From 1d15036f899fc82640d979b17cc44ab8c957df79 Mon Sep 17 00:00:00 2001 From: nyatla Date: Sat, 7 Jun 2008 01:14:25 +0000 Subject: [PATCH] =?utf8?q?[=E3=83=AA=E3=83=AA=E3=83=BC=E3=82=B9]NyARToolki?= =?utf8?q?t=200.5?= MIME-Version: 1.0 Content-Type: text/plain; charset=utf8 Content-Transfer-Encoding: 8bit --- Data/320x240ABGR.raw | Bin 0 -> 307200 bytes Data/camera_para.dat | Bin 0 -> 136 bytes Data/patt.hiro | 196 +++++ Data/pattHiro.pdf | Bin 0 -> 1572 bytes LICENCE.txt | 35 + bin/readme.txt | 3 + readme.ja.txt | 117 +++ sample/jmf/.classpath | 8 + sample/jmf/.project | 17 + sample/jmf/JmfCaptureTest.java | 56 ++ sample/jmf/NyarToolkitLinkTest.java | 108 +++ .../nyatla/nyartoolkit/jmf/JmfCameraCapture.java | 175 +++++ .../nyatla/nyartoolkit/jmf/JmfCaptureListener.java | 14 + .../jmf/jp/nyatla/nyartoolkit/jmf/MonitorCDS.java | 136 ++++ .../jp/nyatla/nyartoolkit/jmf/MonitorStream.java | 196 +++++ sample/jogl/.classpath | 11 + sample/jogl/.project | 17 + sample/jogl/JavaSimpleLite.java | 224 ++++++ .../jp/nyatla/nyartoolkit/gutil/GLNyARParam.java | 99 +++ .../nyatla/nyartoolkit/gutil/GLNyARRaster_RGB.java | 118 +++ .../gutil/GLNyARSingleDetectMarker.java | 57 ++ src/.classpath | 6 + src/.project | 17 + src/jp/nyatla/nyartoolkit/NyARException.java | 49 ++ src/jp/nyatla/nyartoolkit/base/Config.java | 75 ++ src/jp/nyatla/nyartoolkit/base/Param.java | 366 +++++++++ src/jp/nyatla/nyartoolkit/core/NyARCode.java | 165 ++++ src/jp/nyatla/nyartoolkit/core/NyARColorPatt.java | 227 ++++++ .../nyatla/nyartoolkit/core/NyARDetectMarker.java | 403 ++++++++++ .../nyatla/nyartoolkit/core/NyARDetectSquare.java | 175 +++++ src/jp/nyatla/nyartoolkit/core/NyARLabeling.java | 383 +++++++++ src/jp/nyatla/nyartoolkit/core/NyARMarker.java | 60 ++ src/jp/nyatla/nyartoolkit/core/NyARMat.java | 861 +++++++++++++++++++++ src/jp/nyatla/nyartoolkit/core/NyARParam.java | 351 +++++++++ src/jp/nyatla/nyartoolkit/core/NyARSquare.java | 57 ++ src/jp/nyatla/nyartoolkit/core/NyARTransMat.java | 817 +++++++++++++++++++ src/jp/nyatla/nyartoolkit/core/NyARVec.java | 243 ++++++ src/jp/nyatla/nyartoolkit/core/NyARVersion.java | 66 ++ .../nyartoolkit/core/match/NyARMatchPatt.java | 59 ++ .../core/match/NyARMatchPatt_BlackWhite.java | 112 +++ .../match/NyARMatchPatt_Color_WITHOUT_PCA.java | 118 +++ .../core/match/NyARMatchPatt_Color_WITH_PCA.java | 146 ++++ .../nyatla/nyartoolkit/core/raster/NyARRaster.java | 43 + .../nyartoolkit/core/raster/NyARRaster_BGRA.java | 70 ++ .../nyartoolkit/core/raster/NyARRaster_Blank.java | 68 ++ .../nyartoolkit/core/raster/NyARRaster_RGB.java | 70 ++ .../detector/NyARSingleDetectMarker.java | 175 +++++ src/jp/nyatla/nyartoolkit/sample/RawFileTest.java | 95 +++ src/jp/nyatla/util/BytePointer.java | 56 ++ src/jp/nyatla/util/DoublePointer.java | 106 +++ src/jp/nyatla/util/DoubleValue.java | 14 + src/jp/nyatla/util/IntPointer.java | 64 ++ src/jp/nyatla/util/IntValue.java | 17 + src/jp/nyatla/util/ShortPointer.java | 60 ++ src/jp/nyatla/util/StringPointer.java | 25 + src/jp/nyatla/util/StringValue.java | 25 + 56 files changed, 7231 insertions(+) create mode 100644 Data/320x240ABGR.raw