @param image\r
+ * @param i_marker\r
+ * @return\r
+ * ラスターの取得に成功するとTRUE/失敗するとFALSE\r
+ * @throws NyARException\r
+ */\r
+ public boolean pickFromRaster(NyARRaster image, NyARMarker i_marker) throws NyARException;\r
+}
\ No newline at end of file
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.raster.NyARRaster;\r
+\r
+/**\r
+ * 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
+ * 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
+ * 演算順序以外の最適化をしたもの\r
+ *\r
+ */\r
+public class NyARColorPatt_O1 implements NyARColorPatt\r
+{\r
+ private static final int AR_PATT_SAMPLE_NUM=64;//#define AR_PATT_SAMPLE_NUM 64\r
+ private int extpat[][][];\r
+ private int width;\r
+ private int height;\r
+ public NyARColorPatt_O1(int i_width,int i_height)\r
+ {\r
+ this.width =i_width;\r
+ this.height=i_height;\r
+ this.extpat=new int[i_height][i_width][3];\r
+ this.wk_pickFromRaster_ext_pat2=new int[i_height][i_width][3];\r
+ }\r
+// public void setSize(int i_new_width,int i_new_height)\r
+// {\r
+// int array_w=this.extpat[0].length;\r
+// int array_h=this.extpat.length;\r
+// //十分なサイズのバッファがあるか確認\r
+// if(array_w>=i_new_width && array_h>=i_new_height){\r
+// //OK 十分だ→サイズ調整のみ\r
+// }else{\r
+// //足りないよ→取り直し\r
+// this.wk_pickFromRaster_ext_pat2=new int[i_new_height][i_new_width][3];\r
+// this.extpat=new int[i_new_height][i_new_width][3];\r
+// }\r
+// this.width =i_new_width;\r
+// this.height=i_new_height;\r
+// return; \r
+// }\r
+ \r
+ public int[][][] getPatArray()\r
+ {\r
+ return extpat;\r
+ }\r
+ public int getWidth()\r
+ {\r
+ return width;\r
+ }\r
+ public int getHeight()\r
+ {\r
+ return height;\r
+ }\r
+ private final NyARMat wk_get_cpara_a=new NyARMat(8,8);\r
+ private final NyARMat wk_get_cpara_b=new NyARMat(8,1);\r
+ private final NyARMat wk_get_cpara_c=new NyARMat(8,1);\r
+ /**\r
+ * \r
+ * @param world\r
+ * @param vertex\r
+ * @param para\r
+ * [3x3]\r
+ * @throws NyARException\r
+ */\r
+ private boolean get_cpara( double world[][], double vertex[][],double[] para) throws NyARException\r
+ {\r
+ 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
+ double[][] a_array=a.getArray();\r
+ 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
+ double[][] b_array=b.getArray();\r
+ double[] a_pt0,a_pt1,world_pti;\r
+\r
+ for(int i = 0; i < 4; i++ ) {\r
+ a_pt0=a_array[i*2];\r
+ a_pt1=a_array[i*2+1];\r
+ world_pti=world[i];\r
+ \r
+ a_pt0[0]=world_pti[0];//a->m[i*16+0] = world[i][0];\r
+ a_pt0[1]=world_pti[1];//a->m[i*16+1] = world[i][1];\r
+ a_pt0[2]=1.0;//a->m[i*16+2] = 1.0;\r
+ a_pt0[3]=0.0;//a->m[i*16+3] = 0.0;\r
+ a_pt0[4]=0.0;//a->m[i*16+4] = 0.0;\r
+ a_pt0[5]=0.0;//a->m[i*16+5] = 0.0;\r
+ a_pt0[6]=-world_pti[0] * vertex[i][0];//a->m[i*16+6] = -world[i][0] * vertex[i][0];\r
+ a_pt0[7]=-world_pti[1] * vertex[i][0];//a->m[i*16+7] = -world[i][1] * vertex[i][0];\r
+ a_pt1[0]=0.0;//a->m[i*16+8] = 0.0;\r
+ a_pt1[1]=0.0;//a->m[i*16+9] = 0.0;\r
+ a_pt1[2]=0.0;//a->m[i*16+10] = 0.0;\r
+ a_pt1[3]=world_pti[0];//a->m[i*16+11] = world[i][0];\r
+ a_pt1[4]=world_pti[1];//a->m[i*16+12] = world[i][1];\r
+ a_pt1[5]=1.0;//a->m[i*16+13] = 1.0;\r
+ a_pt1[6]=-world_pti[0] * vertex[i][1];//a->m[i*16+14] = -world[i][0] * vertex[i][1];\r
+ a_pt1[7]=-world_pti[1] * vertex[i][1];//a->m[i*16+15] = -world[i][1] * vertex[i][1];\r
+ b_array[i*2+0][0]=vertex[i][0];//b->m[i*2+0] = vertex[i][0];\r
+ b_array[i*2+1][0]=vertex[i][1];//b->m[i*2+1] = vertex[i][1];\r
+ }\r
+// JartkException.trap("未チェックのパス");\r
+ if(!a.matrixSelfInv()){\r
+ return false;//逆行列を求められないので失敗\r
+ }\r
+ \r
+// JartkException.trap("未チェックのパス");\r
+ 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 );\r
+ double[][] c_array=c.getArray();\r
+\r
+ c.matrixMul(a, b);\r
+ for(int i = 0; i < 2; i++ ) {\r
+ para[i*3+0] = c_array[i*3+0][0];//para[i][0] = c->m[i*3+0];\r
+ para[i*3+1] = c_array[i*3+1][0];//para[i][1] = c->m[i*3+1];\r
+ para[i*3+2] = c_array[i*3+2][0];//para[i][2] = c->m[i*3+2];\r
+ }\r
+ para[2*3+0] = c_array[2*3+0][0];//para[2][0] = c->m[2*3+0];\r
+ para[2*3+1] = c_array[2*3+1][0];//para[2][1] = c->m[2*3+1];\r
+ para[2*3+2] = 1.0;//para[2][2] = 1.0;\r
+ return true;\r
+ }\r
+\r
+ private final double[][] wk_pickFromRaster_local=new double[4][2];\r
+ private final double[] wk_pickFromRaster_para=new double[9];//[3][3];\r
+ private int[][][] wk_pickFromRaster_ext_pat2=null;//コンストラクタでint[height][width][3]を作る\r
+ private final double[][] wk_pickFromRaster_world={//double world[4][2];\r
+ {100.0, 100.0},\r
+ {100.0+10.0,100.0},\r
+ {100.0+10.0,100.0 + 10.0},\r
+ {100.0, 100.0 + 10.0}\r
+ };\r
+ /**\r
+ * pickFromRaster関数から使う変数です。\r
+ *\r
+ */\r
+ private static void initValue_wk_pickFromRaster_ext_pat2(int[][][] i_ext_pat2,int i_width,int i_height)\r
+ {\r
+ int i,i2;\r
+ int[][] pt2;\r
+ int[] pt1;\r
+ for(i=i_height-1;i>=0;i--){\r
+ pt2=i_ext_pat2[i];\r
+ for(i2=i_width-1;i2>=0;i2--){\r
+ pt1=pt2[i2];\r
+ pt1[0]=0;\r
+ pt1[1]=0;\r
+ pt1[2]=0;\r
+ }\r
+ }\r
+ }\r
+ private final int[] wk_pickFromRaster_rgb_tmp=new int[3];\r
+ /**\r
+ * 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
+ * Optimize:STEP[769->]\r
+ * @param image\r
+ * @param i_marker\r
+ * @return\r
+ * 切り出しに失敗した\r
+ * @throws Exception\r
+ */\r
+ public boolean pickFromRaster(NyARRaster image, NyARMarker i_marker) throws NyARException\r
+ {\r
+ double d, xw, yw;\r
+ int xc, yc;\r
+ int xdiv, ydiv;\r
+ int xdiv2, ydiv2;\r
+ int lx1, lx2, ly1, ly2;\r
+\r
+ int img_x=image.getWidth();\r
+ int img_y=image.getHeight();\r
+\r
+ double xdiv2_reciprocal; // [tp]\r
+ double ydiv2_reciprocal; // [tp]\r
+\r
+\r
+ int[] x_coord=i_marker.x_coord;\r
+ int[] y_coord=i_marker.y_coord;\r
+ double[][] local=wk_pickFromRaster_local;//double local[4][2]; \r
+ int[] vertex=i_marker.mkvertex;\r
+ for(int i = 0; i < 4; i++ ) {\r
+ local[i][0] = x_coord[vertex[i]];\r
+ local[i][1] = y_coord[vertex[i]];\r
+ }\r
+ double[][] world=wk_pickFromRaster_world;\r
+/* world[0][0] = 100.0;\r
+ world[0][1] = 100.0;\r
+ world[1][0] = 100.0 + 10.0;\r
+ world[1][1] = 100.0;\r
+ world[2][0] = 100.0 + 10.0;\r
+ world[2][1] = 100.0 + 10.0;\r
+ world[3][0] = 100.0;\r
+ world[3][1] = 100.0 + 10.0;*/\r
+ double[] para =wk_pickFromRaster_para; //double para[3][3];\r
+ //パターンの切り出しに失敗することもある。\r
+ if(!get_cpara( world, local, para )){\r
+ return false;\r
+ }\r
+ lx1 = (int)((local[0][0] - local[1][0])*(local[0][0] - local[1][0])+ (local[0][1] - local[1][1])*(local[0][1] - local[1][1]));\r
+ lx2 = (int)((local[2][0] - local[3][0])*(local[2][0] - local[3][0])+ (local[2][1] - local[3][1])*(local[2][1] - local[3][1]));\r
+ ly1 = (int)((local[1][0] - local[2][0])*(local[1][0] - local[2][0])+ (local[1][1] - local[2][1])*(local[1][1] - local[2][1]));\r
+ ly2 = (int)((local[3][0] - local[0][0])*(local[3][0] - local[0][0])+ (local[3][1] - local[0][1])*(local[3][1] - local[0][1]));\r
+ if( lx2 > lx1 ){\r
+ lx1 = lx2;\r
+ }\r
+ if( ly2 > ly1 ){\r
+ ly1 = ly2;\r
+ }\r
+ xdiv2 =this.width;\r
+ ydiv2 =this.height;\r
+\r
+ while( xdiv2*xdiv2 < lx1/4 ){\r
+ xdiv2*=2;\r
+ }\r
+ while( ydiv2*ydiv2 < ly1/4 ){\r
+ ydiv2*=2;\r
+ }\r
+\r
+ if( xdiv2 > AR_PATT_SAMPLE_NUM)\r
+ {\r
+ xdiv2 =AR_PATT_SAMPLE_NUM;\r
+ }\r
+ if( ydiv2 >AR_PATT_SAMPLE_NUM)\r
+ {\r
+ ydiv2 = AR_PATT_SAMPLE_NUM;\r
+ }\r
+\r
+ xdiv = xdiv2/width;//xdiv = xdiv2/Config.AR_PATT_SIZE_X;\r
+ ydiv = ydiv2/height;//ydiv = ydiv2/Config.AR_PATT_SIZE_Y;\r
+\r
+ /*wk_pickFromRaster_ext_pat2ワーク変数を初期化する。*/\r
+ int[][][] ext_pat2=wk_pickFromRaster_ext_pat2;//ARUint32 ext_pat2[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3];\r
+ int extpat_j[][],extpat_j_i[];\r
+ int ext_pat2_j[][],ext_pat2_j_i[];\r
+\r
+ initValue_wk_pickFromRaster_ext_pat2(ext_pat2,this.width,this.height);\r
+\r
+ xdiv2_reciprocal = 1.0 / xdiv2;\r
+ ydiv2_reciprocal = 1.0 / ydiv2;\r
+ int i,j;\r
+ int[] rgb_tmp=wk_pickFromRaster_rgb_tmp;\r
+ // arGetCode_put_zero(ext_pat2);//put_zero( (ARUint8 *)ext_pat2, AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3*sizeof(ARUint32) );\r
+ for(j = 0; j < ydiv2; j++ ) {\r
+ yw = 102.5 + 5.0 * (j+0.5) * ydiv2_reciprocal;\r
+ for(i = 0; i < xdiv2; i++ ) {\r
+ xw = 102.5 + 5.0 * (i+0.5) * xdiv2_reciprocal;\r
+ d = para[2*3+0]*xw + para[2*3+1]*yw + para[2*3+2];\r
+ if( d == 0 ){\r
+ throw new NyARException();\r
+ }\r
+ xc = (int)((para[0*3+0]*xw + para[0*3+1]*yw + para[0*3+2])/d);\r
+ yc = (int)((para[1*3+0]*xw + para[1*3+1]*yw + para[1*3+2])/d);\r
+\r
+\r
+ if( xc >= 0 && xc < img_x && yc >= 0 && yc < img_y ) {\r
+ image.getPixel(xc, yc, rgb_tmp);\r
+ ext_pat2_j_i=ext_pat2[j/ydiv][i/xdiv];\r
+\r
+ ext_pat2_j_i[0] += rgb_tmp[0];//R\r
+ ext_pat2_j_i[1] += rgb_tmp[1];//G\r
+ ext_pat2_j_i[2] += rgb_tmp[2];//B\r
+// System.out.println(xc+":"+yc+":"+rgb_tmp[0]+":"+rgb_tmp[1]+":"+rgb_tmp[2]);\r
+ }\r
+ }\r
+ }\r
+// short[][][] ext_pat=new short[Config.AR_PATT_SIZE_Y][Config.AR_PATT_SIZE_X][3];//ARUint32 ext_pat2[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3];\r
+ /*<Optimize>*/\r
+ int xdiv_x_ydiv=xdiv*ydiv;\r
+ for(j = this.height-1; j>=0; j--){\r
+ extpat_j=extpat[j];\r
+ ext_pat2_j=ext_pat2[j];\r
+ for(i = this.width-1; i>=0; i--){ // PRL 2006-06-08.\r
+ ext_pat2_j_i=ext_pat2_j[i];\r
+ extpat_j_i=extpat_j[i];\r
+ 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));\r
+ 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));\r
+ 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));\r
+ }\r
+ }/*\r
+ int xdiv_mul_ydiv=xdiv*ydiv;\r
+ short [][] extpat_pt_2;\r
+ short[] extpat_pt_1;\r
+ int[][] ext_pat2_pt_2;\r
+ int[] ext_pat2_pt_1;\r
+ for(int j=this.height-1; j>=0; j--){//for(int j = 0; j < this.height; j++ ){\r
+ extpat_pt_2=extpat[j];\r
+ ext_pat2_pt_2=ext_pat2[j];\r
+ for(int i = this.width-1; i>=0; i--){//for(int i = 0; i < this.width; i++ ){ // PRL 2006-06-08.\r
+ extpat_pt_1=extpat_pt_2[i];\r
+ ext_pat2_pt_1=ext_pat2_pt_2[i]; \r
+ extpat_pt_1[0]=(short)(ext_pat2_pt_1[0] / xdiv_mul_ydiv);//ext_pat[j][i][0] = (byte)(ext_pat2[j][i][0] / (xdiv*ydiv));\r
+ extpat_pt_1[1]=(short)(ext_pat2_pt_1[1] / xdiv_mul_ydiv);//ext_pat[j][i][1] = (byte)(ext_pat2[j][i][1] / (xdiv*ydiv));\r
+ extpat_pt_1[2]=(short)(ext_pat2_pt_1[2] / xdiv_mul_ydiv);//ext_pat[j][i][2] = (byte)(ext_pat2[j][i][2] / (xdiv*ydiv));\r
+ }\r
+ }\r
+ /*</Optimize>*/\r
+ return true;\r
+ }\r
+}
\ No newline at end of file
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.raster.NyARRaster;\r
+\r
+/**\r
+ * 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
+ * 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
+ * 演算順序を含む最適化をしたもの\r
+ *\r
+ */\r
+public class NyARColorPatt_O2 implements NyARColorPatt\r
+{\r
+ private static final int AR_PATT_SAMPLE_NUM=64;//#define AR_PATT_SAMPLE_NUM 64\r
+ private int extpat[][][];\r
+ private int width;\r
+ private int height;\r
+ public NyARColorPatt_O2(int i_width,int i_height)\r
+ {\r
+ this.width=i_width;\r
+ this.height=i_height;\r
+ this.extpat=new int[i_height][i_width][3];\r
+ this.wk_pickFromRaster_ext_pat2=new int[i_height][i_width][3];\r
+ }\r
+// public void setSize(int i_new_width,int i_new_height)\r
+// {\r
+// int array_w=this.extpat[0].length;\r
+// int array_h=this.extpat.length;\r
+// //十分なサイズのバッファがあるか確認\r
+// if(array_w>=i_new_width && array_h>=i_new_height){\r
+// //OK 十分だ→サイズ調整のみ\r
+// }else{\r
+// //足りないよ→取り直し\r
+// this.wk_pickFromRaster_ext_pat2=new int[i_new_height][i_new_width][3];\r
+// this.extpat=new int[i_new_height][i_new_width][3];\r
+// }\r
+// this.width =i_new_width;\r
+// this.height=i_new_height;\r
+// return;\r
+// }\r
+ public int[][][] getPatArray()\r
+ {\r
+ return extpat;\r
+ }\r
+ public int getWidth()\r
+ {\r
+ return width;\r
+ }\r
+ public int getHeight()\r
+ {\r
+ return height;\r
+ }\r
+ private final NyARMat wk_get_cpara_a=new NyARMat(8,8);\r
+ private final NyARMat wk_get_cpara_b=new NyARMat(8,1);\r
+// private final NyARMat wk_get_cpara_c=new NyARMat(8,1);\r
+ /**\r
+ * @param world\r
+ * @param vertex\r
+ * @param o_para\r
+ * @throws NyARException\r
+ */\r
+ private boolean get_cpara(double vertex_0[], double vertex_1[],NyARMat o_para) throws NyARException\r
+ {\r
+ double world[][]=this.wk_pickFromRaster_world;\r
+ 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
+ double[][] a_array=a.getArray();\r
+ 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
+ double[][] b_array=b.getArray();\r
+ double[] a_pt0,a_pt1,world_pti;\r
+\r
+ for(int i = 0; i < 4; i++ ) {\r
+ a_pt0=a_array[i*2];\r
+ a_pt1=a_array[i*2+1];\r
+ world_pti=world[i];\r
+\r
+ a_pt0[0]=world_pti[0];//a->m[i*16+0] = world[i][0];\r
+ a_pt0[1]=world_pti[1];//a->m[i*16+1] = world[i][1];\r
+ a_pt0[2]=1.0;//a->m[i*16+2] = 1.0;\r
+ a_pt0[3]=0.0;//a->m[i*16+3] = 0.0;\r
+ a_pt0[4]=0.0;//a->m[i*16+4] = 0.0;\r
+ a_pt0[5]=0.0;//a->m[i*16+5] = 0.0;\r
+ a_pt0[6]=-world_pti[0] * vertex_0[i];//a->m[i*16+6] = -world[i][0] * vertex[i][0];\r
+ a_pt0[7]=-world_pti[1] * vertex_0[i];//a->m[i*16+7] = -world[i][1] * vertex[i][0];\r
+ a_pt1[0]=0.0;//a->m[i*16+8] = 0.0;\r
+ a_pt1[1]=0.0;//a->m[i*16+9] = 0.0;\r
+ a_pt1[2]=0.0;//a->m[i*16+10] = 0.0;\r
+ a_pt1[3]=world_pti[0];//a->m[i*16+11] = world[i][0];\r
+ a_pt1[4]=world_pti[1];//a->m[i*16+12] = world[i][1];\r
+ a_pt1[5]=1.0;//a->m[i*16+13] = 1.0;\r
+ a_pt1[6]=-world_pti[0] * vertex_1[i];//a->m[i*16+14] = -world[i][0] * vertex[i][1];\r
+ a_pt1[7]=-world_pti[1] * vertex_1[i];//a->m[i*16+15] = -world[i][1] * vertex[i][1];\r
+ b_array[i*2+0][0]=vertex_0[i];//b->m[i*2+0] = vertex[i][0];\r
+ b_array[i*2+1][0]=vertex_1[i];//b->m[i*2+1] = vertex[i][1];\r
+ }\r
+// JartkException.trap("未チェックのパス");\r
+ if(!a.matrixSelfInv()){\r
+ return false;\r
+ }\r
+\r
+// JartkException.trap("未チェックのパス");\r
+// 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 );\r
+// double[][] c_array=c.getArray();\r
+\r
+ o_para.matrixMul(a, b);\r
+// para[0*3+0] = c_array[0*3+0][0];//para[i][0] = c->m[i*3+0];\r
+// para[0*3+1] = c_array[0*3+1][0];//para[i][1] = c->m[i*3+1];\r
+// para[0*3+2] = c_array[0*3+2][0];//para[i][2] = c->m[i*3+2];\r
+// para[1*3+0] = c_array[1*3+0][0];//para[i][0] = c->m[i*3+0];\r
+// para[1*3+1] = c_array[1*3+1][0];//para[i][1] = c->m[i*3+1];\r
+// para[i*3+2] = c_array[1*3+2][0];//para[i][2] = c->m[i*3+2];\r
+// para[2*3+0] = c_array[2*3+0][0];//para[2][0] = c->m[2*3+0];\r
+// para[2*3+1] = c_array[2*3+1][0];//para[2][1] = c->m[2*3+1];\r
+// para[2*3+2] = 1.0;//para[2][2] = 1.0;\r
+ return true;\r
+ }\r
+\r
+ // private final double[] wk_pickFromRaster_para=new double[9];//[3][3];\r
+ private int[][][] wk_pickFromRaster_ext_pat2=null;//コンストラクタでint[height][width][3]を作る\r
+ private final double[][] wk_pickFromRaster_world={//double world[4][2];\r
+ {100.0, 100.0},\r
+ {100.0+10.0,100.0},\r
+ {100.0+10.0,100.0 + 10.0},\r
+ {100.0, 100.0 + 10.0}\r
+ };\r
+ /**\r
+ * pickFromRaster関数から使う変数です。\r
+ *\r
+ */\r
+ private static void initValue_wk_pickFromRaster_ext_pat2(int[][][] i_ext_pat2,int i_width,int i_height)\r
+ {\r
+ int i,i2;\r
+ int[][] pt2;\r
+ int[] pt1;\r
+ for(i=i_height-1;i>=0;i--){\r
+ pt2=i_ext_pat2[i];\r
+ for(i2=i_width-1;i2>=0;i2--){\r
+ pt1=pt2[i2];\r
+ pt1[0]=0;\r
+ pt1[1]=0;\r
+ pt1[2]=0;\r
+ }\r
+ }\r
+ }\r
+ private final double[][] wk_pickFromRaster_local=new double[2][4];\r
+ private final int[] wk_pickFromRaster_rgb_tmp=new int[3];\r
+ private final NyARMat wk_pickFromRaster_cpara=new NyARMat(8,1);\r
+ /**\r
+ * 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
+ * Optimize:STEP[769->750]\r
+ * @param image\r
+ * @param i_marker\r
+ * @throws Exception\r
+ */\r
+ public boolean pickFromRaster(NyARRaster image, NyARMarker i_marker) throws NyARException\r
+ {\r
+ NyARMat cpara=this.wk_pickFromRaster_cpara;\r
+ //localの計算\r
+ int[] x_coord=i_marker.x_coord;\r
+ int[] y_coord=i_marker.y_coord;\r
+ int[] vertex=i_marker.mkvertex;\r
+ double[] local_0=wk_pickFromRaster_local[0];//double local[4][2]; \r
+ double[] local_1=wk_pickFromRaster_local[1];//double local[4][2]; \r
+ for(int i = 0; i < 4; i++ ) {\r
+ local_0[i] = x_coord[vertex[i]];\r
+ local_1[i] = y_coord[vertex[i]];\r
+ }\r
+ //xdiv2,ydiv2の計算\r
+ int xdiv2, ydiv2;\r
+ int l1,l2;\r
+ double w1,w2;\r
+\r
+ //x計算\r
+ w1=local_0[0] - local_0[1];\r
+ w2=local_1[0] - local_1[1];\r
+ l1 = (int)(w1*w1+w2*w2);\r
+ w1=local_0[2] - local_0[3];\r
+ w2=local_1[2] - local_1[3];\r
+ l2 = (int)(w1*w1+w2*w2);\r
+ if( l2 > l1 ){\r
+ l1 = l2;\r
+ }\r
+ l1=l1/4;\r
+ xdiv2 =this.width;\r
+ while( xdiv2*xdiv2 < l1 ){\r
+ xdiv2*=2;\r
+ }\r
+ if( xdiv2 > AR_PATT_SAMPLE_NUM)\r
+ {\r
+ xdiv2 =AR_PATT_SAMPLE_NUM;\r
+ }\r
+ \r
+ //y計算\r
+ w1=local_0[1] - local_0[2];\r
+ w2=local_1[1] - local_1[2];\r
+ l1 = (int)(w1*w1+ w2*w2);\r
+ w1=local_0[3] - local_0[0];\r
+ w2=local_1[3] - local_1[0];\r
+ l2 = (int)(w1*w1+ w2*w2);\r
+ if( l2 > l1 ){\r
+ l1 = l2;\r
+ }\r
+ ydiv2 =this.height;\r
+ l1=l1/4;\r
+ while( ydiv2*ydiv2 < l1 ){\r
+ ydiv2*=2;\r
+ }\r
+ if( ydiv2 >AR_PATT_SAMPLE_NUM)\r
+ {\r
+ ydiv2 = AR_PATT_SAMPLE_NUM;\r
+ } \r
+ \r
+ //cparaの計算\r
+ if(!get_cpara(local_0,local_1,cpara)){\r
+ return false;\r
+ }\r
+\r
+ int img_x=image.getWidth();\r
+ int img_y=image.getHeight();\r
+\r
+ /*wk_pickFromRaster_ext_pat2ワーク変数を初期化する。*/\r
+ int[][][] ext_pat2=wk_pickFromRaster_ext_pat2;//ARUint32 ext_pat2[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3];\r
+ int extpat_j[][],extpat_j_i[];\r
+ int ext_pat2_j[][],ext_pat2_j_i[];\r
+\r
+ initValue_wk_pickFromRaster_ext_pat2(ext_pat2,this.width,this.height);\r
+\r
+ double[][] cpara_array=cpara.getArray();\r
+ double para21_x_yw,para01_x_yw,para11_x_yw;\r
+ double para00,para01,para02,para10,para11,para12,para20,para21;\r
+ para00 = cpara_array[0*3+0][0];//para[i][0] = c->m[i*3+0];\r
+ para01 = cpara_array[0*3+1][0];//para[i][1] = c->m[i*3+1];\r
+ para02 = cpara_array[0*3+2][0];//para[i][2] = c->m[i*3+2];\r
+ para10 = cpara_array[1*3+0][0];//para[i][0] = c->m[i*3+0];\r
+ para11 = cpara_array[1*3+1][0];//para[i][1] = c->m[i*3+1];\r
+ para12 = cpara_array[1*3+2][0];//para[i][2] = c->m[i*3+2];\r
+ para20 = cpara_array[2*3+0][0];//para[2][0] = c->m[2*3+0];\r
+ para21 = cpara_array[2*3+1][0];//para[2][1] = c->m[2*3+1];\r
+ //para22 = 1.0;//para[2][2] = 1.0;\r
+\r
+ \r
+ double d, xw, yw;\r
+ int xc, yc;\r
+ int i,j;\r
+ int[] rgb_tmp=wk_pickFromRaster_rgb_tmp;\r
+ // arGetCode_put_zero(ext_pat2);//put_zero( (ARUint8 *)ext_pat2, AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3*sizeof(ARUint32) );\r
+ int xdiv = xdiv2/width;//xdiv = xdiv2/Config.AR_PATT_SIZE_X;\r
+ int ydiv = ydiv2/height;//ydiv = ydiv2/Config.AR_PATT_SIZE_Y;\r
+ double xdiv2_reciprocal = 1.0 / xdiv2;\r
+ double ydiv2_reciprocal = 1.0 / ydiv2;\r
+\r
+ for(j = 0; j < ydiv2; j++ ) {\r
+ yw = 102.5 + 5.0 * ((double)j+0.5) * ydiv2_reciprocal;\r
+ para21_x_yw=para21*yw+1.0;\r
+ para11_x_yw=para11*yw+para12;\r
+ para01_x_yw=para01*yw+para02;\r
+ ext_pat2_j=ext_pat2[j/ydiv];\r
+ for(i = 0; i < xdiv2; i++ ) {\r
+ xw = 102.5 + 5.0 * ((double)i+0.5) * xdiv2_reciprocal;\r
+ d = para20*xw + para21_x_yw;\r
+ if( d == 0 ){\r
+ throw new NyARException();\r
+ }\r
+ xc = (int)((para00*xw + para01_x_yw)/d);\r
+ yc = (int)((para10*xw + para11_x_yw)/d);\r
+\r
+\r
+ if( xc >= 0 && xc < img_x && yc >= 0 && yc < img_y ) {\r
+ image.getPixel(xc, yc, rgb_tmp);\r
+ ext_pat2_j_i=ext_pat2_j[i/xdiv];\r
+\r
+ ext_pat2_j_i[0] += rgb_tmp[0];//R\r
+ ext_pat2_j_i[1] += rgb_tmp[1];//G\r
+ ext_pat2_j_i[2] += rgb_tmp[2];//B\r
+ }\r
+ }\r
+ }\r
+ /*<Optimize>*/\r
+ int xdiv_x_ydiv=xdiv*ydiv;\r
+ for(j =this.height-1; j>=0; j--){\r
+ extpat_j=extpat[j];\r
+ ext_pat2_j=ext_pat2[j];\r
+ for(i = this.width-1; i>=0; i--){ // PRL 2006-06-08.\r
+ ext_pat2_j_i=ext_pat2_j[i];\r
+ extpat_j_i=extpat_j[i];\r
+ 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));\r
+ 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));\r
+ 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));\r
+ }\r
+ }\r
+ return true;\r
+ }\r
+}
\ No newline at end of file
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.raster.NyARRaster;\r
+\r
+/**\r
+ * 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
+ * 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
+ * 演算順序を含む最適化をしたもの\r
+ *\r
+ */\r
+public class NyARColorPatt_O3 implements NyARColorPatt\r
+{\r
+ private static final int AR_PATT_SAMPLE_NUM=64;//#define AR_PATT_SAMPLE_NUM 64\r
+ private int extpat[][][];\r
+ private int width;\r
+ private int height;\r
+ public NyARColorPatt_O3(int i_width,int i_height)\r
+ {\r
+ this.width=i_width;\r
+ this.height=i_height;\r
+ this.extpat=new int[i_height][i_width][3];\r
+ }\r
+// public void setSize(int i_new_width,int i_new_height)\r
+// {\r
+// int array_w=this.extpat[0].length;\r
+// int array_h=this.extpat.length;\r
+// //十分なサイズのバッファがあるか確認\r
+// if(array_w>=i_new_width && array_h>=i_new_height){\r
+// //OK 十分だ→サイズ調整のみ\r
+// }else{\r
+// //足りないよ→取り直し\r
+// this.extpat=new int[i_new_height][i_new_width][3];\r
+// }\r
+// this.width =i_new_width;\r
+// this.height=i_new_height;\r
+// return;\r
+// } \r
+ public int[][][] getPatArray()\r
+ {\r
+ return extpat;\r
+ }\r
+ public int getWidth()\r
+ {\r
+ return width;\r
+ }\r
+ public int getHeight()\r
+ {\r
+ return height;\r
+ }\r
+ private final NyARMat wk_get_cpara_a=new NyARMat(8,8);\r
+ private final NyARMat wk_get_cpara_b=new NyARMat(8,1);\r
+\r
+ /**\r
+ * @param world\r
+ * @param vertex\r
+ * @param o_para\r
+ * @throws NyARException\r
+ */\r
+ private boolean get_cpara(double vertex_0[], double vertex_1[],NyARMat o_para) throws NyARException\r
+ {\r
+ double world[][]=this.wk_pickFromRaster_world;\r
+ 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
+ double[][] a_array=a.getArray();\r
+ 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
+ double[][] b_array=b.getArray();\r
+ double[] a_pt0,a_pt1,world_pti;\r
+\r
+ for(int i = 0; i < 4; i++ ) {\r
+ a_pt0=a_array[i*2];\r
+ a_pt1=a_array[i*2+1];\r
+ world_pti=world[i];\r
+\r
+ a_pt0[0]=world_pti[0];//a->m[i*16+0] = world[i][0];\r
+ a_pt0[1]=world_pti[1];//a->m[i*16+1] = world[i][1];\r
+ a_pt0[2]=1.0;//a->m[i*16+2] = 1.0;\r
+ a_pt0[3]=0.0;//a->m[i*16+3] = 0.0;\r
+ a_pt0[4]=0.0;//a->m[i*16+4] = 0.0;\r
+ a_pt0[5]=0.0;//a->m[i*16+5] = 0.0;\r
+ a_pt0[6]=-world_pti[0] * vertex_0[i];//a->m[i*16+6] = -world[i][0] * vertex[i][0];\r
+ a_pt0[7]=-world_pti[1] * vertex_0[i];//a->m[i*16+7] = -world[i][1] * vertex[i][0];\r
+ a_pt1[0]=0.0;//a->m[i*16+8] = 0.0;\r
+ a_pt1[1]=0.0;//a->m[i*16+9] = 0.0;\r
+ a_pt1[2]=0.0;//a->m[i*16+10] = 0.0;\r
+ a_pt1[3]=world_pti[0];//a->m[i*16+11] = world[i][0];\r
+ a_pt1[4]=world_pti[1];//a->m[i*16+12] = world[i][1];\r
+ a_pt1[5]=1.0;//a->m[i*16+13] = 1.0;\r
+ a_pt1[6]=-world_pti[0] * vertex_1[i];//a->m[i*16+14] = -world[i][0] * vertex[i][1];\r
+ a_pt1[7]=-world_pti[1] * vertex_1[i];//a->m[i*16+15] = -world[i][1] * vertex[i][1];\r
+ b_array[i*2+0][0]=vertex_0[i];//b->m[i*2+0] = vertex[i][0];\r
+ b_array[i*2+1][0]=vertex_1[i];//b->m[i*2+1] = vertex[i][1];\r
+ }\r
+ if(!a.matrixSelfInv()){\r
+ return false;\r
+ } \r
+\r
+ o_para.matrixMul(a, b);\r
+ return true;\r
+ }\r
+\r
+ // private final double[] wk_pickFromRaster_para=new double[9];//[3][3];\r
+ private final double[][] wk_pickFromRaster_world={//double world[4][2];\r
+ {100.0, 100.0},\r
+ {100.0+10.0,100.0},\r
+ {100.0+10.0,100.0 + 10.0},\r
+ {100.0, 100.0 + 10.0}\r
+ };\r
+ /**\r
+ * pickFromRaster関数から使う変数です。\r
+ *\r
+ */\r
+ private static void initValue_wk_pickFromRaster_ext_pat2(int[][][] i_ext_pat2,int i_width,int i_height)\r
+ {\r
+ int i,i2;\r
+ int[][] pt2;\r
+ int[] pt1;\r
+ for(i=i_height-1;i>=0;i--){\r
+ pt2=i_ext_pat2[i];\r
+ for(i2=i_width-1;i2>=0;i2--){\r
+ pt1=pt2[i2];\r
+ pt1[0]=0;\r
+ pt1[1]=0;\r
+ pt1[2]=0;\r
+ }\r
+ }\r
+ }\r
+ private final double[][] wk_pickFromRaster_local=new double[2][4];\r
+ private final NyARMat wk_pickFromRaster_cpara=new NyARMat(8,1);\r
+ /**\r
+ * 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
+ * Optimize:STEP[769->750]\r
+ * @param image\r
+ * @param i_marker\r
+ * @throws Exception\r
+ */\r
+ public boolean pickFromRaster(NyARRaster image, NyARMarker i_marker) throws NyARException\r
+ {\r
+ NyARMat cpara=this.wk_pickFromRaster_cpara;\r
+ //localの計算\r
+ int[] x_coord=i_marker.x_coord;\r
+ int[] y_coord=i_marker.y_coord;\r
+ int[] vertex=i_marker.mkvertex;\r
+ double[] local_0=wk_pickFromRaster_local[0];//double local[4][2]; \r
+ double[] local_1=wk_pickFromRaster_local[1];//double local[4][2]; \r
+ for(int i = 0; i < 4; i++ ) {\r
+ local_0[i] = x_coord[vertex[i]];\r
+ local_1[i] = y_coord[vertex[i]];\r
+ }\r
+ //xdiv2,ydiv2の計算\r
+ int xdiv2, ydiv2;\r
+ int l1,l2;\r
+ double w1,w2;\r
+\r
+ //x計算\r
+ w1=local_0[0] - local_0[1];\r
+ w2=local_1[0] - local_1[1];\r
+ l1 = (int)(w1*w1+w2*w2);\r
+ w1=local_0[2] - local_0[3];\r
+ w2=local_1[2] - local_1[3];\r
+ l2 = (int)(w1*w1+w2*w2);\r
+ if( l2 > l1 ){\r
+ l1 = l2;\r
+ }\r
+ l1=l1/4;\r
+ xdiv2 =this.width;\r
+ while( xdiv2*xdiv2 < l1 ){\r
+ xdiv2*=2;\r
+ }\r
+ if( xdiv2 > AR_PATT_SAMPLE_NUM)\r
+ {\r
+ xdiv2 =AR_PATT_SAMPLE_NUM;\r
+ }\r
+ \r
+ //y計算\r
+ w1=local_0[1] - local_0[2];\r
+ w2=local_1[1] - local_1[2];\r
+ l1 = (int)(w1*w1+ w2*w2);\r
+ w1=local_0[3] - local_0[0];\r
+ w2=local_1[3] - local_1[0];\r
+ l2 = (int)(w1*w1+ w2*w2);\r
+ if( l2 > l1 ){\r
+ l1 = l2;\r
+ }\r
+ ydiv2 =this.height;\r
+ l1=l1/4;\r
+ while( ydiv2*ydiv2 < l1 ){\r
+ ydiv2*=2;\r
+ }\r
+ if( ydiv2 >AR_PATT_SAMPLE_NUM)\r
+ {\r
+ ydiv2 = AR_PATT_SAMPLE_NUM;\r
+ } \r
+ \r
+ //cparaの計算\r
+ if(!get_cpara(local_0,local_1,cpara)){\r
+ return false;\r
+ }\r
+ updateExtpat(image,cpara,xdiv2,ydiv2);\r
+\r
+ return true;\r
+ }\r
+ //かなり大きいワークバッファを取るな…。\r
+ private double[] wk_updateExtpat_para00_xw;\r
+ private double[] wk_updateExtpat_para10_xw;\r
+ private double[] wk_updateExtpat_para20_xw;\r
+ private int[] wk_updateExtpat_rgb_buf;\r
+ private int[] wk_updateExtpat_x_rgb_index;\r
+ private int[] wk_updateExtpat_y_rgb_index;\r
+ private int[] wk_updateExtpat_i_rgb_index;\r
+ private int wk_updateExtpat_buffer_size=0;\r
+\r
+ /**\r
+ * ワークバッファを予約する\r
+ * @param i_xdiv2\r
+ */\r
+ private void reservWorkBuffers(int i_xdiv2)\r
+ {\r
+ if(this.wk_updateExtpat_buffer_size<i_xdiv2){\r
+ wk_updateExtpat_para00_xw=new double[i_xdiv2];\r
+ wk_updateExtpat_para10_xw=new double[i_xdiv2];\r
+ wk_updateExtpat_para20_xw=new double[i_xdiv2];\r
+ wk_updateExtpat_rgb_buf=new int[i_xdiv2*3];\r
+ wk_updateExtpat_x_rgb_index=new int[i_xdiv2];\r
+ wk_updateExtpat_y_rgb_index=new int[i_xdiv2];\r
+ wk_updateExtpat_i_rgb_index=new int[i_xdiv2];\r
+ this.wk_updateExtpat_buffer_size=i_xdiv2;\r
+ }\r
+ //十分なら何もしない。\r
+ return;\r
+ }\r
+ \r
+ private void updateExtpat(NyARRaster image,NyARMat i_cpara,int i_xdiv2,int i_ydiv2) throws NyARException\r
+ {\r
+ int img_x=image.getWidth();\r
+ int img_y=image.getHeight();\r
+ final int[][][] L_extpat=this.extpat;\r
+ final int L_WIDTH=this.width;\r
+ final int L_HEIGHT=this.height;\r
+ /*wk_pickFromRaster_ext_pat2ワーク変数を初期化する。*/\r
+ //int[][][] ext_pat2=wk_pickFromRaster_ext_pat2;//ARUint32 ext_pat2[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3];\r
+ int extpat_j[][],extpat_j_i[];\r
+ //int ext_pat2_j[][],ext_pat2_j_i[];\r
+\r
+ initValue_wk_pickFromRaster_ext_pat2(L_extpat,L_WIDTH,L_HEIGHT);\r
+\r
+ double[][] cpara_array=i_cpara.getArray();\r
+ double para21_x_yw,para01_x_yw,para11_x_yw;\r
+ double para00,para01,para02,para10,para11,para12,para20,para21;\r
+ para00 = cpara_array[0*3+0][0];//para[i][0] = c->m[i*3+0];\r
+ para01 = cpara_array[0*3+1][0];//para[i][1] = c->m[i*3+1];\r
+ para02 = cpara_array[0*3+2][0];//para[i][2] = c->m[i*3+2];\r
+ para10 = cpara_array[1*3+0][0];//para[i][0] = c->m[i*3+0];\r
+ para11 = cpara_array[1*3+1][0];//para[i][1] = c->m[i*3+1];\r
+ para12 = cpara_array[1*3+2][0];//para[i][2] = c->m[i*3+2];\r
+ para20 = cpara_array[2*3+0][0];//para[2][0] = c->m[2*3+0];\r
+ para21 = cpara_array[2*3+1][0];//para[2][1] = c->m[2*3+1];\r
+\r
+ \r
+ double d,yw;\r
+ int xc, yc;\r
+ int i,j;\r
+ // arGetCode_put_zero(ext_pat2);//put_zero( (ARUint8 *)ext_pat2, AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3*sizeof(ARUint32) );\r
+ int xdiv = i_xdiv2/L_WIDTH;//xdiv = xdiv2/Config.AR_PATT_SIZE_X;\r
+ int ydiv = i_ydiv2/L_HEIGHT;//ydiv = ydiv2/Config.AR_PATT_SIZE_Y;\r
+ \r
+ //計算バッファを予約する\r
+ this.reservWorkBuffers(i_xdiv2); \r
+ double[] para00_xw=this.wk_updateExtpat_para00_xw;\r
+ double[] para10_xw=this.wk_updateExtpat_para10_xw;\r
+ double[] para20_xw=this.wk_updateExtpat_para20_xw;\r
+ int[] x_rgb_index=this.wk_updateExtpat_x_rgb_index;\r
+ int[] y_rgb_index=this.wk_updateExtpat_y_rgb_index;\r
+ int[] i_rgb_index=this.wk_updateExtpat_i_rgb_index;\r
+ int[] rgb_buf=this.wk_updateExtpat_rgb_buf;\r
+ double xw;\r
+ for(i=0;i<i_xdiv2;i++){\r
+ xw= 102.5 + 5.0 * ((double)i+0.5) /i_xdiv2;\r
+ para20_xw[i]=para20*xw;\r
+ para00_xw[i]=para00*xw;\r
+ para10_xw[i]=para10*xw;\r
+ }\r
+\r
+ int index_num;\r
+\r
+ \r
+ for(j = 0; j < i_ydiv2; j++ ) {\r
+ yw = 102.5 + 5.0 * ((double)j+0.5) /i_ydiv2;\r
+ para21_x_yw=para21*yw+1.0;\r