create mode 100644 Data/camera_para.dat create mode 100644 Data/patt.hiro create mode 100644 Data/pattHiro.pdf create mode 100644 LICENCE.txt create mode 100644 bin/readme.txt create mode 100644 readme.ja.txt create mode 100644 sample/jmf/.classpath create mode 100644 sample/jmf/.project create mode 100644 sample/jmf/JmfCaptureTest.java create mode 100644 sample/jmf/NyarToolkitLinkTest.java create mode 100644 sample/jmf/jp/nyatla/nyartoolkit/jmf/JmfCameraCapture.java create mode 100644 sample/jmf/jp/nyatla/nyartoolkit/jmf/JmfCaptureListener.java create mode 100644 sample/jmf/jp/nyatla/nyartoolkit/jmf/MonitorCDS.java create mode 100644 sample/jmf/jp/nyatla/nyartoolkit/jmf/MonitorStream.java create mode 100644 sample/jogl/.classpath create mode 100644 sample/jogl/.project create mode 100644 sample/jogl/JavaSimpleLite.java create mode 100644 sample/jogl/jp/nyatla/nyartoolkit/gutil/GLNyARParam.java create mode 100644 sample/jogl/jp/nyatla/nyartoolkit/gutil/GLNyARRaster_RGB.java create mode 100644 sample/jogl/jp/nyatla/nyartoolkit/gutil/GLNyARSingleDetectMarker.java create mode 100644 src/.classpath create mode 100644 src/.project create mode 100644 src/jp/nyatla/nyartoolkit/NyARException.java create mode 100644 src/jp/nyatla/nyartoolkit/base/Config.java create mode 100644 src/jp/nyatla/nyartoolkit/base/Param.java create mode 100644 src/jp/nyatla/nyartoolkit/core/NyARCode.java create mode 100644 src/jp/nyatla/nyartoolkit/core/NyARColorPatt.java create mode 100644 src/jp/nyatla/nyartoolkit/core/NyARDetectMarker.java create mode 100644 src/jp/nyatla/nyartoolkit/core/NyARDetectSquare.java create mode 100644 src/jp/nyatla/nyartoolkit/core/NyARLabeling.java create mode 100644 src/jp/nyatla/nyartoolkit/core/NyARMarker.java create mode 100644 src/jp/nyatla/nyartoolkit/core/NyARMat.java create mode 100644 src/jp/nyatla/nyartoolkit/core/NyARParam.java create mode 100644 src/jp/nyatla/nyartoolkit/core/NyARSquare.java create mode 100644 src/jp/nyatla/nyartoolkit/core/NyARTransMat.java create mode 100644 src/jp/nyatla/nyartoolkit/core/NyARVec.java create mode 100644 src/jp/nyatla/nyartoolkit/core/NyARVersion.java create mode 100644 src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt.java create mode 100644 src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt_BlackWhite.java create mode 100644 src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt_Color_WITHOUT_PCA.java create mode 100644 src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt_Color_WITH_PCA.java create mode 100644 src/jp/nyatla/nyartoolkit/core/raster/NyARRaster.java create mode 100644 src/jp/nyatla/nyartoolkit/core/raster/NyARRaster_BGRA.java create mode 100644 src/jp/nyatla/nyartoolkit/core/raster/NyARRaster_Blank.java create mode 100644 src/jp/nyatla/nyartoolkit/core/raster/NyARRaster_RGB.java create mode 100644 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License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + + +Java版 ARToolkit クラスライブラリ NyARToolkit +Copyright (C)2008 R.Iizuka + +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 +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 +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 +または改変することができます。 + +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* +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 +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。 + +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 +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 +で請求してください(宛先は the Free Software Foundation, Inc., 59 +Temple Place, Suite 330, Boston, MA 02111-1307 USA)。 \ No newline at end of file diff --git a/bin/readme.txt b/bin/readme.txt new file mode 100644 index 0000000..089f20d --- /dev/null +++ b/bin/readme.txt @@ -0,0 +1,3 @@ +準備中です。ゴメンネ + +Not ready. \ No newline at end of file diff --git a/readme.ja.txt b/readme.ja.txt new file mode 100644 index 0000000..7ef27f4 --- /dev/null +++ b/readme.ja.txt @@ -0,0 +1,117 @@ +ARToolkit Java class library NyARToolkit. +Copyright (C)2008 R.Iizuka + +version Alpha 0.5.20080329.0 + +http://nyatla.jp/ +airmail(at)ebony.plala.or.jp +-------------------------------------------------- + + + + +・NyARToolkit + +NyARToolkitは、nativeなコードを一切使用しない、Pure Javaのみで +構成されたARToolkitクラスライブラリです。 + +ARToolkit 2.72.0をベースに構築されています。 + +J2SEでのみ動作を確認しました。 +J2MEやMIDP2.0にはそのうち対応します。 + + + + +・基本構成 + ++---------------------------- +| Application | ++-------+-------+-----------+ +|NyARJMF| NyJogl| | ++-------+-------+ | +| JMF | JOGL |NyARToolkit| ++-------+-------+ | +|Camera | 3D | | +----------------------------+ + +映像キャプチャにはJMFを使用し、3D描画にはJoglを使用しています。 +NyARJMFとNyJoglは、これらのエクステンションをApplicationやNyARToolKit +から使いやすくするためのラッパーです。 + +これらとNyARToolkitは完全に分離していますので、入力・出力ともに容易に +差し替えが出来ると思います。 + + + + +・サンプルなど + +動作させる前に、JMFとJOGLをインストールしてください。 +動作確認したバージョンと入手先はこちらです。 + +JMF JavaTM Media Framework 2.1.1e +http://java.sun.com/products/java-media/jmf/index.jsp + +jogl-1.1.1-pre-20080328-windows-i586.zip +https://jogl.dev.java.net/ + + +サンプルは以下のディレクトリにあります。 + +./src +NyARToolkitのEclipseプロジェクトがあります。 +jp.nyatla.nyartoolkit.sampleパッケージに、Rawイメージから +変換行列を求めるサンプルがあります。 + +./sample +NyARToolkitのアプリケーションサンプルEclipseプロジェクトがあります。 +NyARJMFにはビデオキャプチャの試験プログラムと、マーカー検出プログラムがあります。 +NyARJOGLにはARToolkitのsimpleLite相当のサンプルがあります。 + +NyARJMFのプロジェクトはNyARToolKitに依存し、NyARJOGLのプロジェクトはNyARToolKit +とNyARJMFに依存しています。 +zipを展開すると多分参照関係が壊れてますので、再設定してください。 + + + + +・NyARToolkitとオリジナルの差分 + +オリジナルと演算結果に互換性がありますが、関数構成を再設計した +ため、関数名や関数コールの手順の互換性がほとんどありません。 + +クラスは関数機能毎にまとめた作りになっていますので、オリジナルの +コード読んだことがあれば、なんとなく判ると思います。 + + + + +・足りない機能等 + +マーカーのセーブ機能と、複数マーカーの認識機能が未実装です。 + +今後実装していきます。 + + + + +・ライセンス +GPLです。詳しくはLICENCE.txtをみてください。 + + + + +・お願い + +NyARToolkitを使って面白いものが出来たら、是非教えてください。 + +それと強制では有りませんが、NyARToolkitを使った感想などを +送ってくれると、今後の励みになります。 + + + + +ではでは、楽しく遊んでくださいネ。 + +2008.03.29 R.Iizuka@nyatla.jp diff --git a/sample/jmf/.classpath b/sample/jmf/.classpath new file mode 100644 index 0000000..d77ac37 --- /dev/null +++ b/sample/jmf/.classpath @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/sample/jmf/.project b/sample/jmf/.project new file mode 100644 index 0000000..371348c --- /dev/null +++ b/sample/jmf/.project @@ -0,0 +1,17 @@ + + + NyARJMF + + + + + + org.eclipse.jdt.core.javabuilder + + + + + + org.eclipse.jdt.core.javanature + + diff --git a/sample/jmf/JmfCaptureTest.java b/sample/jmf/JmfCaptureTest.java new file mode 100644 index 0000000..8f3074f --- /dev/null +++ b/sample/jmf/JmfCaptureTest.java @@ -0,0 +1,56 @@ +/** + * VFMキャプチャテストプログラム + * (c)2008 R.iizuka + * airmail@ebony.plala.or.jp + * http://nyatla.jp/ + */ +import javax.media.