+ para11_x_yw=para11*yw+para12;\r
+ para01_x_yw=para01*yw+para02;\r
+ extpat_j=L_extpat[j/ydiv];\r
+ index_num=0;\r
+ //ステップ１．RGB取得用のマップを作成\r
+ for(i = 0; i < i_xdiv2; i++ ) {\r
+ d = para20_xw[i] + para21_x_yw;\r
+ if( d == 0 ){\r
+ throw new NyARException();\r
+ }\r
+ xc = (int)((para00_xw[i] + para01_x_yw)/d);\r
+ yc = (int)((para10_xw[i] + para11_x_yw)/d);\r
+ //範囲外は無視\r
+ if(xc<0 || xc >=img_x || yc<0 || yc >=img_y){\r
+ continue;\r
+ }\r
+// ピクセル値の計算\r
+// image.getPixel(xc,yc,rgb_buf);\r
+// ext_pat2_j_i=ext_pat2_j[i/xdiv];\r
+// ext_pat2_j_i[0] += rgb_buf[0];//R\r
+// ext_pat2_j_i[1] += rgb_buf[1];//G\r
+// ext_pat2_j_i[2] += rgb_buf[2];//B\r
+\r
+ x_rgb_index[index_num]=xc;\r
+ y_rgb_index[index_num]=yc;\r
+ i_rgb_index[index_num]=i/xdiv;\r
+ index_num++;\r
+ }\r
+// //ステップ２．ピクセル配列を取得\r
+ image.getPixelSet(x_rgb_index,y_rgb_index,index_num,rgb_buf);\r
+// //ピクセル値の計算\r
+ for(i=index_num-1;i>=0;i--){\r
+ extpat_j_i=extpat_j[i_rgb_index[i]];\r
+ extpat_j_i[0] += rgb_buf[i*3+0];//R\r
+ extpat_j_i[1] += rgb_buf[i*3+1];//G\r
+ extpat_j_i[2] += rgb_buf[i*3+2];//B\r
+ }\r
+ }\r
+ /*<Optimize>*/\r
+ int xdiv_x_ydiv=xdiv*ydiv;\r
+ for(j =L_HEIGHT-1; j>=0; j--){\r
+ extpat_j=L_extpat[j];\r
+ for(i = L_WIDTH-1; i>=0; i--){ // PRL 2006-06-08.\r
+ extpat_j_i=extpat_j[i];\r
+ extpat_j_i[0]/=(xdiv_x_ydiv);//ext_pat[j][i][0] = (byte)(ext_pat2[j][i][0] / (xdiv*ydiv));\r
+ extpat_j_i[1]/=(xdiv_x_ydiv);//ext_pat[j][i][1] = (byte)(ext_pat2[j][i][1] / (xdiv*ydiv));\r
+ extpat_j_i[2]/=(xdiv_x_ydiv);//ext_pat[j][i][2] = (byte)(ext_pat2[j][i][2] / (xdiv*ydiv));\r
+ }\r
+ }\r
+ return; \r
+ }\r
+}
\ No newline at end of file
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+\r
+\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+\r
+\r
+\r
+\r
+/**\r
+ * イメージからマーカー情報を検出するクラス。\r
+ * このクラスは、arDetectMarker2.cとの置き換えになります。\r
+ * ラベリング済みのラスタデータからマーカー位置を検出して、結果を保持します。\r
+ *\r
+ */\r
+public class NyARDetectMarker {\r
+ private static final int AR_AREA_MAX=100000;//#define AR_AREA_MAX 100000\r
+ private static final int AR_AREA_MIN=70;//#define AR_AREA_MIN 70\r
+\r
+// private final NyARMarker[] marker_holder; //マーカーデータの保持配列\r
+// private final NyARMarker[] marker_info2_array;//マーカーデータのインデックス配列\r
+// private int marker_num;\r
+ private int width,height;\r
+ /**\r
+ * 最大i_squre_max個のマーカーを検出するクラスを作成する。\r
+ * @param i_width\r
+ * @param i_height\r
+ */\r
+ public NyARDetectMarker(int i_width,int i_height)\r
+ {\r
+ this.width =i_width;\r
+ this.height=i_height;\r
+ \r
+// this.marker_holder=new NyARMarker[i_squre_max];\r
+// this.marker_info2_array=new NyARMarker[i_squre_max];\r
+// //先にマーカーホルダにオブジェクトを作っておく\r
+// for(int i=0;i<i_squre_max;i++){\r
+// this.marker_holder[i]=new NyARMarker();\r
+// }\r
+ }\r
+ private static final int AR_CHAIN_MAX=10000;\r
+ private final int[] wk_arGetContour_xdir={0, 1, 1, 1, 0,-1,-1,-1};\r
+ private final int[] wk_arGetContour_ydir={-1,-1, 0, 1, 1, 1, 0,-1};\r
+ private final int[] wk_arGetContour_xcoord=new int[AR_CHAIN_MAX];\r
+ private final int[] wk_arGetContour_ycoord=new int[AR_CHAIN_MAX];\r
+ /**\r
+ * int arGetContour( ARInt16 *limage, int *label_ref,int label, int clip[4], ARMarkerInfo2 *marker_info2 )\r
+ * 関数の代替品\r
+ * detectMarker関数から使う関数です。o_markerにlabelとclipで示される1個のマーカーを格納します。\r
+ * marker_holder[i_holder_num]にオブジェクトが無ければまず新規に作成し、もし\r
+ * 既に存在すればそこにマーカー情報を上書きして記録します。\r
+ * Optimize:STEP[369->336]\r
+ * @param o_marker\r
+ * @param limage\r
+ * @param label_ref\r
+ * @param label\r
+ * @param clip\r
+ * @throws NyARException\r
+ */\r
+ private final void arGetContour(NyARMarker o_marker,int[][] limage, int[] label_ref,int i_labelnum, NyARLabel i_label) throws NyARException\r
+ {\r
+ final int[] xcoord=wk_arGetContour_xcoord;\r
+ final int[] ycoord=wk_arGetContour_ycoord;\r
+ final int[] xdir=wk_arGetContour_xdir; //static int xdir[8] = { 0, 1, 1, 1, 0,-1,-1,-1};\r
+ final int[] ydir=wk_arGetContour_ydir;//static int ydir[8] = {-1,-1, 0, 1, 1, 1, 0,-1};\r
+ //ShortPointer p1;//ARInt16 *p1;\r
+ int coord_num;\r
+ int sx=0, sy=0, dir;\r
+ int dmax, d, v1=0;\r
+ int i, j,w;\r
+\r
+ int[] limage_j;\r
+ j = i_label.clip2;\r
+ limage_j=limage[j];\r
+ final int clip1=i_label.clip1;\r
+ //p1=ShortPointer.wrap(limage,j*xsize+clip.get());//p1 = &(limage[j*xsize+clip[0]]);\r
+ for( i = i_label.clip0; i <= clip1; i++){//for( i = clip[0]; i <= clip[1]; i++, p1++ ) {\r
+ w=limage_j[i];\r
+ if(w > 0 && label_ref[w-1] == i_labelnum ) {//if( *p1 > 0 && label_ref[(*p1)-1] == label ) {\r
+ sx = i;\r
+ sy = j;\r
+ break;\r
+ }\r
+ }\r
+ if(i>clip1){//if( i > clip[1] ) {\r
+ System.out.println("??? 1");//printf();\r
+ throw new NyARException();//return(-1);\r
+ }\r
+\r
+// //マーカーホルダが既に確保済みかを調べる\r
+// if(marker_holder[i_holder_num]==null){\r
+// //確保していなければ確保\r
+// marker_holder[i_holder_num]=new NyARMarker();\r
+// }\r
+\r
+\r
+ coord_num=1;//marker_info2->coord_num = 1;\r
+ xcoord[0]=sx;//marker_info2->x_coord[0] = sx;\r
+ ycoord[0]=sy;//marker_info2->y_coord[0] = sy;\r
+ dir = 5;\r
+ \r
+ int r,c;\r
+ c=xcoord[0];\r
+ r=ycoord[0];\r
+ dmax=0;\r
+ //本家はdmaxの作成とxcoordの作成を別のループでやってるけど、非効率なので統合\r
+ for(;;){\r
+ //xcoord[1]-xcoord[n]までのデータを作る。\r
+ \r
+// 1個前のxcoordとycoordはループ後半で格納される。\r
+// c=xcoord[coord_num-1];\r
+// r=ycoord[coord_num-1];\r
+ //p1 = &(limage[marker_info2->y_coord[marker_info2->coord_num-1] * xsize+ marker_info2->x_coord[marker_info2->coord_num-1]]);\r
+ dir = (dir+5)%8;\r
+ for(i=0;i<8;i++) {\r
+ if(limage[r+ydir[dir]][c+xdir[dir]]>0){//if( p1[ydir[dir]*xsize+xdir[dir]] > 0 ){\r
+ break;\r
+ }\r
+ dir = (dir+1)%8; \r
+ }\r
+ if( i == 8 ){\r
+ System.out.println("??? 2");//printf("??? 2\n");\r
+ throw new NyARException();//return(-1);\r
+ }\r
+// xcoordとycoordをc,rにも保存\r
+ c= c + xdir[dir];//marker_info2->x_coord[marker_info2->coord_num]= marker_info2->x_coord[marker_info2->coord_num-1] + xdir[dir];\r
+ r= r + ydir[dir];//marker_info2->y_coord[marker_info2->coord_num]= marker_info2->y_coord[marker_info2->coord_num-1] + ydir[dir];\r
+ xcoord[coord_num]=c;//marker_info2->x_coord[marker_info2->coord_num]= marker_info2->x_coord[marker_info2->coord_num-1] + xdir[dir];\r
+ ycoord[coord_num]=r;//marker_info2->y_coord[marker_info2->coord_num]= marker_info2->y_coord[marker_info2->coord_num-1] + ydir[dir];\r
+ if(c == sx && r == sy ){\r
+ break;\r
+ }\r
+ //dmaxの計算\r
+ d=(c-sx)*(c-sx)+(r-sy)*(r-sy);\r
+ if( d > dmax ) {\r
+ dmax = d;\r
+ v1 = coord_num;\r
+ }\r
+ //終了条件判定\r
+ coord_num++;\r
+ if(coord_num == AR_CHAIN_MAX-1){//if( marker_info2.coord_num == Config.AR_CHAIN_MAX-1 ){\r
+ System.out.println("??? 3");//printf("??? 3\n");\r
+ throw new NyARException();//return(-1);\r
+ }\r
+ }\r
+//\r
+// dmax = 0;\r
+// for(i=1;i<coord_num;i++) {// for(i=1;i<marker_info2->coord_num;i++) {\r
+// d = (xcoord[i]-sx)*(xcoord[i]-sx)+ (ycoord[i]-sy)*(ycoord[i]-sy);// d = (marker_info2->x_coord[i]-sx)*(marker_info2->x_coord[i]-sx)+ (marker_info2->y_coord[i]-sy)*(marker_info2->y_coord[i]-sy);\r
+// if( d > dmax ) {\r
+// dmax = d;\r
+// v1 = i;\r
+// }\r
+// }\r
+ //NyARMarkerへcoord情報をセット\r
+ //coordの並び替えと保存はNyARMarkerへ移動\r
+ o_marker.setCoordXY(v1,coord_num,xcoord,ycoord);\r
+ return;\r
+ }\r
+\r
+ /**\r
+ * ARMarkerInfo2 *arDetectMarker2( ARInt16 *limage, int label_num, int *label_ref,int *warea, double *wpos, int *wclip,int area_max, int area_min, double factor, int *marker_num )\r
+ * 関数の代替品\r
+ * ラベリング情報からマーカー一覧を作成してo_marker_listを更新します。\r
+ * 関数はo_marker_listに重なりを除外したマーカーリストを作成します。\r
+ * \r
+ * @param i_labeling\r
+ * ラベリング済みの情報を持つラベリングオブジェクト\r
+ * @param i_factor\r
+ * 何かの閾値？\r
+ * @param o_marker_list\r
+ * 抽出したマーカーを格納するリスト\r
+ * @throws NyARException\r
+ */\r
+ public final void detectMarker(NyARLabeling i_labeling,double i_factor,NyARMarkerList o_marker_list) throws NyARException\r
+ {\r
+ int label_area;\r
+ int i;\r
+ int xsize, ysize;\r
+ NyARLabel[] labels=i_labeling.getLabel();\r
+// int[] warea =i_labeling.getArea();\r
+ int label_num =i_labeling.getLabelNum();\r
+// int[][] wclip =i_labeling.getClip();\r
+// double[] wpos =i_labeling.getPos();\r
+ int[][] limage=i_labeling.getLabelImg();\r
+ int[] label_ref =i_labeling.getLabelRef();\r
+\r
+ //マーカーホルダをリセット\r
+ o_marker_list.reset();\r
+// marker_num=0;\r
+ xsize =width;\r
+ ysize =height;\r
+// マーカーをmarker_holderに蓄積する。\r
+ NyARMarker current_marker=o_marker_list.getCurrentHolder();\r
+ NyARLabel label_pt;\r
+ for(i=0; i<label_num; i++ ){\r
+ label_pt=labels[i];\r
+ label_area=label_pt.area;\r
+ if(label_area < AR_AREA_MIN || label_area > AR_AREA_MAX ){\r
+ continue;\r
+ }\r
+ if( label_pt.clip0 == 1 || label_pt.clip1 == xsize-2 ){//if( wclip[i*4+0] == 1 || wclip[i*4+1] == xsize-2 ){\r
+ continue;\r
+ }\r
+ if( label_pt.clip2 == 1 || label_pt.clip3 == ysize-2 ){//if( wclip[i*4+2] == 1 || wclip[i*4+3] == ysize-2 ){\r
+ continue;\r
+ }\r
+ //ret = arGetContour( limage, label_ref, i+1,&(wclip[i*4]), &(marker_info2[marker_num2]));\r
+ arGetContour(current_marker,limage, label_ref, i+1,label_pt);\r
+\r
+ if(!current_marker.checkSquare(label_area,i_factor,label_pt.pos_x,label_pt.pos_y)){\r
+ //後半で整理するからここはいらない。// marker_holder[marker_num2]=null;\r
+ continue;\r
+ }\r
+// この3行はcheckSquareの最終段に含める。\r
+// marker_holder[marker_num2].area = warea[i];\r
+// marker_holder[marker_num2].pos[0] = wpos[i*2+0];\r
+// marker_holder[marker_num2].pos[1] = wpos[i*2+1];\r
+ //マーカー検出→次のホルダを取得\r
+ current_marker=o_marker_list.getNextHolder();\r
+ //マーカーリストが上限に達したか確認\r
+ if(current_marker==null){\r
+ break;\r
+ }\r
+ }\r
+ //マーカーリストを整理(重なり処理とかはマーカーリストに責務押し付け)\r
+ o_marker_list.updateMarkerArray();\r
+// 重なり処理かな？\r
+// double[] pos_j,pos_i;\r
+// for(i=0; i < marker_num2; i++ ){\r
+// pos_i=marker_holder[i].pos;\r
+// for(j=i+1; j < marker_num2; j++ ) {\r
+// pos_j=marker_holder[j].pos;\r
+// d = (pos_i[0] - pos_j[0])*(pos_i[0] - pos_j[0])+\r
+// (pos_i[1] - pos_j[1])*(pos_i[1] - pos_j[1]);\r
+// if(marker_holder[i].area >marker_holder[j].area ) {\r
+// if( d <marker_holder[i].area / 4 ) {\r
+// marker_holder[j].area = 0;\r
+// }\r
+// }else{\r
+// if( d < marker_holder[j].area / 4 ) {\r
+// marker_holder[i].area = 0;\r
+// }\r
+// }\r
+// }\r
+// }\r
+// みつかったマーカーを整理する。\r
+// エリアが0のマーカーを外した配列を作って、その数もついでに計算\r
+// for(i=0;i<marker_num2;i++){\r
+// if(marker_holder[i].area==0.0){\r
+// continue;\r
+// }\r
+// marker_info2_array[marker_num]=marker_holder[i];\r
+// marker_num++;\r
+// } \r
+// for( i=0; i < marker_num2; i++ ) {\r
+// if( marker_info2_array[i].area == 0.0 ) {\r
+// for( j=i+1; j < marker_num2; j++ ){\r
+// marker_info2_array[j-1] = marker_info2_array[j];\r
+// }\r
+// marker_num2--;\r
+// }\r
+// }\r
+// 発見したマーカー数をセット\r
+// marker_num=marker_num2;//*marker_num = marker_num2;\r
+// return( &(marker_info2[0]) );\r
+ return;\r
+ }\r
+\r
+}\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.raster.*;\r
+\r
+\r
+\r
+public class NyARDetectSquare\r
+{\r
+ private final NyARLabeling labeling;\r
+ private final NyARDetectMarker detect;\r
+ private NyARParam param;\r
+\r
+ /**\r
+ * マーカー抽出インスタンスを作ります。\r
+ * @param i_param\r
+ */\r
+ public NyARDetectSquare(NyARParam i_param)\r
+ {\r
+ param=i_param;\r
+ //解析オブジェクトを作る\r
+ int width=i_param.getX();\r
+ int height=i_param.getY();\r
+\r
+ labeling=new NyARLabeling_O2(width,height);\r
+ detect=new NyARDetectMarker(width,height);\r
+ }\r
+ /**\r
+ * ラスタイメージから矩形を検出して、結果o_square_holderへ格納します。\r
+ * @param i_marker\r
+ * @param i_number_of_marker\r
+ * @param i_square_holder\r
+ * @throws NyARException\r
+ */\r
+ public void detectSquare(NyARRaster i_image,int i_thresh,NyARSquareList o_square_holder) throws NyARException\r
+ {\r
+// number_of_square=0;\r
+ \r
+ labeling.labeling(i_image, i_thresh);\r
+ if(labeling.getLabelNum()<1){\r
+ return;\r
+ }\r
+ //ここでマーカー配列を作成する。\r
+ detect.detectMarker(labeling,1.0,o_square_holder);\r
+ \r
+ //マーカー情報をフィルタして、スクエア配列を更新する。\r
+ o_square_holder.updateSquareArray(param);\r
+\r
+// NyARSquare square;\r
+// int j=0;\r
+// for (int i = 0; i <number_of_marker; i++){\r
+// double[][] line =new double[4][3];\r
+// double[][] vertex =new double[4][2];\r
+// //NyARMarker marker=detect.getMarker(i);\r
+// square=square_holder.getSquare(i);\r
+// //・・・線の検出？？\r
+// if (!square.getLine(param))\r
+// {\r
+// continue;\r
+// }\r
+// ここで計算するのは良くないと思うんだ \r
+// marker_infoL[j].id = id.get();\r
+// marker_infoL[j].dir = dir.get();\r
+// marker_infoL[j].cf = cf.get(); \r
+// j++;\r
+// //配列数こえたらドゴォォォンしないようにループを抜ける\r
+// if(j>=marker_info.length){\r
+// break;\r
+// }\r
+// }\r
+// number_of_square=j;\r
+ }\r
+}\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.raster.*;\r
+\r
+\r
+interface NyARLabeling{\r
+ /**\r
+ * 検出したラベルの数を返す\r
+ * @return\r
+ */\r
+ public int getLabelNum();\r
+ /**\r
+ * \r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public int[] getLabelRef() throws NyARException;\r
+ /**\r
+ * 検出したラベル配列\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public NyARLabel[] getLabel() throws NyARException;\r
+ /**\r
+ * ラベリング済みイメージを返す\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public int[][] getLabelImg() throws NyARException;\r
+ /**\r
+ * static ARInt16 *labeling2( ARUint8 *image, int thresh,int *label_num, int **area, double **pos, int **clip,int **label_ref, int LorR )\r
+ * 関数の代替品\r
+ * ラスタimageをラベリングして、結果を保存します。\r
+ * Optimize:STEP[1514->1493]\r
+ * @param image\r
+ * @param thresh\r
+ * @throws NyARException\r
+ */\r
+ public void labeling(NyARRaster image,int thresh) throws NyARException;\r
+}\r
+\r
+\r
+\r
+\r
+/**\r
+ * NyARLabeling_O2のworkとwork2を可変長にするためのクラス\r
+ * \r
+ *\r
+ */\r
+class NyARWorkHolder\r
+{\r
+ private final static int ARRAY_APPEND_STEP=256;\r
+ public final int[] work;\r
+ public final int[][] work2;\r
+ private int allocate_size;\r
+ /**\r
+ * 最大i_holder_size個の動的割り当てバッファを準備する。\r
+ * @param i_holder_size\r
+ */\r
+ public NyARWorkHolder(int i_holder_size)\r
+ {\r
+ //ポインタだけははじめに確保しておく\r
+ this.work=new int[i_holder_size];\r
+ this.work2=new int[i_holder_size][];\r
+ this.allocate_size=0;\r
+ }\r
+ /**\r
+ * i_indexで指定した番号までのバッファを準備する。\r
+ * @param i_index\r
+ */\r
+ public final void reserv(int i_index) throws NyARException\r
+ {\r
+ //アロケート済みなら即リターン\r
+ if(this.allocate_size>i_index){\r
+ return;\r
+ }\r
+ //要求されたインデクスは範囲外\r
+ if(i_index>=this.work.length){\r
+ throw new NyARException();\r
+ } \r
+ //追加アロケート範囲を計算\r
+ int range=i_index+ARRAY_APPEND_STEP;\r
+ if(range>=this.work.length){\r
+ range=this.work.length;\r
+ }\r
+ //アロケート\r
+ for(int i=this.allocate_size;i<range;i++)\r
+ {\r
+ this.work2[i]=new int[7];\r
+ }\r
+ this.allocate_size=range;\r
+ }\r
+}\r
+\r
+class NyARLabel\r
+{\r
+ public int area;\r
+ public int clip0;\r
+ public int clip1;\r
+ public int clip2;\r
+ public int clip3;\r
+ public double pos_x;\r
+ public double pos_y;\r
+}\r
+\r
+\r
+class NyARLabelHolder\r
+{\r
+ private final static int ARRAY_APPEND_STEP=128;\r
+ public final NyARLabel[] labels;\r
+ private int allocate_size;\r
+ /**\r
+ * 最大i_holder_size個の動的割り当てバッファを準備する。\r
+ * @param i_holder_size\r
+ */\r
+ public NyARLabelHolder(int i_holder_size)\r
+ {\r
+ //ポインタだけははじめに確保しておく\r
+ this.labels=new NyARLabel[i_holder_size];\r
+ this.allocate_size=0;\r
+ }\r
+ /**\r
+ * i_indexで指定した番号までのバッファを準備する。\r
+ * @param i_index\r
+ */\r
+ private final void reserv(int i_index) throws NyARException\r
+ {\r
+ //アロケート済みなら即リターン\r
+ if(this.allocate_size>i_index){\r
+ return;\r
+ }\r
+ //要求されたインデクスは範囲外\r
+ if(i_index>=this.labels.length){\r
+ throw new NyARException();\r
+ } \r
+ //追加アロケート範囲を計算\r
+ int range=i_index+ARRAY_APPEND_STEP;\r
+ if(range>=this.labels.length){\r
+ range=this.labels.length;\r
+ }\r
+ //アロケート\r
+ for(int i=this.allocate_size;i<range;i++)\r
+ {\r
+ this.labels[i]=new NyARLabel();\r
+ }\r
+ this.allocate_size=range;\r
+ }\r
+ /**\r
+ * i_reserv_sizeまでのバッファを、初期条件i_lxsizeとi_lysizeで初期化する。\r
+ * @param i_reserv_size\r
+ * @param i_lxsize\r
+ * @param i_lysize\r
+ * @throws NyARException\r
+ */\r
+ public final void init(int i_reserv_size,int i_lxsize,int i_lysize) throws NyARException\r
+ {\r
+ reserv(i_reserv_size);\r
+ NyARLabel l;\r
+ for(int i=0;i<i_reserv_size;i++){\r
+ l=this.labels[i];\r
+ l.area=0;\r
+ l.pos_x=0;\r
+ l.pos_y=0;\r
+ l.clip0= i_lxsize;//wclip[i*4+0] = lxsize;\r
+ l.clip1= 0;//wclip[i*4+0] = lxsize;\r
+ l.clip2= i_lysize;//wclip[i*4+2] = lysize;\r
+ l.clip3= 0;//wclip[i*4+3] = 0;\r
+ } \r
+ }\r
+}\r
+\r
+\r
+/**\r
+ * ラベリングクラス。NyARRasterをラベリングして、結果値を保持します。\r
+ * 構造を維持して最適化をしたバージョン\r
+ *\r
+ */\r
+class NyARLabeling_O2 implements NyARLabeling\r
+{\r
+ private static final int WORK_SIZE=1024*32;//#define WORK_SIZE 1024*32\r
+ private final int[][] glabel_img;//static ARInt16 l_imageL[HARDCODED_BUFFER_WIDTH*HARDCODED_BUFFER_HEIGHT];\r
+\r
+ private final NyARWorkHolder work_holder=new NyARWorkHolder(WORK_SIZE);\r
+ private final NyARLabelHolder label_holder=new NyARLabelHolder(WORK_SIZE);\r
+\r
+ private int label_num;\r
+ //\r
+ private final int width;\r
+ private final int height;\r
+ /**\r
+ * @param i_width\r
+ * ラベリング画像の幅。解析するラスタの幅より大きいこと。\r
+ * @param i_height\r
+ * ラベリング画像の高さ。解析するラスタの高さより大きいこと。\r
+ */\r
+ public NyARLabeling_O2(int i_width,int i_height)\r
+ {\r
+ width =i_width;\r
+ height=i_height;\r
+ glabel_img=new int[height][width];\r
+ this.wk_reservLineBuffer_buf=new int[width];\r
+ label_num=0;\r
+\r
+\r
+ //ワークイメージに枠を書く\r
+ int[][] label_img=this.glabel_img;\r
+ for(int i = 0; i < i_width; i++){\r
+ label_img[0][i]=0;\r
+ label_img[i_height-1][i]=0;\r
+ }\r
+ //</Optimize>\r
+ for(int i = 0; i < i_height; i++) {\r
+ label_img[i][0]=0;\r
+ label_img[i][i_width-1]=0; \r
+ }\r
+ \r
+ \r
+ \r
+ \r
+ }\r
+ /**\r
+ * 検出したラベルの数を返す\r
+ * @return\r
+ */\r
+ public int getLabelNum()\r
+ {\r
+ return label_num;\r
+ }\r
+ /**\r
+ * 検出したエリア配列？\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public NyARLabel[] getLabel() throws NyARException\r
+ {\r
+ if(label_num<1){\r
+ throw new NyARException();\r
+ }\r
+ return this.label_holder.labels;\r
+ } \r
+ /**\r
+ * \r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public int[] getLabelRef() throws NyARException\r
+ {\r
+ if(label_num<1){\r
+ throw new NyARException();\r
+ }\r
+ return work_holder.work;\r
+ }\r
+ /**\r
+ * ラベリング済みイメージを返す\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public int[][] getLabelImg() throws NyARException\r
+ {\r
+ return glabel_img;\r
+ }\r
+ //コンストラクタで作ること\r
+ private int[] wk_reservLineBuffer_buf=null;\r
+\r
+ /**\r
+ * static ARInt16 *labeling2( ARUint8 *image, int thresh,int *label_num, int **area, double **pos, int **clip,int **label_ref, int LorR )\r
+ * 関数の代替品\r
+ * ラスタimageをラベリングして、結果を保存します。\r
+ * Optimize:STEP[1514->1493]\r
+ * @param image\r
+ * @param thresh\r
+ * @throws NyARException\r
+ */\r
+ public void labeling(NyARRaster image,int thresh) throws NyARException\r
+ {\r
+ int wk_max; /* work */\r
+ int m,n; /* work */\r
+ int lxsize, lysize;\r
+ int thresht3 = thresh * 3;\r
+ int i,j,k;\r
+ lxsize=image.getWidth();//lxsize = arUtil_c.arImXsize;\r
+ lysize=image.getHeight();//lysize = arUtil_c.arImYsize;\r
+ //画素数の一致チェック\r
+ if(lxsize!=this.width || lysize!=this.height){\r
+ throw new NyARException();\r
+ } \r
+ //ラベル数を0に初期化\r
+ this.label_num=0;\r
+\r
+\r
+\r
+ int[][] label_img=this.glabel_img;\r
+ \r
+\r
+ //枠作成はインスタンスを作った直後にやってしまう。\r
+ \r
+ int[] work2_pt;\r
+ wk_max = 0;\r
+\r
+ int label_pixel;\r
+ \r
+ int[] work=this.work_holder.work;\r
+ int[][] work2=this.work_holder.work2;\r
+ int[] line_bufferr=this.wk_reservLineBuffer_buf;\r
+ \r
+ int[] label_img_pt0,label_img_pt1;\r
+ for(j = 1; j < lysize - 1; j++) {//for (int j = 1; j < lysize - 1; j++, pnt += poff*2, pnt2 += 2) {\r
+ label_img_pt0=label_img[j];\r
+ label_img_pt1=label_img[j-1];\r
+ image.getPixelTotalRowLine(j,line_bufferr);\r
+\r
+ for(i = 1; i < lxsize-1; i++) {//for(int i = 1; i < lxsize-1; i++, pnt+=poff, pnt2++) {\r
+ //RGBの合計値が閾値より大きいかな？\r
+ if(line_bufferr[i]<=thresht3){\r
+ //pnt1 = ShortPointer.wrap(pnt2, -lxsize);//pnt1 = &(pnt2[-lxsize]);\r
+ if(label_img_pt1[i]>0){//if( *pnt1 > 0 ) {\r
+ label_pixel=label_img_pt1[i];//*pnt2 = *pnt1;\r
+\r
+\r
+ work2_pt=work2[label_pixel-1];\r
+ work2_pt[0]++;//work2[((*pnt2)-1)*7+0] ++;\r
+ work2_pt[1]+=i;//work2[((*pnt2)-1)*7+1] += i;\r
+ work2_pt[2]+=j;//work2[((*pnt2)-1)*7+2] += j;\r
+ work2_pt[6]=j;//work2[((*pnt2)-1)*7+6] = j;\r
+ }else if(label_img_pt1[i+1]> 0 ) {//}else if( *(pnt1+1) > 0 ) {\r
+ if(label_img_pt1[i-1] > 0 ) {//if( *(pnt1-1) > 0 ) {\r
+ m = work[label_img_pt1[i+1]-1];//m = work[*(pnt1+1)-1];\r
+ n = work[label_img_pt1[i-1]-1];//n = work[*(pnt1-1)-1];\r
+ if( m > n ){\r
+ label_pixel=n;//*pnt2 = n;\r
+ //wk=IntPointer.wrap(work, 0);//wk = &(work[0]);\r
+ for(k = 0; k < wk_max; k++) {\r
+ if(work[k] == m ){//if( *wk == m ) \r
+ work[k]=n;//*wk = n;\r
+ }\r
+ }\r
+ }else if( m < n ) {\r
+ label_pixel=m;//*pnt2 = m;\r
+ //wk=IntPointer.wrap(work,0);//wk = &(work[0]);\r
+ for(k = 0; k < wk_max; k++){\r
+ if(work[k]==n){//if( *wk == n ){\r
+ work[k]=m;//*wk = m;\r
+ }\r
+ }\r
+ }else{\r
+ label_pixel=m;//*pnt2 = m;\r
+ }\r
+ work2_pt=work2[label_pixel-1];\r
+ work2_pt[0] ++;\r
+ work2_pt[1] += i;\r
+ work2_pt[2] += j;\r
+ work2_pt[6] = j;\r
+ }else if( (label_img_pt0[i-1]) > 0 ) {//}else if( *(pnt2-1) > 0 ) {\r
+ m = work[(label_img_pt1[i+1])-1];//m = work[*(pnt1+1)-1];\r
+ n = work[label_img_pt0[i-1]-1];//n = work[*(pnt2-1)-1];\r
+ if( m > n ) {\r
+\r
+ label_pixel=n;//*pnt2 = n;\r
+ for(k = 0; k < wk_max; k++) {\r
+ if(work[k]==m){//if( *wk == m ){\r
+ work[k]=n;//*wk = n;\r
+ }\r
+ }\r
+ }else if( m < n ) {\r
+ label_pixel=m;//*pnt2 = m;\r
+ for(k = 0; k < wk_max; k++) {\r
+ if(work[k]==n){//if( *wk == n ){\r
+ work[k]=m;//*wk = m;\r
+ }\r
+ }\r
+ }else{\r
+ label_pixel=m;//*pnt2 = m;\r
+ }\r
+ work2_pt=work2[label_pixel-1];\r
+ work2_pt[0] ++;//work2[((*pnt2)-1)*7+0] ++;\r
+ work2_pt[1] += i;//work2[((*pnt2)-1)*7+1] += i;\r
+ work2_pt[2] += j;//work2[((*pnt2)-1)*7+2] += j;\r
+ }else{\r
+\r
+ label_pixel=label_img_pt1[i+1];//*pnt2 = *(pnt1+1);\r
+\r
+ work2_pt=work2[label_pixel-1];\r
+ work2_pt[0] ++;//work2[((*pnt2)-1)*7+0] ++;\r
+ work2_pt[1] += i;//work2[((*pnt2)-1)*7+1] += i;\r
+ work2_pt[2] += j;//work2[((*pnt2)-1)*7+2] += j;\r
+ if( work2_pt[3] > i ){//if( work2[((*pnt2)-1)*7+3] > i ){ \r
+ work2_pt[3] = i;// work2[((*pnt2)-1)*7+3] = i;\r
+ }\r
+ work2_pt[6] = j;//work2[((*pnt2)-1)*7+6] = j;\r
+ }\r
+ }else if( (label_img_pt1[i-1]) > 0 ) {//}else if( *(pnt1-1) > 0 ) {\r
+ label_pixel=label_img_pt1[i-1];//*pnt2 = *(pnt1-1);\r
+\r
+ work2_pt=work2[label_pixel-1];\r
+ work2_pt[0] ++;//work2[((*pnt2)-1)*7+0] ++;\r
+ work2_pt[1] += i;//work2[((*pnt2)-1)*7+1] += i;\r
+ work2_pt[2] += j;//work2[((*pnt2)-1)*7+2] += j;\r
+ if( work2_pt[4] < i ){//if( work2[((*pnt2)-1)*7+4] < i ){\r
+ work2_pt[4] = i;// work2[((*pnt2)-1)*7+4] = i;\r
+ }\r
+ work2_pt[6] = j;//work2[((*pnt2)-1)*7+6] = j;\r
+ }else if(label_img_pt0[i-1] > 0) {//}else if( *(pnt2-1) > 0) {\r
+ label_pixel=label_img_pt0[i-1];//*pnt2 = *(pnt2-1);\r
+\r
+ work2_pt=work2[label_pixel-1];\r
+ work2_pt[0] ++;//work2[((*pnt2)-1)*7+0] ++;\r
+ work2_pt[1] += i;//work2[((*pnt2)-1)*7+1] += i;\r
+ work2_pt[2] += j;//work2[((*pnt2)-1)*7+2] += j;\r
+ if(work2_pt[4] < i ){//if( work2[((*pnt2)-1)*7+4] < i ){\r
+ work2_pt[4] = i;// work2[((*pnt2)-1)*7+4] = i;\r
+ }\r
+ }else{\r
+ //現在地までの領域を予約\r
+ this.work_holder.reserv(wk_max);\r
+ wk_max++;\r
+ work[wk_max-1] = wk_max;\r
+ label_pixel=wk_max;//work[wk_max-1] = *pnt2 = wk_max;\r
+ work2_pt=work2[wk_max-1];\r
+ work2_pt[0] = 1;\r
+ work2_pt[1] = i;\r
+ work2_pt[2] = j;\r
+ work2_pt[3] = i;\r
+ work2_pt[4] = i;\r
+ work2_pt[5] = j;\r
+ work2_pt[6] = j;\r
+ }\r
+ label_img_pt0[i]=label_pixel;\r
+ }else {\r
+ label_img_pt0[i]=0;//*pnt2 = 0;\r
+ }\r
+ \r
+ }\r
+ }\r
+ j = 1;\r
+ for(i = 0; i < wk_max; i++){//for(int i = 1; i <= wk_max; i++, wk++) {\r
+ work[i]=(work[i]==i+1)? j++: work[work[i]-1];//*wk = (*wk==i)? j++: work[(*wk)-1];\r
+ }\r
+\r
+ int wlabel_num=j - 1;//*label_num = *wlabel_num = j - 1;\r
+\r
+ if(wlabel_num==0){//if( *label_num == 0 ) {\r
+ //発見数0\r
+ return;\r
+ }\r
+\r
+ \r
+ \r
+ //ラベルバッファを予約&初期化\r
+ this.label_holder.init(wlabel_num, lxsize, lysize);\r
+// \r
+// putZero(warea,wlabel_num);//put_zero( (ARUint8 *)warea, *label_num * sizeof(int) );\r
+// for(i=0;i<wlabel_num;i++){\r
+// wpos[i*2+0]=0;\r
+// wpos[i*2+1]=0;\r
+// }\r
+// for(i = 0; i < wlabel_num; i++) {//for(i = 0; i < *label_num; i++) {\r
+// wclip[i][0] = lxsize;//wclip[i*4+0] = lxsize;\r
+// wclip[i][1] = 0;//wclip[i*4+1] = 0;\r
+// wclip[i][2] = lysize;//wclip[i*4+2] = lysize;\r
+// wclip[i][3] = 0;//wclip[i*4+3] = 0;\r
+// }\r
+ NyARLabel label_pt;\r
+ NyARLabel[] labels=this.label_holder.labels;\r
+ \r
+ for(i = 0; i < wk_max; i++){\r
+ label_pt=labels[work[i] - 1];\r
+ work2_pt=work2[i];\r
+ label_pt.area += work2_pt[0];\r
+ label_pt.pos_x += work2_pt[1];\r
+ label_pt.pos_y += work2_pt[2];\r
+ if( label_pt.clip0 > work2_pt[3] ){\r
+ label_pt.clip0 = work2_pt[3];\r
+ }\r
+ if( label_pt.clip1 < work2_pt[4] ){\r
+ label_pt.clip1 = work2_pt[4];\r
+ }\r
+ if(label_pt.clip2 > work2_pt[5] ){\r
+ label_pt.clip2 = work2_pt[5];\r
+ }\r
+ if( label_pt.clip3 < work2_pt[6] ){\r
+ label_pt.clip3 = work2_pt[6];\r
+ }\r
+ }\r
+\r
+ for(i = 0; i < wlabel_num; i++ ) {//for(int i = 0; i < *label_num; i++ ) {\r
+ label_pt=labels[i];\r
+ label_pt.pos_x /= label_pt.area;\r
+ label_pt.pos_y /= label_pt.area;\r
+ }\r
+\r
+ label_num=wlabel_num;\r
+ return;\r
+ }\r
+}\r
+\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+\r
+\r
+\r
+\r
+\r
+\r
+/**\r
+ * typedef struct {\r
+ * int area;\r
+ * double pos[2];\r
+ * int coord_num;\r
+ * int x_coord[AR_CHAIN_MAX];\r
+ * int y_coord[AR_CHAIN_MAX];\r
+ * int vertex[5];\r
+ * } ARMarkerInfo2;\r
+ * \r
+ */\r
+class NyARMarker\r
+{\r
+ /**\r
+ * メモリブロックのサイズ(32*4=128kb)\r
+ */\r
+ private static final int ALLOCATE_PAGE_SIZE=256;\r
+ /**\r
+ * メモリブロックの初期サイズ\r
+ */\r
+ private static final int INITIAL_SIZE=1;\r
+ int[] x_coord=new int[INITIAL_SIZE];\r
+ int[] y_coord=new int[INITIAL_SIZE];\r
+ int coord_num;\r
+ int area;\r
+ final double[] pos=new double[2];\r
+ final int[] mkvertex=new int[5];\r
+ /**\r
+ * coordバッファをi_chain_num以上のサイズに再アロケートする。\r
+ * 内容の引継ぎは行われない。\r
+ * @param i_chain_num\r
+ */\r
+ private void reallocCoordArray(int i_chain_num)\r
+ {\r
+ if(x_coord.length<i_chain_num){\r
+ //ALLOCATE_PAGE_SIZE単位で確保する。\r
+ int new_size=((i_chain_num+ALLOCATE_PAGE_SIZE-1)/ALLOCATE_PAGE_SIZE)*ALLOCATE_PAGE_SIZE;\r
+ x_coord=new int[new_size];\r
+ y_coord=new int[new_size];\r
+ coord_num=0;\r
+ }\r
+ }\r
+ public void setCoordXY(int i_v1,int i_coord_num,int[] i_xcoord,int[] i_ycoord)\r
+ {\r
+ //メモリの割り当て保障\r
+ reallocCoordArray(i_coord_num+1);\r
+ //[A B C]を[B C A]に並べなおす。\r
+ System.arraycopy(i_xcoord,i_v1,x_coord,0,i_coord_num-i_v1);\r
+ System.arraycopy(i_xcoord,0,x_coord,i_coord_num-i_v1, i_v1);\r
+ x_coord[i_coord_num]=x_coord[0];\r
+ System.arraycopy(i_ycoord,i_v1,y_coord,0,i_coord_num-i_v1);\r
+ System.arraycopy(i_ycoord,0,y_coord,i_coord_num-i_v1, i_v1);\r
+ y_coord[i_coord_num]=y_coord[0];\r
+ coord_num=i_coord_num+1;\r
+ return;\r
+//arGetContour関数から取り外した部分 \r
+// int[] wx=new int[v1];//new int[Config.AR_CHAIN_MAX];\r
+// int[] wy=new int[v1]; //new int[Config.AR_CHAIN_MAX]; \r
+// for(i=0;i<v1;i++) {\r
+// wx[i] = marker_ref.x_coord[i];//wx[i] = marker_info2->x_coord[i];\r
+// wy[i] = marker_ref.y_coord[i];//wy[i] = marker_info2->y_coord[i];\r
+// }\r
+// for(i=0;i<marker_ref.coord_num-v1;i++) {//for(i=v1;i<marker_info2->coord_num;i++) {\r
+// marker_ref.x_coord[i] = marker_ref.x_coord[i+v1];//marker_info2->x_coord[i-v1] = marker_info2->x_coord[i];\r
+// marker_ref.y_coord[i] = marker_ref.y_coord[i+v1];//marker_info2->y_coord[i-v1] = marker_info2->y_coord[i];\r
+// }\r
+// for(i=0;i<v1;i++) {\r
+// marker_ref.x_coord[i-v1+marker_ref.coord_num] = wx[i];//marker_info2->x_coord[i-v1+marker_info2->coord_num] = wx[i];\r
+// marker_ref.y_coord[i-v1+marker_ref.coord_num] = wy[i];//marker_info2->y_coord[i-v1+marker_info2->coord_num] = wy[i];\r
+// }\r
+// marker_ref.x_coord[marker_ref.coord_num] = marker_ref.x_coord[0];//marker_info2->x_coord[marker_info2->coord_num] = marker_info2->x_coord[0];\r
+// marker_ref.y_coord[marker_ref.coord_num] = marker_ref.y_coord[0];//marker_info2->y_coord[marker_info2->coord_num] = marker_info2->y_coord[0];\r
+// marker_ref.coord_num++;//marker_info2->coord_num++;\r
+ }\r
+ private final NyARVertexCounter wk_checkSquare_wv1=new NyARVertexCounter();\r
+ private final NyARVertexCounter wk_checkSquare_wv2=new NyARVertexCounter();\r
+ /**\r
+ * static int arDetectMarker2_check_square( int area, ARMarkerInfo2 *marker_info2, double factor )\r
+ * 関数の代替関数\r
+ * OPTIMIZED STEP [450->415]\r
+ * @param i_area\r
+ * @param i_factor\r
+ * @return\r
+ */\r
+ public boolean checkSquare(int i_area,double i_factor,double i_pos_x,double i_pos_y)\r
+ {\r
+ final int[] l_vertex=mkvertex;\r