*; + +import javax.media.util.BufferToImage; +import javax.media.format.*; + +import jp.nyatla.nyartoolkit.NyARException; +import jp.nyatla.nyartoolkit.jmf.*; +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.PIXCEL_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(); + } + + } + +} diff --git a/sample/jmf/NyarToolkitLinkTest.java b/sample/jmf/NyarToolkitLinkTest.java new file mode 100644 index 0000000..ed667c5 --- /dev/null +++ b/sample/jmf/NyarToolkitLinkTest.java @@ -0,0 +1,108 @@ +/** + * 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 R.iizuka + * airmail(at)ebony.plala.or.jp + * http://nyatla.jp/ + */ +import javax.media.*; + +import javax.media.util.BufferToImage; +import javax.media.format.*; + +import jp.nyatla.nyartoolkit.NyARException; +import jp.nyatla.nyartoolkit.jmf.*; + +import java.awt.*; + +import jp.nyatla.nyartoolkit.core.*; +import jp.nyatla.nyartoolkit.detector.*; +import jp.nyatla.nyartoolkit.core.raster.*; + + + + + +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; + NyARSingleDetectMarker nya; + + 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.PIXCEL_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); + } + + + + public void onUpdateBuffer(Buffer i_buffer) + { + try{ + //キャプチャしたイメージを加工 + BufferToImage b2i=new BufferToImage((VideoFormat)i_buffer.getFormat()); + Image img=b2i.createImage(i_buffer); + Graphics g = getGraphics(); + NyARRaster_RGB ra=NyARRaster_RGB.wrap((byte[])i_buffer.getData(), 320, 240); + //i_buffer. + boolean is_marker_exist=nya.detectMarkerLite(ra,100); + + double[][] atm=null; + if(is_marker_exist){ + //変換行列を取得 + atm=nya.getTransmationMatrix().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(); + } + + } + +} diff --git a/sample/jmf/jp/nyatla/nyartoolkit/jmf/JmfCameraCapture.java b/sample/jmf/jp/nyatla/nyartoolkit/jmf/JmfCameraCapture.java new file mode 100644 index 0000000..e76f5af --- /dev/null +++ b/sample/jmf/jp/nyatla/nyartoolkit/jmf/JmfCameraCapture.java @@ -0,0 +1,175 @@ +/** + * JMFお手軽キャプチャクラス + * (c)2008 R.Iizuka + * airmail@ebony.plala.or.jp + * http://nyatla.jp/ + */ +package jp.nyatla.nyartoolkit.jmf; + + + +import javax.media.*; +import javax.media.protocol.*; +import javax.media.control.*; +import javax.media.format.*; +import java.awt.*; +import java.util.