+ final int[] l_x_coord=x_coord;\r
+ final int[] l_y_coord=y_coord;\r
+ final NyARVertexCounter wv1=wk_checkSquare_wv1;\r
+ final NyARVertexCounter wv2=wk_checkSquare_wv2;\r
+ int sx,sy;\r
+ int dmax,d,v1;\r
+ \r
+ int v2;// int wvnum1,wvnum2,v2;\r
+ int i;\r
+ \r
+ final int L_coord_num_m1=this.coord_num-1;\r
+ dmax = 0;\r
+ v1 = 0;\r
+ sx = l_x_coord[0];//sx = marker_info2->x_coord[0];\r
+ sy = l_y_coord[0];//sy = marker_info2->y_coord[0];\r
+ for(i=1;i<L_coord_num_m1;i++){//for(i=1;i<marker_info2->coord_num-1;i++) {\r
+ d = (l_x_coord[i]-sx)*(l_x_coord[i]-sx)+ (l_y_coord[i]-sy)*(l_y_coord[i]-sy);\r
+ if( d > dmax ) {\r
+ dmax = d;\r
+ v1 = i;\r
+ }\r
+ }\r
+\r
+ final double thresh = (i_area/0.75) * 0.01 * i_factor;\r
+\r
+ l_vertex[0] = 0;\r
+\r
+ if(!wv1.getVertex(l_x_coord,l_y_coord, 0, v1,thresh)){ //if( get_vertex(marker_info2->x_coord, marker_info2->y_coord, 0, v1,thresh, wv1, &wvnum1) < 0 ) {\r
+ return false;\r
+ }\r
+ if(!wv2.getVertex(l_x_coord,l_y_coord,v1,L_coord_num_m1, thresh)) {//if(get_vertex(marker_info2->x_coord, marker_info2->y_coord,v1, marker_info2->coord_num-1, thresh, wv2, &wvnum2) < 0 ) {\r
+ return false;\r
+ }\r
+\r
+ if(wv1.number_of_vertex==1 && wv2.number_of_vertex==1) {//if( wvnum1 == 1 && wvnum2 == 1 ) {\r
+ l_vertex[1] = wv1.vertex[0];\r
+ l_vertex[2] = v1;\r
+ l_vertex[3] = wv2.vertex[0];\r
+ }else if( wv1.number_of_vertex>1 && wv2.number_of_vertex==0 ) {//}else if( wvnum1 > 1 && wvnum2 == 0 ) {\r
+ v2 = v1 / 2;\r
+ if(!wv1.getVertex(l_x_coord,l_y_coord,0, v2, thresh)) {\r
+ return false;\r
+ }\r
+ if(!wv2.getVertex(l_x_coord,l_y_coord,v2, v1, thresh)) {\r
+ return false;\r
+ }\r
+ if(wv1.number_of_vertex==1 && wv2.number_of_vertex==1 ) {\r
+ l_vertex[1] = wv1.vertex[0];\r
+ l_vertex[2] = wv2.vertex[0];\r
+ l_vertex[3] = v1;\r
+ }else{\r
+ return false;\r
+ }\r
+ }else if(wv1.number_of_vertex==0 && wv2.number_of_vertex> 1 ) {\r
+ v2 = (v1 + this.coord_num-1) / 2;\r
+\r
+ if(!wv1.getVertex(l_x_coord,l_y_coord,v1, v2, thresh)) {\r
+ return false;\r
+ }\r
+ if(!wv2.getVertex(l_x_coord,l_y_coord,v2,L_coord_num_m1, thresh)) {\r
+ return false;\r
+ }\r
+ if( wv1.number_of_vertex==1 && wv2.number_of_vertex==1 ) {\r
+ l_vertex[1] = v1;\r
+ l_vertex[2] = wv1.vertex[0];\r
+ l_vertex[3] = wv2.vertex[0];\r
+ }\r
+ else {\r
+ return false;\r
+ }\r
+ }\r
+ else {\r
+ return false;\r
+ }\r
+ l_vertex[4] =L_coord_num_m1;//この値使ってるの？\r
+ //\r
+ area = i_area;\r
+ pos[0] = i_pos_x;\r
+ pos[1] = i_pos_y;\r
+// marker_holder[marker_num2].pos[1] = wpos[i*2+1]; \r
+ return true;\r
+ } \r
+}\r
+\r
+\r
+\r
+/**\r
+ * get_vertex関数を切り離すためのクラス\r
+ *\r
+ */\r
+final class NyARVertexCounter\r
+{\r
+ public final int[] vertex=new int[10];//5まで削れる\r
+ public int number_of_vertex;\r
+ private double thresh;\r
+ private int[] x_coord;\r
+ private int[] y_coord;\r
+\r
+ public boolean getVertex(int[] i_x_coord, int[] i_y_coord, int st, int ed,double i_thresh)\r
+ {\r
+ this.number_of_vertex=0;\r
+ this.thresh=i_thresh;\r
+ this.x_coord=i_x_coord;\r
+ this.y_coord=i_y_coord;\r
+ return get_vertex(st,ed);\r
+ }\r
+ /**\r
+ * static int get_vertex( int x_coord[], int y_coord[], int st, int ed,double thresh, int vertex[], int *vnum)\r
+ * 関数の代替関数\r
+ * @param x_coord\r
+ * @param y_coord\r
+ * @param st\r
+ * @param ed\r
+ * @param thresh\r
+ * @return\r
+ */\r
+ private boolean get_vertex(int st, int ed)\r
+ {\r
+ double d, dmax;\r
+ double a, b, c;\r
+ int i, v1=0;\r
+ final int[] lx_coord=this.x_coord;\r
+ final int[] ly_coord=this.y_coord; \r
+ a = ly_coord[ed] - ly_coord[st];\r
+ b = lx_coord[st] - lx_coord[ed];\r
+ c = lx_coord[ed]*ly_coord[st] - ly_coord[ed]*lx_coord[st];\r
+ dmax = 0;\r
+ for(i=st+1;i<ed;i++) {\r
+ d = a*lx_coord[i] + b*ly_coord[i] + c;\r
+ if( d*d > dmax ) {\r
+ dmax = d*d;\r
+ v1 = i;\r
+ }\r
+ }\r
+ if( dmax/(a*a+b*b) > thresh ) {\r
+ if(!get_vertex(st, v1)){\r
+ return false;\r
+ }\r
+ if(number_of_vertex > 5 ){\r
+ return false;\r
+ }\r
+ vertex[number_of_vertex] = v1;//vertex[(*vnum)] = v1;\r
+ number_of_vertex++;//(*vnum)++;\r
+ \r
+ if(!get_vertex(v1, ed)){\r
+ return false;\r
+ }\r
+ }\r
+ return true;\r
+ }\r
+}\r
+\r
--- /dev/null
+package jp.nyatla.nyartoolkit.core;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+\r
+/**\r
+ * このクラスは、detectMarkerがマーカーオブジェクトの蓄積に使うクラスです。\r
+ * 実体を伴うマーカーホルダと、これを参照するマーカーアレイを持ちます。\r
+ * \r
+ * マーカーアレイはマーカーホルダに存在するマーカーリストを特定の条件でフィルタした\r
+ * 結果を格納します。\r
+ * \r
+ * 一度作られたマーカーホルダは繰り返し使用されます。\r
+ * \r
+ *\r
+ */\r
+public class NyARMarkerList\r
+{\r
+ private int marker_holder_num;//marker_holderの使用中の数\r
+ protected int marker_array_num;//marker_arrayの有効な数\r
+ protected final NyARMarker[] marker_holder;//マーカーデータの保持配列\r
+ protected final NyARMarker[] marker_array; //マーカーデータのインデックス配列\r
+ /**\r
+ * 派生データ型をラップするときに使う\r
+ * @param i_holder\r
+ * 値の保持配列。全要素に実体を割り当てる必要がある。\r
+ */\r
+ protected NyARMarkerList(NyARMarker[] i_holder)\r
+ {\r
+ this.marker_holder=i_holder;\r
+ this.marker_array =new NyARMarker[i_holder.length];\r
+ this.marker_array_num =0;\r
+ this.marker_holder_num =0;\r
+ }\r
+ public NyARMarkerList(int i_number_of_holder)\r
+ {\r
+ this.marker_holder=new NyARMarker[i_number_of_holder];\r
+ //先にマーカーホルダにオブジェクトを作っておく\r
+ for(int i=0;i<i_number_of_holder;i++){\r
+ this.marker_holder[i]=new NyARMarker();\r
+ }\r
+ this.marker_array =new NyARMarker[this.marker_holder.length];\r
+ this.marker_array_num =0;\r
+ this.marker_holder_num =0;\r
+ }\r
+ /**\r
+ * 現在位置のマーカーホルダを返す。\r
+ * 現在位置が終端の場合関数は失敗する。\r
+ * @return\r
+ */\r
+ public final NyARMarker getCurrentHolder() throws NyARException\r
+ {\r
+ if(this.marker_holder_num>=this.marker_holder.length){\r
+ throw new NyARException();\r
+ } \r
+ return this.marker_holder[this.marker_holder_num];\r
+ }\r
+ /**\r
+ * マーカーホルダの現在位置を1つ進めて、そのホルダを返す。\r
+ * この関数を実行すると、使用中のマーカーホルダの数が1個増える。\r
+ * @return\r
+ * 空いているマーカーホルダが無ければnullを返します。\r
+ *\r
+ */\r
+ public final NyARMarker getNextHolder()\r
+ {\r
+ //現在位置が終端位置ならnullを返す。\r
+ if(this.marker_holder_num+1>=this.marker_holder.length){\r
+ this.marker_holder_num=this.marker_holder.length;\r
+ return null;\r
+ }\r
+ this.marker_holder_num++;\r
+ return this.marker_holder[this.marker_holder_num];\r
+ }\r
+ /**\r
+ * マーカーアレイのi_indexの要素を返す。\r
+ * @param i_index\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public final NyARMarker getMarker(int i_index) throws NyARException\r
+ {\r
+ if(i_index>=marker_array_num){\r
+ throw new NyARException();\r
+ }\r
+ return this.marker_array[i_index];\r
+ }\r
+ /**\r
+ * マーカーアレイの要素数を返す。\r
+ * @return\r
+ */\r
+ public final int getMarkerNum()\r
+ {\r
+ return marker_array_num;\r
+ }\r
+ /**\r
+ * マーカーアレイの要素数と、マーカーホルダの現在位置をリセットする。\r
+ * @return\r
+ */\r
+ public final void reset()\r
+ {\r
+ this.marker_array_num=0;\r
+ this.marker_holder_num=0;\r
+ }\r
+ /**\r
+ * マーカーホルダに格納済みのマーカーから重なっているのものを除外して、\r
+ * マーカーアレイにフィルタ結果を格納します。\r
+ * [[この関数はマーカー検出処理と密接に関係する関数です。\r
+ * NyARDetectMarkerクラス以外から呼び出さないで下さい。]]\r
+ * メモ:この関数はmarker_holderの内容を変化させまするので注意。\r
+ */\r
+ public final void updateMarkerArray()\r
+ {\r
+ //重なり処理かな？\r
+ int i;\r
+ double d;\r
+ double[] pos_j,pos_i;\r
+// NyARMarker[] marker_holder;\r
+ for(i=0; i < this.marker_holder_num; i++ ){\r
+ pos_i=marker_holder[i].pos;\r
+ for(int j=i+1; j < this.marker_holder_num; j++ ) {\r
+ pos_j=marker_holder[j].pos;\r
+ d = (pos_i[0] - pos_j[0])*(pos_i[0] - pos_j[0])+\r
+ (pos_i[1] - pos_j[1])*(pos_i[1] - pos_j[1]);\r
+ if(marker_holder[i].area >marker_holder[j].area ) {\r
+ if( d <marker_holder[i].area / 4 ) {\r
+ marker_holder[j].area = 0;\r
+ }\r
+ }else{\r
+ if( d < marker_holder[j].area / 4 ) {\r
+ marker_holder[i].area = 0;\r
+ }\r
+ }\r
+ }\r
+ }\r
+ //みつかったマーカーを整理する。\r
+ int l_array_num=0;\r
+ //エリアが0のマーカーを外した配列を作って、その数もついでに計算\r
+ for(i=0;i<marker_holder_num;i++){\r
+ if(marker_holder[i].area==0.0){\r
+ continue;\r
+ }\r
+ marker_array[l_array_num]=marker_holder[i];\r
+ l_array_num++;\r
+ }\r
+ //マーカー個数を更新\r
+ this.marker_array_num=l_array_num;\r
+ } \r
+}
\ No newline at end of file
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+\r
+ \r
+\r
+/**\r
+ * ARMat構造体に対応するクラス\r
+ * typedef struct {\r
+ * double *m;\r
+ * int row;\r
+ * int clm;\r
+ * }ARMat;\r
+ *\r
+ */\r
+public class NyARMat{\r
+ /**\r
+ * 配列サイズと行列サイズは必ずしも一致しないことに注意\r
+ * 返された配列のサイズを行列の大きさとして使わないこと！\r
+ * \r
+ */\r
+ protected double[][] m;\r
+ private int clm,row;\r
+ /**\r
+ * デフォルトコンストラクタは機能しません。\r
+ * @throws NyARException\r
+ */\r
+ protected NyARMat() throws NyARException\r
+ {\r
+ throw new NyARException();\r
+ }\r
+ public NyARMat(int i_row,int i_clm)\r
+ {\r
+ m=new double[i_row][i_clm];\r
+ clm=i_clm;\r
+ row=i_row;\r
+ }\r
+ /**\r
+ * i_row x i_clmサイズの行列を格納できるように行列サイズを変更します。\r
+ * 実行後、行列の各値は不定になります。\r
+ * @param i_row\r
+ * @param i_clm\r
+ */\r
+ public void realloc(int i_row,int i_clm)\r
+ {\r
+ if(i_row<=this.m.length && i_clm<=this.m[0].length)\r
+ {\r
+ //十分な配列があれば何もしない。\r
+ }else{\r
+ //不十分なら取り直す。\r
+ m=new double[i_row][i_clm];\r
+ }\r
+ this.clm=i_clm;\r
+ this.row=i_row;\r
+ }\r
+ public int getClm()\r
+ {\r
+ return clm;\r
+ }\r
+ public int getRow()\r
+ {\r
+ return row;\r
+ }\r
+ /**\r
+ * 行列をゼロクリアする。\r
+ */\r
+ public void zeroClear()\r
+ {\r
+ int i,i2;\r
+ //For順変更OK\r
+ for(i=row-1;i>=0;i--){\r
+ for(i2=clm-1;i2>=0;i2--){\r
+ m[i][i2]=0.0;\r
+ }\r
+ }\r
+ }\r
+ /**\r
+ * i_copy_fromの内容を自分自身にコピーします。\r
+ * 高さ・幅は同一で無いと失敗します。\r
+ * @param i_copy_from\r
+ */\r
+ public void copyFrom(NyARMat i_copy_from)throws NyARException\r
+ {\r
+ //サイズ確認\r
+ if(this.row!=i_copy_from.row ||this.clm!=i_copy_from.clm)\r
+ {\r
+ throw new NyARException();\r
+ }\r
+ //値コピー\r
+ for(int r=this.row-1;r>=0;r--){\r
+ for(int c=this.clm-1;c>=0;c--){\r
+ this.m[r][c]=i_copy_from.m[r][c];\r
+ }\r
+ }\r
+ }\r
+\r
+ public double[][] getArray()\r
+ {\r
+ return m;\r
+ }\r
+// public void getRowVec(int i_row,NyARVec o_vec)\r
+// {\r
+// o_vec.set(this.m[i_row],this.clm);\r
+// }\r
+ /**\r
+ * aとbの積を自分自身に格納する。arMatrixMul()の代替品\r
+ * @param a\r
+ * @param b\r
+ * @throws NyARException\r
+ */\r
+ public void matrixMul(NyARMat a, NyARMat b) throws NyARException\r
+ {\r
+ if(a.clm != b.row || this.row != a.row || this.clm != b.clm){\r
+ throw new NyARException();\r
+ }\r
+ double w;\r
+ int r,c,i;\r
+ double[][] am=a.m,bm=b.m,dm=this.m;\r
+ //For順変更禁止\r
+ for(r = 0; r < this.row; r++){\r
+ for(c = 0; c < this.clm; c++){\r
+ w=0.0;//dest.setARELEM0(r, c,0.0);\r
+ for(i = 0; i < a.clm; i++){\r
+ w+=am[r][i]*bm[i][c];//ARELEM0(dest, r, c) += ARELEM0(a, r, i) * ARELEM0(b, i, c);\r
+ }\r
+ dm[r][c]=w;\r
+ }\r
+ }\r
+ }\r
+ private int[] wk_nos_matrixSelfInv=new int[50];\r
+// private final static double matrixSelfInv_epsl=1.0e-10;\r
+ /**\r
+ * i_targetを逆行列に変換する。arMatrixSelfInv()と、arMatrixSelfInv_minv()関数を合成してあります。\r
+ * OPTIMIZE STEP[485->422]\r
+ * @param i_target\r
+ * 逆行列にする行列\r
+ * @return\r
+ * 逆行列があればTRUE/無ければFALSE\r
+ * \r
+ * @throws NyARException\r
+ */\r
+ public boolean matrixSelfInv() throws NyARException\r
+ {\r
+ double[][] ap=this.m;\r
+ int dimen=this.row;\r
+ int dimen_1=dimen-1;\r
+ double[] ap_n,ap_ip,ap_i;//wap;\r
+ int j,ip,nwork;\r
+ int[] nos=wk_nos_matrixSelfInv;//この関数で初期化される。\r
+ //double epsl;\r
+ double p,pbuf,work;\r
+\r
+ /* check size */\r
+ switch(dimen){\r
+ case 0:\r
+ throw new NyARException();\r
+ case 1:\r
+ ap[0][0]=1.0/ap[0][0];//*ap = 1.0 / (*ap);\r
+ return true;/* 1 dimension */\r
+ }\r
+\r
+ for(int n = 0; n < dimen ; n++){\r
+ nos[n] = n;\r
+ }\r
+\r
+ /* nyatla memo\r
+ * ipが定まらないで計算が行われる場合があるので挿入。\r
+ * ループ内で0初期化していいかが判らない。\r
+ */\r
+ ip=0;\r
+ //For順変更禁止\r
+ for(int n=0; n<dimen;n++)\r
+ {\r
+ ap_n =ap[n];//wcp = ap + n * rowa;\r
+ p=0.0;\r
+ for(int i = n; i<dimen ; i++){//for(i = n, wap = wcp, p = 0.0; i < dimen ; i++, wap += rowa)\r
+ if( p < ( pbuf = Math.abs(ap[i][0]))) {\r
+ p = pbuf;\r
+ ip = i;\r
+ }\r
+ }\r
+// if (p <= matrixSelfInv_epsl){\r
+ if(p==0.0){\r
+ return false;\r
+// throw new NyARException();\r
+ }\r
+\r
+ nwork = nos[ip];\r
+ nos[ip]= nos[n];\r
+ nos[n] = nwork;\r
+ \r
+ ap_ip=ap[ip];\r
+ for(j=0; j< dimen ; j++){//for(j = 0, wap = ap + ip * rowa, wbp = wcp; j < dimen ; j++) {\r
+ work = ap_ip[j]; //work = *wap;\r
+ ap_ip[j]=ap_n[j];\r
+ ap_n[j]=work;\r
+ }\r
+ \r
+ work=ap_n[0];\r
+ for(j = 0; j < dimen_1 ; j++){//for(j = 1, wap = wcp, work = *wcp; j < dimen ; j++, wap++)\r
+ ap_n[j]=ap_n[j+1]/work;//*wap = *(wap + 1) / work;\r
+ }\r
+ ap_n[j]=1.0/work;//*wap = 1.0 / work;\r
+ for(int i = 0; i < dimen ; i++) {\r
+ if(i != n) {\r
+ ap_i =ap[i];//wap = ap + i * rowa;\r
+\r
+ work=ap_i[0];\r
+ for(j = 0;j < dimen_1 ; j++){//for(j = 1, wbp = wcp, work = *wap;j < dimen ; j++, wap++, wbp++)\r
+ ap_i[j]=ap_i[j+1]-work*ap_n[j];//wap = *(wap + 1) - work * (*wbp);\r
+ }\r
+ ap_i[j]=-work*ap_n[j];//*wap = -work * (*wbp);\r
+ }\r
+ }\r
+ }\r
+\r
+ for(int n = 0; n < dimen ; n++) {\r
+ for(j = n; j < dimen ; j++){\r
+ if( nos[j] == n){\r
+ break;\r
+ }\r
+ }\r
+ nos[j] = nos[n];\r
+ for(int i = 0; i < dimen ;i++){//for(i = 0, wap = ap + j, wbp = ap + n; i < dimen ;i++, wap += rowa, wbp += rowa) {\r
+ ap_i=ap[i];\r
+ work =ap_i[j];//work = *wap;\r
+ ap_i[j]=ap_i[n];//*wap = *wbp;\r
+ ap_i[n]=work;//*wbp = work;\r
+ }\r
+ }\r
+ return true;\r
+ }\r
+ /**\r
+ * sourceの転置行列をdestに得る。arMatrixTrans()の代替品\r
+ * @param dest\r
+ * @param source\r
+ * @return\r
+ */\r
+ public static void matrixTrans(NyARMat dest,NyARMat source) throws NyARException\r
+ {\r
+ if(dest.row != source.clm || dest.clm != source.row){\r
+ throw new NyARException();\r
+ }\r
+ NyARException.trap("未チェックのパス");\r
+ //For順変更禁止\r
+ for(int r=0;r< dest.row;r++){\r
+ for(int c=0;c<dest.clm;c++){\r
+ dest.m[r][c]=source.m[c][r];\r
+ }\r
+ }\r
+ }\r
+ /**\r
+ * unitを単位行列に初期化する。arMatrixUnitの代替品\r
+ * @param unit\r
+ */\r
+ public static void matrixUnit(NyARMat unit) throws NyARException\r
+ {\r
+ if(unit.row != unit.clm){\r
+ throw new NyARException();\r
+ }\r
+ NyARException.trap("未チェックのパス");\r
+ //For順変更禁止\r
+ for(int r = 0; r < unit.getRow(); r++) {\r
+ for(int c = 0; c < unit.getClm(); c++) {\r
+ if(r == c) {\r
+ unit.m[r][c]=1.0;\r
+ }else{\r
+ unit.m[r][c]=0.0;\r
+ }\r
+ }\r
+ }\r
+ }\r
+ /**\r
+ * sourceの内容を自身に複製する。\r
+ * Optimized 2008.04.19\r
+ * @param i_source\r
+ * @return\r
+ */\r
+ public void matrixDup(NyARMat i_source) throws NyARException\r
+ {\r
+ //自身の配列サイズを相手のそれより大きいことを保障する。\r
+ this.realloc(i_source.row,i_source.clm);\r
+ //内容を転写\r
+ int r,c;\r
+ double[][] src_m,dest_m;\r
+ src_m=i_source.m;\r
+ dest_m=this.m;\r
+ //コピーはFor順を変えてもOK\r
+ for(r = this.row-1; r>=0; r--){\r
+ for(c =this.clm-1;c>=0; c--)\r
+ {\r
+ dest_m[r][c]=src_m[r][c];\r
+ }\r
+ }\r
+ }\r
+ public NyARMat matrixAllocDup() throws NyARException\r
+ {\r
+ NyARMat result=new NyARMat(this.row,this.clm);\r
+ //コピー\r
+ int r,c;\r
+ double[][] dest_m,src_m;\r
+ dest_m=result.m;\r
+ src_m =this.m;\r
+ //コピーはFor順を変えてもOK\r
+ for(r = this.row-1; r>=0; r--){\r
+ for(c =this.clm-1;c>=0; c--)\r
+ {\r
+ dest_m[r][c]=src_m[r][c];\r
+ }\r
+ }\r
+ return result;\r
+ } \r
+ /**\r
+ * arMatrixInv関数の代替品です。\r
+ * destにsourceの逆行列を返します。\r
+ * @param dest\r
+ * @param source\r
+ * @throws NyARException\r
+ */\r
+ public static void matrixInv(NyARMat dest,NyARMat source) throws NyARException\r
+ {\r
+ NyARException.trap("未チェックのパス");\r
+ dest.matrixDup(source);\r
+\r
+ NyARException.trap("未チェックのパス");\r
+ dest.matrixSelfInv();\r
+ }\r
+ public NyARMat matrixAllocInv() throws NyARException\r
+ {\r
+ NyARException.trap("未チェックのパス");\r
+ NyARMat result=matrixAllocDup();\r
+\r
+ NyARException.trap("未チェックのパス");\r
+ result.matrixSelfInv();\r
+ return result;\r
+ }\r
+ /**\r
+ * dim x dim の単位行列を作る。\r
+ * @param dim\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public static NyARMat matrixAllocUnit(int dim) throws NyARException\r
+ {\r
+ NyARException.trap("未チェックのパス");\r
+ NyARMat result = new NyARMat(dim, dim);\r
+ NyARException.trap("未チェックのパス");\r
+ NyARMat.matrixUnit(result);\r
+ return result;\r
+ }\r
+ /**\r
+ * arMatrixDispの代替品\r
+ * @param m\r
+ * @return\r
+ */\r
+ public int matrixDisp() throws NyARException\r
+ {\r
+ NyARException.trap("未チェックのパス");\r
+ System.out.println(" === matrix ("+row+","+clm+") ===");//printf(" === matrix (%d,%d) ===\n", m->row, m->clm);\r
+ for(int r = 0; r < row; r++){//for(int r = 0; r < m->row; r++) {\r
+ System.out.print(" |");//printf(" |");\r
+ for(int c = 0; c < clm; c++) {//for(int c = 0; c < m->clm; c++) {\r
+ System.out.print(" "+m[r][c]);//printf(" %10g", ARELEM0(m, r, c));\r
+ }\r
+ System.out.println(" |");//printf(" |\n");\r
+ }\r
+ System.out.println(" ======================");//printf(" ======================\n");\r
+ return 0;\r
+ }\r
+ private final static double PCA_EPS=1e-6; //#define EPS 1e-6\r
+ private final static int PCA_MAX_ITER=100; //#define MAX_ITER 100\r
+ private final static double PCA_VZERO=1e-16; //#define VZERO 1e-16\r
+ /**\r
+ * static int EX( ARMat *input, ARVec *mean )の代替関数\r
+ * Optimize:STEP:[144->110]\r
+ * @param input\r
+ * @param mean\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ private void PCA_EX(NyARVec mean) throws NyARException\r
+ {\r
+ int lrow,lclm;\r
+ int i,i2;\r
+ lrow = this.row;\r
+ lclm = this.clm;\r
+ double lm[][]=this.m;\r
+ \r
+ if(lrow <= 0 || lclm <= 0){\r
+ throw new NyARException();\r
+ }\r
+ if( mean.getClm() != lclm ){\r
+ throw new NyARException();\r
+ }\r
+// double[] mean_array=mean.getArray();\r
+// mean.zeroClear();\r
+ final double[] mean_array=mean.getArray();\r
+ double w;\r
+ //For順変更禁止\r
+ for(i2=0;i2<lclm;i2++){\r
+ w=0.0;\r
+ for(i=0;i<lrow;i++){\r
+ //*(v++) += *(m++);\r
+ w+=lm[i][i2];\r
+ }\r
+ mean_array[i2]=w/lrow;//mean->v[i] /= row;\r
+ }\r
+ }\r
+ /**\r
+ * static int CENTER( ARMat *inout, ARVec *mean )の代替関数\r
+ * @param inout\r
+ * @param mean\r
+ * @return\r
+ */\r
+ private static void PCA_CENTER(NyARMat inout, NyARVec mean) throws NyARException\r
+ {\r
+ double[] v;\r
+ int row, clm;\r
+ \r
+ row = inout.getRow();\r
+ clm = inout.getClm();\r
+ if(mean.getClm()!= clm){\r
+ throw new NyARException();\r
+ }\r
+ double[][] im=inout.m;\r
+ double[] im_i;\r
+ double w0,w1;\r
+ v = mean.getArray();\r
+ //特にパフォーマンスが劣化するclm=1と2ときだけ、別パスで処理します。\r
+ switch(clm){\r
+ case 1:\r
+ w0=v[0];\r
+ for(int i = 0; i < row; i++ ){\r
+ im[i][0]-=w0;\r
+ }\r
+ break;\r
+ case 2:\r
+ w0=v[0];\r
+ w1=v[1];\r
+ for(int i = 0; i < row; i++ ){\r
+ im_i=im[i];\r
+ im_i[0]-=w0;\r
+ im_i[1]-=w1;\r
+ }\r
+ break;\r
+ default:\r
+ for(int i = 0; i < row; i++ ){\r
+ im_i=im[i];\r
+ for(int j = 0; j < clm; j++ ){\r
+ //*(m++) -= *(v++);\r
+ im_i[j]-=v[j];\r
+ }\r
+ }\r
+ }\r
+ return;\r
+ }\r
+ /**\r
+ * int x_by_xt( ARMat *input, ARMat *output )の代替関数\r
+ * @param input\r
+ * @param output\r
+ * @throws NyARException\r
+ */\r
+ private static void PCA_x_by_xt( NyARMat input, NyARMat output) throws NyARException\r
+ {\r
+ NyARException.trap("動作未チェック/配列化未チェック");\r
+ int row, clm;\r
+// double[][] out;\r
+ double[] in1,in2;\r
+ \r
+ NyARException.trap("未チェックのパス");\r
+ row = input.row;\r
+ clm = input.clm;\r
+ NyARException.trap("未チェックのパス");\r
+ if( output.row != row || output.clm != row ){\r
+ throw new NyARException();\r
+ }\r
+ \r
+// out = output.getArray();\r
+ for(int i = 0; i < row; i++ ) {\r
+ for(int j = 0; j < row; j++ ) {\r
+ if( j < i ) {\r
+ NyARException.trap("未チェックのパス");\r
+ output.m[i][j]=output.m[j][i];//*out = output->m[j*row+i];\r
+ }else{\r
+ NyARException.trap("未チェックのパス");\r
+ in1=input.m[i];//input.getRowArray(i);//in1 = &(input->m[clm*i]);\r
+ in2=input.m[j];//input.getRowArray(j);//in2 = &(input->m[clm*j]);\r
+ output.m[i][j]=0;//*out = 0.0;\r
+ for(int k = 0; k < clm; k++ ){\r
+ output.m[i][j]+=(in1[k]*in2[k]);//*out += *(in1++) * *(in2++);\r
+ }\r
+ }\r
+ // out.incPtr();\r
+ }\r
+ }\r
+ }\r
+ /**\r
+ * static int xt_by_x( ARMat *input, ARMat *output )の代替関数\r
+ * Optimize:2008.04.19\r
+ * @param input\r
+ * @param i_output\r
+ * @throws NyARException\r
+ */\r
+ private static void PCA_xt_by_x(NyARMat input, NyARMat i_output) throws NyARException\r
+ {\r
+ double[] in;\r
+ int row, clm;\r
+ \r
+ row = input.row;\r
+ clm = input.clm;\r
+ if(i_output.row!= clm || i_output.clm != clm ){\r
+ throw new NyARException();\r
+ }\r
+ \r
+ int k,j;\r
+ double[][] out_m=i_output.m;\r
+ double w;\r
+ for(int i = 0; i < clm; i++ ) {\r
+ for(j = 0; j < clm; j++ ) {\r
+ if( j < i ) {\r
+ out_m[i][j]=out_m[j][i];//*out = output->m[j*clm+i];\r
+ }else{\r
+ w=0.0;//*out = 0.0;\r
+ for(k = 0; k < row; k++ ){\r
+ in=input.m[k];//in=input.getRowArray(k);\r
+ w+=(in[i]*in[j]);//*out += *in1 * *in2;\r
+ }\r
+ out_m[i][j]=w;\r
+ }\r
+ }\r
+ }\r
+ }\r
+ private final NyARVec wk_PCA_QRM_ev=new NyARVec(1);\r
+ /**\r
+ * static int QRM( ARMat *a, ARVec *dv )の代替関数\r
+ * @param a\r
+ * @param dv\r
+ * @throws NyARException\r
+ */\r
+ private void PCA_QRM(NyARVec dv) throws NyARException\r
+ {\r
+ double w, t, s, x, y, c;\r
+ int dim, iter;\r
+ double[] dv_array=dv.getArray();\r
+\r
+ dim = this.row;\r
+ if( dim != this.clm || dim < 2 ){\r
+ throw new NyARException();\r
+ }\r
+ if( dv.getClm() != dim ){\r
+ throw new NyARException();\r
+ }\r
+\r
+ NyARVec ev = this.wk_PCA_QRM_ev;\r
+ ev.realloc(dim);\r
+ double[] ev_array=ev.getArray();\r
+ if( ev == null ){\r
+ throw new NyARException();\r
+ }\r
+ final double[][] L_m=this.m;\r
+ this.vecTridiagonalize(dv,ev,1);\r
+\r
+ ev_array[0]=0.0;//ev->v[0] = 0.0;\r
+ for(int h = dim-1; h > 0; h-- ) {\r
+ int j = h;\r
+ while(j>0 && Math.abs(ev_array[j]) > PCA_EPS*(Math.abs(dv_array[j-1])+Math.abs(dv_array[j]))){// while(j>0 && fabs(ev->v[j]) > EPS*(fabs(dv->v[j-1])+fabs(dv->v[j]))) j--;\r
+ j--;\r
+ }\r
+ if( j == h ){\r
+ continue;\r
+ }\r
+ iter = 0;\r
+ do{\r
+ iter++;\r
+ if( iter > PCA_MAX_ITER ){\r
+ break;\r
+ }\r
+ w = (dv_array[h-1] - dv_array[h]) / 2;//w = (dv->v[h-1] - dv->v[h]) / 2;//ここ？\r
+ t = ev_array[h] * ev_array[h];//t = ev->v[h] * ev->v[h];\r
+ s = Math.sqrt(w*w+t);\r
+ if( w < 0 ){\r
+ s = -s;\r
+ }\r
+ x=dv_array[j] - dv_array[h] + t/(w+s);//x = dv->v[j] - dv->v[h] + t/(w+s);\r
+ y=ev_array[j+1];//y = ev->v[j+1];\r
+ for(int k = j; k < h; k++ ){\r
+ if( Math.abs(x) >= Math.abs(y)){\r
+ if( Math.abs(x) > PCA_VZERO ) {\r
+ t = -y / x;\r
+ c = 1 / Math.sqrt(t*t+1);\r
+ s = t * c;\r
+ }else{\r
+ c = 1.0;\r
+ s = 0.0;\r
+ }\r
+ }else{\r
+ t = -x / y;\r
+ s = 1.0 / Math.sqrt(t*t+1);\r
+ c = t * s;\r
+ }\r
+ w = dv_array[k] - dv_array[k+1];//w = dv->v[k] - dv->v[k+1];\r
+ t = (w * s + 2 * c * ev_array[k+1]) * s;//t = (w * s + 2 * c * ev->v[k+1]) * s;\r
+ dv_array[k]-=t;//dv->v[k] -= t;\r
+ dv_array[k+1]+=t;//dv->v[k+1] += t;\r
+ if( k > j){\r
+ NyARException.trap("未チェックパス");{\r
+ ev_array[k]=c * ev_array[k] - s * y;//ev->v[k] = c * ev->v[k] - s * y;\r
+ }\r
+ }\r
+ ev_array[k+1]+=s * (c * w - 2 * s * ev_array[k+1]);//ev->v[k+1] += s * (c * w - 2 * s * ev->v[k+1]);\r
+\r
+ for(int i = 0; i < dim; i++ ){\r
+ x = L_m[k][i];//x = a->m[k*dim+i];\r
+ y = L_m[k+1][i];//y = a->m[(k+1)*dim+i];\r
+ L_m[k][i]=c * x - s * y;//a->m[k*dim+i] = c * x - s * y;\r
+ L_m[k+1][i]=s * x + c * y;//a->m[(k+1)*dim+i] = s * x + c * y;\r
+ }\r
+ if( k < h-1 ) {\r
+ NyARException.trap("未チェックパス");{\r
+ x = ev_array[k+1];//x = ev->v[k+1];\r
+ y =-s*ev_array[k+2];//y = -s * ev->v[k+2];\r
+ ev_array[k+2]*=c;//ev->v[k+2] *= c;\r
+ }\r
+ }\r
+ }\r
+ }while(Math.abs(ev_array[h]) > PCA_EPS*(Math.abs(dv_array[h-1])+Math.abs(dv_array[h])));\r
+ }\r
+ for(int k = 0; k < dim-1; k++ ) {\r
+ int h = k;\r
+ t=dv_array[h];//t = dv->v[h];\r
+ for(int i = k+1; i < dim; i++ ){\r
+ if(dv_array[i] > t ){//if( dv->v[i] > t ) {\r
+ h = i;\r
+ t=dv_array[h];//t = dv->v[h];\r
+ }\r
+ }\r
+ dv_array[h]=dv_array[k];//dv->v[h] = dv->v[k];\r
+ dv_array[k]=t;//dv->v[k] = t;\r
+ this.flipRow(h,k);\r
+ }\r
+ }\r
+ /**\r
+ * i_row_1番目の行と、i_row_2番目の行を入れ替える。\r
+ * @param i_row_1\r
+ * @param i_row_2\r
+ */\r
+ private void flipRow(int i_row_1,int i_row_2)\r
+ {\r
+ int i;\r
+ double w;\r
+ double[] r1=this.m[i_row_1],r2=this.m[i_row_2];\r
+ //For順変更OK\r
+ for(i=clm-1;i>=0;i--){\r
+ w=r1[i];\r
+ r1[i]=r2[i];\r
+ r2[i]=w;\r
+ }\r
+ }\r
+ /**\r
+ * static int EV_create( ARMat *input, ARMat *u, ARMat *output, ARVec *ev )の代替関数\r
+ * @param input\r
+ * @param u\r
+ * @param output\r
+ * @param ev\r
+ * @throws NyARException\r
+ */\r
+ private static void PCA_EV_create(NyARMat input, NyARMat u, NyARMat output, NyARVec ev) throws NyARException\r
+ {\r
+ NyARException.trap("未チェックのパス");\r
+ int row, clm;\r
+ row = input.row;//row = input->row;\r
+ clm = input.clm;//clm = input->clm;\r
+ if( row <= 0 || clm <= 0 ){\r
+ throw new NyARException();\r
+ }\r
+ if( u.row != row || u.clm != row ){//if( u->row != row || u->clm != row ){\r
+ throw new NyARException();\r
+ }\r
+ if( output.row != row || output.clm != clm ){//if( output->row != row || output->clm != clm ){\r
+ throw new NyARException();\r
+ }\r
+ if( ev.getClm()!= row ){//if( ev->clm != row ){\r
+ throw new NyARException();\r
+ }\r
+ double[][] m,in;\r
+ double[] m1,ev_array;\r
+ double sum, work;\r
+ \r
+ NyARException.trap("未チェックのパス");\r
+ m =output.m;//m = output->m;\r
+ in=input.m;\r
+ int i;\r
+ ev_array=ev.getArray();\r
+ for(i = 0; i < row; i++ ) {\r
+ NyARException.trap("未チェックのパス");\r
+ if( ev_array[i]<PCA_VZERO ){//if( ev->v[i] < VZERO ){\r
+ break;\r
+ }\r
+ NyARException.trap("未チェックのパス");\r
+ work = 1 / Math.sqrt(Math.abs(ev_array[i]));//work = 1 / sqrt(fabs(ev->v[i]));\r
+ for(int j = 0; j < clm; j++ ) {\r
+ sum = 0.0;\r
+ m1=u.m[i];//m1 = &(u->m[i*row]);\r
+ // m2=input.getPointer(j);//m2 = &(input->m[j]);\r
+ for(int k = 0; k < row; k++ ) {\r
+ sum+=m1[k]+in[k][j];//sum += *m1 * *m2;\r
+ // m1.incPtr(); //m1++;\r
+ // m2.addPtr(clm);//m2 += clm;\r
+ }\r
+ m1[j]=sum * work;//*(m++) = sum * work;\r
+ // {//*(m++) = sum * work;\r
+ // m.set(sum * work);\r
+ // m.incPtr();}\r
+ }\r
+ }\r
+ for( ; i < row; i++ ) {\r
+ NyARException.trap("未チェックのパス");\r
+ ev_array[i]=0.0;//ev->v[i] = 0.0;\r
+ for(int j = 0; j < clm; j++ ){\r
+ m[i][j]=0.0;\r
+ // m.set(0.0);//*(m++) = 0.0;\r
+ // m.incPtr();\r
+ }\r
+ }\r
+ }\r
+ private NyARMat wk_PCA_PCA_u=null;\r
+ /**\r
+ * static int PCA( ARMat *input, ARMat *output, ARVec *ev )\r
+ * \r
+ * @param output\r
+ * @param o_ev\r
+ * @throws NyARException\r
+ */\r
+ private void PCA_PCA(NyARMat o_output, NyARVec o_ev) throws NyARException\r
+ {\r
+ \r
+ int l_row, l_clm, min;\r
+ double[] ev_array=o_ev.getArray();\r
+\r
+ l_row =this.row;//row = input->row;\r
+ l_clm =this.clm;//clm = input->clm;\r
+ min =(l_clm < l_row)? l_clm: l_row;\r
+ if( l_row < 2 || l_clm < 2 ){\r
+ throw new NyARException();\r
+ }\r
+ if( o_output.clm != this.clm){//if( output->clm != input->clm ){\r
+ throw new NyARException();\r
+ }\r
+ if( o_output.row!= min ){//if( output->row != min ){\r
+ throw new NyARException();\r
+ }\r
+ if( o_ev.getClm() != min ){//if( ev->clm != min ){\r
+ throw new NyARException();\r
+ }\r
+ \r
+ NyARMat u;// u =new NyARMat( min, min );\r
+ if(this.wk_PCA_PCA_u==null){\r
+ u=new NyARMat( min, min );\r
+ this.wk_PCA_PCA_u=u;\r
+ }else{\r
+ u=this.wk_PCA_PCA_u;\r
+ u.realloc(min,min);\r
+ }\r
+ \r
+ \r
+ if( l_row < l_clm ){\r
+ NyARException.trap("未チェックのパス");\r
+ PCA_x_by_xt( this, u );//if(x_by_xt( input, u ) < 0 ) {\r
+ }else{\r
+ PCA_xt_by_x( this, u );//if(xt_by_x( input, u ) < 0 ) {\r
+ }\r
+ u.PCA_QRM(o_ev);\r
+\r
+ double[][] m1,m2;\r
+ if( l_row < l_clm ) {\r
+ NyARException.trap("未チェックのパス");\r
+ PCA_EV_create( this, u, o_output, o_ev );\r
+ }else{\r
+ m1=u.m;//m1 = u->m;\r
+ m2=o_output.m;//m2 = output->m;\r
+ int i;\r
+ for(i = 0; i < min; i++){\r
+ if( ev_array[i] < PCA_VZERO){//if( ev->v[i] < VZERO ){\r
+ break;\r
+ }\r
+ for(int j = 0; j < min; j++ ){\r
+ m2[i][j]=m1[i][j];//*(m2++) = *(m1++);\r
+ }\r
+ }\r
+ for( ; i < min; i++){//for( ; i < min; i++){\r
+ //コードを見た限りあってそうだからコメントアウト(2008/03/26)NyARException.trap("未チェックのパス");\r
+ ev_array[i]=0.0;//ev->v[i] = 0.0;\r
+ for(int j = 0; j < min; j++ ){\r
+ m2[i][j]=0.0;//*(m2++) = 0.0;\r
+ }\r
+ }\r
+ }\r
+ }\r
+ private NyARMat wk_work_matrixPCA=null;\r
+ /**\r
+ * int arMatrixPCA( ARMat *input, ARMat *evec, ARVec *ev, ARVec *mean );\r
+ * 関数の置き換え。input引数がthisになる。\r
+ * Optimize:2008.04.19\r
+ * @param o_evec\r
+ * @param o_ev\r
+ * \r
+ * @param mean\r
+ * @throws NyARException\r
+ */ \r
+ public void matrixPCA(NyARMat o_evec, NyARVec o_ev, NyARVec mean) throws NyARException\r
+ {\r
+ double srow, sum;\r
+ int l_row, l_clm;\r
+ int check;\r
+ \r
+\r
+ l_row=this.row;//row = input->row;\r
+ l_clm=this.clm;//clm = input->clm;\r
+ check = (l_row < l_clm)? l_row: l_clm;\r
+ if( l_row < 2 || l_clm < 2 ){\r
+ throw new NyARException();\r
+ }\r
+ if( o_evec.clm != l_clm || o_evec.row != check ){//if( evec->clm != input->clm || evec->row != check ){\r
+ throw new NyARException();\r
+ }\r
+ if( o_ev.getClm() != check ){//if( ev->clm != check ){\r
+ throw new NyARException();\r
+ }\r
+ if( mean.getClm() != l_clm){//if( mean->clm != input->clm ){\r
+ throw new NyARException();\r
+ }\r
+\r
+ //自分の内容をワークにコピー(高速化の為に、1度作ったインスタンスは使いまわす)\r
+ NyARMat work;\r
+ if(this.wk_work_matrixPCA==null){\r
+ work=this.matrixAllocDup();\r
+ this.wk_work_matrixPCA=work;\r
+ }else{\r
+ work=this.wk_work_matrixPCA;\r
+ work.matrixDup(this);//arMatrixAllocDup( input );work = arMatrixAllocDup( input );\r
+ }\r
+ \r
+ \r
+ srow = Math.sqrt((double)l_row);\r
+ work.PCA_EX(mean );\r
+\r
+ PCA_CENTER(work,mean);\r
+\r
+\r
+ int i,j;\r
+ //For順変更OK\r
+ for(i=0; i<l_row; i++){\r
+ for(j=0;j<l_clm;j++){\r
+ work.m[i][j]/=srow;//work->m[i] /= srow;\r
+ }\r
+ }\r
+ \r
+ work.PCA_PCA(o_evec, o_ev);\r
+ \r
+ sum = 0.0;\r
+ double[] ev_array=o_ev.getArray();\r
+ int ev_clm=o_ev.getClm();\r
+ //For順変更禁止\r
+ for(i=0;i<ev_clm;i++){//for(int i = 0; i < ev->clm; i++ ){\r
+ sum+=ev_array[i];//sum += ev->v[i];\r
+ }\r
+ //For順変更禁止\r
+ for(i=0;i<ev_clm;i++){//for(int i = 0; i < ev->clm; i++ ){\r
+ ev_array[i]/=sum;//ev->v[i] /= sum;\r
+ }\r
+ }\r
+\r
+ /*int arMatrixPCA2( ARMat *input, ARMat *evec, ARVec *ev );*/\r
+ public static void arMatrixPCA2( NyARMat input, NyARMat evec, NyARVec ev) throws NyARException\r
+ {\r
+ NyARException.trap("未チェックのパス");\r
+ NyARMat work;\r
+ // double srow; // unreferenced\r
+ double sum;\r
+ int row, clm;\r
+ int check;\r
+\r
+ row=input.row;//row = input->row;\r
+ clm=input.clm;//clm = input->clm;\r
+ check = (row < clm)? row: clm;\r
+ if( row < 2 || clm < 2 ){\r
+ throw new NyARException();\r
+ }\r
+ if( evec.getClm()!= input.clm|| evec.row!=check){//if( evec->clm != input->clm || evec->row != check ){\r
+ throw new NyARException();\r
+ }\r
+ if( ev.getClm() != check ){//if( ev->clm != check ){\r
+ throw new NyARException();\r
+ }\r
+ \r
+ NyARException.trap("未チェックのパス");\r
+ work =input.matrixAllocDup();\r
+\r
+ NyARException.trap("未チェックパス");\r
+ work.PCA_PCA(evec, ev );//rval = PCA( work, evec, ev );\r
+ sum = 0.0;\r
+ double[] ev_array=ev.getArray();\r
+ for(int i = 0; i < ev.getClm(); i++ ){//for( i = 0; i < ev->clm; i++ ){\r
+ NyARException.trap("未チェックパス");\r
+ sum+=ev_array[i];//sum += ev->v[i];\r
+ }\r
+ for(int i = 0; i < ev.getClm(); i++ ){//for(int i = 0; i < ev->clm; i++ ){\r
+ NyARException.trap("未チェックパス");\r
+ ev_array[i]/=sum;//ev->v[i] /= sum;\r
+ }\r
+ return;\r
+ }\r
+ public static NyARMat matrixAllocMul(NyARMat a, NyARMat b) throws NyARException\r
+ {\r
+ NyARException.trap("未チェックのパス");\r
+ NyARMat dest=new NyARMat(a.row, b.clm);\r
+ NyARException.trap("未チェックのパス");\r
+ dest.matrixMul(a, b);\r
+ return dest;\r
+ }\r
+ /*static double mdet(double *ap, int dimen, int rowa)*/\r
+ private static double Det_mdet(double[][] ap, int dimen, int rowa) throws NyARException\r
+ {\r
+ NyARException.trap("動作未チェック/配列化未チェック");\r
+ double det = 1.0;\r
+ double work;\r
+ int is = 0;\r
+ int mmax;\r
+ \r
+ for(int k = 0; k < dimen - 1; k++) {\r
+ mmax = k;\r
+ for(int i = k + 1; i < dimen; i++){\r
+// if (Math.abs(arMatrixDet_MATRIX_get(ap, i, k, rowa)) > Math.abs(arMatrixDet_MATRIX_get(ap, mmax, k, rowa))){\r
+ if (Math.abs(ap[i][k]) > Math.abs(ap[mmax][k])){\r
+ mmax = i;\r
+ }\r
+ }\r
+ if(mmax != k) {\r
+ for (int j = k; j < dimen; j++) {\r
+ work = ap[k][j];//work = MATRIX(ap, k, j, rowa);\r
+ ap[k][j]=ap[mmax][j];//MATRIX(ap, k, j, rowa) = MATRIX(ap, mmax, j, rowa);\r
+ ap[mmax][j]=work;//MATRIX(ap, mmax, j, rowa) = work;\r
+ }\r
+ is++;\r
+ }\r
+ for(int i = k + 1; i < dimen; i++) {\r
+ work = ap[i][k]/ ap[k][k];//work = arMatrixDet_MATRIX_get(ap, i, k, rowa) / arMatrixDet_MATRIX_get(ap, k, k, rowa);\r
+ for (int j = k + 1; j < dimen; j++){\r
+ //MATRIX(ap, i, j, rowa) -= work * MATRIX(ap, k, j, rowa);\r
+ ap[i][j]-=work * ap[k][j];\r
+ }\r
+ }\r
+ }\r
+ for(int i = 0; i < dimen; i++){\r
+ det=ap[i][i];//det *= MATRIX(ap, i, i, rowa);\r
+ }\r
+ for(int i = 0; i < is; i++){ \r
+ det *= -1.0;\r
+ }\r
+ return det;\r
+ }\r
+ /*double arMatrixDet(ARMat *m);*/\r
+ public static double arMatrixDet(NyARMat m) throws NyARException\r
+ {\r
+ NyARException.trap("動作未チェック/配列化未チェック");\r
+ if(m.row != m.clm){\r
+ return 0.0;\r
+ }\r
+ return Det_mdet(m.getArray(), m.row, m.clm);//return mdet(m->m, m->row, m->row);\r
+ }\r
+ private final NyARVec wk_vecTridiagonalize_vec=new NyARVec(0);\r
+ private final NyARVec wk_vecTridiagonalize_vec2=new NyARVec(0);\r
+ /**\r
+ * arVecTridiagonalize関数の代替品\r
+ * a,d,e間で演算をしてる。何をどうしているかはさっぱりさっぱり\r
+ * @param a\r
+ * @param d\r
+ * @param e\r
+ * @param i_e_start\r
+ * 演算開始列(よくわからないけどarVecTridiagonalizeの呼び出し元でなんかしてる)\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ private void vecTridiagonalize(NyARVec d, NyARVec e,int i_e_start) throws NyARException\r
+ {\r
+ NyARVec vec=wk_vecTridiagonalize_vec;\r
+ //double[][] a_array=a.getArray();\r
+ double s, t, p, q;\r
+ int dim;\r
+\r
+ if(this.clm!=this.row){//if(a.getClm()!=a.getRow()){\r
+ throw new NyARException();\r
+ }\r
+ if(this.clm != d.getClm()){//if(a.getClm() != d.clm){\r
+ throw new NyARException();\r
+ }\r
+ if(this.clm != e.getClm()){//if(a.getClm() != e.clm){\r
+ throw new NyARException();\r
+ }\r
+ dim = this.getClm();\r
+ \r
+ double[] d_vec,e_vec;\r
+ d_vec=d.getArray();\r
+ e_vec=e.getArray();\r
+ double[] a_vec_k;\r
+\r
+ for(int k = 0; k < dim-2; k++ ){\r
+ \r
+ a_vec_k=this.m[k];\r
+ vec.setNewArray(a_vec_k,clm);//vec=this.getRowVec(k);//double[] vec_array=vec.getArray();\r
+ NyARException.trap("未チェックパス"); \r
+ d_vec[k]=a_vec_k[k];//d.v[k]=vec.v[k];//d.set(k,v.get(k)); //d->v[k] = v[k];\r
+\r
+ //wv1.clm = dim-k-1;\r
+ //wv1.v = &(v[k+1]);\r
+ NyARException.trap("未チェックパス"); \r
+ e_vec[k+i_e_start]=vec.vecHousehold(k+1);//e.v[k+i_e_start]=vec.vecHousehold(k+1);//e->v[k] = arVecHousehold(&wv1);\r
+ if(e_vec[k+i_e_start]== 0.0 ){//if(e.v[k+i_e_start]== 0.0 ){//if(e.v[k+i_e_start]== 0.0 ){\r
+ continue;\r
+ }\r
+\r
+ for(int i = k+1; i < dim; i++ ){\r
+ s = 0.0;\r
+ for(int j = k+1; j < i; j++ ) {\r
+ NyARException.trap("未チェックのパス");\r
+ s += this.m[j][i] * a_vec_k[j];//s += a_array[j][i] * vec.v[j];//s += a.get(j*dim+i) * v.get(j);//s += a->m[j*dim+i] * v[j];\r
+ }\r
+ for(int j = i; j < dim; j++ ) {\r
+ NyARException.trap("未チェックのパス");\r
+ s += this.m[i][j] * a_vec_k[j];//s += a_array[i][j] * vec.v[j];//s += a.get(i*dim+j) * v.get(j);//s += a->m[i*dim+j] * v[j];\r
+ }\r
+ NyARException.trap("未チェックのパス");\r
+ d_vec[i]=s;//d.v[i]=s;//d->v[i] = s;\r
+ }\r
+ \r
+\r
+ //wv1.clm = wv2.clm = dim-k-1;\r
+ //wv1.v = &(v[k+1]);\r
+ //wv2.v = &(d->v[k+1]);\r
+ a_vec_k=this.m[k];\r
+ vec.setNewArray(a_vec_k,clm);//vec=this.getRowVec(k);\r
+// vec_array=vec.getArray();\r
+ NyARException.trap("未チェックパス"); \r
+ t = vec.vecInnerproduct(d,k+1)/ 2;\r
+ for(int i = dim-1; i > k; i-- ) {\r
+ NyARException.trap("未チェックパス"); \r
+ p = a_vec_k[i];//p = v.get(i);//p = v[i];\r
+ d_vec[i]-=t*p;q=d_vec[i];//d.v[i]-=t*p;q=d.v[i];//q = d->v[i] -= t*p；\r
+ for(int j = i; j < dim; j++ ){\r
+ NyARException.trap("未チェックパス"); \r
+ this.m[i][j]-=p*(d_vec[j] + q*a_vec_k[j]);//a.m[i][j]-=p*(d.v[j] + q*vec.v[j]);//a->m[i*dim+j] -= p*(d->v[j]) + q*v[j];\r
+ }\r
+ }\r
+ }\r
+\r
+ if( dim >= 2) {\r
+ d_vec[dim-2]=this.m[dim-2][dim-2];//d.v[dim-2]=a.m[dim-2][dim-2];//d->v[dim-2] = a->m[(dim-2)*dim+(dim-2)];\r
+ e_vec[dim-2+i_e_start]=this.m[dim-2][dim-1];//e.v[dim-2+i_e_start]=a.m[dim-2][dim-1];//e->v[dim-2] = a->m[(dim-2)*dim+(dim-1)];\r
+ }\r
+\r
+ if( dim >= 1 ){\r
+ d_vec[dim-1]=this.m[dim-1][dim-1];//d.v[dim-1]=a_array[dim-1][dim-1];//d->v[dim-1] = a->m[(dim-1)*dim+(dim-1)];\r
+ }\r
+ NyARVec vec2=this.wk_vecTridiagonalize_vec2;\r
+ for(int k = dim-1; k >= 0; k--) {\r
+ a_vec_k=this.m[k];\r
+ vec.setNewArray(a_vec_k,clm);//vec=this.getRowVec(k);//v = a.getPointer(k*dim);//v = &(a->m[k*dim]);\r
+ if( k < dim-2 ) {\r
+ for(int i = k+1; i < dim; i++ ){\r
+ //wv1.clm = wv2.clm = dim-k-1;\r
+ //wv1.v = &(v[k+1]);\r
+ //wv2.v = &(a->m[i*dim+k+1]);\r
+ vec2.setNewArray(this.m[i],clm);//vec2=this.getRowVec(i);\r
+ \r
+ t = vec.vecInnerproduct(vec2,k+1);\r
+ for(int j = k+1; j < dim; j++ ){\r
+ NyARException.trap("未チェックパス"); \r
+ this.m[i][j]-=t*a_vec_k[j];//a_array[i][j]-=t*vec.v[j];//a.subValue(i*dim+j,t*v.get(j));//a->m[i*dim+j] -= t * v[j];\r
+ }\r
+ }\r
+ }\r
+ for(int i = 0; i < dim; i++ ){\r
+ a_vec_k[i]=0.0;//v.set(i,0.0);//v[i] = 0.0;\r
+ }\r
+ a_vec_k[k]=1;//v.set(k,1);//v[k] = 1;\r
+ }\r
+ return;\r
+ } \r
+}
\ No newline at end of file
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+\r
+import java.io.*;\r
+import java.nio.*;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.util.DoubleValue;\r
+\r
+/*typedef struct {\r
+ int xsize, ysize;\r
+ double mat[3][4];\r
+ double dist_factor[4];\r
+} ARParam;*/\r
+public class NyARParam{\r
+ private static final int SIZE_OF_PARAM_SET=4+4+(3*4*8)+(4*8);\r
+ private static final int PD_LOOP = 3;\r
+ protected int xsize, ysize;\r
+ private double[] array34=new double[3*4];//Double2dArray mat=new Double2dArray(3,4);\r
+ private double[] dist_factor=new double[4];\r
+ public int getX()\r
+ {\r
+ return xsize;\r
+ }\r
+ public int getY()\r
+ {\r
+ return ysize;\r
+ }\r
+ public double[] getDistFactor()\r
+ {\r
+ return dist_factor;\r
+ }\r
+ /**\r
+ * パラメタを格納した[4x3]配列を返します。\r
+ * @return\r
+ */\r
+ public final double[] get34Array()\r
+ {\r
+ return array34;\r
+ }\r
+ /**\r
+ * ARToolKit標準ファイルから1個目の設定をロードする。\r
+ * @param i_filename\r
+ * @throws NyARException\r
+ */\r
+ public void loadFromARFile(String i_filename) throws NyARException\r
+ {\r
+ try {\r
+ loadFromARFile(new FileInputStream(i_filename));\r
+ } catch (Exception e) {\r
+ throw new NyARException(e);\r
+ }\r
+ }\r
+ public void loadFromARFile(InputStream i_stream) throws NyARException\r
+ {\r
+ try {\r
+ NyARParam new_inst[] = arParamLoad(i_stream, 1);\r
+ i_stream.close();\r
+ xsize = new_inst[0].xsize;\r
+ ysize = new_inst[0].ysize;\r
+ array34 = new_inst[0].array34;\r
+ dist_factor = new_inst[0].dist_factor;\r
+ } catch (Exception e) {\r
+ throw new NyARException(e);\r
+ }\r
+ }\r
+ /*static double dot( double a1, double a2, double a3,double b1, double b2, double b3 )*/\r
+ private final static double dot( double a1, double a2, double a3,double b1, double b2, double b3 )\r
+ {\r
+ return( a1 * b1 + a2 * b2 + a3 * b3 );\r
+ }\r
+ /* static double norm( double a, double b, double c )*/\r
+ private final static double norm( double a, double b, double c )\r
+ {\r
+ return Math.sqrt( a*a + b*b + c*c );\r
+ }\r
+ /**\r
+ * int arParamDecompMat( double source[3][4], double cpara[3][4], double trans[3][4] );\r
+ * 関数の置き換え\r
+ * Optimize STEP[754->665]\r
+ * @param o_cpara\r
+ * 戻り引数。3x4のマトリクスを指定すること。\r
+ * @param o_trans\r
+ * 戻り引数。3x4のマトリクスを指定すること。\r
+ * @return\r
+ */\r
+ public void decompMat(NyARMat o_cpara, NyARMat o_trans)\r
+ {\r
+ double[] source=array34;\r
+ double[] Cpara=new double[3*4];//double Cpara[3][4];\r
+ double rem1, rem2, rem3;\r
+ int i;\r
+ if(source[2*4+3]>= 0 ){//if( source[2][3] >= 0 ) {\r
+ //<Optimize>\r
+ //for(int r = 0; r < 3; r++ ){\r
+ // for(int c = 0; c < 4; c++ ){\r
+ // Cpara[r][c]=source[r][c];//Cpara[r][c] = source[r][c];\r
+ // }\r
+ //}\r
+ for(i=0;i<12;i++){\r
+ Cpara[i]=source[i];//Cpara[r][c] = source[r][c];\r
+ }\r
+ //</Optimize>\r
+ }else {\r
+ //<Optimize>\r
+ //for(int r = 0; r < 3; r++ ){\r
+ // for(int c = 0; c < 4; c++ ){\r
+ // Cpara[r][c]=-source[r][c];//Cpara[r][c] = -(source[r][c]);\r
+ // }\r
+ //}\r
+ for(i=0;i<12;i++){\r
+ Cpara[i]=source[i];//Cpara[r][c] = source[r][c];\r
+ }\r
+ //</Optimize>\r
+ }\r
+ \r
+ double[][] cpara=o_cpara.getArray();\r
+ double[][] trans=o_trans.getArray();\r
+ for(int r = 0; r < 3; r++ ){\r
+ for(int c = 0; c < 4; c++ ){\r
+ cpara[r][c]=0.0;//cpara[r][c] = 0.0;\r
+ }\r
+ }\r
+ cpara[2][2]=norm(Cpara[2*4+0],Cpara[2*4+1], Cpara[2*4+2]);//cpara[2][2] = norm( Cpara[2][0], Cpara[2][1], Cpara[2][2] );\r
+ trans[2][0]=Cpara[2*4+0] / cpara[2][2];//trans[2][0] = Cpara[2][0] / cpara[2][2];\r
+ trans[2][1]=Cpara[2*4+1]/ cpara[2][2];//trans[2][1] = Cpara[2][1] / cpara[2][2];\r
+ trans[2][2]=Cpara[2*4+2]/ cpara[2][2];//trans[2][2] = Cpara[2][2] / cpara[2][2];\r
+ trans[2][3]=Cpara[2*4+3] / cpara[2][2];//trans[2][3] = Cpara[2][3] / cpara[2][2];\r
+ \r
+ cpara[1][2]=dot(trans[2][0], trans[2][1], trans[2][2],Cpara[1*4+0], Cpara[1*4+1], Cpara[1*4+2]);//cpara[1][2] = dot( trans[2][0], trans[2][1], trans[2][2],Cpara[1][0], Cpara[1][1], Cpara[1][2] );\r
+ rem1=Cpara[1*4+0]- cpara[1][2] * trans[2][0];//rem1 = Cpara[1][0] - cpara[1][2] * trans[2][0];\r
+ rem2=Cpara[1*4+1] - cpara[1][2] * trans[2][1];//rem2 = Cpara[1][1] - cpara[1][2] * trans[2][1];\r
+ rem3=Cpara[1*4+2] - cpara[1][2] * trans[2][2];//rem3 = Cpara[1][2] - cpara[1][2] * trans[2][2];\r
+ cpara[1][1]=norm(rem1, rem2, rem3 );//cpara[1][1] = norm( rem1, rem2, rem3 );\r
+ trans[1][0]= rem1/cpara[1][1];//trans[1][0] = rem1 / cpara[1][1];\r
+ trans[1][1]=rem2/cpara[1][1];//trans[1][1] = rem2 / cpara[1][1];\r
+ trans[1][2]=rem3 / cpara[1][1];//trans[1][2] = rem3 / cpara[1][1];\r
+ \r
+ cpara[0][2]=dot(trans[2][0],trans[2][1], trans[2][2],Cpara[0*4+0], Cpara[0*4+1], Cpara[0*4+2] );//cpara[0][2] = dot( trans[2][0], trans[2][1], trans[2][2],Cpara[0][0], Cpara[0][1], Cpara[0][2] );\r
+ cpara[0][1]=dot(trans[1][0],trans[1][1], trans[1][2],Cpara[0*4+0], Cpara[0*4+1], Cpara[0*4+2]);//cpara[0][1] = dot( trans[1][0], trans[1][1], trans[1][2],Cpara[0][0], Cpara[0][1], Cpara[0][2] );\r
+ rem1=Cpara[0*4+0]- cpara[0][1]*trans[1][0] - cpara[0][2]*trans[2][0];//rem1 = Cpara[0][0] - cpara[0][1]*trans[1][0] - cpara[0][2]*trans[2][0];\r
+ rem2 = Cpara[0*4+1] - cpara[0][1]*trans[1][1] - cpara[0][2]*trans[2][1];//rem2 = Cpara[0][1] - cpara[0][1]*trans[1][1] - cpara[0][2]*trans[2][1];\r
+ rem3 = Cpara[0*4+2] - cpara[0][1]*trans[1][2] - cpara[0][2]*trans[2][2];//rem3 = Cpara[0][2] - cpara[0][1]*trans[1][2] - cpara[0][2]*trans[2][2];\r
+ cpara[0][0]=norm(rem1, rem2, rem3);//cpara[0][0] = norm( rem1, rem2, rem3 );\r
+ trans[0][0]=rem1 / cpara[0][0];//trans[0][0] = rem1 / cpara[0][0];\r
+ trans[0][1]= rem2 / cpara[0][0];//trans[0][1] = rem2 / cpara[0][0];\r
+ trans[0][2]= rem3 / cpara[0][0];//trans[0][2] = rem3 / cpara[0][0];\r
+ \r
+ trans[1][3]=(Cpara[1*4+3] - cpara[1][2]*trans[2][3]) / cpara[1][1];//trans[1][3] = (Cpara[1][3] - cpara[1][2]*trans[2][3]) / cpara[1][1];\r
+ trans[0][3]=(Cpara[0*4+3] - cpara[0][1]*trans[1][3]- cpara[0][2]*trans[2][3]) / cpara[0][0];//trans[0][3] = (Cpara[0][3] - cpara[0][1]*trans[1][3]- cpara[0][2]*trans[2][3]) / cpara[0][0];\r
+ \r
+ for(int r = 0; r < 3; r++ ){\r
+ for(int c = 0; c < 3; c++ ){\r
+ cpara[r][c]/=cpara[2][2];//cpara[r][c] /= cpara[2][2];\r
+ }\r
+ }\r
+ }\r
+\r
+\r
+ /*int arParamDisp( ARParam *param );*/\r
+ public int paramDisp()\r
+ {\r
+ System.out.println("--------------------------------------");//printf("--------------------------------------\n");\r
+ System.out.print("SIZE = "+xsize+", "+ysize);//printf("SIZE = %d, %d\n", param->xsize, param->ysize);\r
+ System.out.println("Distortion factor = "+dist_factor[0]+" "+dist_factor[1]+" "+dist_factor[2]+" "+dist_factor[3]);//printf("Distortion factor = %f %f %f %f\n", param->dist_factor[0],param->dist_factor[1], param->dist_factor[2], param->dist_factor[3] );\r
+ for(int j = 0; j < 3; j++ ) {//for(j = 0; j < 3; j++ ) {\r
+ for(int i = 0; i < 4; i++ ){\r
+ System.out.print(array34[j*4+i]+" ");//printf("%7.5f ", param->mat[j][i]);\r
+ }\r
+ System.out.println();// printf("\n");\r
+ }//}\r
+ System.out.println("--------------------------------------");//printf("--------------------------------------\n");\r
+ return 0;\r
+ }\r
+// /*int arParamDecomp( ARParam *source, ARParam *icpara, double trans[3][4] );*/\r
+// private static int arParamDecomp( NyARParam source, NyARParam icpara, double[][] trans)\r
+// {\r
+// icpara.xsize = source.xsize;//icpara->xsize = source->xsize;\r
+// icpara.ysize = source.ysize;//icpara->ysize = source->ysize;\r
+// icpara.dist_factor[0] = source.dist_factor[0];//icpara->dist_factor[0] = source->dist_factor[0];\r
+// icpara.dist_factor[1] = source.dist_factor[1];// icpara->dist_factor[1] = source->dist_factor[1];\r
+// icpara.dist_factor[2] = source.dist_factor[2];//icpara->dist_factor[2] = source->dist_factor[2];\r
+// icpara.dist_factor[3] = source.dist_factor[3];//icpara->dist_factor[3] = source->dist_factor[3];\r
+// return arParamDecompMat(source.mat, icpara.mat, trans );\r
+// }\r
+ /**\r
+ * int arParamChangeSize( ARParam *source, int xsize, int ysize, ARParam *newparam );\r
+ * 関数の代替関数\r
+ * サイズプロパティをi_xsize,i_ysizeに変更します。\r
+ * @param xsize\r
+ * @param ysize\r
+ * @param newparam\r
+ * @return\r
+ * \r
+ */\r
+ public void changeSize(int i_xsize, int i_ysize)\r
+ {\r
+ double scale; \r
+ scale = (double)i_xsize / (double)(xsize);//scale = (double)xsize / (double)(source->xsize);\r
+ \r
+ for(int i = 0; i < 4; i++ ) {\r
+ array34[0*4+i]=array34[0*4+i]*scale;//newparam->mat[0][i] = source->mat[0][i] * scale;\r
+ array34[1*4+i]=array34[1*4+i]*scale;//newparam->mat[1][i] = source->mat[1][i] * scale;\r
+ array34[2*4+i]=array34[2*4+i];//newparam->mat[2][i] = source->mat[2][i];\r
+ }\r
+ \r
+ dist_factor[0] = dist_factor[0] * scale;//newparam->dist_factor[0] = source->dist_factor[0] * scale;\r
+ dist_factor[1] = dist_factor[1] * scale;//newparam->dist_factor[1] = source->dist_factor[1] * scale;\r
+ dist_factor[2] = dist_factor[2] / (scale*scale);//newparam->dist_factor[2] = source->dist_factor[2] / (scale*scale);\r
+ dist_factor[3] = dist_factor[3];//newparam->dist_factor[3] = source->dist_factor[3];\r
+ \r
+ xsize = i_xsize;//newparam->xsize = xsize;\r
+ ysize = i_ysize;//newparam->ysize = ysize;\r
+ }\r
+ /**\r
+ * int arParamIdeal2Observ( const double dist_factor[4], const double ix, const double iy,double *ox, double *oy )\r
+ * 関数の代替関数\r
+ * @param ix\r
+ * @param iy\r
+ * @param ox\r
+ * @param oy\r
+ */\r
+ public void ideal2Observ(double ix,double iy,DoubleValue ox, DoubleValue oy)\r
+ {\r
+\r
+ double x, y, d;\r
+ final double d0,d1,d3;\r
+ final double df[]=this.dist_factor;\r
+ d0=df[0];\r
+ d1=df[1];\r
+ d3=df[3];\r
+ x = (ix - d0) * d3;\r
+ y = (iy - d1) * d3;\r
+ if( x == 0.0 && y == 0.0 ) {\r
+ ox.value=d0;\r
+ oy.value=d1;\r
+ }else{\r
+ d = 1.0 - df[2]/100000000.0 * (x*x+y*y);\r
+ ox.value=x * d + d0;\r
+ oy.value=y * d + d1;\r
+ }\r
+ }\r
+ /**\r
+ * ideal2Observをまとめて実行します。\r
+ * @param i_in\r
+ * double[][2]\r
+ * @param o_out\r
+ * double[][2]\r
+ */\r
+ public void ideal2ObservBatch(double[][] i_in,double[][] o_out,int i_size)\r
+ {\r
+\r
+ double x, y, d;\r
+ final double d0,d1,d3,d2_w;\r
+ final double df[]=this.dist_factor;\r
+ d0=df[0];\r
+ d1=df[1];\r
+ d3=df[3];\r
+ d2_w=df[2]/100000000.0;\r
+ for(int i=0;i<i_size;i++){\r
+ x = (i_in[i][0] - d0) * d3;\r
+ y = (i_in[i][1] - d1) * d3;\r
+ if( x == 0.0 && y == 0.0 ) {\r
+ o_out[i][0]=d0;\r
+ o_out[i][1]=d1;\r
+ }else{\r
+ d = 1.0 - d2_w * (x*x+y*y);\r
+ o_out[i][0]=x * d + d0;\r
+ o_out[i][1]=y * d + d1;\r
+ }\r
+ }\r
+ return;\r
+ } \r
+ \r
+ \r
+ \r
+ \r
+ /**\r
+ * int arParamObserv2Ideal( const double dist_factor[4], const double ox, const double oy,double *ix, double *iy );\r
+ * \r
+ * @param ox\r
+ * @param oy\r
+ * @param ix\r
+ * @param iy\r
+ * @return\r
+ */\r
+ public int observ2Ideal(double ox,double oy,DoubleValue ix,DoubleValue iy)\r
+ {\r
+ double z02, z0, p, q, z, px, py,opttmp_1;\r
+ final double d0,d1,d3;\r
+ final double df[]=this.dist_factor;\r
+ d0=df[0];\r
+ d1=df[1];\r
+ \r
+ px = ox - d0;\r
+ py = oy - d1;\r
+ p = df[2]/100000000.0;\r
+ z02 = px*px+py*py;\r
+ q = z0 = Math.sqrt(z02);//Optimize//q = z0 = Math.sqrt(px*px+ py*py);\r
+ \r
+ for(int i = 1; ; i++ ) {\r
+ if( z0 != 0.0 ) {\r
+ //Optimize opttmp_1\r
+ opttmp_1=p*z02;\r
+ z = z0 - ((1.0 - opttmp_1)*z0 - q) / (1.0 - 3.0*opttmp_1);\r
+ px = px*z/z0;\r
+ py = py*z/z0;\r
+ }else {\r
+ px = 0.0;\r
+ py = 0.0;\r
+ break;\r
+ }\r
+ if( i == PD_LOOP ){\r
+ break;\r
+ }\r
+ z02 = px*px+ py*py;\r
+ z0 = Math.sqrt(z02);//Optimize//z0 = Math.sqrt(px*px+ py*py);\r
+ }\r
+ d3=df[3];\r
+ ix.value=px / d3 + d0;\r
+ iy.value=py / d3 + d1;\r
+ return 0;\r
+ }\r
+ /**\r
+ * 指定範囲のobserv2Idealをまとめて実行して、結果をo_idealに格納します。\r
+ * @param i_x_coord\r
+ * @param i_y_coord\r
+ * @param i_start\r
+ * coord開始点\r
+ * @param i_num\r
+ * 計算数\r
+ * @param o_ideal\r
+ * 出力バッファ[i_num][2]であること。\r
+ */\r
+ public void observ2IdealBatch(int[] i_x_coord,int[] i_y_coord,int i_start,int i_num,double[][] o_ideal)\r
+ {\r
+ double z02, z0,q, z, px, py,opttmp_1;\r
+ final double df[]=this.dist_factor;\r
+ final double d0=df[0];\r
+ final double d1=df[1];\r
+ final double d3=df[3];\r
+ final double p = df[2]/100000000.0;\r
+ for(int j = 0; j < i_num; j++ ){\r
+\r
+ px = i_x_coord[i_start+j] - d0;\r
+ py = i_y_coord[i_start+j] - d1;\r
+\r
+ z02 = px*px+py*py;\r
+ q = z0 = Math.sqrt(z02);//Optimize//q = z0 = Math.sqrt(px*px+ py*py);\r
+\r
+ for(int i = 1; ; i++ ) {\r
+ if( z0 != 0.0 ) {\r
+ //Optimize opttmp_1\r
+ opttmp_1=p*z02;\r
+ z = z0 - ((1.0 - opttmp_1)*z0 - q) / (1.0 - 3.0*opttmp_1);\r
+ px = px*z/z0;\r
+ py = py*z/z0;\r
+ }else {\r
+ px = 0.0;\r
+ py = 0.0;\r
+ break;\r
+ }\r
+ if( i == PD_LOOP ){\r
+ break;\r
+ }\r
+ z02 = px*px+ py*py;\r
+ z0 = Math.sqrt(z02);//Optimize//z0 = Math.sqrt(px*px+ py*py);\r
+ }\r
+ o_ideal[j][0]=px / d3 + d0;\r
+ o_ideal[j][1]=py / d3 + d1;\r
+ } \r
+ } \r
+ \r
+ \r
+ \r
+ \r
+ /**\r
+ * int arParamLoad( const char *filename, int num, ARParam *param, ...);\r
+ * i_streamの入力ストリームからi_num個の設定を読み込み、パラメタを配列にして返します。\r
+ * @param filename\r
+ * @param num\r
+ * @param param\r
+ * @return\r
+ * 設定を格納した配列を返します。\r
+ * @throws Exception\r
+ * i_num個の設定が読み出せない場合、JartkExceptionを発生します。\r
+ */\r
+ private static NyARParam[] arParamLoad(InputStream i_stream, int i_num) throws NyARException\r
+ {\r
+ try{\r
+ int read_size=SIZE_OF_PARAM_SET*i_num;\r
+ byte[] buf=new byte[read_size];\r
+ i_stream.read(buf);\r
+ //返却配列を確保\r
+ NyARParam[] result=new NyARParam[i_num];\r
+ \r
+ //バッファを加工\r
+ ByteBuffer bb = ByteBuffer.wrap(buf);\r
+ bb.order(ByteOrder.BIG_ENDIAN);\r
+ \r
+ //固定回数パースして配列に格納\r
+ for(int i=0;i<i_num;i++){\r
+ NyARParam new_param=new NyARParam();;\r
+ new_param.xsize=bb.getInt();\r
+ new_param.ysize=bb.getInt();\r
+ for(int i2=0;i2<3;i2++){\r
+ for(int i3=0;i3<4;i3++){\r
+ new_param.array34[i2*4+i3]=bb.getDouble();\r
+ }\r
+ }\r
+ for(int i2=0;i2<4;i2++){\r
+ new_param.dist_factor[i2]=bb.getDouble();\r
+ }\r
+ result[i]=new_param;\r
+ }\r
+ return result;\r
+ }catch(Exception e){\r
+ throw new NyARException(e);\r
+ }\r
+ }\r
+ public static int arParamSave(String filename,int num, NyARParam param[]) throws Exception\r
+ {\r
+ NyARException.trap("未チェックの関数");\r
+ byte buf[]=new byte[SIZE_OF_PARAM_SET*param.length];\r
+ //バッファをラップ\r
+ ByteBuffer bb = ByteBuffer.wrap(buf);\r
+ bb.order(ByteOrder.BIG_ENDIAN);\r
+\r
+ //書き込み\r
+ for(int i=0;i<param.length;i++){\r
+ bb.putInt(param[i].xsize);\r
+ bb.putInt(param[i].ysize);\r
+ for(int i2=0;i2<3;i2++){\r
+ for(int i3=0;i3<4;i3++){\r
+ bb.putDouble(param[i].array34[i2*4+i3]);\r
+ }\r
+ }\r
+ for(int i2=0;i2<4;i2++){\r
+ bb.putDouble(param[i].dist_factor[i2]);\r
+ }\r
+ }\r
+ //ファイルに保存\r
+ FileOutputStream fs=new FileOutputStream(filename);\r
+ fs.write(buf);\r
+ fs.close();\r
+\r
+ return 0;\r
+ }\r
+}\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.util.DoubleValue;\r
+\r
+/**\r
+ * ARMarkerInfoに相当するクラス。\r
+ * スクエア情報を保持します。\r
+ *\r
+ */\r
+public class NyARSquare extends NyARMarker{\r
+// private NyARMarker marker;\r
+// public int area;\r
+// public double[] pos;\r
+ public double[][] line=new double[4][3]; //double[4][3]\r
+ public double[][] sqvertex=new double[4][2];//double[4][2];\r
+ public NyARSquare()\r
+ {\r
+ super();\r
+ }\r
+ private final NyARMat wk_getLine_input=new NyARMat(1,2);\r
+ private final NyARMat wk_getLine_evec=new NyARMat(2,2);\r
+ private final NyARVec wk_getLine_ev=new NyARVec(2);\r
+ private final NyARVec wk_getLine_mean=new NyARVec(2);\r
+ /**\r
+ * arGetLine(int x_coord[], int y_coord[], int coord_num,int vertex[], double line[4][3], double v[4][2])\r
+ * arGetLine2(int x_coord[], int y_coord[], int coord_num,int vertex[], double line[4][3], double v[4][2], double *dist_factor)\r
+ * の２関数の合成品です。\r
+ * 格納しているマーカー情報に対して、GetLineの計算を行い、結果を返します。\r
+ * Optimize:STEP[424->391]\r
+ * @param i_cparam\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public boolean getLine(NyARParam i_cparam) throws NyARException\r
+ {\r
+ double w1;\r
+ int st, ed, n;\r
+ int i;\r
+\r
+ final double[][] l_sqvertex=this.sqvertex;\r
+ final double[][] l_line=this.line;\r
+ final int[] l_mkvertex=this.mkvertex;\r
+ final int[] l_x_coord=this.x_coord;\r
+ final int[] l_y_coord=this.y_coord; \r
+ final NyARVec ev = this.wk_getLine_ev; //matrixPCAの戻り値を受け取る\r
+ final NyARVec mean = this.wk_getLine_mean;//matrixPCAの戻り値を受け取る\r
+ final double[] mean_array=mean.getArray();\r
+ double[] l_line_i,l_line_2;\r
+\r
+ NyARMat input=this.wk_getLine_input;//次処理で初期化される。\r
+ NyARMat evec =this.wk_getLine_evec;//アウトパラメータを受け取るから初期化不要//new NyARMat(2,2);\r
+ double[][] evec_array=evec.getArray();\r
+ for( i = 0; i < 4; i++ ) {\r
+ w1 = (double)(l_mkvertex[i+1]-l_mkvertex[i]+1) * 0.05 + 0.5;\r
+ st = (int)(l_mkvertex[i] + w1);\r
+ ed = (int)(l_mkvertex[i+1] - w1);\r
+ n = ed - st + 1;\r
+ if(n<2){\r
+ //nが2以下でmatrix.PCAを計算することはできないので、エラーにしておく。\r
+ return false;//throw new NyARException();\r
+ }\r
+ input.realloc(n,2);\r
+ //バッチ取得\r
+ i_cparam.observ2IdealBatch(l_x_coord,l_y_coord,st,n,input.getArray());\r
+// for( j = 0; j < n; j++ ) {\r
+// i_cparam.observ2Ideal(l_x_coord[st+j], l_y_coord[st+j],dv1,dv2);//arParamObserv2Ideal( dist_factor, x_coord[st+j], y_coord[st+j],&(input->m[j*2+0]), &(input->m[j*2+1]) );\r
+// in_array[j][0]=dv1.value;\r
+// in_array[j][1]=dv2.value;\r
+// }\r
+ input.matrixPCA(evec, ev, mean);\r
+ l_line_i=l_line[i];\r
+ l_line_i[0] = evec_array[0][1];//line[i][0] = evec->m[1];\r
+ l_line_i[1] = -evec_array[0][0];//line[i][1] = -evec->m[0];\r
+ l_line_i[2] = -(l_line_i[0]*mean_array[0] + l_line_i[1]*mean_array[1]);//line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]);\r
+ }\r
+\r
+ for( i = 0; i < 4; i++ )\r
+ {\r
+ l_line_i=l_line[i];\r
+ l_line_2=l_line[(i+3)%4];\r
+ w1 = l_line_2[0] * l_line_i[1] - l_line_i[0] * l_line_2[1];\r
+ if( w1 == 0.0 ){\r
+ return false;\r
+ }\r
+ l_sqvertex[i][0] = ( l_line_2[1] * l_line_i[2]- l_line_i[1] * l_line_2[2] ) / w1;\r
+ l_sqvertex[i][1] = ( l_line_i[0] * l_line_2[2]- l_line_2[0] * l_line_i[2] ) / w1;\r
+ }\r
+ return true;\r
+ }\r
+}\r
--- /dev/null
+package jp.nyatla.nyartoolkit.core;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+\r
+public class NyARSquareList extends NyARMarkerList\r
+{\r
+ private final NyARSquare[] square_array;\r
+ private int square_array_num;\r
+ public NyARSquareList(int i_number_of_holder)\r
+ {\r
+ super(new NyARSquare[i_number_of_holder]);\r
+ //マーカーホルダに実体を割り当てる。\r
+ for(int i=0;i<this.marker_holder.length;i++){\r
+ this.marker_holder[i]=new NyARSquare();\r
+ }\r
+ this.square_array=new NyARSquare[i_number_of_holder];\r
+ this.square_array_num=0;\r
+ }\r
+ /**\r
+ * マーカーアレイをフィルタして、square_arrayを更新する。\r
+ * [[この関数はマーカー検出処理と密接に関係する関数です。\r
+ * NyARDetectSquareクラス以外から呼び出さないで下さい。]]\r
+ */\r
+ public final void updateSquareArray(NyARParam i_param) throws NyARException\r
+ {\r
+ NyARSquare square;\r
+ int j=0;\r
+ for (int i = 0; i <this.marker_array_num; i++){\r
+// double[][] line =new double[4][3];\r
+// double[][] vertex =new double[4][2];\r
+ //NyARMarker marker=detect.getMarker(i);\r
+ square=(NyARSquare)this.marker_array[i];\r
+ //・・・線の検出？？\r
+ if (!square.getLine(i_param))\r
+ {\r
+ continue;\r
+ }\r
+ this.square_array[j]=square;\r
+//ここで計算するのは良くないと思うんだ \r
+// marker_infoL[j].id = id.get();\r
+// marker_infoL[j].dir = dir.get();\r
+// marker_infoL[j].cf = cf.get(); \r
+ j++;\r
+ }\r
+ this.square_array_num=j;\r
+ }\r
+ /**\r
+ * スクエア配列に格納されている要素数を返します。\r
+ * @return\r
+ */\r
+ public final int getSquareNum()\r
+ {\r
+ return this.square_array_num;\r
+ }\r
+ /**\r
+ * スクエア配列の要素を返します。\r
+ * スクエア配列はマーカーアレイをさらにフィルタした結果です。\r
+ * マーカーアレイの部分集合になっている点に注意してください。\r
+ * @param i_index\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public final NyARSquare getSquare(int i_index) throws NyARException\r
+ {\r
+ if(i_index>=this.square_array_num){\r
+ throw new NyARException();\r
+ }\r
+ return this.square_array[i_index];\r
+ }\r
+}\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+\r
+\r
+\r
+import jp.nyatla.nyartoolkit.*;\r
+\r
+\r
+/**\r
+ * This class calculates ARMatrix from square information.\r
+ * --\r
+ * 変換行列を計算するクラス。\r
+ *\r
+ */\r
+public interface NyARTransMat{\r
+ public void setCenter(double i_x,double i_y);\r
+ public double transMat(NyARSquare i_square,int i_direction, double i_width,NyARTransMatResult o_result)throws NyARException;\r
+ public double transMatContinue(NyARSquare i_square,int i_direction, double i_width,NyARTransMatResult io_result_conv)throws NyARException;\r