*; +import javax.media.protocol.DataSource; + +import jp.nyatla.nyartoolkit.NyARException; + + + + + +public class JmfCameraCapture +{ + private JmfCaptureListener capture_listener; + private DataSource jmf_data_source; + private MonitorStream jmf_monitor_stream; + private Processor jmf_processor; + private VideoFormat jmf_video_format; + + private Buffer read_buf=new Buffer(); + public static final String PIXCEL_FORMAT_RGB="RGB"; + public JmfCameraCapture(int i_width,int i_height,float i_rate,String i_pixcel_format) + { + String encoding = i_pixcel_format;//comboEncoding.getSelectedItem(); + Dimension size = new Dimension(i_width,i_height); + jmf_video_format = new VideoFormat(encoding, size, Format.NOT_SPECIFIED,null,i_rate); + } + public javax.media.Buffer readBuffer() throws NyARException + { + if(jmf_monitor_stream==null){ + throw new NyARException(); + } + try{ + jmf_monitor_stream.read(read_buf); + }catch(Exception e){ + throw new NyARException(e); + } + return read_buf; + } + public void setCaptureListener(JmfCaptureListener i_listener) throws NyARException + { + if(jmf_processor!=null){ + throw new NyARException(); + } + capture_listener=i_listener; + + } + public void start() throws NyARException + { + + DataSource ds=getCaptureDS(jmf_video_format); + VideoFormat[] formats=new VideoFormat[]{new VideoFormat(null)}; + ProcessorModel pm = new ProcessorModel(ds,formats,null);//, formats, ftd); + Processor processor; + try { + processor = Manager.createRealizedProcessor(pm); + } catch (Exception e){ + // Make sure the capture devices are released + ds.disconnect(); + throw new NyARException(e); + } + // Get the monitor control: + // Since there are more than one MonitorControl objects + // exported by the DataSource, we get the specific one + // that is also the MonitorStream object. + jmf_monitor_stream=(MonitorStream)ds.getControl("jmfsample.MonitorStream"); + jmf_monitor_stream.setCaptureListener(capture_listener); + jmf_data_source=ds; + jmf_processor=processor; + jmf_processor.start(); + } + public void stop() + { + jmf_processor.stop(); + jmf_processor.close(); + jmf_processor = null; + + } + protected void finalize() + { + if(jmf_processor!=null){ + jmf_processor.stop(); + jmf_processor.close(); + jmf_processor = null; + } + } + private static DataSource getCaptureDS(VideoFormat vf) { + DataSource dsVideo = null; + DataSource ds = null; + + // Create a capture DataSource for the video + // If there is no video capture device, then exit with null + if (vf != null) { + dsVideo = createDataSource(vf); + if (dsVideo == null) + return null; + } + + + // Create the monitoring datasource wrapper + if (dsVideo != null) { + dsVideo = new MonitorCDS(dsVideo); + return dsVideo; + } + + // Merge the data sources, if both audio and video are available + try { + ds = Manager.createMergingDataSource(new DataSource[]{dsVideo}); + } catch (IncompatibleSourceException ise){ + return null; + } + + return ds; + } + + private static DataSource createDataSource(Format format) { + DataSource ds; + Vector devices; + CaptureDeviceInfo cdi; + MediaLocator ml; + + // Find devices for format + devices = CaptureDeviceManager.getDeviceList(format); + if (devices.size() < 1) { + System.err.println("! No Devices for " + format); + return null; + } + // Pick the first device + cdi = (CaptureDeviceInfo) devices.elementAt(0); + + ml = cdi.getLocator(); + + try { + ds = Manager.createDataSource(ml); + ds.connect(); + if (ds instanceof CaptureDevice) + { + setCaptureFormat((CaptureDevice) ds, format); + } + } catch (Exception