+}\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+import jp.nyatla.nyartoolkit.*;\r
+/**\r
+ * NyARTransMat戻り値専用のNyARMat\r
+ *\r
+ */\r
+public class NyARTransMatResult extends NyARMat\r
+{\r
+ private boolean has_value=false;\r
+ public NyARTransMatResult()\r
+ {\r
+ super(3,4);\r
+ }\r
+ /**\r
+ * この関数は使えません。\r
+ * @param i_row\r
+ * @param i_clm\r
+ * @throws NyARException\r
+ */\r
+ public NyARTransMatResult(int i_row,int i_clm) throws NyARException\r
+ {\r
+ super();//ここで例外発生\r
+ }\r
+ /**\r
+ * パラメータで変換行列を更新します。\r
+ * @param i_rot\r
+ * @param i_off\r
+ * @param i_trans\r
+ */\r
+ public void updateMatrixValue(NyARTransRot i_rot,double[] i_off,double[] i_trans)\r
+ {\r
+ double[] pa;\r
+ double[] rot=i_rot.getArray();\r
+\r
+ pa=this.m[0];\r
+ pa[0] = rot[0*3+0];\r
+ pa[1] = rot[0*3+1];\r
+ pa[2] = rot[0*3+2];\r
+ pa[3] = rot[0*3+0]*i_off[0] + rot[0*3+1]*i_off[1] + rot[0*3+2]*i_off[2] + i_trans[0];\r
+\r
+ pa=this.m[1];\r
+ pa[0] = rot[1*3+0];\r
+ pa[1] = rot[1*3+1];\r
+ pa[2] = rot[1*3+2];\r
+ pa[3] = rot[1*3+0]*i_off[0] + rot[1*3+1]*i_off[1] + rot[1*3+2]*i_off[2] + i_trans[1];\r
+\r
+ pa=this.m[2];\r
+ pa[0] = rot[2*3+0];\r
+ pa[1] = rot[2*3+1];\r
+ pa[2] = rot[2*3+2];\r
+ pa[3] = rot[2*3+0]*i_off[0] + rot[2*3+1]*i_off[1] + rot[2*3+2]*i_off[2] + i_trans[2];\r
+\r
+\r
+ this.has_value=true;\r
+ return;\r
+ }\r
+ public void copyFrom(NyARTransMatResult i_from) throws NyARException\r
+ {\r
+ super.copyFrom(i_from);\r
+ this.has_value=i_from.has_value;\r
+ }\r
+ public boolean hasValue()\r
+ {\r
+ return this.has_value;\r
+ }\r
+}\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.util.DoubleValue;\r
+\r
+public class NyARTransMat_O1 implements NyARTransMat{\r
+ private final static int AR_FITTING_TO_IDEAL=0;//#define AR_FITTING_TO_IDEAL 0\r
+ private final static int AR_FITTING_TO_INPUT=1;//#define AR_FITTING_TO_INPUT 1\r
+ private final static int arFittingMode =AR_FITTING_TO_INPUT;\r
+\r
+ private final static int AR_GET_TRANS_MAT_MAX_LOOP_COUNT=5;//#define AR_GET_TRANS_MAT_MAX_LOOP_COUNT 5\r
+ private final static double AR_GET_TRANS_MAT_MAX_FIT_ERROR=1.0;//#define AR_GET_TRANS_MAT_MAX_FIT_ERROR 1.0\r
+ private final static double AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR=1.0;\r
+ private final static int P_MAX=10;//頂点の数(4で十分だけどなんとなく10)//#define P_MAX 500\r
+ private final static int NUMBER_OF_VERTEX=4;//処理対象の頂点数\r
+ private final NyARTransRot transrot;\r
+ private final double[] center={0.0,0.0};\r
+ private final NyARParam param;\r
+// private final NyARMat result_mat=new NyARMat(3,4);\r
+ public NyARTransMat_O1(NyARParam i_param)throws NyARException\r
+ {\r
+ param=i_param;\r
+ transrot=new NyARTransRot_O3(i_param,NUMBER_OF_VERTEX);\r
+\r
+ }\r
+ public void setCenter(double i_x,double i_y)\r
+ {\r
+ center[0]=i_x;\r
+ center[1]=i_x;\r
+ }\r
+// public NyARMat getTransformationMatrix()\r
+// {\r
+// return result_mat;\r
+// }\r
+\r
+ private final double[][] wk_transMat_pos3d=new double[P_MAX][3];//pos3d[P_MAX][3];\r
+ private final double[][] wk_transMat_ppos2d=new double[4][2];\r
+ private final double[][] wk_transMat_ppos3d=new double[4][2];\r
+ private final double[] wk_transMat_off=new double[3];\r
+ /**\r
+ * double arGetTransMat( ARMarkerInfo *marker_info,double center[2], double width, double conv[3][4] )\r
+ * 関数の置き換え。\r
+ * 保持している変換行列を更新する。\r
+ * @param square\r
+ * 計算対象のNyARSquareオブジェクト\r
+ * @param i_direction\r
+ * マーカーの方向\r
+ * @param i_width\r
+ * マーカーのサイズ(mm)\r
+ * @param o_result_conv\r
+ * 変換行列を受け取るオブジェクトを指定します。\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public double transMat(NyARSquare square,int i_direction,double i_width,NyARTransMatResult o_result_conv)throws NyARException\r
+ {\r
+ double[][] ppos2d=wk_transMat_ppos2d;\r
+ double[][] ppos3d=wk_transMat_ppos3d;\r
+ double[] off=wk_transMat_off;\r
+ double[][] pos3d=wk_transMat_pos3d;\r
+ int dir;\r
+ double err=-1;\r
+\r
+\r
+\r
+ transrot.initRot(square,i_direction);\r
+\r
+ dir = i_direction;\r
+ ppos2d[0][0] = square.sqvertex[(4-dir)%4][0];\r
+ ppos2d[0][1] = square.sqvertex[(4-dir)%4][1];\r
+ ppos2d[1][0] = square.sqvertex[(5-dir)%4][0];\r
+ ppos2d[1][1] = square.sqvertex[(5-dir)%4][1];\r
+ ppos2d[2][0] = square.sqvertex[(6-dir)%4][0];\r
+ ppos2d[2][1] = square.sqvertex[(6-dir)%4][1];\r
+ ppos2d[3][0] = square.sqvertex[(7-dir)%4][0];\r
+ ppos2d[3][1] = square.sqvertex[(7-dir)%4][1];\r
+ ppos3d[0][0] = center[0] - i_width/2.0;\r
+ ppos3d[0][1] = center[1] + i_width/2.0;\r
+ ppos3d[1][0] = center[0] + i_width/2.0;\r
+ ppos3d[1][1] = center[1] + i_width/2.0;\r
+ ppos3d[2][0] = center[0] + i_width/2.0;\r
+ ppos3d[2][1] = center[1] - i_width/2.0;\r
+ ppos3d[3][0] = center[0] - i_width/2.0;\r
+ ppos3d[3][1] = center[1] - i_width/2.0;\r
+\r
+ //arGetTransMat3の前段処理(pos3dとoffを初期化)\r
+ arGetTransMat3_initPos3d(ppos3d,pos3d,off);\r
+\r
+\r
+\r
+ for(int i=0;i<AR_GET_TRANS_MAT_MAX_LOOP_COUNT; i++ ) {\r
+ err = arGetTransMat3(ppos2d, pos3d,off,o_result_conv);\r
+ if( err < AR_GET_TRANS_MAT_MAX_FIT_ERROR ){\r
+ break;\r
+ }\r
+ }\r
+\r
+ return err;\r
+ }\r
+ /**\r
+ * transMatContinue用のワーク\r
+ */\r
+ private final NyARTransMatResult wk_transMatContinue_result=new NyARTransMatResult();\r
+ /**\r
+ * double arGetTransMatCont( ARMarkerInfo *marker_info, double prev_conv[3][4],double center[2], double width, double conv[3][4] )\r
+ * \r
+ * @param i_square\r
+ * @param i_direction\r
+ * マーカーの方位を指定する。\r
+ * @param i_width\r
+ * @param io_result_conv\r
+ * 計算履歴を持つNyARTransMatResultオブジェクトを指定する。\r
+ * 履歴を持たない場合は、transMatと同じ処理を行う。\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public double transMatContinue(NyARSquare i_square,int i_direction, double i_width,NyARTransMatResult io_result_conv)throws NyARException\r
+ {\r
+ //io_result_convが初期値なら、transMatで計算する。\r
+ if(!io_result_conv.hasValue()){\r
+ return this.transMat(i_square, i_direction, i_width, io_result_conv);\r
+ }\r
+ \r
+ \r
+ \r
+ double err1,err2;\r
+ int i,dir;\r
+ double[][] ppos2d=wk_transMat_ppos2d;\r
+ double[][] ppos3d=wk_transMat_ppos3d;\r
+ double[] off =wk_transMat_off;\r
+ double[][] pos3d=wk_transMat_pos3d;\r
+\r
+ //arGetTransMatContSub計算部分\r
+ transrot.initRotByPrevResult(io_result_conv);\r
+\r
+ dir = i_direction;\r
+ ppos2d[0][0] = i_square.sqvertex[(4-dir)%4][0];\r
+ ppos2d[0][1] = i_square.sqvertex[(4-dir)%4][1];\r
+ ppos2d[1][0] = i_square.sqvertex[(5-dir)%4][0];\r
+ ppos2d[1][1] = i_square.sqvertex[(5-dir)%4][1];\r
+ ppos2d[2][0] = i_square.sqvertex[(6-dir)%4][0];\r
+ ppos2d[2][1] = i_square.sqvertex[(6-dir)%4][1];\r
+ ppos2d[3][0] = i_square.sqvertex[(7-dir)%4][0];\r
+ ppos2d[3][1] = i_square.sqvertex[(7-dir)%4][1];\r
+ ppos3d[0][0] = center[0] - i_width/2.0;\r
+ ppos3d[0][1] = center[1] + i_width/2.0;\r
+ ppos3d[1][0] = center[0] + i_width/2.0;\r
+ ppos3d[1][1] = center[1] + i_width/2.0;\r
+ ppos3d[2][0] = center[0] + i_width/2.0;\r
+ ppos3d[2][1] = center[1] - i_width/2.0;\r
+ ppos3d[3][0] = center[0] - i_width/2.0;\r
+ ppos3d[3][1] = center[1] - i_width/2.0;\r
+\r
+ //arGetTransMat3の前段処理(pos3dとoffを初期化)\r
+ arGetTransMat3_initPos3d(ppos3d,pos3d,off);\r
+\r
+ err1=err2=-1;\r
+ for( i = 0; i < AR_GET_TRANS_MAT_MAX_LOOP_COUNT; i++ ) {\r
+ err1 = arGetTransMat3(ppos2d, pos3d,off,io_result_conv);\r
+ if( err1 < AR_GET_TRANS_MAT_MAX_FIT_ERROR ){\r
+ //十分な精度を達成できたらブレーク\r
+ break;\r
+ }\r
+ }\r
+\r
+ //エラー値が許容範囲でなければTransMatをやり直し\r
+ if(err1>AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR ) {\r
+ NyARTransMatResult result2=this.wk_transMatContinue_result;\r
+ //transMatを実行\r
+ transrot.initRot(i_square,i_direction);\r
+ err2 = transMat(i_square,i_direction,i_width,result2);\r
+ //transmMatここまで\r
+ if(err2<err1){\r
+ io_result_conv.copyFrom(result2);\r
+ err1 = err2;\r
+ }\r
+ }\r
+ return err1;\r
+ }\r
+\r
+\r
+ \r
+\r
+ private final double[] wk_arGetTransMat3_initPos3d_pmax=new double[3];\r
+ private final double[] wk_arGetTransMat3_initPos3d_pmin=new double[3];\r
+ /**\r
+ * arGetTransMat3関数の前処理部分。i_ppos3dから、o_pos3dとoffを計算する。\r
+ * 計算結果から再帰的に変更される可能性が無いので、切り離し。\r
+ * @param i_ppos3d\r
+ * 入力配列[num][3]\r
+ * @param o_pos3d\r
+ * 出力配列[P_MAX][3]\r
+ * @param o_off\r
+ * [3]\r
+ * @throws NyARException\r
+ */\r
+ private final void arGetTransMat3_initPos3d(double i_ppos3d[][],double[][] o_pos3d,double[] o_off)throws NyARException\r
+ {\r
+ double[] pmax=wk_arGetTransMat3_initPos3d_pmax;//new double[3];\r
+ double[] pmin=wk_arGetTransMat3_initPos3d_pmin;//new double[3];//double off[3], pmax[3], pmin[3];\r
+ int i;\r
+ pmax[0]=pmax[1]=pmax[2] = -10000000000.0;\r
+ pmin[0]=pmin[1]=pmin[2] = 10000000000.0;\r
+ for(i = 0; i < NUMBER_OF_VERTEX; i++ ) {\r
+ if( i_ppos3d[i][0] > pmax[0] ){\r
+ pmax[0] = i_ppos3d[i][0];\r
+ }\r
+ if( i_ppos3d[i][0] < pmin[0] ){\r
+ pmin[0] = i_ppos3d[i][0];\r
+ }\r
+ if( i_ppos3d[i][1] > pmax[1] ){\r
+ pmax[1] = i_ppos3d[i][1];\r
+ }\r
+ if( i_ppos3d[i][1] < pmin[1] ){\r
+ pmin[1] = i_ppos3d[i][1];\r
+ }\r
+ /* オリジナルでもコメントアウト\r
+ if( ppos3d[i][2] > pmax[2] ) pmax[2] = ppos3d[i][2];\r
+ if( ppos3d[i][2] < pmin[2] ) pmin[2] = ppos3d[i][2];\r
+ */ \r
+ }\r
+ o_off[0] = -(pmax[0] + pmin[0]) / 2.0;\r
+ o_off[1] = -(pmax[1] + pmin[1]) / 2.0;\r
+ o_off[2] = -(pmax[2] + pmin[2]) / 2.0;\r
+\r
+ \r
+ double[] o_pos3d_pt;\r
+ double[] i_pos_pd_pt; \r
+ for(i = 0; i < NUMBER_OF_VERTEX; i++ ) {\r
+ o_pos3d_pt =o_pos3d[i];\r
+ i_pos_pd_pt=i_ppos3d[i];\r
+ o_pos3d_pt[0] = i_pos_pd_pt[0] + o_off[0];\r
+ o_pos3d_pt[1] = i_pos_pd_pt[1] + o_off[1];\r
+ o_pos3d_pt[2] = 0.0;\r
+ }\r
+ } \r
+ \r
+ \r
+ /**\r
+ * double arGetTransMat3( double rot[3][3], double ppos2d[][2],double ppos3d[][2], int num, double conv[3][4],double *dist_factor, double cpara[3][4] )\r
+ * STEP 414->\r
+ * @param ppos2d\r
+ * @param i_pos3d\r
+ * @param i_off\r
+ * @param num\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ private final double arGetTransMat3(\r
+ double ppos2d[][],\r
+ final double i_pos3d[][],\r
+ final double i_off[],\r
+ NyARTransMatResult o_result_conv)throws NyARException{\r
+\r
+ double ret;\r
+ ret = arGetTransMatSub(ppos2d,i_pos3d,i_off,o_result_conv);\r
+ \r
+// double[][] conv=o_result_conv.getArray();\r
+// double[] rot=transrot.getArray();\r
+// for(int i=0;i<3;i++){\r
+// conv[i][0] = rot[i*3+0];\r
+// conv[i][1] = rot[i*3+1];\r
+// conv[i][2] = rot[i*3+2];\r
+// }\r
+// conv[0][3] = conv[0][0]*i_off[0] + conv[0][1]*i_off[1] + conv[0][2]*i_off[2] + conv[0][3];\r
+// conv[1][3] = conv[1][0]*i_off[0] + conv[1][1]*i_off[1] + conv[1][2]*i_off[2] + conv[1][3];\r
+// conv[2][3] = conv[2][0]*i_off[0] + conv[2][1]*i_off[1] + conv[2][2]*i_off[2] + conv[2][3];\r
+ return ret;\r
+ }\r
+ private final NyARMat wk_arGetTransMatSub_mat_a=new NyARMat(NUMBER_OF_VERTEX*2,3);\r
+ private final NyARMat wk_arGetTransMatSub_mat_b=new NyARMat(3,NUMBER_OF_VERTEX*2);\r
+ private final NyARMat wk_arGetTransMatSub_mat_c=new NyARMat(NUMBER_OF_VERTEX*2,1);\r
+ private final NyARMat wk_arGetTransMatSub_mat_d=new NyARMat( 3, 3 );\r
+ private final NyARMat wk_arGetTransMatSub_mat_e=new NyARMat( 3, 1 );\r
+ private final NyARMat wk_arGetTransMatSub_mat_f=new NyARMat( 3, 1 );\r
+ private final double[] wk_arGetTransMatSub_trans=new double[3];\r
+ private final double[][] wk_arGetTransMatSub_pos2d=new double[P_MAX][2];//pos2d[P_MAX][2];\r
+ private final DoubleValue wk_arGetTransMatSub_a1=new DoubleValue();\r
+ private final DoubleValue wk_arGetTransMatSub_a2=new DoubleValue();\r
+ \r
+\r
+ /**\r
+ * static double arGetTransMatSub( double rot[3][3], double ppos2d[][2],double pos3d[][3], int num, double conv[3][4],double *dist_factor, double cpara[3][4] )\r
+ * Optimize:2008.04.20:STEP[1033→1004]\r
+ * @param i_ppos2d\r
+ * @param i_pos3d\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ private final double arGetTransMatSub(double i_ppos2d[][],double i_pos3d[][],double[] i_off,NyARTransMatResult o_result_conv) throws NyARException\r
+ {\r
+ double[][] pos2d=wk_arGetTransMatSub_pos2d;\r
+ double cpara[]=param.get34Array();\r
+ NyARMat mat_a,mat_b,mat_c,mat_d,mat_e,mat_f;//ARMat *mat_a, *mat_b, *mat_c, *mat_d, *mat_e, *mat_f;\r
+\r
+ double wx, wy, wz;\r
+ double ret;\r
+ int i;\r
+ double[] po2d_pt;\r
+\r
+ mat_a =this.wk_arGetTransMatSub_mat_a;\r
+// mat_a.realloc(NUMBER_OF_VERTEX*2,3);\r
+ double[][] a_array=mat_a.getArray();\r
+\r
+ mat_b =this.wk_arGetTransMatSub_mat_b;\r
+// mat_b.realloc(3,NUMBER_OF_VERTEX*2);\r
+ double[][] b_array=mat_b.getArray();\r
+\r
+\r
+ DoubleValue a1=wk_arGetTransMatSub_a1;\r
+ DoubleValue a2=wk_arGetTransMatSub_a2;\r
+ if(arFittingMode == AR_FITTING_TO_INPUT ){\r
+ for( i = 0; i < NUMBER_OF_VERTEX; i++ ) {\r
+ param.ideal2Observ(i_ppos2d[i][0], i_ppos2d[i][1],a1,a2);//arParamIdeal2Observ(dist_factor, ppos2d[i][0], ppos2d[i][1],&pos2d[i][0], &pos2d[i][1]);\r
+ po2d_pt=pos2d[i];\r
+ po2d_pt[0]=a1.value;\r
+ po2d_pt[1]=a2.value;\r
+ }\r
+ }else{\r
+ for( i = 0; i < NUMBER_OF_VERTEX; i++ ){\r
+ po2d_pt=pos2d[i];\r
+ pos2d[i][0] = i_ppos2d[i][0];\r
+ pos2d[i][1] = i_ppos2d[i][1];\r
+ }\r
+ }\r
+ mat_c =this.wk_arGetTransMatSub_mat_c;//次処理で値をもらうので、初期化の必要は無い。\r
+// mat_c.realloc(NUMBER_OF_VERTEX*2,1);\r
+ double[][] c_array=mat_c.getArray();\r
+ double[] rot=transrot.getArray();\r
+ double[] i_pos3d_pt;\r
+ int x2;\r
+ for( i = 0; i < NUMBER_OF_VERTEX; i++ ) {\r
+ x2=i*2;\r
+ i_pos3d_pt=i_pos3d[i];\r
+ po2d_pt=pos2d[i];\r
+ wx = rot[0] * i_pos3d_pt[0]+ rot[1] * i_pos3d_pt[1]+ rot[2] * i_pos3d_pt[2];\r
+ wy = rot[3] * i_pos3d_pt[0]+ rot[4] * i_pos3d_pt[1]+ rot[5] * i_pos3d_pt[2];\r
+ wz = rot[6] * i_pos3d_pt[0]+ rot[7] * i_pos3d_pt[1]+ rot[8] * i_pos3d_pt[2];\r
+ //</Optimize>\r
+ a_array[x2 ][0]=b_array[0][x2]=cpara[0*4+0];//mat_a->m[j*6+0] = mat_b->m[num*0+j*2] = cpara[0][0];\r
+ a_array[x2 ][1]=b_array[1][x2]=cpara[0*4+1];//mat_a->m[j*6+1] = mat_b->m[num*2+j*2] = cpara[0][1];\r
+ a_array[x2 ][2]=b_array[2][x2]=cpara[0*4+2] - po2d_pt[0];//mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = cpara[0][2] - pos2d[j][0];\r
+ a_array[x2+1][0]=b_array[0][x2+1]=0.0;//mat_a->m[j*6+3] = mat_b->m[num*0+j*2+1] = 0.0;\r
+ a_array[x2+1][1]=b_array[1][x2+1]=cpara[1*4+1];//mat_a->m[j*6+4] = mat_b->m[num*2+j*2+1] = cpara[1][1];\r
+ a_array[x2+1][2]=b_array[2][x2+1]=cpara[1*4+2] - po2d_pt[1];//mat_a->m[j*6+5] = mat_b->m[num*4+j*2+1] = cpara[1][2] - pos2d[j][1];\r
+ c_array[x2][0] =wz * po2d_pt[0]- cpara[0*4+0]*wx - cpara[0*4+1]*wy - cpara[0*4+2]*wz;//mat_c->m[j*2+0] = wz * pos2d[j][0]- cpara[0][0]*wx - cpara[0][1]*wy - cpara[0][2]*wz;\r
+ c_array[x2+1][0]=wz * po2d_pt[1]- cpara[1*4+1]*wy - cpara[1*4+2]*wz;//mat_c->m[j*2+1] = wz * pos2d[j][1]- cpara[1][1]*wy - cpara[1][2]*wz;\r
+ }\r
+ mat_d = this.wk_arGetTransMatSub_mat_d;//次処理で値をもらうので、初期化の必要は無い。\r
+ mat_e = this.wk_arGetTransMatSub_mat_e;//次処理で値をもらうので、初期化の必要は無い。\r
+ mat_f = this.wk_arGetTransMatSub_mat_f;//次処理で値をもらうので、初期化の必要は無い。\r
+ double[][] f_array=mat_f.getArray();\r
+\r
+ mat_d.matrixMul(mat_b, mat_a );\r
+ mat_e.matrixMul(mat_b, mat_c );\r
+ mat_d.matrixSelfInv();\r
+ mat_f.matrixMul(mat_d, mat_e );\r
+\r
+ double[] trans=wk_arGetTransMatSub_trans;//double trans[3]; \r
+ trans[0] = f_array[0][0];//trans[0] = mat_f->m[0];\r
+ trans[1] = f_array[1][0];\r
+ trans[2] = f_array[2][0];//trans[2] = mat_f->m[2];\r
+\r
+ ret =transrot.modifyMatrix(trans, i_pos3d, pos2d);\r
+ for( i = 0; i < NUMBER_OF_VERTEX; i++ ) {\r
+ x2=i*2;\r
+ i_pos3d_pt=i_pos3d[i];\r
+ po2d_pt=pos2d[i];\r
+ //<Optimize> \r
+ //wx = rot[0][0] * pos3d[j][0]+ rot[0][1] * pos3d[j][1]+ rot[0][2] * pos3d[j][2];\r
+ //wy = rot[1][0] * pos3d[j][0]+ rot[1][1] * pos3d[j][1]+ rot[1][2] * pos3d[j][2];\r
+ //wz = rot[2][0] * pos3d[j][0]+ rot[2][1] * pos3d[j][1]+ rot[2][2] * pos3d[j][2];\r
+ wx = rot[0] * i_pos3d_pt[0]+ rot[1] * i_pos3d_pt[1]+ rot[2] * i_pos3d_pt[2];\r
+ wy = rot[3] * i_pos3d_pt[0]+ rot[4] * i_pos3d_pt[1]+ rot[5] * i_pos3d_pt[2];\r
+ wz = rot[6] * i_pos3d_pt[0]+ rot[7] * i_pos3d_pt[1]+ rot[8] * i_pos3d_pt[2];\r
+ //</Optimize>\r
+ a_array[x2 ][0]=b_array[0][x2]=cpara[0*4+0];//mat_a->m[j*6+0] = mat_b->m[num*0+j*2] = cpara[0][0];\r
+ a_array[x2 ][1]=b_array[1][x2]=cpara[0*4+1];//mat_a->m[j*6+1] = mat_b->m[num*2+j*2] = cpara[0][1];\r
+ a_array[x2 ][2]=b_array[2][x2]=cpara[0*4+2] - po2d_pt[0];//mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = cpara[0][2] - pos2d[j][0];\r
+ a_array[x2+1][0]=b_array[0][x2+1]=0.0;//mat_a->m[j*6+3] = mat_b->m[num*0+j*2+1] = 0.0;\r
+ a_array[x2+1][1]=b_array[1][x2+1]=cpara[1*4+1];//mat_a->m[j*6+4] = mat_b->m[num*2+j*2+1] = cpara[1][1];\r
+ a_array[x2+1][2]=b_array[2][x2+1]=cpara[1*4+2] - po2d_pt[1];//mat_a->m[j*6+5] = mat_b->m[num*4+j*2+1] = cpara[1][2] - pos2d[j][1];\r
+ c_array[x2][0] =wz * po2d_pt[0]- cpara[0*4+0]*wx - cpara[0*4+1]*wy - cpara[0*4+2]*wz;//mat_c->m[j*2+0] = wz * pos2d[j][0]- cpara[0][0]*wx - cpara[0][1]*wy - cpara[0][2]*wz;\r
+ c_array[x2+1][0]=wz * po2d_pt[1]- cpara[1*4+1]*wy - cpara[1*4+2]*wz;//mat_c->m[j*2+1] = wz * pos2d[j][1]- cpara[1][1]*wy - cpara[1][2]*wz;\r
+ }\r
+\r
+ mat_d.matrixMul(mat_b, mat_a );\r
+ mat_e.matrixMul(mat_b, mat_c );\r
+ mat_d.matrixSelfInv();\r
+ mat_f.matrixMul(mat_d, mat_e );\r
+\r
+ trans[0] = f_array[0][0];//trans[0] = mat_f->m[0];\r
+ trans[1] = f_array[1][0];\r
+ trans[2] = f_array[2][0];//trans[2] = mat_f->m[2];\r
+\r
+\r
+ ret = transrot.modifyMatrix(trans, i_pos3d, pos2d);\r
+ //変換行列を保存\r
+ o_result_conv.updateMatrixValue(this.transrot,i_off,trans);\r
+ \r
+// double[][] conv=o_result_conv.getArray();\r
+// for( i = 2; i >=0; i-- ) {//<Optimize/>for( j = 0; j < 3; j++ ) {\r
+// //<Optimize>\r
+// //for( i = 0; i < 3; i++ ){\r
+// // conv[j][i] = rot[j][i];\r
+// //}\r
+// conv[i][0] = rot[i*3+0];\r
+// conv[i][1] = rot[i*3+1];\r
+// conv[i][2] = rot[i*3+2];\r
+// //</Optimize>\r
+// conv[i][3] = trans[i];\r
+// }\r
+ return ret;\r
+ }\r
+}\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.util.DoubleValue;\r
+\r
+\r
+\r
+\r
+\r
+/**\r
+ * This class calculates ARMatrix from square information and holds it.\r
+ * --\r
+ * 変換行列を計算して、結果を保持するクラス。\r
+ *\r
+ */\r
+public class NyARTransMat_O2 implements NyARTransMat\r
+{\r
+ private final static int AR_FITTING_TO_IDEAL=0;//#define AR_FITTING_TO_IDEAL 0\r
+ private final static int AR_FITTING_TO_INPUT=1;//#define AR_FITTING_TO_INPUT 1\r
+ private final static int arFittingMode =AR_FITTING_TO_INPUT;\r
+\r
+ private final static int AR_GET_TRANS_MAT_MAX_LOOP_COUNT=5;//#define AR_GET_TRANS_MAT_MAX_LOOP_COUNT 5\r
+ private final static double AR_GET_TRANS_MAT_MAX_FIT_ERROR=1.0;//#define AR_GET_TRANS_MAT_MAX_FIT_ERROR 1.0\r
+ private final static double AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR=1.0;\r
+ private final static int P_MAX=10;//頂点の数(4で十分だけどなんとなく10)//#define P_MAX 500\r
+ private final static int NUMBER_OF_VERTEX=4;//処理対象の頂点数\r
+ private final NyARTransRot transrot;\r
+ private final double[] center={0.0,0.0};\r
+ private final NyARParam param;\r
+ private final NyARMat result_mat=new NyARMat(3,4);\r
+ public NyARTransMat_O2(NyARParam i_param)throws NyARException\r
+ {\r
+ param=i_param;\r
+ transrot=new NyARTransRot_O3(i_param,NUMBER_OF_VERTEX);\r
+\r
+ }\r
+ public void setCenter(double i_x,double i_y)\r
+ {\r
+ center[0]=i_x;\r
+ center[1]=i_x;\r
+ }\r
+ public NyARMat getTransformationMatrix()\r
+ {\r
+ return result_mat;\r
+ }\r
+\r
+ /**\r
+ * transMat関数の初期化関数を分離したものです。\r
+ * @param square\r
+ * @param i_direction\r
+ * @param i_width\r
+ * @param o_ppos2d\r
+ * @param o_ppos3d\r
+ */\r
+ private final void init_transMat_ppos(NyARSquare square,int i_direction,double i_width,double[][] o_ppos2d,double[][] o_ppos3d)\r
+ { \r
+ o_ppos2d[0][0] = square.sqvertex[(4-i_direction)%4][0];\r
+ o_ppos2d[0][1] = square.sqvertex[(4-i_direction)%4][1];\r
+ o_ppos2d[1][0] = square.sqvertex[(5-i_direction)%4][0];\r
+ o_ppos2d[1][1] = square.sqvertex[(5-i_direction)%4][1];\r
+ o_ppos2d[2][0] = square.sqvertex[(6-i_direction)%4][0];\r
+ o_ppos2d[2][1] = square.sqvertex[(6-i_direction)%4][1];\r
+ o_ppos2d[3][0] = square.sqvertex[(7-i_direction)%4][0];\r
+ o_ppos2d[3][1] = square.sqvertex[(7-i_direction)%4][1];\r
+ \r
+ double c0,c1,w_2;\r
+ c0=center[0];\r
+ c1=center[1];\r
+ w_2 =i_width/2.0;\r
+ \r
+ o_ppos3d[0][0] = c0 - w_2;//center[0] - w/2.0;\r
+ o_ppos3d[0][1] = c1 + w_2;//center[1] + w/2.0;\r
+ o_ppos3d[1][0] = c0 + w_2;//center[0] + w/2.0;\r
+ o_ppos3d[1][1] = c1 + w_2;//center[1] + w/2.0;\r
+ o_ppos3d[2][0] = c0 + w_2;//center[0] + w/2.0;\r
+ o_ppos3d[2][1] = c1 - w_2;//center[1] - w/2.0;\r
+ o_ppos3d[3][0] = c0 - w_2;//center[0] - w/2.0;\r
+ o_ppos3d[3][1] = c1 - w_2;//center[1] - w/2.0;\r
+ return;\r
+ }\r
+ \r
+ private final double[][] wk_transMat_pos3d=new double[P_MAX][3];//pos3d[P_MAX][3];\r
+ private final double[][] wk_transMat_ppos2d=new double[4][2];\r
+ private final double[][] wk_transMat_ppos3d=new double[4][2];\r
+ private final double[] wk_transMat_off=new double[3];\r
+ private final double[][] wk_transMat_pos2d=new double[P_MAX][2];//pos2d[P_MAX][2];\r
+ private final NyARMat wk_transMat_mat_b=new NyARMat(3,NUMBER_OF_VERTEX*2);\r
+ private final NyARMat wk_transMat_mat_d=new NyARMat( 3, 3 ); \r
+ private final double[] wk_transMat_mat_trans=new double[3];\r
+\r
+ /**\r
+ * double arGetTransMat( ARMarkerInfo *marker_info,double center[2], double width, double conv[3][4] )\r
+ * 演算シーケンス最適化のため、arGetTransMat3等の関数フラグメントを含みます。\r
+ * 保持している変換行列を更新する。\r
+ * @param square\r
+ * 計算対象のNyARSquareオブジェクト\r
+ * @param i_direction\r
+ * @param width\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public double transMat(NyARSquare square,int i_direction, double width,NyARTransMatResult o_result_conv)throws NyARException\r
+ {\r
+ double[][] ppos2d=wk_transMat_ppos2d;\r
+ double[][] ppos3d=wk_transMat_ppos3d;\r
+ double[] off =wk_transMat_off;\r
+ double[][] pos3d =wk_transMat_pos3d;\r
+ \r
+ //rotationの初期化\r
+ transrot.initRot(square,i_direction);\r
+\r
+ //ppos2dとppos3dの初期化\r
+ init_transMat_ppos(square,i_direction,width,ppos2d,ppos3d);\r
+ \r
+ //arGetTransMat3の前段処理(pos3dとoffを初期化)\r
+ double[][] pos2d=this.wk_transMat_pos2d;\r
+ final NyARMat mat_b =this.wk_transMat_mat_b;\r
+ final NyARMat mat_d =this.wk_transMat_mat_d;\r
+\r
+ arGetTransMat3_initTransMat(ppos3d,ppos2d,pos2d,pos3d,off,mat_b,mat_d);\r
+ \r
+ double err=-1;\r
+ double[] trans=this.wk_transMat_mat_trans;\r
+ for(int i=0;i<AR_GET_TRANS_MAT_MAX_LOOP_COUNT; i++ ){\r
+ //<arGetTransMat3>\r
+ err = arGetTransMatSub(pos2d, pos3d,mat_b,mat_d,trans);\r
+// //</arGetTransMat3>\r
+ if( err < AR_GET_TRANS_MAT_MAX_FIT_ERROR ){\r
+ break;\r
+ }\r
+ }\r
+ //マトリクスの保存\r
+ o_result_conv.updateMatrixValue(this.transrot,off,trans);\r
+ return err;\r
+ }\r
+ private final NyARTransMatResult wk_transMatContinue_result=new NyARTransMatResult();\r
+\r
+ /**\r
+ * double arGetTransMatCont( ARMarkerInfo *marker_info, double prev_conv[3][4],double center[2], double width, double conv[3][4] )\r
+ * \r
+ * @param i_square\r
+ * @param i_direction\r
+ * マーカーの方位を指定する。\r
+ * @param i_width\r
+ * @param io_result_conv\r
+ * 計算履歴を持つNyARTransMatResultオブジェクトを指定する。\r
+ * 履歴を持たない場合は、transMatと同じ処理を行う。\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public double transMatContinue(NyARSquare i_square,int i_direction, double i_width,NyARTransMatResult io_result_conv)throws NyARException\r
+ {\r
+ //io_result_convが初期値なら、transMatで計算する。\r
+ if(!io_result_conv.hasValue()){\r
+ return this.transMat(i_square, i_direction, i_width, io_result_conv);\r
+ }\r
+\r
+ double[][] ppos2d=wk_transMat_ppos2d;\r
+ double[][] ppos3d=wk_transMat_ppos3d;\r
+ double[] off =wk_transMat_off;\r
+ double[][] pos3d =wk_transMat_pos3d;\r
+ \r
+ // arGetTransMatContSub計算部分\r
+ transrot.initRotByPrevResult(io_result_conv);\r
+\r
+ //ppos2dとppos3dの初期化\r
+ init_transMat_ppos(i_square,i_direction,i_width,ppos2d,ppos3d);\r
+ \r
+ //arGetTransMat3の前段処理(pos3dとoffを初期化)\r
+ double[][] pos2d=this.wk_transMat_pos2d;\r
+ final NyARMat mat_b =this.wk_transMat_mat_b;\r
+ final NyARMat mat_d =this.wk_transMat_mat_d;\r
+\r
+ //transMatに必要な初期値を計算\r
+ arGetTransMat3_initTransMat(ppos3d,ppos2d,pos2d,pos3d,off,mat_b,mat_d);\r
+ \r
+ double err1,err2;\r
+ int i;\r
+\r
+ err1=err2=-1;\r
+ double[] trans=this.wk_transMat_mat_trans;\r
+ for( i = 0; i < AR_GET_TRANS_MAT_MAX_LOOP_COUNT; i++ ){\r
+ err1 = arGetTransMatSub(pos2d, pos3d,mat_b,mat_d,trans);\r
+ if( err1 < AR_GET_TRANS_MAT_MAX_FIT_ERROR ){\r
+ //十分な精度を達成できたらブレーク\r
+ break;\r
+ }\r
+ }\r
+ //値を保存\r
+ io_result_conv.updateMatrixValue(this.transrot,off,trans);\r
+ \r
+ //エラー値が許容範囲でなければTransMatをやり直し\r
+ if(err1>AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR) {\r
+ NyARTransMatResult result2=this.wk_transMatContinue_result;\r
+ //transMatを実行(初期化値は共用)\r
+ transrot.initRot(i_square,i_direction);\r
+ err2 = transMat(i_square,i_direction,i_width,result2);\r
+ //transmMatここまで\r
+ if(err2<err1){\r
+ //良い値が取れたら、差換え\r
+ io_result_conv.copyFrom(result2);\r
+ err1 = err2;\r
+ }\r
+ }\r
+ return err1;\r
+ } \r
+ \r
+ \r
+ \r
+\r
+ private final NyARMat wk_arGetTransMat3_mat_a=new NyARMat(NUMBER_OF_VERTEX*2,3);\r
+\r
+ /**\r
+ * arGetTransMat3関数の前処理部分。i_ppos3dから、o_pos3dとoffを計算する。\r
+ * 計算結果から再帰的に変更される可能性が無いので、切り離し。\r
+ * @param i_ppos3d\r
+ * 入力配列[num][3]\r
+ * @param o_pos3d\r
+ * 出力配列[P_MAX][3]\r
+ * @param o_off\r
+ * [3]\r
+ * @throws NyARException\r
+ */\r
+ private final void arGetTransMat3_initTransMat(double[][] i_ppos3d,double[][] i_ppos2d,double[][] o_pos2d,double[][] o_pos3d,double[] o_off,NyARMat o_mat_b,NyARMat o_mat_d)throws NyARException\r
+ {\r
+ double pmax0,pmax1,pmax2,pmin0,pmin1,pmin2;\r
+ int i;\r
+ pmax0=pmax1=pmax2 = -10000000000.0;\r
+ pmin0=pmin1=pmin2 = 10000000000.0;\r
+ for(i = 0; i < NUMBER_OF_VERTEX; i++ ) {\r
+ if( i_ppos3d[i][0] > pmax0 ){\r
+ pmax0 = i_ppos3d[i][0];\r
+ }\r
+ if( i_ppos3d[i][0] < pmin0 ){\r
+ pmin0 = i_ppos3d[i][0];\r
+ }\r
+ if( i_ppos3d[i][1] > pmax1 ){\r
+ pmax1 = i_ppos3d[i][1];\r
+ }\r
+ if( i_ppos3d[i][1] < pmin1 ){\r
+ pmin1 = i_ppos3d[i][1];\r
+ }\r
+ /* オリジナルでもコメントアウト\r
+ if( ppos3d[i][2] > pmax[2] ) pmax[2] = ppos3d[i][2];\r
+ if( ppos3d[i][2] < pmin[2] ) pmin[2] = ppos3d[i][2];\r
+ */ \r
+ }\r
+ o_off[0] = -(pmax0 + pmin0) / 2.0;\r
+ o_off[1] = -(pmax1 + pmin1) / 2.0;\r
+ o_off[2] = -(pmax2 + pmin2) / 2.0;\r
+\r
+\r
+ double[] o_pos3d_pt;\r
+ double[] i_pos_pd_pt; \r
+ for(i = 0; i < NUMBER_OF_VERTEX; i++ ) {\r
+ o_pos3d_pt =o_pos3d[i];\r
+ i_pos_pd_pt=i_ppos3d[i];\r
+ o_pos3d_pt[0] = i_pos_pd_pt[0] + o_off[0];\r
+ o_pos3d_pt[1] = i_pos_pd_pt[1] + o_off[1];\r
+ o_pos3d_pt[2] = 0.0;\r
+ }\r
+ //ココから先でarGetTransMatSubの初期化処理\r
+ //arGetTransMatSubにあった処理。毎回おなじっぽい。pos2dに変換座標を格納する。\r
+ \r
+ if(arFittingMode == AR_FITTING_TO_INPUT ){\r
+ //arParamIdeal2Observをバッチ処理\r
+ param.ideal2ObservBatch(i_ppos2d,o_pos2d,NUMBER_OF_VERTEX);\r
+ }else{\r
+ for(i = 0; i < NUMBER_OF_VERTEX; i++ ){\r
+ o_pos2d[i][0] = i_ppos2d[i][0];\r
+ o_pos2d[i][1] = i_ppos2d[i][1];\r
+ }\r
+ }\r
+\r
+ //変換マトリクスdとbの準備(arGetTransMatSubの一部)\r
+ final double cpara[]=param.get34Array();\r
+ final NyARMat mat_a =this.wk_arGetTransMat3_mat_a;\r
+ final double[][] a_array=mat_a.getArray();\r
+\r
+ //mat_bの設定\r
+ final double[][] b_array=o_mat_b.getArray();\r
+\r
+ int x2;\r
+ for(i = 0; i < NUMBER_OF_VERTEX; i++ ) {\r
+ x2=i*2;\r
+ //</Optimize>\r
+ a_array[x2 ][0]=b_array[0][x2]=cpara[0*4+0];//mat_a->m[j*6+0] = mat_b->m[num*0+j*2] = cpara[0][0];\r
+ a_array[x2 ][1]=b_array[1][x2]=cpara[0*4+1];//mat_a->m[j*6+1] = mat_b->m[num*2+j*2] = cpara[0][1];\r
+ a_array[x2 ][2]=b_array[2][x2]=cpara[0*4+2]-o_pos2d[i][0];//mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = cpara[0][2] - pos2d[j][0];\r
+ a_array[x2+1][0]=b_array[0][x2+1]=0.0;//mat_a->m[j*6+3] = mat_b->m[num*0+j*2+1] = 0.0;\r
+ a_array[x2+1][1]=b_array[1][x2+1]=cpara[1*4+1];//mat_a->m[j*6+4] = mat_b->m[num*2+j*2+1] = cpara[1][1];\r
+ a_array[x2+1][2]=b_array[2][x2+1]=cpara[1*4+2]-o_pos2d[i][1];//mat_a->m[j*6+5] = mat_b->m[num*4+j*2+1] = cpara[1][2] - pos2d[j][1];\r
+ }\r
+ \r
+ //mat_d\r
+ o_mat_d.matrixMul(o_mat_b,mat_a);\r
+ o_mat_d.matrixSelfInv(); \r
+ } \r
+\r
+ private final NyARMat wk_arGetTransMatSub_mat_c=new NyARMat(NUMBER_OF_VERTEX*2,1);\r
+ private final NyARMat wk_arGetTransMatSub_mat_e=new NyARMat( 3, 1 );\r
+ private final NyARMat wk_arGetTransMatSub_mat_f=new NyARMat( 3, 1 );\r
+\r
+ /**\r
+ * static double arGetTransMatSub( double rot[3][3], double ppos2d[][2],double pos3d[][3], int num, double conv[3][4],double *dist_factor, double cpara[3][4] )\r
+ * Optimize:2008.04.20:STEP[1033→1004]\r
+ * @param i_ppos2d\r
+ * @param i_pos3d\r
+ * @param i_mat_b\r
+ * 演算用行列b\r
+ * @param i_mat_d\r
+ * 演算用行列d\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ private final double arGetTransMatSub(double i_pos2d[][],double i_pos3d[][],NyARMat i_mat_b,NyARMat i_mat_d,double[] o_trans) throws NyARException\r
+ {\r
+ double cpara[]=param.get34Array();\r
+ NyARMat mat_c,mat_e,mat_f;//ARMat *mat_a, *mat_b, *mat_c, *mat_d, *mat_e, *mat_f;\r
+\r
+ double wx, wy, wz;\r
+ double ret;\r
+ int i;\r
+\r
+ mat_c =this.wk_arGetTransMatSub_mat_c;//次処理で値をもらうので、初期化の必要は無い。\r
+ double[][] c_array=mat_c.getArray();\r
+ double[] rot=transrot.getArray();\r
+ double[] i_pos3d_pt;\r
+ int x2;\r
+ for( i = 0; i < NUMBER_OF_VERTEX; i++ ) {\r
+ x2=i*2;\r
+ i_pos3d_pt=i_pos3d[i];\r
+ wx = rot[0] * i_pos3d_pt[0]+ rot[1] * i_pos3d_pt[1]+ rot[2] * i_pos3d_pt[2];\r
+ wy = rot[3] * i_pos3d_pt[0]+ rot[4] * i_pos3d_pt[1]+ rot[5] * i_pos3d_pt[2];\r
+ wz = rot[6] * i_pos3d_pt[0]+ rot[7] * i_pos3d_pt[1]+ rot[8] * i_pos3d_pt[2];\r
+ c_array[x2][0] =wz * i_pos2d[i][0]- cpara[0*4+0]*wx - cpara[0*4+1]*wy - cpara[0*4+2]*wz;//mat_c->m[j*2+0] = wz * pos2d[j][0]- cpara[0][0]*wx - cpara[0][1]*wy - cpara[0][2]*wz;\r
+ c_array[x2+1][0]=wz * i_pos2d[i][1]- cpara[1*4+1]*wy - cpara[1*4+2]*wz;//mat_c->m[j*2+1] = wz * pos2d[j][1]- cpara[1][1]*wy - cpara[1][2]*wz;\r
+ }\r
+ mat_e = this.wk_arGetTransMatSub_mat_e;//次処理で値をもらうので、初期化の必要は無い。\r
+ mat_f = this.wk_arGetTransMatSub_mat_f;//次処理で値をもらうので、初期化の必要は無い。\r
+ double[][] f_array=mat_f.getArray();\r
+\r
+ mat_e.matrixMul(i_mat_b, mat_c );\r
+ mat_f.matrixMul(i_mat_d, mat_e );\r
+\r
+// double[] trans=wk_arGetTransMatSub_trans;//double trans[3]; \r
+ o_trans[0] = f_array[0][0];//trans[0] = mat_f->m[0];\r
+ o_trans[1] = f_array[1][0];\r
+ o_trans[2] = f_array[2][0];//trans[2] = mat_f->m[2];\r
+ ret =transrot.modifyMatrix(o_trans, i_pos3d, i_pos2d);\r
+ for( i = 0; i < NUMBER_OF_VERTEX; i++ ) {\r
+ x2=i*2;\r
+ i_pos3d_pt=i_pos3d[i];\r
+ wx = rot[0] * i_pos3d_pt[0]+ rot[1] * i_pos3d_pt[1]+ rot[2] * i_pos3d_pt[2];\r
+ wy = rot[3] * i_pos3d_pt[0]+ rot[4] * i_pos3d_pt[1]+ rot[5] * i_pos3d_pt[2];\r
+ wz = rot[6] * i_pos3d_pt[0]+ rot[7] * i_pos3d_pt[1]+ rot[8] * i_pos3d_pt[2];\r
+ c_array[x2][0] =wz * i_pos2d[i][0]- cpara[0*4+0]*wx - cpara[0*4+1]*wy - cpara[0*4+2]*wz;//mat_c->m[j*2+0] = wz * pos2d[j][0]- cpara[0][0]*wx - cpara[0][1]*wy - cpara[0][2]*wz;\r
+ c_array[x2+1][0]=wz * i_pos2d[i][1]- cpara[1*4+1]*wy - cpara[1*4+2]*wz;//mat_c->m[j*2+1] = wz * pos2d[j][1]- cpara[1][1]*wy - cpara[1][2]*wz;\r
+ }\r
+\r
+ mat_e.matrixMul(i_mat_b, mat_c );\r
+ mat_f.matrixMul(i_mat_d, mat_e );\r
+ o_trans[0] = f_array[0][0];//trans[0] = mat_f->m[0];\r
+ o_trans[1] = f_array[1][0];\r
+ o_trans[2] = f_array[2][0];//trans[2] = mat_f->m[2];\r
+ ret = transrot.modifyMatrix(o_trans, i_pos3d, i_pos2d);\r
+ return ret;\r
+ }\r
+}\r
--- /dev/null
+package jp.nyatla.nyartoolkit.core;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+\r
+interface NyARTransRot\r
+{\r
+ public double[] getArray();\r
+ /**\r
+ * \r
+ * @param trans\r
+ * @param vertex\r
+ * @param pos2d\r
+ * [n*2]配列\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public double modifyMatrix(double trans[],double vertex[][], double pos2d[][]) throws NyARException;\r
+ public void initRot(NyARSquare marker_info,int i_direction) throws NyARException;\r
+ public void initRotByPrevResult(NyARTransMatResult i_prev_result);\r
+}\r
+\r
+/**\r
+ * NyARTransRot派生クラスで共通に使いそうな関数類をまとめたもの。\r
+ *\r
+ */\r
+abstract class NyARTransRot_OptimizeCommon implements NyARTransRot\r
+{\r
+ protected final int number_of_vertex;\r
+ protected final double[] array=new double[9];\r
+ protected final NyARParam cparam;\r
+ public final void initRotByPrevResult(NyARTransMatResult i_prev_result)\r
+ {\r
+ double[][] prev_array=i_prev_result.getArray();\r
+ double[] pt;\r
+ final double[] L_rot=this.array;\r
+ pt=prev_array[0];\r
+ L_rot[0*3+0]=pt[0];\r
+ L_rot[0*3+1]=pt[1];\r
+ L_rot[0*3+2]=pt[2];\r
+ pt=prev_array[1];\r
+ L_rot[1*3+0]=pt[0];\r
+ L_rot[1*3+1]=pt[1];\r
+ L_rot[1*3+2]=pt[2];\r
+ pt=prev_array[2];\r
+ L_rot[2*3+0]=pt[0];\r
+ L_rot[2*3+1]=pt[1];\r
+ L_rot[2*3+2]=pt[2];\r
+ }\r
+ public final double[] getArray()\r
+ {\r
+ return this.array;\r
+ }\r
+ /**\r
+ * インスタンスを準備します。\r
+ * @param i_param\r
+ * nullを指定した場合、一部の関数が使用不能になります。\r
+ */\r
+ public NyARTransRot_OptimizeCommon(NyARParam i_param,int i_number_of_vertex) throws NyARException\r
+ {\r
+ number_of_vertex=i_number_of_vertex;\r
+ cparam=i_param;\r
+ }\r
+\r
+ private final double[] wk_check_dir_world=new double[6];\r
+ private final double[] wk_check_dir_camera=new double[4];\r
+ private final NyARMat wk_check_dir_NyARMat=new NyARMat( 3, 3 );\r
+ /**\r
+ * static int check_dir( double dir[3], double st[2], double ed[2],double cpara[3][4] )\r
+ * Optimize:STEP[526->468]\r
+ * @param dir\r
+ * @param st\r
+ * @param ed\r
+ * @param cpara\r
+ * \r
+ * @throws NyARException\r
+ */\r
+ protected final void check_dir( double dir[], double st[], double ed[],double cpara[]) throws NyARException\r
+ {\r
+ double h;\r
+ int i, j;\r
+\r
+ NyARMat mat_a = this.wk_check_dir_NyARMat;//ここ、事前に初期化できそう\r
+ double[][] a_array=mat_a.getArray();\r
+ for(j=0;j<3;j++){\r
+ for(i=0;i<3;i++){\r
+ a_array[j][i]=cpara[j*4+i];//m[j*3+i] = cpara[j][i];\r
+ }\r
+ \r
+ }\r
+ // JartkException.trap("未チェックのパス");\r
+ mat_a.matrixSelfInv();\r
+ double[] world=wk_check_dir_world;//[2][3];\r
+ //<Optimize>\r
+ //world[0][0] = a_array[0][0]*st[0]*10.0+ a_array[0][1]*st[1]*10.0+ a_array[0][2]*10.0;//mat_a->m[0]*st[0]*10.0+ mat_a->m[1]*st[1]*10.0+ mat_a->m[2]*10.0;\r
+ //world[0][1] = a_array[1][0]*st[0]*10.0+ a_array[1][1]*st[1]*10.0+ a_array[1][2]*10.0;//mat_a->m[3]*st[0]*10.0+ mat_a->m[4]*st[1]*10.0+ mat_a->m[5]*10.0;\r
+ //world[0][2] = a_array[2][0]*st[0]*10.0+ a_array[2][1]*st[1]*10.0+ a_array[2][2]*10.0;//mat_a->m[6]*st[0]*10.0+ mat_a->m[7]*st[1]*10.0+ mat_a->m[8]*10.0;\r
+ //world[1][0] = world[0][0] + dir[0];\r
+ //world[1][1] = world[0][1] + dir[1];\r
+ //world[1][2] = world[0][2] + dir[2];\r
+ world[0] = a_array[0][0]*st[0]*10.0+ a_array[0][1]*st[1]*10.0+ a_array[0][2]*10.0;//mat_a->m[0]*st[0]*10.0+ mat_a->m[1]*st[1]*10.0+ mat_a->m[2]*10.0;\r
+ world[1] = a_array[1][0]*st[0]*10.0+ a_array[1][1]*st[1]*10.0+ a_array[1][2]*10.0;//mat_a->m[3]*st[0]*10.0+ mat_a->m[4]*st[1]*10.0+ mat_a->m[5]*10.0;\r
+ world[2] = a_array[2][0]*st[0]*10.0+ a_array[2][1]*st[1]*10.0+ a_array[2][2]*10.0;//mat_a->m[6]*st[0]*10.0+ mat_a->m[7]*st[1]*10.0+ mat_a->m[8]*10.0;\r
+ world[3] = world[0] + dir[0];\r
+ world[4] = world[1] + dir[1];\r
+ world[5] = world[2] + dir[2];\r
+ //</Optimize>\r
+\r
+ double[] camera=wk_check_dir_camera;//[2][2];\r
+ for( i = 0; i < 2; i++ ) {\r
+ h = cpara[2*4+0] * world[i*3+0]+ cpara[2*4+1] * world[i*3+1]+ cpara[2*4+2] * world[i*3+2];\r
+ if( h == 0.0 ){\r
+ throw new NyARException();\r
+ }\r
+ camera[i*2+0] = (cpara[0*4+0] * world[i*3+0]+ cpara[0*4+1] * world[i*3+1]+ cpara[0*4+2] * world[i*3+2]) / h;\r
+ camera[i*2+1] = (cpara[1*4+0] * world[i*3+0]+ cpara[1*4+1] * world[i*3+1]+ cpara[1*4+2] * world[i*3+2]) / h;\r
+ }\r
+ //<Optimize>\r
+ //v[0][0] = ed[0] - st[0];\r
+ //v[0][1] = ed[1] - st[1];\r
+ //v[1][0] = camera[1][0] - camera[0][0];\r
+ //v[1][1] = camera[1][1] - camera[0][1];\r
+ double v=(ed[0]-st[0])*(camera[2]-camera[0])+(ed[1]-st[1])*(camera[3]-camera[1]);\r
+ //</Optimize>\r
+ if(v<0) {//if( v[0][0]*v[1][0] + v[0][1]*v[1][1] < 0 ) {\r
+ dir[0] = -dir[0];\r
+ dir[1] = -dir[1];\r
+ dir[2] = -dir[2];\r
+ }\r
+ }\r
+ /*int check_rotation( double rot[2][3] )*/\r
+ protected final static void check_rotation( double rot[][] ) throws NyARException\r
+ {\r
+ double[] v1=new double[3], v2=new double[3], v3=new double[3];\r
+ double ca, cb, k1, k2, k3, k4;\r
+ double a, b, c, d;\r
+ double p1, q1, r1;\r
+ double p2, q2, r2;\r
+ double p3, q3, r3;\r
+ double p4, q4, r4;\r
+ double w;\r
+ double e1, e2, e3, e4;\r
+ int f;\r
+\r
+ v1[0] = rot[0][0];\r
+ v1[1] = rot[0][1];\r
+ v1[2] = rot[0][2];\r
+ v2[0] = rot[1][0];\r
+ v2[1] = rot[1][1];\r
+ v2[2] = rot[1][2];\r
+ v3[0] = v1[1]*v2[2] - v1[2]*v2[1];\r
+ v3[1] = v1[2]*v2[0] - v1[0]*v2[2];\r
+ v3[2] = v1[0]*v2[1] - v1[1]*v2[0];\r
+ w = Math.sqrt( v3[0]*v3[0]+v3[1]*v3[1]+v3[2]*v3[2] );\r
+ if( w == 0.0 ){\r
+ throw new NyARException();\r
+ }\r
+ v3[0] /= w;\r
+ v3[1] /= w;\r
+ v3[2] /= w;\r
+\r
+ cb = v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];\r
+ if( cb < 0 ) cb *= -1.0;\r
+ ca = (Math.sqrt(cb+1.0) + Math.sqrt(1.0-cb)) * 0.5;\r
+\r
+ if( v3[1]*v1[0] - v1[1]*v3[0] != 0.0 ) {\r
+ f = 0;\r
+ }\r
+ else {\r
+ if( v3[2]*v1[0] - v1[2]*v3[0] != 0.0 ) {\r
+ w = v1[1]; v1[1] = v1[2]; v1[2] = w;\r
+ w = v3[1]; v3[1] = v3[2]; v3[2] = w;\r
+ f = 1;\r
+ }\r
+ else {\r
+ w = v1[0]; v1[0] = v1[2]; v1[2] = w;\r
+ w = v3[0]; v3[0] = v3[2]; v3[2] = w;\r
+ f = 2;\r
+ }\r
+ }\r
+ if( v3[1]*v1[0] - v1[1]*v3[0] == 0.0 ){\r
+ throw new NyARException();\r
+ }\r
+ k1 = (v1[1]*v3[2] - v3[1]*v1[2]) / (v3[1]*v1[0] - v1[1]*v3[0]);\r
+ k2 = (v3[1] * ca) / (v3[1]*v1[0] - v1[1]*v3[0]);\r
+ k3 = (v1[0]*v3[2] - v3[0]*v1[2]) / (v3[0]*v1[1] - v1[0]*v3[1]);\r
+ k4 = (v3[0] * ca) / (v3[0]*v1[1] - v1[0]*v3[1]);\r
+\r
+ a = k1*k1 + k3*k3 + 1;\r
+ b = k1*k2 + k3*k4;\r
+ c = k2*k2 + k4*k4 - 1;\r
+\r
+ d = b*b - a*c;\r
+ if( d < 0 ){\r
+ throw new NyARException();\r
+ }\r
+ r1 = (-b + Math.sqrt(d))/a;\r
+ p1 = k1*r1 + k2;\r
+ q1 = k3*r1 + k4;\r
+ r2 = (-b - Math.sqrt(d))/a;\r
+ p2 = k1*r2 + k2;\r
+ q2 = k3*r2 + k4;\r
+ if( f == 1 ) {\r
+ w = q1; q1 = r1; r1 = w;\r
+ w = q2; q2 = r2; r2 = w;\r
+ w = v1[1]; v1[1] = v1[2]; v1[2] = w;\r
+ w = v3[1]; v3[1] = v3[2]; v3[2] = w;\r
+ f = 0;\r
+ }\r
+ if( f == 2 ) {\r
+ w = p1; p1 = r1; r1 = w;\r
+ w = p2; p2 = r2; r2 = w;\r
+ w = v1[0]; v1[0] = v1[2]; v1[2] = w;\r
+ w = v3[0]; v3[0] = v3[2]; v3[2] = w;\r
+ f = 0;\r
+ }\r
+\r
+ if( v3[1]*v2[0] - v2[1]*v3[0] != 0.0 ) {\r
+ f = 0;\r
+ }else {\r
+ if( v3[2]*v2[0] - v2[2]*v3[0] != 0.0 ) {\r
+ w = v2[1]; v2[1] = v2[2]; v2[2] = w;\r
+ w = v3[1]; v3[1] = v3[2]; v3[2] = w;\r
+ f = 1;\r
+ }\r
+ else {\r
+ w = v2[0]; v2[0] = v2[2]; v2[2] = w;\r
+ w = v3[0]; v3[0] = v3[2]; v3[2] = w;\r
+ f = 2;\r
+ }\r
+ }\r
+ if( v3[1]*v2[0] - v2[1]*v3[0] == 0.0 ){\r
+ throw new NyARException();\r
+ }\r
+ k1 = (v2[1]*v3[2] - v3[1]*v2[2]) / (v3[1]*v2[0] - v2[1]*v3[0]);\r
+ k2 = (v3[1] * ca) / (v3[1]*v2[0] - v2[1]*v3[0]);\r
+ k3 = (v2[0]*v3[2] - v3[0]*v2[2]) / (v3[0]*v2[1] - v2[0]*v3[1]);\r
+ k4 = (v3[0] * ca) / (v3[0]*v2[1] - v2[0]*v3[1]);\r
+\r
+ a = k1*k1 + k3*k3 + 1;\r
+ b = k1*k2 + k3*k4;\r
+ c = k2*k2 + k4*k4 - 1;\r
+\r
+ d = b*b - a*c;\r
+ if( d < 0 ){\r
+ throw new NyARException();\r
+ }\r
+ r3 = (-b + Math.sqrt(d))/a;\r
+ p3 = k1*r3 + k2;\r
+ q3 = k3*r3 + k4;\r
+ r4 = (-b - Math.sqrt(d))/a;\r
+ p4 = k1*r4 + k2;\r
+ q4 = k3*r4 + k4;\r
+ if( f == 1 ) {\r
+ w = q3; q3 = r3; r3 = w;\r
+ w = q4; q4 = r4; r4 = w;\r
+ w = v2[1]; v2[1] = v2[2]; v2[2] = w;\r
+ w = v3[1]; v3[1] = v3[2]; v3[2] = w;\r
+ f = 0;\r
+ }\r
+ if( f == 2 ) {\r
+ w = p3; p3 = r3; r3 = w;\r
+ w = p4; p4 = r4; r4 = w;\r
+ w = v2[0]; v2[0] = v2[2]; v2[2] = w;\r
+ w = v3[0]; v3[0] = v3[2]; v3[2] = w;\r
+ f = 0;\r
+ }\r
+\r
+ e1 = p1*p3+q1*q3+r1*r3;\r
+ if( e1 < 0 ){\r
+ e1 = -e1;\r
+ }\r
+ e2 = p1*p4+q1*q4+r1*r4;\r
+ if( e2 < 0 ){\r
+ e2 = -e2;\r
+ }\r
+ e3 = p2*p3+q2*q3+r2*r3;\r
+ if( e3 < 0 ){\r
+ e3 = -e3;\r
+ }\r
+ e4 = p2*p4+q2*q4+r2*r4;\r
+ if( e4 < 0 ){\r
+ e4 = -e4;\r
+ }\r
+ if( e1 < e2 ) {\r
+ if( e1 < e3 ) {\r
+ if( e1 < e4 ) {\r
+ rot[0][0] = p1;\r
+ rot[0][1] = q1;\r
+ rot[0][2] = r1;\r
+ rot[1][0] = p3;\r
+ rot[1][1] = q3;\r
+ rot[1][2] = r3;\r
+ }\r
+ else {\r
+ rot[0][0] = p2;\r
+ rot[0][1] = q2;\r
+ rot[0][2] = r2;\r
+ rot[1][0] = p4;\r
+ rot[1][1] = q4;\r
+ rot[1][2] = r4;\r
+ }\r
+ }\r
+ else {\r
+ if( e3 < e4 ) {\r
+ rot[0][0] = p2;\r
+ rot[0][1] = q2;\r
+ rot[0][2] = r2;\r
+ rot[1][0] = p3;\r
+ rot[1][1] = q3;\r
+ rot[1][2] = r3;\r
+ }\r
+ else {\r
+ rot[0][0] = p2;\r
+ rot[0][1] = q2;\r
+ rot[0][2] = r2;\r
+ rot[1][0] = p4;\r
+ rot[1][1] = q4;\r
+ rot[1][2] = r4;\r
+ }\r
+ }\r
+ }\r
+ else {\r
+ if( e2 < e3 ) {\r
+ if( e2 < e4 ) {\r
+ rot[0][0] = p1;\r
+ rot[0][1] = q1;\r
+ rot[0][2] = r1;\r
+ rot[1][0] = p4;\r
+ rot[1][1] = q4;\r
+ rot[1][2] = r4;\r
+ }\r
+ else {\r
+ rot[0][0] = p2;\r
+ rot[0][1] = q2;\r
+ rot[0][2] = r2;\r
+ rot[1][0] = p4;\r
+ rot[1][1] = q4;\r
+ rot[1][2] = r4;\r
+ }\r
+ }\r
+ else {\r
+ if( e3 < e4 ) {\r
+ rot[0][0] = p2;\r
+ rot[0][1] = q2;\r
+ rot[0][2] = r2;\r
+ rot[1][0] = p3;\r
+ rot[1][1] = q3;\r
+ rot[1][2] = r3;\r
+ }\r
+ else {\r
+ rot[0][0] = p2;\r
+ rot[0][1] = q2;\r
+ rot[0][2] = r2;\r
+ rot[1][0] = p4;\r
+ rot[1][1] = q4;\r
+ rot[1][2] = r4;\r
+ }\r
+ }\r
+ }\r
+ } \r
+ /**\r
+ * パラメタa,b,cからrotを計算してインスタンスに保存する。\r
+ * rotを1次元配列に変更\r
+ * Optimize:2008.04.20:STEP[253→186]\r
+ * @param a\r
+ * @param b\r
+ * @param c\r
+ * @param o_rot\r
+ */\r
+ protected final static void arGetRot( double a, double b, double c,double[] o_rot)\r
+ {\r
+ double sina, sinb, sinc;\r
+ double cosa, cosb, cosc;\r
+\r
+ sina = Math.sin(a);\r
+ cosa = Math.cos(a);\r
+ sinb = Math.sin(b);\r
+ cosb = Math.cos(b);\r
+ sinc = Math.sin(c);\r
+ cosc = Math.cos(c);\r
+ //Optimize\r
+ double CACA,SASA,SACA,SASB,CASB,SACACB;\r
+ CACA =cosa*cosa;\r
+ SASA =sina*sina;\r
+ SACA =sina*cosa;\r
+ SASB =sina*sinb;\r
+ CASB =cosa*sinb;\r
+ SACACB=SACA*cosb;\r
+ \r
+\r
+ o_rot[0] = CACA*cosb*cosc+SASA*cosc+SACACB*sinc-SACA*sinc;\r
+ o_rot[1] = -CACA*cosb*sinc-SASA*sinc+SACACB*cosc-SACA*cosc;\r
+ o_rot[2] = CASB;\r
+ o_rot[3] = SACACB*cosc-SACA*cosc+SASA*cosb*sinc+CACA*sinc;\r
+ o_rot[4] = -SACACB*sinc+SACA*sinc+SASA*cosb*cosc+CACA*cosc;\r
+ o_rot[5] = SASB;\r
+ o_rot[6] = -CASB*cosc-SASB*sinc;\r
+ o_rot[7] = CASB*sinc-SASB*cosc;\r
+ o_rot[8] = cosb;\r
+ }\r
+ /**\r
+ * int arGetAngle( double rot[3][3], double *wa, double *wb, double *wc )\r
+ * Optimize:2008.04.20:STEP[481→433]\r
+ * @param rot\r
+ * 2次元配列を1次元化してあります。\r
+ * @param o_abc\r
+ * @return\r
+ */\r
+ protected final int arGetAngle(double[] o_abc)\r
+ {\r
+ double a, b, c,tmp;\r
+ double sina, cosa, sinb, cosb, sinc, cosc;\r
+ double[] rot=array;\r
+ if( rot[8] > 1.0 ) {//<Optimize/>if( rot[2][2] > 1.0 ) {\r
+ rot[8] = 1.0;//<Optimize/>rot[2][2] = 1.0;\r
+ }else if( rot[8] < -1.0 ) {//<Optimize/>}else if( rot[2][2] < -1.0 ) {\r
+ rot[8] = -1.0;//<Optimize/>rot[2][2] = -1.0;\r
+ }\r
+ cosb = rot[8];//<Optimize/>cosb = rot[2][2];\r
+ b = Math.acos( cosb );\r
+ sinb = Math.sin( b );\r
+ if( b >= 0.000001 || b <= -0.000001) {\r
+ cosa = rot[2] / sinb;//<Optimize/>cosa = rot[0][2] / sinb;\r
+ sina = rot[5] / sinb;//<Optimize/>sina = rot[1][2] / sinb;\r
+ if( cosa > 1.0 ) {\r
+ /* printf("cos(alph) = %f\n", cosa); */\r
+ cosa = 1.0;\r
+ sina = 0.0;\r
+ }\r
+ if( cosa < -1.0 ) {\r
+ /* printf("cos(alph) = %f\n", cosa); */\r
+ cosa = -1.0;\r
+ sina = 0.0;\r
+ }\r
+ if( sina > 1.0 ) {\r
+ /* printf("sin(alph) = %f\n", sina); */\r
+ sina = 1.0;\r
+ cosa = 0.0;\r
+ }\r
+ if( sina < -1.0 ) {\r
+ /* printf("sin(alph) = %f\n", sina); */\r
+ sina = -1.0;\r
+ cosa = 0.0;\r
+ }\r
+ a = Math.acos( cosa );\r
+ if( sina < 0 ){\r
+ a = -a;\r
+ }\r
+ //<Optimize>\r
+ //sinc = (rot[2][1]*rot[0][2]-rot[2][0]*rot[1][2])/ (rot[0][2]*rot[0][2]+rot[1][2]*rot[1][2]);\r
+ //cosc = -(rot[0][2]*rot[2][0]+rot[1][2]*rot[2][1])/ (rot[0][2]*rot[0][2]+rot[1][2]*rot[1][2]);\r
+ tmp = (rot[2]*rot[2]+rot[5]*rot[5]);\r
+ sinc = (rot[7]*rot[2]-rot[6]*rot[5])/ tmp;\r
+ cosc = -(rot[2]*rot[6]+rot[5]*rot[7])/ tmp;\r
+ //</Optimize>\r
+\r
+ if( cosc > 1.0 ) {\r
+ /* printf("cos(r) = %f\n", cosc); */\r
+ cosc = 1.0;\r
+ sinc = 0.0;\r
+ }\r
+ if( cosc < -1.0 ) {\r
+ /* printf("cos(r) = %f\n", cosc); */\r
+ cosc = -1.0;\r
+ sinc = 0.0;\r
+ }\r
+ if( sinc > 1.0 ) {\r
+ /* printf("sin(r) = %f\n", sinc); */\r
+ sinc = 1.0;\r
+ cosc = 0.0;\r
+ }\r
+ if( sinc < -1.0 ) {\r
+ /* printf("sin(r) = %f\n", sinc); */\r
+ sinc = -1.0;\r
+ cosc = 0.0;\r
+ }\r
+ c = Math.acos( cosc );\r
+ if( sinc < 0 ){\r
+ c = -c;\r
+ }\r
+ }else {\r
+ a = b = 0.0;\r
+ cosa = cosb = 1.0;\r
+ sina = sinb = 0.0;\r
+ cosc = rot[0];//<Optimize/>cosc = rot[0][0];\r
+ sinc = rot[1];//<Optimize/>sinc = rot[1][0];\r
+ if( cosc > 1.0 ) {\r
+ /* printf("cos(r) = %f\n", cosc); */\r
+ cosc = 1.0;\r
+ sinc = 0.0;\r
+ }\r
+ if( cosc < -1.0 ) {\r
+ /* printf("cos(r) = %f\n", cosc); */\r
+ cosc = -1.0;\r
+ sinc = 0.0;\r
+ }\r
+ if( sinc > 1.0 ) {\r
+ /* printf("sin(r) = %f\n", sinc); */\r
+ sinc = 1.0;\r
+ cosc = 0.0;\r
+ }\r
+ if( sinc < -1.0 ) {\r
+ /* printf("sin(r) = %f\n", sinc); */\r
+ sinc = -1.0;\r
+ cosc = 0.0;\r
+ }\r
+ c = Math.acos( cosc );\r
+ if( sinc < 0 ){\r
+ c = -c;\r
+ }\r
+ }\r
+ o_abc[0]=a;//wa.value=a;//*wa = a;\r
+ o_abc[1]=b;//wb.value=b;//*wb = b;\r
+ o_abc[2]=c;//wc.value=c;//*wc = c;\r
+ return 0;\r
+ } \r
+}\r
+\r
+/**\r
+ * NyARModifyMatrixの最適化バージョン1\r
+ * 配列の１次元化、計算ステップの圧縮等の最適化をしてみた。\r
+ *\r
+ */\r
+class NyARTransRot_O1 extends NyARTransRot_OptimizeCommon\r
+{\r
+ public NyARTransRot_O1(NyARParam i_param,int i_number_of_vertex) throws NyARException\r
+ {\r
+ super(i_param,i_number_of_vertex);\r
+ }\r
+ /**\r
+ * int arGetInitRot( ARMarkerInfo *marker_info, double cpara[3][4], double rot[3][3] )\r
+ * Optimize:2008.04.20:STEP[716→698]\r
+ * @param marker_info\r
+ * @param i_direction\r
+ * @param i_param\r
+ * @throws NyARException\r
+ */\r
+ public final void initRot(NyARSquare marker_info,int i_direction) throws NyARException\r
+ {\r
+ double cpara[]= cparam.get34Array();\r
+ double[][] wdir=new double[3][3];\r
+ double w, w1, w2, w3;\r
+ int dir;\r
+ int j;\r
+\r
+ dir = i_direction;\r
+\r
+ for( j = 0; j < 2; j++ ) {\r
+ w1 = marker_info.line[(4-dir+j)%4][0] * marker_info.line[(6-dir+j)%4][1]- marker_info.line[(6-dir+j)%4][0] * marker_info.line[(4-dir+j)%4][1];\r
+ w2 = marker_info.line[(4-dir+j)%4][1] * marker_info.line[(6-dir+j)%4][2]- marker_info.line[(6-dir+j)%4][1] * marker_info.line[(4-dir+j)%4][2];\r
+ w3 = marker_info.line[(4-dir+j)%4][2] * marker_info.line[(6-dir+j)%4][0]- marker_info.line[(6-dir+j)%4][2] * marker_info.line[(4-dir+j)%4][0];\r
+\r
+ wdir[j][0] = w1*(cpara[0*4+1]*cpara[1*4+2]-cpara[0*4+2]*cpara[1*4+1])+ w2*cpara[1*4+1]- w3*cpara[0*4+1];\r
+ wdir[j][1] = -w1*cpara[0*4+0]*cpara[1*4+2]+ w3*cpara[0*4+0];\r
+ wdir[j][2] = w1*cpara[0*4+0]*cpara[1*4+1];\r
+ w = Math.sqrt( wdir[j][0]*wdir[j][0]+ wdir[j][1]*wdir[j][1]+ wdir[j][2]*wdir[j][2] );\r
+ wdir[j][0] /= w;\r
+ wdir[j][1] /= w;\r
+ wdir[j][2] /= w;\r
+ }\r
+\r
+ //以下3ケースは、計算エラーのときは例外が発生する。\r
+ check_dir(wdir[0], marker_info.sqvertex[(4-dir)%4],marker_info.sqvertex[(5-dir)%4], cpara);\r
+\r
+ check_dir(wdir[1], marker_info.sqvertex[(7-dir)%4],marker_info.sqvertex[(4-dir)%4], cpara);\r
+\r
+ check_rotation(wdir);\r
+\r
+\r
+ wdir[2][0] = wdir[0][1]*wdir[1][2] - wdir[0][2]*wdir[1][1];\r
+ wdir[2][1] = wdir[0][2]*wdir[1][0] - wdir[0][0]*wdir[1][2];\r
+ wdir[2][2] = wdir[0][0]*wdir[1][1] - wdir[0][1]*wdir[1][0];\r
+ w = Math.sqrt( wdir[2][0]*wdir[2][0]+ wdir[2][1]*wdir[2][1]+ wdir[2][2]*wdir[2][2] );\r
+ wdir[2][0] /= w;\r
+ wdir[2][1] /= w;\r
+ wdir[2][2] /= w;\r
+ /*\r
+ if( wdir[2][2] < 0 ) {\r
+ wdir[2][0] /= -w;\r
+ wdir[2][1] /= -w;\r
+ wdir[2][2] /= -w;\r
+ }\r
+ else {\r
+ wdir[2][0] /= w;\r
+ wdir[2][1] /= w;\r
+ wdir[2][2] /= w;\r
+ }\r
+ */\r
+ //<Optimize>\r
+ //rot[0][0] = wdir[0][0];\r
+ //rot[1][0] = wdir[0][1];\r
+ //rot[2][0] = wdir[0][2];\r
+ //rot[0][1] = wdir[1][0];\r
+ //rot[1][1] = wdir[1][1];\r
+ //rot[2][1] = wdir[1][2];\r
+ //rot[0][2] = wdir[2][0];\r
+ //rot[1][2] = wdir[2][1];\r
+ //rot[2][2] = wdir[2][2];\r
+ double[] rot=this.array;\r
+ rot[0] = wdir[0][0];\r
+ rot[3] = wdir[0][1];\r
+ rot[6] = wdir[0][2];\r
+ rot[1] = wdir[1][0];\r
+ rot[4] = wdir[1][1];\r
+ rot[7] = wdir[1][2];\r
+ rot[2] = wdir[2][0];\r
+ rot[5] = wdir[2][1];\r
+ rot[8] = wdir[2][2];\r
+ //</Optimize> \r
+ }\r
+ private final double[] wk_arModifyMatrix_combo=new double[12];//[3][4];\r
+ private final double[] wk_arModifyMatrix_abc=new double[3];\r
+ private final double[] wk_arModifyMatrix_rot=new double[9];\r
+ /**\r
+ * Optimize:2008.04.20:STEP[456→-]\r
+ * @param rot\r
+ * [3x3]配列\r
+ * @param trans\r
+ * @param vertex\r
+ * @param pos2d\r
+ * @param num\r
+ * @return\r
+ */\r
+ public final double modifyMatrix(double trans[],double vertex[][], double pos2d[][]) throws NyARException\r
+ {\r
+ int num=this.number_of_vertex;\r
+ double factor;\r
+ double a1, b1, c1;\r
+ double a2, b2, c2;\r
+ double ma = 0.0, mb = 0.0, mc = 0.0;\r
+ double hx, hy, h, x, y;\r
+ double err, minerr=0;\r
+ int t1, t2, t3;\r
+ int s1 = 0, s2 = 0, s3 = 0;\r
+ int i, j;\r
+ double[] combo=this.wk_arModifyMatrix_combo;//arGetNewMatrixで初期化されるので初期化不要//new double[3][4];\r
+ double[] abc=wk_arModifyMatrix_abc;\r
+ double[] rot=wk_arModifyMatrix_rot;\r
+\r
+ arGetAngle(abc);//arGetAngle( rot, &a, &b, &c );\r
+ a2 = abc[0];\r
+ b2 = abc[1];\r
+ c2 = abc[2];\r
+ factor = 10.0*Math.PI/180.0;\r
+ for( j = 0; j < 10; j++ ) {\r
+ minerr = 1000000000.0;\r
+ for(t1=-1;t1<=1;t1++) {\r
+ for(t2=-1;t2<=1;t2++) {\r
+ for(t3=-1;t3<=1;t3++) {\r
+ a1 = a2 + factor*t1;\r
+ b1 = b2 + factor*t2;\r
+ c1 = c2 + factor*t3;\r
+ arGetRot( a1, b1, c1,rot);\r
+ arGetNewMatrix(rot,trans, null, combo );\r
+ err = 0.0;\r
+ for( i = 0; i < num; i++ ) {\r
+ hx = combo[0] * vertex[i][0]+ combo[1] * vertex[i][1]+ combo[2] * vertex[i][2]+ combo[3];\r
+ hy = combo[4] * vertex[i][0]+ combo[5] * vertex[i][1]+ combo[6] * vertex[i][2]+ combo[7];\r
+ h = combo[8] * vertex[i][0]+ combo[9] * vertex[i][1]+ combo[10] * vertex[i][2]+ combo[11];\r
+ x = hx / h;\r
+ y = hy / h;\r
+ err += (pos2d[i][0] - x) * (pos2d[i][0] - x)+ (pos2d[i][1] - y) * (pos2d[i][1] - y);\r
+ }\r
+ if( err < minerr ) {\r
+ minerr = err;\r
+ ma = a1;\r
+ mb = b1;\r
+ mc = c1;\r
+ s1 = t1;\r
+ s2 = t2;\r
+ s3 = t3;\r
+ }\r
+ }\r
+ }\r
+ }\r
+ if( s1 == 0 && s2 == 0 && s3 == 0 ){\r
+ factor *= 0.5;\r
+ }\r
+ a2 = ma;\r
+ b2 = mb;\r
+ c2 = mc;\r
+ }\r
+ arGetRot(ma, mb, mc,this.array);\r
+ /* printf("factor = %10.5f\n", factor*180.0/MD_PI); */\r
+ return minerr/num;\r
+ }\r
+ private final double[] wk_cpara2_arGetNewMatrix=new double[12];//[3][4];\r
+ /**\r
+ * Optimize:2008.04.20:STEP[569->432]\r
+ * @param i_rot\r
+ * [9]\r
+ * @param trans\r
+ * @param trans2\r
+ * @param ret\r
+ * double[3x4]配列\r
+ * @return\r
+ */\r
+ private final int arGetNewMatrix(double[] i_rot,double trans[], double trans2[][], double ret[]) throws NyARException\r
+ {\r
+ final double cpara[]=cparam.get34Array();\r
+ final double[] cpara2; //この関数で初期化される。\r
+ int j,j_idx;\r
+// double[] cpara_pt;\r
+ //cparaの2次元配列→1次元に変換して計算\r
+ if( trans2 != null ) {\r
+ cpara2=wk_cpara2_arGetNewMatrix; //この関数で初期化される。\r
+\r
+ for( j = 0; j < 3; j++ ) {\r
+// Optimize(使わないから最適化してない)\r
+ NyARException.trap("未チェックのパス");\r
+ cpara2[j*4+0] = cpara[j*4+0] * trans2[0][0]+ cpara[j*4+1] * trans2[1][0]+ cpara[j*4+2] * trans2[2][0];\r
+ cpara2[j*4+1] = cpara[j*4+0] * trans2[0][1]+ cpara[j*4+1] * trans2[1][1]+ cpara[j*4+2] * trans2[2][1];\r
+ cpara2[j*4+2] = cpara[j*4+0] * trans2[0][2]+ cpara[j*4+1] * trans2[1][2]+ cpara[j*4+2] * trans2[2][2];\r
+ cpara2[j*4+3] = cpara[j*4+0] * trans2[0][3]+ cpara[j*4+1] * trans2[1][3]+ cpara[j*4+2] * trans2[2][3];\r
+ }\r
+ }else{\r
+ cpara2=cpara;//cparaの値をそのまま使う\r
+ }\r
+ for( j = 0; j < 3; j++ ) {\r
+ //cpara2_pt=cpara2[j];\r
+ j_idx=j*4;\r
+ //<Optimize>\r
+ //ret[j][0] = cpara2_pt[0] * rot[0][0]+ cpara2_pt[1] * rot[1][0]+ cpara2_pt[2] * rot[2][0];\r
+ //ret[j][1] = cpara2_pt[0] * rot[0][1]+ cpara2_pt[1] * rot[1][1]+ cpara2_pt[2] * rot[2][1];\r
+ //ret[j][2] = cpara2_pt[0] * rot[0][2]+ cpara2_pt[1] * rot[1][2]+ cpara2_pt[2] * rot[2][2];\r
+ //ret[j][3] = cpara2_pt[0] * trans[0]+ cpara2_pt[1] * trans[1]+ cpara2_pt[2] * trans[2]+ cpara2_pt[3];\r
+ ret[j_idx+0] = cpara2[j_idx+0] * i_rot[0]+ cpara2[j_idx+1] * i_rot[3]+ cpara2[j_idx+2] * i_rot[6];\r
+ ret[j_idx+1] = cpara2[j_idx+0] * i_rot[1]+ cpara2[j_idx+1] * i_rot[4]+ cpara2[j_idx+2] * i_rot[7];\r
+ ret[j_idx+2] = cpara2[j_idx+0] * i_rot[2]+ cpara2[j_idx+1] * i_rot[5]+ cpara2[j_idx+2] * i_rot[8];\r
+ ret[j_idx+3] = cpara2[j_idx+0] * trans[0]+ cpara2[j_idx+1] * trans[1]+ cpara2[j_idx+2] * trans[2]+ cpara2[j_idx+3];\r
+ //</Optimize>\r
+ }\r
+ return(0);\r
+ } \r
+}\r
+\r
+/**\r
+ * NyARModifyMatrixの最適化バージョン2\r
+ * 計算手順の変更、構造変更など含む最適化をしたもの\r
+ *\r
+ */\r
+class NyARTransRot_O2 extends NyARTransRot_OptimizeCommon\r
+{\r
+ public NyARTransRot_O2(NyARParam i_param,int i_number_of_vertex) throws NyARException\r
+ {\r
+ super(i_param,i_number_of_vertex);\r
+ } \r
+ \r
+ //private double CACA,SASA,SACA,CA,SA; \r
+ private double CACA,SASA,SACA,CA,SA;\r
+ final public void arGetRotA( double a)\r
+ {\r
+ double sina,cosa;\r
+ sina = Math.sin(a);\r
+ cosa = Math.cos(a);\r
+ //Optimize\r
+ CACA=cosa*cosa;\r
+ SASA=sina*sina;\r
+ SACA=sina*cosa;\r
+ CA=cosa;\r
+ SA=sina;\r
+ }\r
+ private double CACACB,SACACB,SASACB,CASB,SASB;\r
+ final public void arGetRotB(double b,double[] o_rot)\r
+ {\r
+ double sinb,cosb;\r
+ sinb = Math.sin(b);\r
+ cosb = Math.cos(b);\r
+ CACACB=CACA*cosb;\r
+ SACACB=SACA*cosb;\r
+ SASACB=SASA*cosb;\r
+ CASB=CA*sinb;\r
+ SASB=SA*sinb;\r
+ o_rot[2] = CASB;\r
+ o_rot[5] = SASB;\r
+ o_rot[8] = cosb;\r
+ }\r
+ /**\r
+ * 分割arGetRot\r
+ * @param c\r
+ */\r
+ public final void arGetRotC(double c,double[] o_rot)\r
+ {\r
+ double sinc,cosc;\r
+ sinc = Math.sin(c);\r
+ cosc = Math.cos(c);\r
+ double SACASC,SACACBSC,SACACBCC,SACACC;\r
+ SACASC=SACA*sinc;\r
+ SACACC=SACA*cosc;\r
+ SACACBSC=SACACB*sinc;\r
+ SACACBCC=SACACB*cosc;\r
+ o_rot[0] = CACACB*cosc+SASA*cosc+SACACBSC-SACASC;\r
+ o_rot[1] = -CACACB*sinc-SASA*sinc+SACACBCC-SACACC;\r
+ o_rot[3] = SACACBCC-SACACC+SASACB*sinc+CACA*sinc;\r
+ o_rot[4] = -SACACBSC+SACASC+SASACB*cosc+CACA*cosc;\r
+ o_rot[6] = -CASB*cosc-SASB*sinc;\r
+ o_rot[7] = CASB*sinc-SASB*cosc;\r
+ }\r
+ private final double[][] wk_initRot_wdir=new double[3][3];\r
+ /**\r
+ * int arGetInitRot( ARMarkerInfo *marker_info, double cpara[3][4], double rot[3][3] )\r
+ * Optimize:2008.04.20:STEP[716→698]\r
+ * @param marker_info\r
+ * @param i_direction\r
+ * @param i_param\r
+ * @throws NyARException\r
+ */\r
+ public void initRot(NyARSquare marker_info,int i_direction) throws NyARException\r
+ {\r
+ double cpara[]= cparam.get34Array();\r
+ double[][] wdir=wk_initRot_wdir;//この関数で初期化される\r
+ double w, w1, w2, w3;\r
+ int dir;\r
+ int j;\r
+\r
+ dir = i_direction;\r
+\r
+ for( j = 0; j < 2; j++ ) {\r
+ w1 = marker_info.line[(4-dir+j)%4][0] * marker_info.line[(6-dir+j)%4][1]- marker_info.line[(6-dir+j)%4][0] * marker_info.line[(4-dir+j)%4][1];\r
+ w2 = marker_info.line[(4-dir+j)%4][1] * marker_info.line[(6-dir+j)%4][2]- marker_info.line[(6-dir+j)%4][1] * marker_info.line[(4-dir+j)%4][2];\r
+ w3 = marker_info.line[(4-dir+j)%4][2] * marker_info.line[(6-dir+j)%4][0]- marker_info.line[(6-dir+j)%4][2] * marker_info.line[(4-dir+j)%4][0];\r
+\r
+ wdir[j][0] = w1*(cpara[0*4+1]*cpara[1*4+2]-cpara[0*4+2]*cpara[1*4+1])+ w2*cpara[1*4+1]- w3*cpara[0*4+1];\r
+ wdir[j][1] = -w1*cpara[0*4+0]*cpara[1*4+2]+ w3*cpara[0*4+0];\r
+ wdir[j][2] = w1*cpara[0*4+0]*cpara[1*4+1];\r
+ w = Math.sqrt( wdir[j][0]*wdir[j][0]+ wdir[j][1]*wdir[j][1]+ wdir[j][2]*wdir[j][2] );\r
+ wdir[j][0] /= w;\r
+ wdir[j][1] /= w;\r
+ wdir[j][2] /= w;\r
+ }\r
+\r
+ //以下3ケースは、計算エラーのときは例外が発生する。\r
+ check_dir(wdir[0], marker_info.sqvertex[(4-dir)%4],marker_info.sqvertex[(5-dir)%4], cpara);\r
+\r
+ check_dir(wdir[1], marker_info.sqvertex[(7-dir)%4],marker_info.sqvertex[(4-dir)%4], cpara);\r
+\r
+ check_rotation(wdir);\r
+\r
+\r
+ wdir[2][0] = wdir[0][1]*wdir[1][2] - wdir[0][2]*wdir[1][1];\r
+ wdir[2][1] = wdir[0][2]*wdir[1][0] - wdir[0][0]*wdir[1][2];\r
+ wdir[2][2] = wdir[0][0]*wdir[1][1] - wdir[0][1]*wdir[1][0];\r
+ w = Math.sqrt( wdir[2][0]*wdir[2][0]+ wdir[2][1]*wdir[2][1]+ wdir[2][2]*wdir[2][2] );\r
+ wdir[2][0] /= w;\r
+ wdir[2][1] /= w;\r
+ wdir[2][2] /= w;\r
+ //<Optimize>\r
+ //rot[0][0] = wdir[0][0];\r
+ //rot[1][0] = wdir[0][1];\r
+ //rot[2][0] = wdir[0][2];\r
+ //rot[0][1] = wdir[1][0];\r
+ //rot[1][1] = wdir[1][1];\r
+ //rot[2][1] = wdir[1][2];\r
+ //rot[0][2] = wdir[2][0];\r
+ //rot[1][2] = wdir[2][1];\r
+ //rot[2][2] = wdir[2][2];\r
+ double[] rot=this.array;\r
+ rot[0] = wdir[0][0];\r
+ rot[3] = wdir[0][1];\r
+ rot[6] = wdir[0][2];\r
+ rot[1] = wdir[1][0];\r
+ rot[4] = wdir[1][1];\r
+ rot[7] = wdir[1][2];\r
+ rot[2] = wdir[2][0];\r
+ rot[5] = wdir[2][1];\r
+ rot[8] = wdir[2][2];\r
+ //</Optimize> \r
+ }\r
+ private final double[] wk_arModifyMatrix_combo=new double[12];//[3][4];\r
+ private final double[] wk_arModifyMatrix_abc=new double[3];\r
+ private final double[] wk_arModifyMatrix_rot=new double[9]; \r
+ /**\r
+ * arGetRot計算を階層化したModifyMatrix\r
+ * @param nyrot\r
+ * @param trans\r
+ * @param vertex\r
+ * @param pos2d\r
+ * @param num\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public double modifyMatrix(double trans[],double vertex[][], double pos2d[][]) throws NyARException\r
+ {\r
+ int num=this.number_of_vertex;\r
+ double factor;\r
+ double a1, b1, c1;\r
+ double a2, b2, c2;\r
+ double ma = 0.0, mb = 0.0, mc = 0.0;\r
+ double hx, hy, h, x, y;\r
+ double err, minerr=0;\r
+ int t1, t2, t3;\r
+ int s1 = 0, s2 = 0, s3 = 0;\r
+ int i, j;\r
+ final double[] combo=this.wk_arModifyMatrix_combo;//arGetNewMatrixで初期化されるので初期化不要//new double[3][4];\r