e) { + System.err.println(e); + return null; + } + return ds; + } + + private static void setCaptureFormat(CaptureDevice cdev, Format format) { + FormatControl [] fcs = cdev.getFormatControls(); + if (fcs.length < 1){ + return; + } + FormatControl fc = fcs[0]; + Format [] formats = fc.getSupportedFormats(); + for (int i = 0; i < formats.length; i++) { + if (formats[i].matches(format)){ + format = formats[i].intersects(format); + fc.setFormat(format); + break; + } + } + } +} \ No newline at end of file diff --git a/sample/jmf/jp/nyatla/nyartoolkit/jmf/JmfCaptureListener.java b/sample/jmf/jp/nyatla/nyartoolkit/jmf/JmfCaptureListener.java new file mode 100644 index 0000000..1998f6b --- /dev/null +++ b/sample/jmf/jp/nyatla/nyartoolkit/jmf/JmfCaptureListener.java @@ -0,0 +1,14 @@ +/** + * JMFお手軽キャプチャ用リスナ + * (c)2008 R.Iizuka + * airmail@ebony.plala.or.jp + * http://nyatla.jp/ + */ +package jp.nyatla.nyartoolkit.jmf; + +import javax.media.Buffer; + +public interface JmfCaptureListener{ + public void onUpdateBuffer(Buffer i_buffer); + +} \ No newline at end of file diff --git a/sample/jmf/jp/nyatla/nyartoolkit/jmf/MonitorCDS.java b/sample/jmf/jp/nyatla/nyartoolkit/jmf/MonitorCDS.java new file mode 100644 index 0000000..9e86106 --- /dev/null +++ b/sample/jmf/jp/nyatla/nyartoolkit/jmf/MonitorCDS.java @@ -0,0 +1,136 @@ +/* + * 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; + + +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(); + } + +} diff --git a/sample/jmf/jp/nyatla/nyartoolkit/jmf/MonitorStream.java b/sample/jmf/jp/nyatla/nyartoolkit/jmf/MonitorStream.java new file mode 100644 index 0000000..bfbd2b3 --- /dev/null +++ b/sample/jmf/jp/nyatla/nyartoolkit/jmf/MonitorStream.java @@ -0,0 +1,196 @@ +/* + * 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; + + + +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; + } + + +} diff --git a/sample/jogl/.classpath b/sample/jogl/.classpath new file mode 100644 index 0000000..1082ce7 --- /dev/null +++ b/sample/jogl/.classpath @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/sample/jogl/.project b/sample/jogl/.project new file mode 100644 index 0000000..c9e086a --- /dev/null +++ b/sample/jogl/.project @@ -0,0 +1,17 @@ + + + NyARJOGL + + + + + + org.eclipse.jdt.core.javabuilder + + + + + + org.eclipse.jdt.core.javanature + + diff --git a/sample/jogl/JavaSimpleLite.java b/sample/jogl/JavaSimpleLite.java new file mode 100644 index 0000000..5b54af6 --- /dev/null +++ b/sample/jogl/JavaSimpleLite.java @@ -0,0 +1,224 @@ +/** + * simpleLiteと同じようなテストプログラム + * マーカーの一致度の最低値をチェックするところを抜いたので、同じマーカーを大量に + * 検出すると面白いことになります。 + * (c)2008 R.iizuka + * airmail(at)ebony.plala.or.jp + * http://nyatla.jp/ + */ +import java.awt.event.WindowAdapter; +import java.awt.event.WindowEvent; +import java.awt.*; + +import javax.media.Buffer; + +import javax.media.opengl.GL; +import javax.media.opengl.GLAutoDrawable; +import javax.media.opengl.GLEventListener; +import javax.media.opengl.GLCanvas; + +import com.sun.opengl.util.Animator; + +import jp.nyatla.nyartoolkit.core.NyARCode; + +import jp.nyatla.nyartoolkit.jmf.JmfCameraCapture; +import jp.nyatla.nyartoolkit.jmf.JmfCaptureListener; +import jp.nyatla.nyartoolkit.gutil.