+ final double[] abc=wk_arModifyMatrix_abc;\r
+ double[] rot=wk_arModifyMatrix_rot;\r
+\r
+ arGetAngle(abc);//arGetAngle( rot, &a, &b, &c );\r
+ a2 = abc[0];\r
+ b2 = abc[1];\r
+ c2 = abc[2];\r
+ factor = 10.0*Math.PI/180.0;\r
+\r
+ nyatla_arGetNewMatrix_row3(trans,combo);//comboの3行目を先に計算\r
+ for( j = 0; j < 10; j++ ) {\r
+ minerr = 1000000000.0;\r
+ for(t1=-1;t1<=1;t1++) {\r
+ a1 = a2 + factor*t1;\r
+ arGetRotA(a1);\r
+ for(t2=-1;t2<=1;t2++) {\r
+ b1 = b2 + factor*t2;\r
+ arGetRotB(b1,rot);\r
+ for(t3=-1;t3<=1;t3++) {\r
+ c1 = c2 + factor*t3;\r
+ arGetRotC(c1,rot);\r
+ //comboの0-2行目を計算\r
+ nyatla_arGetNewMatrix_row012(rot,trans,combo);//第二パラメタは常にnull//arGetNewMatrix(trans, null, combo );\r
+ err = 0.0;\r
+ for( i = 0; i < num; i++ ) {\r
+ hx = combo[0] * vertex[i][0]+ combo[1] * vertex[i][1]+ combo[2] * vertex[i][2]+ combo[3];\r
+ hy = combo[4] * vertex[i][0]+ combo[5] * vertex[i][1]+ combo[6] * vertex[i][2]+ combo[7];\r
+ h = combo[8] * vertex[i][0]+ combo[9] * vertex[i][1]+ combo[10] * vertex[i][2]+ combo[11];\r
+ x = hx / h;\r
+ y = hy / h;\r
+ err += (pos2d[i][0] - x) * (pos2d[i][0] - x)+ (pos2d[i][1] - y) * (pos2d[i][1] - y);\r
+ }\r
+ if( err < minerr ) {\r
+ minerr = err;\r
+ ma = a1;\r
+ mb = b1;\r
+ mc = c1;\r
+ s1 = t1;\r
+ s2 = t2;\r
+ s3 = t3;\r
+ }\r
+ }\r
+ }\r
+ }\r
+ if( s1 == 0 && s2 == 0 && s3 == 0 ){\r
+ factor *= 0.5;\r
+ }\r
+ a2 = ma;\r
+ b2 = mb;\r
+ c2 = mc;\r
+ }\r
+ arGetRot(ma,mb,mc,this.array);\r
+ /* printf("factor = %10.5f\n", factor*180.0/MD_PI); */\r
+ return minerr/num;\r
+ }\r
+ /**\r
+ * arGetNewMatrixの0-2行目を初期化する関数\r
+ * Optimize:2008.04.20:STEP[569->144]\r
+ * @param i_rot\r
+ * @param trans\r
+ * @param trans2\r
+ * @param ret\r
+ * double[3x4]配列\r
+ * @return\r
+ */\r
+ private final void nyatla_arGetNewMatrix_row012(double i_rot[],double trans[],double ret[]) throws NyARException\r
+ {\r
+ int j;\r
+ double c0,c1,c2;\r
+ final double cpara2[]=cparam.get34Array();\r
+ for( j = 0; j < 3; j++ ) {\r
+ //cpara2_pt=cpara2[j];\r
+ c0=cpara2[j*4+0];\r
+ c1=cpara2[j*4+1];\r
+ c2=cpara2[j*4+2];\r
+ ret[j*4+0] = c0 * i_rot[0]+ c1 * i_rot[3]+ c2 * i_rot[6];\r
+ ret[j*4+1] = c0 * i_rot[1]+ c1 * i_rot[4]+ c2 * i_rot[7];\r
+ ret[j*4+2] = c0 * i_rot[2]+ c1 * i_rot[5]+ c2 * i_rot[8];\r
+ //</Optimize>\r
+ }\r
+ return;\r
+ }\r
+ /**\r
+ * arGetNewMatrixの3行目を初期化する関数\r
+ * @param trans\r
+ * @param ret\r
+ * @throws NyARException\r
+ */\r
+ private final void nyatla_arGetNewMatrix_row3(double trans[],double ret[]) throws NyARException\r
+ {\r
+ final double cpara2[]=cparam.get34Array();\r
+ int j,j_idx;\r
+ for( j = 0; j < 3; j++ ) {\r
+ j_idx=j*4;\r
+ ret[j_idx+3] = cpara2[j_idx+0] * trans[0]+ cpara2[j_idx+1] * trans[1]+ cpara2[j_idx+2] * trans[2]+ cpara2[j_idx+3];\r
+ }\r
+ return;\r
+ } \r
+}\r
+\r
+\r
+/**\r
+ * NyARModifyMatrixの最適化バージョン3\r
+ * O3版の演算テーブル版\r
+ * 計算速度のみを追求する\r
+ *\r
+ */\r
+class NyARTransRot_O3 extends NyARTransRot_OptimizeCommon\r
+{\r
+ public NyARTransRot_O3(NyARParam i_param,int i_number_of_vertex) throws NyARException\r
+ {\r
+ super(i_param,i_number_of_vertex);\r
+ if(i_number_of_vertex!=4){\r
+ //4以外の頂点数は処理しない\r
+ throw new NyARException();\r
+ }\r
+ } \r
+ \r
+ //private double CACA,SASA,SACA,CA,SA; \r
+ private final double[][] wk_initRot_wdir=new double[3][3];\r
+ /**\r
+ * int arGetInitRot( ARMarkerInfo *marker_info, double cpara[3][4], double rot[3][3] )\r
+ * Optimize:2008.04.20:STEP[716→698]\r
+ * @param marker_info\r
+ * @param i_direction\r
+ * @param i_param\r
+ * @throws NyARException\r
+ */\r
+ public void initRot(NyARSquare marker_info,int i_direction) throws NyARException\r
+ {\r
+ double cpara[]= cparam.get34Array();\r
+ double[][] wdir=wk_initRot_wdir;//この関数で初期化される\r
+ double w, w1, w2, w3;\r
+ int dir;\r
+ int j;\r
+\r
+ dir = i_direction;\r
+\r
+ for( j = 0; j < 2; j++ ) {\r
+ w1 = marker_info.line[(4-dir+j)%4][0] * marker_info.line[(6-dir+j)%4][1]- marker_info.line[(6-dir+j)%4][0] * marker_info.line[(4-dir+j)%4][1];\r
+ w2 = marker_info.line[(4-dir+j)%4][1] * marker_info.line[(6-dir+j)%4][2]- marker_info.line[(6-dir+j)%4][1] * marker_info.line[(4-dir+j)%4][2];\r
+ w3 = marker_info.line[(4-dir+j)%4][2] * marker_info.line[(6-dir+j)%4][0]- marker_info.line[(6-dir+j)%4][2] * marker_info.line[(4-dir+j)%4][0];\r
+\r
+ wdir[j][0] = w1*(cpara[0*4+1]*cpara[1*4+2]-cpara[0*4+2]*cpara[1*4+1])+ w2*cpara[1*4+1]- w3*cpara[0*4+1];\r
+ wdir[j][1] = -w1*cpara[0*4+0]*cpara[1*4+2]+ w3*cpara[0*4+0];\r
+ wdir[j][2] = w1*cpara[0*4+0]*cpara[1*4+1];\r
+ w = Math.sqrt( wdir[j][0]*wdir[j][0]+ wdir[j][1]*wdir[j][1]+ wdir[j][2]*wdir[j][2] );\r
+ wdir[j][0] /= w;\r
+ wdir[j][1] /= w;\r
+ wdir[j][2] /= w;\r
+ }\r
+\r
+ //以下3ケースは、計算エラーのときは例外が発生する。\r
+ check_dir(wdir[0], marker_info.sqvertex[(4-dir)%4],marker_info.sqvertex[(5-dir)%4], cpara);\r
+\r
+ check_dir(wdir[1], marker_info.sqvertex[(7-dir)%4],marker_info.sqvertex[(4-dir)%4], cpara);\r
+\r
+ check_rotation(wdir);\r
+\r
+\r
+ wdir[2][0] = wdir[0][1]*wdir[1][2] - wdir[0][2]*wdir[1][1];\r
+ wdir[2][1] = wdir[0][2]*wdir[1][0] - wdir[0][0]*wdir[1][2];\r
+ wdir[2][2] = wdir[0][0]*wdir[1][1] - wdir[0][1]*wdir[1][0];\r
+ w = Math.sqrt( wdir[2][0]*wdir[2][0]+ wdir[2][1]*wdir[2][1]+ wdir[2][2]*wdir[2][2] );\r
+ wdir[2][0] /= w;\r
+ wdir[2][1] /= w;\r
+ wdir[2][2] /= w;\r
+ double[] rot=this.array;\r
+ rot[0] = wdir[0][0];\r
+ rot[3] = wdir[0][1];\r
+ rot[6] = wdir[0][2];\r
+ rot[1] = wdir[1][0];\r
+ rot[4] = wdir[1][1];\r
+ rot[7] = wdir[1][2];\r
+ rot[2] = wdir[2][0];\r
+ rot[5] = wdir[2][1];\r
+ rot[8] = wdir[2][2];\r
+ //</Optimize> \r
+ }\r
+ private final double[][] wk_arModifyMatrix_double1D=new double[8][3];\r
+ /**\r
+ * arGetRot計算を階層化したModifyMatrix\r
+ * 896\r
+ * @param nyrot\r
+ * @param trans\r
+ * @param vertex\r
+ * [m][3]\r
+ * @param pos2d\r
+ * [n][2]\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public double modifyMatrix(double trans[],double vertex[][], double pos2d[][]) throws NyARException\r
+ {\r
+ double factor;\r
+ double a2, b2, c2;\r
+ double ma = 0.0, mb = 0.0, mc = 0.0;\r
+ double h, x, y;\r
+ double err, minerr=0;\r
+ int t1, t2, t3;\r
+ int s1 = 0, s2 = 0, s3 = 0;\r
+\r
+ factor = 10.0*Math.PI/180.0;\r
+ double rot0,rot1,rot3,rot4,rot6,rot7;\r
+ double combo00,combo01,combo02,combo03,combo10,combo11,combo12,combo13,combo20,combo21,combo22,combo23;\r
+ double combo02_2,combo02_5,combo02_8,combo02_11;\r
+ double combo22_2,combo22_5,combo22_8,combo22_11;\r
+ double combo12_2,combo12_5,combo12_8,combo12_11;\r
+ //vertex展開\r
+ final double VX00,VX01,VX02,VX10,VX11,VX12,VX20,VX21,VX22,VX30,VX31,VX32;\r
+ double[] d_pt;\r
+ d_pt=vertex[0];VX00=d_pt[0];VX01=d_pt[1];VX02=d_pt[2];\r
+ d_pt=vertex[1];VX10=d_pt[0];VX11=d_pt[1];VX12=d_pt[2];\r
+ d_pt=vertex[2];VX20=d_pt[0];VX21=d_pt[1];VX22=d_pt[2];\r
+ d_pt=vertex[3];VX30=d_pt[0];VX31=d_pt[1];VX32=d_pt[2];\r
+ final double P2D00,P2D01,P2D10,P2D11,P2D20,P2D21,P2D30,P2D31;\r
+ d_pt=pos2d[0];P2D00=d_pt[0];P2D01=d_pt[1];\r
+ d_pt=pos2d[1];P2D10=d_pt[0];P2D11=d_pt[1];\r
+ d_pt=pos2d[2];P2D20=d_pt[0];P2D21=d_pt[1];\r
+ d_pt=pos2d[3];P2D30=d_pt[0];P2D31=d_pt[1];\r
+ final double cpara[]=cparam.get34Array();\r
+ final double CP0,CP1,CP2,CP3,CP4,CP5,CP6,CP7,CP8,CP9,CP10;\r
+ CP0=cpara[0];CP1=cpara[1];CP2=cpara[2];CP3=cpara[3];\r
+ CP4=cpara[4];CP5=cpara[5];CP6=cpara[6];CP7=cpara[7];\r
+ CP8=cpara[8];CP9=cpara[9];CP10=cpara[10];\r
+ combo03 = CP0 * trans[0]+ CP1 * trans[1]+ CP2 * trans[2]+ CP3;\r
+ combo13 = CP4 * trans[0]+ CP5 * trans[1]+ CP6 * trans[2]+ CP7;\r
+ combo23 = CP8 * trans[0]+ CP9 * trans[1]+ CP10 * trans[2]+ cpara[11];\r
+ double CACA,SASA,SACA,CA,SA;\r
+ double CACACB,SACACB,SASACB,CASB,SASB;\r
+ double SACASC,SACACBSC,SACACBCC,SACACC; \r
+ final double[][] double1D=this.wk_arModifyMatrix_double1D;\r
+\r
+ final double[] abc =double1D[0];\r
+ final double[] a_factor=double1D[1];\r
+ final double[] sinb =double1D[2];\r
+ final double[] cosb =double1D[3];\r
+ final double[] b_factor=double1D[4];\r
+ final double[] sinc =double1D[5];\r
+ final double[] cosc =double1D[6];\r
+ final double[] c_factor=double1D[7];\r
+ double w,w2;\r
+ double wsin,wcos;\r
+\r
+ arGetAngle(abc);//arGetAngle( rot, &a, &b, &c );\r
+ a2 = abc[0];\r
+ b2 = abc[1];\r
+ c2 = abc[2];\r
+ \r
+ //comboの3行目を先に計算\r
+ for(int i = 0; i < 10; i++ ) {\r
+ minerr = 1000000000.0;\r
+ //sin-cosテーブルを計算(これが外に出せるとは…。)\r
+ for(int j=0;j<3;j++){\r
+ w2=factor*(j-1);\r
+ w= a2 + w2;\r
+ a_factor[j]=w;\r
+ w= b2 + w2;\r
+ b_factor[j]=w;\r
+ sinb[j]=Math.sin(w);\r
+ cosb[j]=Math.cos(w);\r
+ w= c2 + w2;\r
+ c_factor[j]=w;\r
+ sinc[j]=Math.sin(w);\r
+ cosc[j]=Math.cos(w);\r
+ }\r
+ //\r
+ for(t1=0;t1<3;t1++) {\r
+ SA = Math.sin(a_factor[t1]);\r
+ CA = Math.cos(a_factor[t1]);\r
+ //Optimize\r
+ CACA=CA*CA;\r
+ SASA=SA*SA;\r
+ SACA=SA*CA;\r
+ for(t2=0;t2<3;t2++) {\r
+ wsin=sinb[t2];\r
+ wcos=cosb[t2];\r
+ CACACB=CACA*wcos;\r
+ SACACB=SACA*wcos;\r
+ SASACB=SASA*wcos;\r
+ CASB=CA*wsin;\r
+ SASB=SA*wsin;\r
+ //comboの計算1\r
+ combo02 = CP0 * CASB+ CP1 * SASB+ CP2 * wcos;\r
+ combo12 = CP4 * CASB+ CP5 * SASB+ CP6 * wcos;\r
+ combo22 = CP8 * CASB+ CP9 * SASB+ CP10 * wcos;\r
+\r
+ combo02_2 =combo02 * VX02 + combo03;\r
+ combo02_5 =combo02 * VX12 + combo03;\r
+ combo02_8 =combo02 * VX22 + combo03;\r
+ combo02_11=combo02 * VX32 + combo03;\r
+ combo12_2 =combo12 * VX02 + combo13;\r
+ combo12_5 =combo12 * VX12 + combo13;\r
+ combo12_8 =combo12 * VX22 + combo13;\r
+ combo12_11=combo12 * VX32 + combo13;\r
+ combo22_2 =combo22 * VX02 + combo23;\r
+ combo22_5 =combo22 * VX12 + combo23;\r
+ combo22_8 =combo22 * VX22 + combo23;\r
+ combo22_11=combo22 * VX32 + combo23; \r
+ for(t3=0;t3<3;t3++){\r
+ wsin=sinc[t3];\r
+ wcos=cosc[t3]; \r
+ SACASC=SACA*wsin;\r
+ SACACC=SACA*wcos;\r
+ SACACBSC=SACACB*wsin;\r
+ SACACBCC=SACACB*wcos;\r
+\r
+ rot0 = CACACB*wcos+SASA*wcos+SACACBSC-SACASC;\r
+ rot3 = SACACBCC-SACACC+SASACB*wsin+CACA*wsin;\r
+ rot6 = -CASB*wcos-SASB*wsin;\r
+\r
+ combo00 = CP0 * rot0+ CP1 * rot3+ CP2 * rot6;\r
+ combo10 = CP4 * rot0+ CP5 * rot3+ CP6 * rot6;\r
+ combo20 = CP8 * rot0+ CP9 * rot3+ CP10 * rot6;\r
+\r
+ rot1 = -CACACB*wsin-SASA*wsin+SACACBCC-SACACC;\r
+ rot4 = -SACACBSC+SACASC+SASACB*wcos+CACA*wcos;\r
+ rot7 = CASB*wsin-SASB*wcos;\r
+ combo01 = CP0 * rot1+ CP1 * rot4+ CP2 * rot7;\r
+ combo11 = CP4 * rot1+ CP5 * rot4+ CP6 * rot7;\r
+ combo21 = CP8 * rot1+ CP9 * rot4+ CP10 * rot7;\r
+ //\r
+ err = 0.0;\r
+ h = combo20 * VX00+ combo21 * VX01+ combo22_2;\r
+ x = P2D00 - (combo00 * VX00+ combo01 * VX01+ combo02_2) / h;\r
+ y = P2D01 - (combo10 * VX00+ combo11 * VX01+ combo12_2) / h;\r
+ err += x*x+y*y;\r
+ h = combo20 * VX10+ combo21 * VX11+ combo22_5;\r
+ x = P2D10 - (combo00 * VX10+ combo01 * VX11+ combo02_5) / h;\r
+ y = P2D11 - (combo10 * VX10+ combo11 * VX11+ combo12_5) / h;\r
+ err += x*x+y*y;\r
+ h = combo20 * VX20+ combo21 * VX21+ combo22_8;\r
+ x = P2D20 - (combo00 * VX20+ combo01 * VX21+ combo02_8) / h;\r
+ y = P2D21 - (combo10 * VX20+ combo11 * VX21+ combo12_8) / h;\r
+ err += x*x+y*y;\r
+ h = combo20 * VX30+ combo21 * VX31+ combo22_11;\r
+ x = P2D30 - (combo00 * VX30+ combo01 * VX31+ combo02_11) / h;\r
+ y = P2D31 - (combo10 * VX30+ combo11 * VX31+ combo12_11) / h;\r
+ err += x*x+y*y;\r
+ if( err < minerr ) {\r
+ minerr = err;\r
+ ma = a_factor[t1];\r
+ mb = b_factor[t2];\r
+ mc = c_factor[t3];\r
+ s1 = t1-1;\r
+ s2 = t2-1;\r
+ s3 = t3-1;\r
+ }\r
+ }\r
+ }\r
+ }\r
+ if( s1 == 0 && s2 == 0 && s3 == 0 ){\r
+ factor *= 0.5;\r
+ }\r
+ a2 = ma;\r
+ b2 = mb;\r
+ c2 = mc;\r
+ }\r
+ arGetRot(ma,mb,mc,this.array);\r
+ /* printf("factor = %10.5f\n", factor*180.0/MD_PI); */\r
+ return minerr/4;\r
+ } \r
+}\r
+\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+\r
+\r
+\r
+public class NyARVec\r
+{\r
+ private int clm;\r
+ public NyARVec(int i_clm)\r
+ {\r
+ v=new double[i_clm];\r
+ clm=i_clm;\r
+ }\r
+ private double[] v;\r
+ /**\r
+ * i_clmサイズの列を格納できるように列サイズを変更します。\r
+ * 実行後、列の各値は不定になります。\r
+ * @param i_clm\r
+ */\r
+ public void realloc(int i_clm)\r
+ {\r
+ if(i_clm<=this.v.length)\r
+ {\r
+ //十分な配列があれば何もしない。\r
+ }else{\r
+ //不十分なら取り直す。\r
+ v=new double[i_clm];\r
+ }\r
+ this.clm=i_clm;\r
+ } \r
+ public int getClm()\r
+ {\r
+ return clm;\r
+ }\r
+ public double[] getArray()\r
+ {\r
+ return v;\r
+ }\r
+ /**\r
+ * arVecDispの代替品\r
+ * @param value\r
+ * @return\r
+ */\r
+ public int arVecDisp() throws NyARException\r
+ {\r
+ NyARException.trap("未チェックのパス");\r
+ System.out.println(" === vector ("+clm+") ===\n");//printf(" === vector (%d) ===\n", v->clm);\r
+ System.out.print(" |");//printf(" |");\r
+ for(int c = 0; c < clm; c++ ){//for( c = 0; c < v->clm; c++ ){\r
+ System.out.print(" "+v[c]);//printf( " %10g", v->v[c] );\r
+ }\r
+ System.out.println(" |");//printf(" |\n");\r
+ System.out.println(" ===================");//printf(" ===================\n");\r
+ return 0;\r
+ }\r
+ /**\r
+ * arVecInnerproduct関数の代替品\r
+ * @param x\r
+ * @param y\r
+ * @param i_start\r
+ * 演算開始列(よくわからないけどarVecTridiagonalizeの呼び出し元でなんかしてる)\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public double vecInnerproduct(NyARVec y,int i_start) throws NyARException\r
+ {\r
+ NyARException.trap("この関数は動作確認できていません。"); \r
+ double result = 0.0;\r
+// double[] x_array=x.v;.getArray();\r
+// double[] y_array=y.getArray();\r
+ \r
+ if(this.clm!= y.clm){\r
+ throw new NyARException();//exit();\r
+ }\r
+ for(int i = i_start; i < this.clm; i++ ) {\r
+ NyARException.trap("未チェックのパス");\r
+ result += this.v[i] * y.v[i];//result += x->v[i] * y->v[i];\r
+ } \r
+ return result;\r
+ }\r
+ /**\r
+ * double arVecHousehold関数の代替品\r
+ * @param x\r
+ * @param i_start\r
+ * 演算開始列(よくわからないけどarVecTridiagonalizeの呼び出し元でなんかしてる)\r
+ * @return\r
+ * @throws NyARException\r
+ */\r
+ public double vecHousehold(int i_start) throws NyARException\r
+ {\r
+ NyARException.trap("この関数は動作確認できていません。");\r
+ double s, t;\r
+ s = Math.sqrt(this.vecInnerproduct(this,i_start));\r
+// double[] x_array=x.getArray();\r
+ if( s != 0.0 ){\r
+ NyARException.trap("未チェックのパス");\r
+ if(this.v[i_start]< 0){\r
+ s = -s;\r
+ }\r
+ NyARException.trap("未チェックのパス");{\r
+ this.v[i_start]+=s;//x->v[0] += s;\r
+ t = 1 / Math.sqrt(this.v[i_start]* s);//t = 1 / sqrt(x->v[0] * s);\r
+ }\r
+ for(int i = i_start; i < this.clm; i++){\r
+ NyARException.trap("未チェックのパス");\r
+ this.v[i]*=t;//x->v[i] *= t;\r
+ }\r
+ }\r
+ return -s;\r
+ }\r
+// /**\r
+// * arVecTridiagonalize関数の代替品\r
+// * a,d,e間で演算をしてる。何をどうしているかはさっぱりさっぱり\r
+// * @param a\r
+// * @param d\r
+// * @param e\r
+// * @param i_e_start\r
+// * 演算開始列(よくわからないけどarVecTridiagonalizeの呼び出し元でなんかしてる)\r
+// * @return\r
+// * @throws NyARException\r
+// */\r
+// public static void vecTridiagonalize(NyARMat a, NyARVec d, NyARVec e,int i_e_start) throws NyARException\r
+// {\r
+// NyARVec vec,vec2;\r
+// double[][] a_array=a.getArray();\r
+// double s, t, p, q;\r
+// int dim;\r
+//\r
+// if(a.getClm()!=a.getRow()){\r
+// throw new NyARException();\r
+// }\r
+// if(a.getClm() != d.clm){\r
+// throw new NyARException();\r
+// }\r
+// if(a.getClm() != e.clm){\r
+// throw new NyARException();\r
+// }\r
+// dim = a.getClm();\r
+//\r
+// for(int k = 0; k < dim-2; k++ ){\r
+// vec=a.getRowVec(k);\r
+//// double[] vec_array=vec.getArray();\r
+// NyARException.trap("未チェックパス"); \r
+// d.v[k]=vec.v[k];//d.set(k,v.get(k)); //d->v[k] = v[k];\r
+//\r
+// //wv1.clm = dim-k-1;\r
+// //wv1.v = &(v[k+1]);\r
+// NyARException.trap("未チェックパス"); \r
+// e.v[k+i_e_start]=vec.vecHousehold(k+1);//e->v[k] = arVecHousehold(&wv1);\r
+// if(e.v[k+i_e_start]== 0.0 ){\r
+// continue;\r
+// }\r
+//\r
+// for(int i = k+1; i < dim; i++ ){\r
+// s = 0.0;\r
+// for(int j = k+1; j < i; j++ ) {\r
+// NyARException.trap("未チェックのパス");\r
+// s += a_array[j][i] * vec.v[j];//s += a.get(j*dim+i) * v.get(j);//s += a->m[j*dim+i] * v[j];\r
+// }\r
+// for(int j = i; j < dim; j++ ) {\r
+// NyARException.trap("未チェックのパス");\r
+// s += a_array[i][j] * vec.v[j];//s += a.get(i*dim+j) * v.get(j);//s += a->m[i*dim+j] * v[j];\r
+// }\r
+// NyARException.trap("未チェックのパス");\r
+// d.v[i]=s;//d->v[i] = s;\r
+// }\r
+//\r
+//\r
+// //wv1.clm = wv2.clm = dim-k-1;\r
+// //wv1.v = &(v[k+1]);\r
+// //wv2.v = &(d->v[k+1]);\r
+// vec=a.getRowVec(k);\r
+//// vec_array=vec.getArray();\r
+// NyARException.trap("未チェックパス"); \r
+// t = vec.vecInnerproduct(d,k+1)/ 2;\r
+// for(int i = dim-1; i > k; i-- ) {\r
+// NyARException.trap("未チェックパス"); \r
+// p = vec.v[i];//p = v.get(i);//p = v[i];\r
+// d.v[i]-=t*p;q=d.v[i];//q = d->v[i] -= t*p；\r
+// for(int j = i; j < dim; j++ ){\r
+// NyARException.trap("未チェックパス"); \r
+// a_array[i][j]-=p*(d.v[j] + q*vec.v[j]);//a->m[i*dim+j] -= p*(d->v[j]) + q*v[j];\r
+// }\r
+// }\r
+// }\r
+//\r
+// if( dim >= 2) {\r
+// d.v[dim-2]=a_array[dim-2][dim-2];//d->v[dim-2] = a->m[(dim-2)*dim+(dim-2)];\r
+// e.v[dim-2+i_e_start]=a_array[dim-2][dim-1];//e->v[dim-2] = a->m[(dim-2)*dim+(dim-1)];\r
+// }\r
+//\r
+// if( dim >= 1 ){\r
+// d.v[dim-1]=a_array[dim-1][dim-1];//d->v[dim-1] = a->m[(dim-1)*dim+(dim-1)];\r
+// }\r
+//\r
+// for(int k = dim-1; k >= 0; k--) {\r
+// vec=a.getRowVec(k);//v = a.getPointer(k*dim);//v = &(a->m[k*dim]);\r
+// if( k < dim-2 ) {\r
+// for(int i = k+1; i < dim; i++ ){\r
+// //wv1.clm = wv2.clm = dim-k-1;\r
+// //wv1.v = &(v[k+1]);\r
+// //wv2.v = &(a->m[i*dim+k+1]);\r
+// vec2=a.getRowVec(i);\r
+//\r
+// t = vec.vecInnerproduct(vec2,k+1);\r
+// for(int j = k+1; j < dim; j++ ){\r
+// NyARException.trap("未チェックパス"); \r
+// a_array[i][j]-=t*vec.v[j];//a.subValue(i*dim+j,t*v.get(j));//a->m[i*dim+j] -= t * v[j];\r
+// }\r
+// }\r
+// }\r
+// for(int i = 0; i < dim; i++ ){\r
+// vec.v[i]=0.0;//v.set(i,0.0);//v[i] = 0.0;\r
+// }\r
+// vec.v[k]=1;//v.set(k,1);//v[k] = 1;\r
+// }\r
+// }\r
+ /**\r
+ * 現在ラップしている配列を取り外して、新しい配列をラップします。\r
+ * @param i_v\r
+ * @param i_clm\r
+ */\r
+ public void setNewArray(double[] i_array,int i_clm)\r
+ {\r
+ this.v=i_array;\r
+ this.clm=i_clm; \r
+ }\r
+}\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core;\r
+\r
+\r
+/**\r
+ * ARUint32 arGetVersion(char **versionStringRef);\r
+ * 関数の置き換え\r
+ */\r
+public class NyARVersion {\r
+ private static final int AR_HEADER_VERSION_MAJOR=2; //#define AR_HEADER_VERSION_MAJOR 2\r
+ private static final int AR_HEADER_VERSION_MINOR=72;//#define AR_HEADER_VERSION_MINOR 72 \r
+ private static final int AR_HEADER_VERSION_TINY=0;//#define AR_HEADER_VERSION_TINY 0\r
+ private static final int AR_HEADER_VERSION_BUILD=0;//#define AR_HEADER_VERSION_BUILD 0\r
+ private static final String AR_HEADER_VERSION_STRING="2.72.0";//#define AR_HEADER_VERSION_STRING "2.72.0"\r
+ public static final boolean AR_HAVE_HEADER_VERSION_2=true;//#define AR_HAVE_HEADER_VERSION_2\r
+ public static final boolean AR_HAVE_HEADER_VERSION_2_72=true;//#define AR_HAVE_HEADER_VERSION_2_72\r
+\r
+ public static String getARVersion()\r
+ {\r
+ return AR_HEADER_VERSION_STRING;\r
+ }\r
+ public static int getARVersionInt()\r
+ {\r
+ // Represent full version number (major, minor, tiny, build) in\r
+ // binary coded decimal. N.B: Integer division.\r
+ return (int)(0x10000000 * (AR_HEADER_VERSION_MAJOR / 10)) +\r
+ (int)(0x01000000 * (AR_HEADER_VERSION_MAJOR % 10)) +\r
+ (int)(0x00100000 * (AR_HEADER_VERSION_MINOR / 10)) +\r
+ (int)(0x00010000 * (AR_HEADER_VERSION_MINOR % 10)) +\r
+ (int)(0x00001000 * (AR_HEADER_VERSION_TINY / 10)) +\r
+ (int)(0x00000100 * (AR_HEADER_VERSION_TINY % 10)) +\r
+ (int)(0x00000010 * (AR_HEADER_VERSION_BUILD / 10)) +\r
+ (int)(0x00000001 * (AR_HEADER_VERSION_BUILD % 10));\r
+ \r
+ }\r
+}\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core.match;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.NyARCode;\r
+import jp.nyatla.nyartoolkit.core.NyARColorPatt;\r
+\r
+\r
+\r
+\r
+\r
+/**\r
+ * ARColorPattのマッチング計算をするインタフェイスです。\r
+ * 基準Patに対して、計算済みのARCodeデータとの間で比較演算をします。\r
+ * pattern_match関数を分解した３種類のパターン検出クラスを定義します。\r
+ *\r
+ */\r
+public interface NyARMatchPatt{\r
+ public double getConfidence();\r
+ public int getDirection();\r
+ public void evaluate(NyARCode i_code);\r
+ public boolean setPatt(NyARColorPatt i_target_patt) throws NyARException;\r
+}\r
+\r
+\r
+\r
+\r
+\r
+\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core.match;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.*;\r
+\r
+/**\r
+ * AR_TEMPLATE_MATCHING_BWと同等のルールで\r
+ * マーカーを評価します。\r
+ *\r
+ */\r
+public class NyARMatchPatt_BlackWhite implements NyARMatchPatt{\r
+ private double datapow;\r
+ private int width;\r
+ private int height;\r
+ private double cf=0;\r
+ private int dir=0;\r
+ private int ave;\r
+ private int[][][] input=new int[height][width][3];\r
+ public boolean setPatt(NyARColorPatt i_target_patt) throws NyARException\r
+ {\r
+ width=i_target_patt.getWidth();\r
+ height=i_target_patt.getHeight();\r
+ int[][][] data=i_target_patt.getPatArray(); \r
+ input=new int[height][width][3];\r
+ \r
+ int sum = ave = 0;\r
+ for(int i=0;i<height;i++) {//for(int i=0;i<Config.AR_PATT_SIZE_Y;i++){\r
+ for(int i2=0;i2<width;i2++) {//for(int i2=0;i2<Config.AR_PATT_SIZE_X;i2++){\r
+ ave += (255-data[i][i2][0])+(255-data[i][i2][1])+(255-data[i][i2][2]);\r
+ }\r
+ }\r
+ ave /= (height*width*3);\r
+\r
+ for(int i=0;i<height;i++){//for(int i=0;i<Config.AR_PATT_SIZE_Y;i++){\r
+ for(int i2=0;i2<width;i2++){//for(int i2=0;i2<Config.AR_PATT_SIZE_X;i2++){\r
+ input[i][i2][0] = ((255-data[i][i2][0]) + (255-data[i][i2][1]) + (255-data[i][i2][2]))/3 - ave;\r
+ sum += input[i][i2][0]*input[i][i2][0];\r
+ }\r
+ }\r
+ \r
+ datapow = Math.sqrt( (double)sum );\r
+ if( datapow == 0.0 ){\r
+ return false;// throw new NyARException();\r
+// dir.set(0);//*dir = 0;\r
+// cf.set(-1.0);//*cf = -1.0;\r
+// return -1;\r
+ }\r
+ return true;\r
+ }\r
+ public double getConfidence()\r
+ {\r
+ return cf;\r
+ }\r
+ public int getDirection()\r
+ {\r
+ return dir;\r
+ }\r
+ public void evaluate(NyARCode i_code)\r
+ {\r
+ short[][][] patBW=i_code.getPatBW();//static int patBW[AR_PATT_NUM_MAX][4][AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3];\r
+ double[] patpowBW=i_code.getPatPowBW();//static double patpowBW[AR_PATT_NUM_MAX][4];\r
+\r
+ double max=0.0;\r
+ int res=-1;\r
+ //本家が飛ぶ。試験データで0.77767376888がが出ればOKってことで\r
+ for(int j = 0; j < 4; j++ ) {\r
+ int sum = 0;\r
+ for(int i=0;i<height;i++){\r
+ for(int i2=0;i2<width;i2++){\r
+ sum += input[i][i2][0]*patBW[j][i][i2];\r
+ }\r
+ }\r
+ double sum2 = sum / patpowBW[j] / datapow;\r
+ if( sum2 > max ) {\r
+ max = sum2;\r
+ res = j;\r
+ }\r
+ }\r
+ dir=res;\r
+ cf=max; \r
+ }\r
+}\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core.match;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.*;\r
+\r
+/**\r
+ * AR_TEMPLATE_MATCHING_COLORかつAR_MATCHING_WITHOUT_PCAと同等のルールで\r
+ * マーカーを評価します。\r
+ *\r
+ */\r
+public class NyARMatchPatt_Color_WITHOUT_PCA implements NyARMatchPatt{\r
+ private int[][][] input=new int[1][1][3];\r
+ private double datapow;\r
+\r
+ private int width =1;\r
+ private int height=1;\r
+ private double cf=0;\r
+ private int dir=0;\r
+ public double getConfidence(){\r
+ return cf;\r
+ }\r
+ public int getDirection(){\r
+ return dir;\r
+ }\r
+ /**\r
+ * input配列サイズを必要に応じて再アロケートする。\r
+ *\r
+ * @param i_width\r
+ * @param i_height\r
+ */\r
+ private void reallocInputArray(int i_width,int i_height)\r
+ {\r
+ if(this.input.length<i_height || this.input[0].length<i_width){\r
+ //配列が十分なサイズでなければ取り直す\r
+ this.input=new int[i_height][i_width][3]; \r
+ }\r
+ this.height=i_height;\r
+ this.width =i_width;\r
+ }\r
+ public boolean setPatt(NyARColorPatt i_target_patt) throws NyARException\r
+ { \r
+ int i,k;\r
+ int[][][] data,linput;\r
+ \r
+ //input配列のサイズとwhも更新// input=new int[height][width][3];\r
+ reallocInputArray(i_target_patt.getWidth(),i_target_patt.getHeight());\r
+ int lwidth =this.width;\r
+ int lheight=this.height;\r
+ linput=this.input;\r
+ data=i_target_patt.getPatArray();\r
+\r
+ int sum=0,l_ave=0,w_sum;\r
+ int[][] data_i,input_i;\r
+ int[] data_i_k,input_i_k;\r
+ for(i=lheight-1;i>=0;i--){//<Optimize/>for(int i=0;i<height;i++) {//for(int i=0;i<Config.AR_PATT_SIZE_Y;i++){\r
+ data_i=data[i];\r
+ for(k=lwidth-1;k>=0;k--) {//<Optimize/>for(int i2=0;i2<Config.AR_PATT_SIZE_X;i2++){\r
+ //<Optimize/>l_ave += (255-data[i][i2][0])+(255-data[i][i2][1])+(255-data[i][i2][2]);\r
+ data_i_k=data_i[k];\r
+ l_ave += 255*3-data_i_k[0]-data_i_k[1]-data_i_k[2];\r
+ }\r
+ }\r
+ l_ave /= (lheight*lwidth*3);\r
+ for(i=lheight-1;i>=0;i--){//for(i=0;i<height;i++){//for(int i=0;i<Config.AR_PATT_SIZE_Y;i++){\r
+ input_i=linput[i];\r
+ data_i=data[i];\r
+ for(k=lwidth-1;k>=0;k--){//for(i2=0;i2<width;i2++){//for(int i2=0;i2<Config.AR_PATT_SIZE_X;i2++){\r
+ //<Optimize>\r
+ //for(int i3=0;i3<3;i3++){\r
+ // input[i][i2][i3] = (255-data[i][i2][i3]) - l_ave;\r
+ // sum += input[i][i2][i3]*input[i][i2][i3];\r
+ //}\r
+ data_i_k =data_i[k];\r
+ input_i_k=input_i[k];\r
+ w_sum=(255-data_i_k[0]) - l_ave;\r
+ input_i_k[0]=w_sum;\r
+ sum += w_sum*w_sum;\r
+ \r
+ w_sum=(255-data_i_k[1]) - l_ave;\r
+ input_i_k[1]=w_sum;\r
+ sum += w_sum*w_sum;\r
+ \r
+ w_sum=(255-data_i_k[2]) - l_ave;\r
+ input_i_k[2]=w_sum;\r
+ sum+=w_sum*w_sum;\r
+ //</Optimize>\r
+ }\r
+ }\r
+ datapow = Math.sqrt( (double)sum );\r
+ if(datapow == 0.0){\r
+ return false;// throw new NyARException();\r
+// dir.set(0);//*dir = 0;\r
+// cf.set(-1.0);//*cf = -1.0;\r
+// return -1;\r
+ }\r
+ return true;\r
+ }\r
+ /**\r
+ * public int pattern_match(short[][][] data,IntPointer dir,DoublePointer cf)\r
+\r
+ */\r
+ public void evaluate(NyARCode i_code)\r
+ {\r
+ int[][][][] pat=i_code.getPat();\r
+ double[] patpow=i_code.getPatPow();\r
+ int res= -1;\r
+ double max=0.0;\r
+ int[][][] pat_j,linput;\r
+ int[][] pat_j_i,input_i;\r
+ int[] pat_j_i_k,input_i_k;\r
+ int l_width=this.width;\r
+ int l_height=this.height;\r
+ linput=this.input;\r
+ for(int j = 0; j < 4; j++ ) {\r
+ int sum = 0;\r
+ pat_j=pat[j];\r
+ for(int i=l_height-1;i>=0;i--){//for(int i=0;i<Config.AR_PATT_SIZE_Y;i++){\r
+ input_i=linput[i];\r
+ pat_j_i=pat_j[i];\r
+ for(int k=l_width-1;k>=0;k--){\r
+ pat_j_i_k=pat_j_i[k];\r
+ input_i_k=input_i[k];\r
+// for(int i3=0;i3<3;i3++){\r
+ sum += input_i_k[0]*pat_j_i_k[0];//sum += input[i][i2][i3]*pat[k][j][i][i2][i3];\r
+ sum += input_i_k[1]*pat_j_i_k[1];//sum += input[i][i2][i3]*pat[k][j][i][i2][i3];\r
+ sum += input_i_k[2]*pat_j_i_k[2];//sum += input[i][i2][i3]*pat[k][j][i][i2][i3];\r
+// }\r
+ }\r
+ }\r
+ double sum2 = sum / patpow[j] / datapow;//sum2 = sum / patpow[k][j] / datapow;\r
+ if( sum2 > max ){\r
+ max = sum2;\r
+ res = j;\r
+ }\r
+ }\r
+ dir=res;\r
+ cf=max;\r
+ }\r
+}
\ No newline at end of file
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core.match;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.NyARCode;\r
+import jp.nyatla.nyartoolkit.core.NyARColorPatt;\r
+\r
+/**\r
+ * AR_TEMPLATE_MATCHING_COLORかつAR_MATCHING_WITH_PCAと同等のルールで\r
+ * マーカーを評価します。\r
+ *\r
+ */\r
+public class NyARMatchPatt_Color_WITH_PCA implements NyARMatchPatt{\r
+ private final int EVEC_MAX=10;//#define EVEC_MAX 10\r
+ private int evec_dim;//static int evec_dim;\r
+ private int[][][] input;\r
+ private double[][][][] evec;//static double evec[EVEC_MAX][AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3];\r
+ private double[][] epat=new double[4][EVEC_MAX];//static double epat[AR_PATT_NUM_MAX][4][EVEC_MAX];\r
+ private int ave;\r
+ private double datapow;\r
+\r
+ private int width;\r
+ private int height;\r
+ private double cf=0;\r
+ private int dir=0;//向きか！\r
+ public double getConfidence(){\r
+ return cf;\r
+ }\r
+ public int getDirection(){\r
+ return dir;\r
+ }\r
+ public boolean setPatt(NyARColorPatt i_target_patt) throws NyARException\r
+ {\r
+ width=i_target_patt.getWidth();\r
+ height=i_target_patt.getHeight();\r
+ int[][][] data=i_target_patt.getPatArray();\r
+ \r
+ input=new int[height][width][3];\r
+ evec=new double[EVEC_MAX][height][width][3];//static double evec[EVEC_MAX][AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3];\r
+ int sum;\r
+\r
+ sum = ave = 0;\r
+ for(int i=0;i<height;i++) {//for(int i=0;i<Config.AR_PATT_SIZE_Y;i++){\r
+ for(int i2=0;i2<width;i2++) {//for(int i2=0;i2<Config.AR_PATT_SIZE_X;i2++){\r
+ ave += (255-data[i][i2][0])+(255-data[i][i2][1])+(255-data[i][i2][2]);\r
+ }\r
+ }\r
+ ave /= (height*width*3);\r
+\r
+ for(int i=0;i<height;i++){//for(int i=0;i<Config.AR_PATT_SIZE_Y;i++){\r
+ for(int i2=0;i2<width;i2++){//for(int i2=0;i2<Config.AR_PATT_SIZE_X;i2++){\r
+ for(int i3=0;i3<3;i3++){\r
+ input[i][i2][i3] = (255-data[i][i2][i3]) - ave;\r
+ sum += input[i][i2][i3]*input[i][i2][i3];\r
+ }\r
+ }\r
+ }\r
+ datapow = Math.sqrt( (double)sum );\r
+ if(datapow == 0.0){\r
+ return false;//throw new NyARException();\r
+// dir.set(0);//*dir = 0;\r
+// cf.set(-1.0);//*cf = -1.0;\r
+// return -1;\r
+ }\r
+ return true;\r
+ }\r
+ /**\r
+ * public int pattern_match(short[][][] data,IntPointer dir,DoublePointer cf)\r
+\r
+ */\r
+ public void evaluate(NyARCode i_code)\r
+ {\r
+ int[][][][] pat=i_code.getPat();\r
+ double[] patpow=i_code.getPatPow();\r
+ double[] invec=new double[EVEC_MAX];\r
+\r
+ double max = 0.0; // fix VC7 compiler warning: uninitialized variable\r
+ //確認\r
+ for(int i = 0; i < evec_dim; i++ ) {\r
+ invec[i] = 0.0;\r
+ for(int j = 0; j <height; j++ ){//for(int j = 0; j <Config.AR_PATT_SIZE_Y; j++ ){\r
+ for(int j2 = 0; j2 <width; j2++ ){\r
+ for(int j3 = 0; j3 <3; j3++ ){\r
+ invec[i] += evec[i][j][j2][j3] * input[j][j2][j3];//invec[i] += evec[i][j] * input[j];\r
+ }\r
+ }\r
+ }\r
+ invec[i] /= datapow;\r
+ }\r
+\r
+ double min = 10000.0;\r
+ int res=-1;\r
+ for(int j = 0; j < 4; j++ ) {\r
+ double sum2 = 0;\r
+ for(int i = 0; i < evec_dim; i++ ) {\r
+ sum2 += (invec[i] - epat[j][i]) * (invec[i] - epat[j][i]);\r
+ }\r
+ if( sum2 < min ) {\r
+ min = sum2;\r
+ res = j;\r
+// res2 = k;//kは常にインスタンスを刺すから、省略可能\r
+ }\r
+ }\r
+\r
+ int sum = 0;\r
+ for(int i=0;i<height;i++){//for(int i=0;i<Config.AR_PATT_SIZE_Y;i++){\r
+ for(int i2=0;i2<width;i2++){//for(int i2=0;i<Config.AR_PATT_SIZE_X;i2++){\r
+ for(int i3=0;i3<3;i3++){\r
+ sum += input[i][i2][i3]*pat[res][i][i2][i3];//sum += input[i][i2][i3]*pat[res2][res][i][i2][i3];\r
+ }\r
+ }\r
+ }\r
+ max = sum / patpow[res] / datapow;\r
+ dir=res;\r
+ cf=max;\r
+ }\r
+}\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core.raster;\r
+\r
+public interface NyARRaster{\r
+ //RGBの合計値を返す\r
+ public int getPixelTotal(int i_x,int i_y);\r
+ /**\r
+ * 一行単位でi_row番目の合計値配列を計算して返す。\r
+ * @param i_row\r
+ * @param o_line\r
+ * getWidth()の戻り値以上のサイズが必要。\r
+ */\r
+ public void getPixelTotalRowLine(int i_row,int[] o_line);\r
+ public int getWidth();\r
+ public int getHeight();\r
+ public void getPixel(int i_x,int i_y,int[] i_rgb);\r
+ /**\r
+ * 複数のピクセル値をi_rgbへ返します。\r
+ * @param i_x\r
+ * xのインデックス配列\r
+ * @param i_y\r
+ * yのインデックス配列\r
+ * @param i_num\r
+ * 返すピクセル値の数\r
+ * @param i_rgb\r
+ * ピクセル値を返すバッファ\r
+ */\r
+ public void getPixelSet(int[] i_x,int i_y[],int i_num,int[] o_rgb);\r
+}\r
+\r
+\r
+\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core.raster;\r
+\r
+\r
+public class NyARRaster_BGRA implements NyARRaster\r
+{\r
+ private byte[] ref_buf;\r
+ private int width;\r
+ private int height;\r
+ public static NyARRaster_BGRA wrap(byte[] i_buffer,int i_width,int i_height)\r
+ {\r
+ NyARRaster_BGRA new_inst=new NyARRaster_BGRA();\r
+ new_inst.ref_buf=i_buffer;\r
+ new_inst.width =i_width;\r
+ new_inst.height =i_height;\r
+ return new_inst;\r
+ }\r
+ //RGBの合計値を返す\r
+ public int getPixelTotal(int i_x,int i_y)\r
+ {\r
+ int bp=(i_x+i_y*this.width)*4;\r
+ byte[] ref=this.ref_buf;\r
+ return (ref[bp] & 0xff)+(ref[bp+1] & 0xff)+(ref[bp+2] & 0xff);\r
+ }\r
+ public void getPixelTotalRowLine(int i_row,int[] o_line)\r
+ {\r
+ final byte[] ref=this.ref_buf;\r
+ int bp=(i_row+1)*this.width*4-4;\r
+ for(int i=this.width-1;i>=0;i--){\r
+ o_line[i]=(ref[bp] & 0xff)+(ref[bp+1] & 0xff)+(ref[bp+2] & 0xff);\r
+ bp-=4;\r
+ }\r
+ }\r
+ public int getWidth()\r
+ {\r
+ return width;\r
+ }\r
+ public int getHeight()\r
+ {\r
+ return height;\r
+ }\r
+ public void getPixel(int i_x,int i_y,int[] i_rgb)\r
+ {\r
+ byte[] ref=this.ref_buf;\r
+ int bp=(i_x+i_y*this.width)*4;\r
+ i_rgb[0]=(ref[bp+2] & 0xff);//R\r
+ i_rgb[1]=(ref[bp+1] & 0xff);//G\r
+ i_rgb[2]=(ref[bp+0] & 0xff);//B\r
+ }\r
+ public void getPixelSet(int[] i_x,int i_y[],int i_num,int[] o_rgb)\r
+ {\r
+ int width=this.width;\r
+ byte[] ref=this.ref_buf;\r
+ int bp;\r
+ for(int i=i_num-1;i>=0;i--){\r
+ bp=(i_x[i]+i_y[i]*width)*4;\r
+ o_rgb[i*3+0]=(ref[bp+2] & 0xff);//R\r
+ o_rgb[i*3+1]=(ref[bp+1] & 0xff);//G\r
+ o_rgb[i*3+2]=(ref[bp+0] & 0xff);//B\r
+ } \r
+ }\r
+}\r
+\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core.raster;\r
+\r
+\r
+/*\r
+ * 真っ黒の矩形を定義する。\r
+ *\r
+ */\r
+public class NyARRaster_Blank implements NyARRaster\r
+{\r
+ private int width;\r
+ private int height;\r
+ public NyARRaster_Blank(int i_width,int i_height)\r
+ {\r
+ width =i_width;\r
+ height =i_height;\r
+ }\r
+ //RGBの合計値を返す\r
+ public int getPixelTotal(int i_x,int i_y)\r
+ {\r
+ return 0;\r
+ }\r
+ public void getPixelTotalRowLine(int i_row,int[] o_line)\r
+ {\r
+ for(int i=this.width-1;i>=0;i--){\r
+ o_line[i]=0;\r
+ }\r
+ } \r
+ public int getWidth()\r
+ {\r
+ return width;\r
+ }\r
+ public int getHeight()\r
+ {\r
+ return height;\r
+ }\r
+ public void getPixel(int i_x,int i_y,int[] i_rgb)\r
+ {\r
+ i_rgb[0]=0;\r
+ i_rgb[1]=0;\r
+ i_rgb[2]=0;\r
+ }\r
+ public void getPixelSet(int[] i_x,int i_y[],int i_num,int[] o_rgb)\r
+ {\r
+ for(int i=i_num-1;i>=0;i--){\r
+ o_rgb[i*3+0]=0;//R\r
+ o_rgb[i*3+1]=0;//G\r
+ o_rgb[i*3+2]=0;//B\r
+ } \r
+ } \r
+}\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.core.raster;\r
+\r
+\r
+public class NyARRaster_RGB implements NyARRaster\r
+{\r
+ protected byte[] ref_buf;\r
+ protected int width;\r
+ protected int height;\r
+ public static NyARRaster_RGB wrap(byte[] i_buffer,int i_width,int i_height)\r
+ {\r
+ NyARRaster_RGB new_inst=new NyARRaster_RGB();\r
+ new_inst.ref_buf=i_buffer;\r
+ new_inst.width =i_width;\r
+ new_inst.height =i_height;\r
+ return new_inst;\r
+ }\r
+ //RGBの合計値を返す\r
+ public int getPixelTotal(int i_x,int i_y)\r
+ {\r
+ byte[] ref=this.ref_buf;\r
+ int bp=(i_x+i_y*this.width)*3;\r
+ return (ref[bp] & 0xff)+(ref[bp+1] & 0xff)+(ref[bp+2] & 0xff);\r
+ }\r
+ public void getPixelTotalRowLine(int i_row,int[] o_line)\r
+ {\r
+ final byte[] ref=this.ref_buf;\r
+ int bp=(i_row+1)*this.width*3-3;\r
+ for(int i=this.width-1;i>=0;i--){\r
+ o_line[i]=(ref[bp] & 0xff)+(ref[bp+1] & 0xff)+(ref[bp+2] & 0xff);\r
+ bp-=3;\r
+ }\r
+ } \r
+ public int getWidth()\r
+ {\r
+ return width;\r
+ }\r
+ public int getHeight()\r
+ {\r
+ return height;\r
+ }\r
+ public void getPixel(int i_x,int i_y,int[] i_rgb)\r
+ {\r
+ int bp=(i_x+i_y*this.width)*3;\r
+ byte[] ref=this.ref_buf;\r
+ i_rgb[0]=(ref[bp+0] & 0xff);//R\r
+ i_rgb[1]=(ref[bp+1] & 0xff);//G\r
+ i_rgb[2]=(ref[bp+2] & 0xff);//B\r
+ }\r
+ public void getPixelSet(int[] i_x,int i_y[],int i_num,int[] o_rgb)\r
+ {\r
+ int width=this.width;\r
+ byte[] ref=this.ref_buf;\r
+ int bp;\r
+ for(int i=i_num-1;i>=0;i--){\r
+ bp=(i_x[i]+i_y[i]*width)*3;\r
+ o_rgb[i*3+0]=(ref[bp+0] & 0xff);//R\r
+ o_rgb[i*3+1]=(ref[bp+1] & 0xff);//G\r
+ o_rgb[i*3+2]=(ref[bp+2] & 0xff);//B\r
+ } \r
+ }\r
+}\r
+\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.detector;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.*;\r
+import jp.nyatla.nyartoolkit.core.match.NyARMatchPatt_Color_WITHOUT_PCA;\r
+import jp.nyatla.nyartoolkit.core.raster.*;\r
+\r
+\r
+\r
+class NyARDetectMarkerResult\r
+{\r
+ public int arcode_id;\r
+ public int direction;\r
+ public double confidence;\r
+ public NyARSquare ref_square;\r
+}\r
+class NyARDetectMarkerResultHolder\r
+{\r
+ public NyARDetectMarkerResult[] result_array=new NyARDetectMarkerResult[1];\r
+ /**\r
+ * result_holderを最大i_reserve_size個の要素を格納できるように予約します。\r
+ * @param i_reserve_size\r
+ */\r
+ public void reservHolder(int i_reserve_size)\r
+ {\r
+ if(i_reserve_size>=result_array.length){\r
+ int new_size=i_reserve_size+5;\r
+ result_array=new NyARDetectMarkerResult[new_size];\r
+ for(int i=0;i<new_size;i++){\r
+ result_array[i]=new NyARDetectMarkerResult();\r
+ }\r
+ }\r
+ }\r
+}\r
+/**\r
+ * 複数のマーカーを検出し、それぞれに最も一致するARコードを、コンストラクタで登録したARコードから\r
+ * 探すクラスです。最大300個を認識しますが、ゴミラベルを認識したりするので100個程度が限界です。\r
+ *\r
+ */\r
+public class NyARDetectMarker{\r
+ private static final int AR_SQUARE_MAX=300;\r
+ private boolean is_continue=false;\r
+ private NyARMatchPatt_Color_WITHOUT_PCA match_patt;\r
+ private NyARDetectSquare square;\r
+ private final NyARSquareList square_list=new NyARSquareList(AR_SQUARE_MAX);\r
+ private NyARCode[] codes;\r
+ protected NyARTransMat transmat;\r
+ private double[] marker_width;\r
+ private int number_of_code;\r
+ //検出結果の保存用\r
+ private NyARColorPatt patt;\r
+ \r
+ private NyARDetectMarkerResultHolder result_holder=new NyARDetectMarkerResultHolder();\r
+ \r
+ /**\r
+ * 複数のマーカーを検出し、最も一致するARCodeをi_codeから検索するオブジェクトを作ります。\r
+ * @param i_param\r
+ * カメラパラメータを指定します。\r
+ * @param i_code\r
+ * 検出するマーカーのARCode配列を指定します。配列要素のインデックス番号が、そのままgetARCodeIndex関数で\r
+ * 得られるARCodeインデックスになります。\r
+ * 例えば、要素[1]のARCodeに一致したマーカーである場合は、getARCodeIndexは1を返します。\r
+ * 先頭からi_number_of_code個の要素には、有効な値を指定する必要があります。\r
+ * @param i_marker_width\r
+ * i_codeのマーカーサイズをミリメートルで指定した配列を指定します。\r
+ * 先頭からi_number_of_code個の要素には、有効な値を指定する必要があります。\r
+ * @param i_number_of_code\r
+ * i_codeに含まれる、ARCodeの数を指定します。\r
+ * @throws NyARException\r
+ */\r
+ public NyARDetectMarker(NyARParam i_param,NyARCode[] i_code,double[] i_marker_width,int i_number_of_code) throws NyARException\r
+ {\r
+ //解析オブジェクトを作る\r
+ this.square=new NyARDetectSquare(i_param);\r
+ this.transmat=new NyARTransMat_O2(i_param);\r
+ //比較コードを保存\r
+ this.codes=i_code;\r
+ //比較コードの解像度は全部同じかな？（違うとパターンを複数種つくらないといけないから）\r
+ int cw=i_code[0].getWidth();\r
+ int ch=i_code[0].getHeight();\r
+ for(int i=1;i<i_number_of_code;i++){\r
+ if(cw!=i_code[i].getWidth() || ch!=i_code[i].getHeight()){\r
+ //違う解像度のが混ざっている。\r
+ throw new NyARException();\r
+ }\r
+ } \r
+ //評価パターンのホルダを作る\r
+ this.patt=new NyARColorPatt_O3(cw,ch);\r
+ this.number_of_code=i_number_of_code;\r
+\r
+ this.marker_width=i_marker_width;\r
+ //評価器を作る。\r
+ this.match_patt=new NyARMatchPatt_Color_WITHOUT_PCA(); \r
+ }\r
+ /**\r
+ * i_imageにマーカー検出処理を実行し、結果を記録します。\r
+ * @param i_image\r
+ * マーカーを検出するイメージを指定します。\r
+ * @param i_thresh\r
+ * 検出閾値を指定します。0～255の範囲で指定してください。\r
+ * 通常は100～130くらいを指定します。\r
+ * @return\r
+ * 見つかったマーカーの数を返します。\r
+ * マーカーが見つからない場合は0を返します。\r
+ * @throws NyARException\r
+ */\r
+ public int detectMarkerLite(NyARRaster i_image,int i_thresh) throws NyARException\r
+ {\r
+ NyARSquareList l_square_list=this.square_list;\r
+ //スクエアコードを探す\r
+ square.detectSquare(i_image, i_thresh,l_square_list);\r
+ \r
+ final int number_of_square=l_square_list.getSquareNum();\r
+ //コードは見つかった？\r
+ if(number_of_square<1){\r
+ //ないや。おしまい。\r
+ return 0;\r
+ }\r
+ //保持リストのサイズを調整\r
+ this.result_holder.reservHolder(number_of_square); \r
+ \r
+ //1スクエア毎に、一致するコードを決定していく\r
+ for(int i=0;i<number_of_square;i++)\r
+ {\r
+ NyARSquare square=l_square_list.getSquare(i);\r
+ //評価基準になるパターンをイメージから切り出す\r
+ if(!this.patt.pickFromRaster(i_image,square)){\r
+ //イメージの切り出しは失敗することもある。\r
+ continue;\r
+ }\r
+ //パターンを評価器にセット\r
+ if(!this.match_patt.setPatt(this.patt)){\r
+ //計算に失敗した。 \r
+ throw new NyARException();\r
+ }\r
+ //コードと順番に比較していく\r
+ int code_index=0;\r
+ match_patt.evaluate(codes[0]);\r
+ double confidence=match_patt.getConfidence();\r
+ int direction=match_patt.getDirection();\r
+ for(int i2=1;i2<this.number_of_code;i2++)\r
+ {\r
+ //コードと比較する\r
+ match_patt.evaluate(codes[i2]);\r
+ double c2=match_patt.getConfidence();\r
+ if(confidence>c2){\r
+ continue;\r
+ }\r
+ //より一致するARCodeの情報を保存\r
+ code_index =i2;\r
+ direction =match_patt.getDirection();\r
+ confidence =c2;\r
+ }\r
+ //i番目のパターン情報を保存する。\r
+ final NyARDetectMarkerResult result=this.result_holder.result_array[i];\r
+ result.arcode_id =code_index;\r
+ result.confidence=confidence;\r
+ result.direction =direction;\r
+ result.ref_square=square;\r
+ }\r
+ return number_of_square;\r
+ }\r
+ /**\r
+ * i_indexのマーカーに対する変換行列を計算し、結果値をo_resultへ格納します。\r
+ * 直前に実行したdetectMarkerLiteが成功していないと使えません。\r
+ * @param i_index\r
+ * マーカーのインデックス番号を指定します。\r
+ * 直前に実行したdetectMarkerLiteの戻り値未満かつ0以上である必要があります。\r
+ * @param o_result\r
+ * 結果値を受け取るオブジェクトを指定してください。\r
+ * @throws NyARException\r
+ */\r
+ public void getTransmationMatrix(int i_index,NyARTransMatResult o_result) throws NyARException\r
+ {\r
+ final NyARDetectMarkerResult result=this.result_holder.result_array[i_index];\r
+ //一番一致したマーカーの位置とかその辺を計算\r
+ if(is_continue){\r
+ transmat.transMatContinue(result.ref_square,result.direction,marker_width[result.arcode_id],o_result);\r
+ }else{\r
+ transmat.transMat(result.ref_square,result.direction,marker_width[result.arcode_id],o_result);\r
+ }\r
+ return;\r
+ }\r
+ /**\r
+ * i_indexのマーカーの一致度を返します。\r
+ * @param i_index\r
+ * マーカーのインデックス番号を指定します。\r
+ * 直前に実行したdetectMarkerLiteの戻り値未満かつ0以上である必要があります。\r
+ * @return\r
+ * マーカーの一致度を返します。0～1までの値をとります。\r
+ * 一致度が低い場合には、誤認識の可能性が高くなります。\r
+ * @throws NyARException\r
+ */\r
+ public double getConfidence(int i_index)\r
+ {\r
+ return this.result_holder.result_array[i_index].confidence;\r
+ }\r
+ /**\r
+ * i_indexのマーカーの方位を返します。\r
+ * @param i_index\r
+ * マーカーのインデックス番号を指定します。\r
+ * 直前に実行したdetectMarkerLiteの戻り値未満かつ0以上である必要があります。\r
+ * @return\r
+ * 0,1,2,3の何れかを返します。\r
+ */ \r
+ public int getDirection(int i_index)\r
+ {\r
+ return this.result_holder.result_array[i_index].direction;\r
+ }\r
+ /**\r
+ * i_indexのマーカーのARCodeインデックスを返します。\r
+ * @param i_index\r
+ * マーカーのインデックス番号を指定します。\r
+ * 直前に実行したdetectMarkerLiteの戻り値未満かつ0以上である必要があります。\r
+ * @return\r
+ */ \r
+ public int getARCodeIndex(int i_index)\r
+ {\r
+ return this.result_holder.result_array[i_index].arcode_id;\r
+ } \r
+ /**\r
+ * getTransmationMatrixの計算モードを設定します。\r
+ * @param i_is_continue\r
+ * TRUEなら、transMatContinueを使用します。\r
+ * FALSEなら、transMatを使用します。\r
+ */\r
+ public void setContinueMode(boolean i_is_continue)\r
+ {\r
+ this.is_continue=i_is_continue;\r
+ }\r
+ \r
+}\r
+\r
+ \r
+\r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+\r
+ \r
+\r
+\r
+ \r
+\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ * This work is based on the original ARToolKit developed by\r
+ * Hirokazu Kato\r
+ * Mark Billinghurst\r
+ * HITLab, University of Washington, Seattle\r
+ * http://www.hitl.washington.edu/artoolkit/\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.detector;\r
+\r
+import jp.nyatla.nyartoolkit.NyARException;\r
+import jp.nyatla.nyartoolkit.core.*;\r
+import jp.nyatla.nyartoolkit.core.match.NyARMatchPatt_Color_WITHOUT_PCA;\r
+import jp.nyatla.nyartoolkit.core.raster.*;\r
+/**\r
+ * 画像からARCodeに最も一致するマーカーを1個検出し、その変換行列を計算するクラスです。\r
+ *\r
+ */\r
+public class NyARSingleDetectMarker{\r
+ private static final int AR_SQUARE_MAX=100;\r
+ private boolean is_continue=false;\r
+ private NyARMatchPatt_Color_WITHOUT_PCA match_patt;\r
+ private NyARDetectSquare square;\r
+ private final NyARSquareList square_list=new NyARSquareList(AR_SQUARE_MAX);\r
+ private NyARCode code;\r
+ protected NyARTransMat transmat;\r
+ private double marker_width;\r
+ //検出結果の保存用\r
+ private int detected_direction;\r
+ private double detected_confidence;\r
+ private NyARSquare detected_square;\r
+ private NyARColorPatt patt;\r
+ /**\r
+ * 検出するARCodeとカメラパラメータから、1個のARCodeを検出するNyARSingleDetectMarkerインスタンスを作ります。\r
+ * @param i_param\r
+ * カメラパラメータを指定します。\r
+ * @param i_code\r
+ * 検出するARCodeを指定します。\r
+ * @param i_marker_width\r
+ * ARコードの物理サイズを、ミリメートルで指定します。\r
+ * @throws NyARException\r
+ */\r
+ public NyARSingleDetectMarker(NyARParam i_param,NyARCode i_code,double i_marker_width) throws NyARException\r
+ {\r
+ //解析オブジェクトを作る\r
+ this.square=new NyARDetectSquare(i_param);\r
+ this.transmat=new NyARTransMat_O2(i_param);\r
+ //比較コードを保存\r
+ this.code=i_code;\r
+ this.marker_width=i_marker_width;\r
+ //評価パターンのホルダを作る\r
+ this.patt=new NyARColorPatt_O3(code.getWidth(),code.getHeight());\r
+ //評価器を作る。\r
+ this.match_patt=new NyARMatchPatt_Color_WITHOUT_PCA(); \r
+ }\r
+ /**\r
+ * i_imageにマーカー検出処理を実行し、結果を記録します。\r
+ * @param i_image\r
+ * マーカーを検出するイメージを指定します。\r
+ * @param i_thresh\r
+ * 検出閾値を指定します。0～255の範囲で指定してください。\r
+ * 通常は100～130くらいを指定します。\r
+ * @return\r
+ * マーカーが検出できたかを真偽値で返します。\r
+ * @throws NyARException\r
+ */\r
+ public boolean detectMarkerLite(NyARRaster i_image,int i_thresh) throws NyARException\r
+ {\r
+ detected_square=null;\r
+ NyARSquareList l_square_list=this.square_list;\r
+ //スクエアコードを探す\r
+ square.detectSquare(i_image, i_thresh,l_square_list);\r
+ \r
+ int number_of_square=l_square_list.getSquareNum();\r
+ //コードは見つかった？\r
+ if(number_of_square<1){\r
+ return false;\r
+ }\r
+\r
+ //評価基準になるパターンをイメージから切り出す\r
+ if(!patt.pickFromRaster(i_image,l_square_list.getSquare(0))){\r
+ //パターンの切り出しに失敗\r
+ return false;\r
+ }\r
+ //パターンを評価器にセット\r
+ if(!this.match_patt.setPatt(patt)){\r
+ //計算に失敗した。\r
+ throw new NyARException();\r
+ }\r
+ //コードと比較する\r
+ match_patt.evaluate(code);\r
+ int square_index=0;\r
+ int direction=match_patt.getDirection();\r
+ double confidence=match_patt.getConfidence();\r
+ for(int i=1;i<number_of_square;i++){\r
+ //次のパターンを取得\r
+ patt.pickFromRaster(i_image,l_square_list.getSquare(i));\r
+ //評価器にセットする。\r
+ match_patt.setPatt(patt);\r
+ //コードと比較する\r
+ match_patt.evaluate(code);\r
+ double c2=match_patt.getConfidence();\r
+ if(confidence>c2){\r
+ continue;\r
+ }\r
+ //もっと一致するマーカーがあったぽい\r
+ square_index=i;\r
+ direction=match_patt.getDirection();\r
+ confidence=c2;\r
+ }\r
+ //マーカー情報を保存\r
+ detected_square=l_square_list.getSquare(square_index);\r
+ detected_direction=direction;\r
+ detected_confidence=confidence;\r
+ return true;\r
+ }\r
+ /**\r
+ * 検出したマーカーの変換行列を計算して、o_resultへ値を返します。\r
+ * 直前に実行したdetectMarkerLiteが成功していないと使えません。\r
+ * @param o_result\r
+ * 変換行列を受け取るオブジェクトを指定します。\r
+ * @throws NyARException\r
+ */ \r
+ public void getTransmationMatrix(NyARTransMatResult o_result) throws NyARException\r
+ {\r
+ //一番一致したマーカーの位置とかその辺を計算\r
+ if(is_continue){\r
+ transmat.transMatContinue(detected_square,detected_direction,marker_width,o_result);\r
+ }else{\r
+ transmat.transMat(detected_square,detected_direction,marker_width,o_result);\r
+ }\r
+ return;\r
+ } \r
+ /**\r
+ * 検出したマーカーの一致度を返します。\r
+ * @return\r
+ * マーカーの一致度を返します。0～1までの値をとります。\r
+ * 一致度が低い場合には、誤認識の可能性が高くなります。\r
+ * @throws NyARException\r
+ */\r
+ public double getConfidence()\r
+ {\r
+ return detected_confidence;\r
+ }\r
+ /**\r
+ * 検出したマーカーの方位を返します。\r
+ * @return\r
+ * 0,1,2,3の何れかを返します。\r
+ */\r
+ public int getDirection()\r
+ {\r
+ return detected_direction;\r
+ }\r
+ /**\r
+ * getTransmationMatrixの計算モードを設定します。\r
+ * 初期値はTRUEです。\r
+ * @param i_is_continue\r
+ * TRUEなら、transMatCont互換の計算をします。\r
+ * FALSEなら、transMat互換の計算をします。\r
+ */\r
+ public void setContinueMode(boolean i_is_continue)\r
+ {\r
+ this.is_continue=i_is_continue;\r
+ }\r
+}\r
+\r
+ \r
+\r
+ \r
+ \r
+ \r
+ \r
+ \r
+ \r
+\r
+ \r
+\r
+\r
+ \r
+\r
--- /dev/null
+/* \r
+ * PROJECT: NyARToolkit\r
+ * --------------------------------------------------------------------------------\r
+ *\r
+ * The NyARToolkit is Java version ARToolkit class library.\r
+ * Copyright (C)2008 R.Iizuka\r
+ *\r
+ * This program is free software; you can redistribute it and/or\r
+ * modify it under the terms of the GNU General Public License\r
+ * as published by the Free Software Foundation; either version 2\r
+ * of the License, or (at your option) any later version.\r
+ * \r
+ * This program is distributed in the hope that it will be useful,\r
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ * GNU General Public License for more details.\r
+ * \r
+ * You should have received a copy of the GNU General Public License\r
+ * along with this framework; if not, write to the Free Software\r
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ * \r
+ * For further information please contact.\r
+ * http://nyatla.jp/nyatoolkit/\r
+ * <airmail(at)ebony.plala.or.jp>\r
+ * \r
+ */\r
+package jp.nyatla.nyartoolkit.sample;\r
+\r
+\r
+import java.io.*;\r
+import java.util.*;\r
+\r
+import jp.nyatla.nyartoolkit.core.*;\r
+import jp.nyatla.nyartoolkit.core.raster.*;\r
+import jp.nyatla.nyartoolkit.detector.*;\r
+\r
+/**\r
+ * 320x240のBGRA32で記録されたRAWイメージから、１種類のパターンを認識し、\r
+ * その変換行列を1000回求め、それにかかったミリ秒時間を表示します。\r
+ *\r
+ */\r
+public class RawFileTest {\r
+ private final String code_file ="../Data/patt.hiro";\r
+ private final String data_file ="../Data/320x240ABGR.raw";\r
+ private final String camera_file="../Data/camera_para.dat";\r
+ public RawFileTest()\r
+ {\r
+ }\r
+ public void Test_arDetectMarkerLite() throws Exception\r
+ {\r
+ //AR用カメラパラメタファイルをロード\r
+ NyARParam ap =new NyARParam();\r
+ ap.loadFromARFile(camera_file);\r
+ ap.changeSize(320,240);\r
+\r
+ //AR用のパターンコードを読み出し \r
+ NyARCode code=new NyARCode(16,16);\r
+ code.loadFromARFile(code_file);\r
+\r
+ //試験イメージの読み出し(320x240 BGRAのRAWデータ)\r
+ File f=new File(data_file);\r
+ FileInputStream fs=new FileInputStream(data_file);\r
+ byte[] buf=new byte[(int)f.length()];\r
+ fs.read(buf);\r
+ NyARRaster_BGRA ra=NyARRaster_BGRA.wrap(buf, 320, 240);\r
+ // Blank_Raster ra=new Blank_Raster(320, 240);\r
+\r
+ //１パターンのみを追跡するクラスを作成\r
+ NyARSingleDetectMarker ar=new NyARSingleDetectMarker(ap,code,80.0);\r
+ NyARTransMatResult result_mat=new NyARTransMatResult();\r
+ ar.setContinueMode(false);\r
+ ar.detectMarkerLite(ra,100);\r
+ ar.getTransmationMatrix(result_mat);\r
+\r
+ //マーカーを検出\r
+ Date d2=new Date();\r
+ for(int i=0;i<1000;i++){\r
+ //変換行列を取得\r
+ ar.detectMarkerLite(ra,100);\r
+ ar.getTransmationMatrix(result_mat);\r
+ }\r
+ Date d=new Date();\r
+ System.out.println(d.getTime()-d2.getTime()); \r
+ }\r
+ public static void main(String[] args)\r
+ {\r
+\r
+ try{\r
+ RawFileTest t=new RawFileTest();\r
+ //t.Test_arGetVersion();\r
+ t.Test_arDetectMarkerLite();\r
+ }catch(Exception e){\r
+ e.printStackTrace();\r
+ }\r
+ }\r
+\r
+}\r
--- /dev/null
+package jp.nyatla.util;\r
+\r
+public class BytePointer {\r
+ private byte[] array_ref; //配列\r
+ private int array_offset; //配列に対する基準値\r
+ private int position; //array_offsetに対する現在位置\r
+ public static BytePointer wrap(byte[] i_array_ref,int i_offset)\r
+ {\r
+ return new BytePointer(i_array_ref,i_offset);\r
+ }\r
+ public void set(byte i_value)\r
+ {\r
+ array_ref[array_offset+position]=i_value; \r
+ }\r
+ public void set(int i_rel_positon,byte i_value)\r
+ {\r
+ array_ref[array_offset+position+i_rel_positon]=i_value;\r
+ }\r
+ /**\r
+ * カレント位置の値を取得する\r
+ * @return\r
+ */\r
+ public byte get()\r
+ {\r
+ return array_ref[array_offset+position];\r
+ }\r
+ /**\r
+ * カレント位置から+i_slideの位置にある値を取得する。\r
+ * @param i_step\r
+ * @return\r
+ */\r
+ public byte get(int i_slide)\r
+ {\r
+ return array_ref[array_offset+position+i_slide];\r
+ }\r
+ public void incPtr()\r
+ {\r
+ position++;\r
+ }\r
+ public void addPtr(int v)\r
+ {\r
+ position+=v;\r
+ }\r
+ private BytePointer(byte[] i_array_ref,int i_base_point)\r
+ {\r
+ array_offset =i_base_point;\r
+ array_ref =i_array_ref;\r
+ position =0;\r
+ }\r
+// public BytePointer()\r
+// {\r
+// array_offset =0;\r
+// array_ref =new int[1];\r
+// position =0;\r
+// }\r
+}\r
--- /dev/null
+package jp.nyatla.util;\r
+/**\r
+ * double型ポインタのエミュレートクラス\r
+ * 対象のdouble配列を基点を基準に参照する。\r
+ *\r
+ */\r
+public class DoublePointer\r
+{\r
+ private double[] array_ref; //配列\r
+ private int array_offset; //配列に対する基準値\r
+ private int position; //array_offsetに対する現在位置\r
+ public static DoublePointer wrap(double[] i_array_ref,int i_offset)\r
+ {\r
+ return new DoublePointer(i_array_ref,i_offset);\r
+ }\r
+ public static DoublePointer wrap(DoublePointer i_inst)\r
+ {\r
+ return new DoublePointer(i_inst.array_ref,i_inst.getPtrArrayOffset());\r
+ }\r
+ //現在位置からのサブシーケンスを返す。\r
+ public DoublePointer slice(int i_offset)\r
+ {\r
+ return DoublePointer.wrap(array_ref,array_offset+position+i_offset);\r
+ }\r
+ public void set(double i_value)\r
+ {\r
+ array_ref[array_offset+position]=i_value; \r
+ }\r
+ public void set(int i_rel_positon,double i_value)\r
+ {\r
+ array_ref[array_offset+position+i_rel_positon]=i_value;\r
+ }\r
+ /**\r
+ * カレント位置の値を取得する\r
+ * @return\r
+ */\r
+ public double get()\r
+ {\r
+ return array_ref[array_offset+position];\r
+ }\r
+ /**\r
+ * カレント位置から+i_slideの位置にある値を取得する。\r
+ * @param i_step\r
+ * @return\r
+ */\r
+ public double get(int i_slide)\r
+ {\r
+ return array_ref[array_offset+position+i_slide];\r
+ }\r
+ public void incPtr()\r
+ {\r
+ position++;\r
+ }\r
+ public void addPtr(int v)\r
+ {\r
+ position+=v;\r
+ }\r
+ public double[] array()\r
+ {\r
+ return array_ref;\r
+ }\r
+ public void subValue(double i_val)\r
+ {\r
+ array_ref[array_offset+position]-=i_val;\r
+ }\r
+ public void subValue(int i_step,double i_val)\r
+ {\r
+ array_ref[array_offset+position+i_step]-=i_val;\r
+ }\r
+ public void addValue(double i_val)\r
+ {\r
+ array_ref[array_offset+position]+=i_val;\r
+ }\r
+ public void addValue(int i_step,double i_val)\r
+ {\r
+ array_ref[array_offset+position+i_step]+=i_val;\r
+ }\r
+\r
+ /**\r
+ * 現在位置のオフセット位置を返す。\r
+ * @return\r
+ */\r
+ public int getPtrArrayOffset()\r
+ {\r
+ return array_offset+position;\r
+ }\r
+ private DoublePointer(double[] i_array_ref,int i_base_point)\r
+ {\r
+ array_offset =i_base_point;\r
+ array_ref =i_array_ref;\r
+ position =0;\r
+ }\r
+ public DoublePointer(int i_length)\r
+ {\r
+ array_offset =0;\r
+ array_ref =new double[i_length];\r
+ position =0; \r
+ }\r
+ public DoublePointer()\r
+ {\r
+ array_offset =0;\r
+ array_ref =new double[1];\r
+ position =0; \r
+ }\r
+}
\ No newline at end of file
--- /dev/null
+package jp.nyatla.util;\r
+\r
+public class DoubleValue {\r
+ public double value;\r
+}
\ No newline at end of file
--- /dev/null
+package jp.nyatla.util;\r
+\r
+public class IntPointer {\r
+ private int[] array_ref; //配列\r
+ private int array_offset; //配列に対する基準値\r
+ private int position; //array_offsetに対する現在位置\r
+ public static IntPointer wrap(int[] i_array_ref,int i_offset)\r
+ {\r
+ return new IntPointer(i_array_ref,i_offset);\r
+ }\r
+ public void set(int i_value)\r
+ {\r
+ array_ref[array_offset+position]=i_value; \r
+ }\r
+ public void set(int i_rel_positon,int i_value)\r
+ {\r
+ array_ref[array_offset+position+i_rel_positon]=i_value;\r
+ }\r
+ /**\r
+ * カレント位置の値を取得する\r
+ * @return\r
+ */\r
+ public int get()\r
+ {\r
+ return array_ref[array_offset+position];\r
+ }\r
+ /**\r
+ * カレント位置から+i_slideの位置にある値を取得する。\r
+ * @param i_step\r
+ * @return\r
+ */\r
+ public int get(int i_slide)\r
+ {\r
+ return array_ref[array_offset+position+i_slide];\r
+ }\r
+ public void incPtr()\r
+ {\r
+ position++;\r
+ }\r
+ public void addPtr(int v)\r
+ {\r
+ position+=v;\r
+ }\r
+ public void addValue(int i_val)\r
+ {\r
+ array_ref[array_offset+position]+=i_val;\r
+ }\r
+ public void addValue(int i_step,int i_val)\r
+ {\r
+ array_ref[array_offset+position+i_step]+=i_val;\r
+ }\r
+ private IntPointer(int[] i_array_ref,int i_base_point)\r
+ {\r
+ array_offset =i_base_point;\r
+ array_ref =i_array_ref;\r
+ position =0;\r
+ }\r
+ public IntPointer()\r
+ {\r
+ array_offset =0;\r
+ array_ref =new int[1];\r
+ position =0;\r
+ }\r
+}\r
--- /dev/null
+package jp.nyatla.util;\r
+\r
+public class IntValue {\r
+ public int value;\r
+/* public void set(int i_v){\r
+ v=i_v;\r
+ }\r
+ public int get(){\r
+ return v;\r
+ }\r
+ public void inc(){\r
+ v++;\r
+ }\r
+ public void add(int i_v){\r
+ v+=i_v;\r
+ }*/\r
+}\r
--- /dev/null
+package jp.nyatla.util;\r
+\r
+public class ShortPointer {\r
+ private short[] array_ref; //配列\r
+ private int array_offset; //配列に対する基準値\r
+ private int position; //array_offsetに対する現在位置\r
+ public static ShortPointer wrap(short[] i_array_ref,int i_offset)\r
+ {\r
+ return new ShortPointer(i_array_ref,i_offset);\r
+ }\r
+ public static ShortPointer wrap(ShortPointer i_inst,int i_offset)\r
+ {\r
+ return new ShortPointer(i_inst.array_ref,i_inst.array_offset+i_inst.position+i_offset);\r
+ }\r
+ public void set(short i_value)\r
+ {\r
+ array_ref[array_offset+position]=i_value; \r
+ }\r
+ public void set(int i_rel_positon,short i_value)\r
+ {\r
+ array_ref[array_offset+position+i_rel_positon]=i_value;\r
+ }\r
+ /**\r
+ * カレント位置の値を取得する\r
+ * @return\r
+ */\r
+ public short get()\r
+ {\r
+ return array_ref[array_offset+position];\r
+ }\r
+ /**\r
+ * カレント位置から+i_slideの位置にある値を取得する。\r
+ * @param i_step\r
+ * @return\r
+ */\r
+ public short get(int i_slide)\r
+ {\r
+ return array_ref[array_offset+position+i_slide];\r
+ }\r
+ public void incPtr()\r
+ {\r
+ position++;\r
+ }\r
+ public void addPtr(int v)\r
+ {\r
+ position+=v;\r
+ }\r
+ private ShortPointer(short[] i_array_ref,int i_base_point)\r
+ {\r
+ array_offset =i_base_point;\r
+ array_ref =i_array_ref;\r
+ position =0;\r
+ }\r
+// public BytePointer()\r
+// {\r
+// array_offset =0;\r
+// array_ref =new int[1];\r
+// position =0;\r
+// }\r
+}\r
--- /dev/null
+package jp.nyatla.util;\r
+\r
+public class StringPointer {\r
+ private String[] array_ref;//配列\r
+ private int array_offset; //配列に対する基準値\r
+ private int position; //array_offsetに対する現在位置\r
+ public void set(String i_value)\r
+ {\r
+ array_ref[array_offset+position]=i_value;\r
+ }\r
+ public String get()\r
+ {\r
+ return array_ref[array_offset+position];\r
+ }\r
+ public String toString()\r
+ {\r
+ return get();\r
+ }\r
+ public StringPointer()\r
+ {\r
+ array_ref=new String[1];\r
+ array_offset=0;\r
+ position=0;\r
+ }\r
+}\r
--- /dev/null
+package jp.nyatla.util;\r
+\r
+public class StringValue {\r
+ private String v;\r
+ public StringValue()\r
+ {\r
+ v="";\r
+ }\r
+ public StringValue(String i_v)\r
+ {\r
+ v=i_v;\r
+ }\r
+ public void set(String i_v)\r
+ {\r
+ v=i_v;\r
+ }\r
+ public String get()\r
+ {\r
+ return v;\r
+ }\r
+ public String toString()\r
+ {\r
+ return v;\r
+ }\r
+}\r
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