*; + + +public class JavaSimpleLite implements GLEventListener,JmfCaptureListener +{ + private final String CARCODE_FILE ="../../Data/patt.hiro"; + private final String PARAM_FILE ="../../Data/camera_para.dat"; + + + private Animator animator; + private GLNyARRaster_RGB cap_image; + + private JmfCameraCapture capture; + private GL gl; + //NyARToolkit関係 + private GLNyARSingleDetectMarker nya; + private GLNyARParam ar_param; + /** + * 立方体を書く + * + */ + void drawCube() + { + // Colour cube data. + int polyList = 0; + float fSize = 0.5f; + int f, i; + float[][] cube_vertices=new float[][]{ + {1.0f, 1.0f, 1.0f}, {1.0f, -1.0f, 1.0f}, {-1.0f, -1.0f, 1.0f}, {-1.0f, 1.0f, 1.0f}, + {1.0f, 1.0f, -1.0f}, {1.0f, -1.0f, -1.0f}, {-1.0f, -1.0f, -1.0f}, {-1.0f, 1.0f, -1.0f} + }; + float[][] cube_vertex_colors=new float[][]{ + {1.0f, 1.0f, 1.0f}, {1.0f, 1.0f, 0.0f}, {0.0f, 1.0f, 0.0f}, {0.0f, 1.0f, 1.0f}, + {1.0f, 0.0f, 1.0f}, {1.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 1.0f} + }; + int cube_num_faces = 6; + short[][] cube_faces =new short[][]{ + {3, 2, 1, 0}, {2, 3, 7, 6}, {0, 1, 5, 4}, {3, 0, 4, 7}, {1, 2, 6, 5}, {4, 5, 6, 7} + }; + + if (polyList==0) { + polyList = gl.glGenLists (1); + gl.glNewList(polyList, GL.GL_COMPILE); + gl.glBegin(GL.GL_QUADS); + for (f = 0; f < cube_num_faces; f++) + for (i = 0; i < 4; i++) { + 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]); + 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); + } + gl.glEnd(); + gl.glColor3f(0.0f, 0.0f, 0.0f); + for (f = 0; f < cube_num_faces; f++) { + gl.glBegin (GL.GL_LINE_LOOP); + for (i = 0; i < 4; i++) + 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); + gl.glEnd (); + } + gl.glEndList (); + } + + gl.glPushMatrix(); // Save world coordinate system. + gl.glTranslatef(0.0f, 0.0f, 0.5f); // Place base of cube on marker surface. + gl.glRotatef(0.0f, 0.0f, 0.0f, 1.0f); // Rotate about z axis. + gl.glDisable(GL.GL_LIGHTING); // Just use colours. + gl.glCallList(polyList); // Draw the cube. + gl.glPopMatrix(); // Restore world coordinate system. + + } + + + + public JavaSimpleLite() + { + Frame frame = new Frame("Java simpleLite with NyARToolkit"); + + + // 3Dを描画するコンポーネント + GLCanvas canvas = new GLCanvas(); + frame.add(canvas); + canvas.addGLEventListener(this); + frame.addWindowListener(new WindowAdapter() { + public void windowClosing(WindowEvent e) { + System.exit(0); + } + }); + + frame.setVisible(true); + Insets ins=frame.getInsets(); + frame.setSize(320+ins.left+ins.right,240+ins.top+ins.bottom); + canvas.setBounds(ins.left,ins.top,320,240); + } + + public void init(GLAutoDrawable drawable) { + gl = drawable.getGL(); + gl.glClearColor(0.0f, 0.0f, 0.0f, 0.0f); + //NyARToolkitの準備 + try{ + //キャプチャの準備 + capture=new JmfCameraCapture(320,240,30f,JmfCameraCapture.PIXCEL_FORMAT_RGB); + capture.setCaptureListener(this); + capture.start(); + //NyARToolkitの準備 + ar_param=new GLNyARParam(); + NyARCode ar_code =new NyARCode(16,16); + ar_param.loadFromARFile(PARAM_FILE); + ar_param.changeSize(320,240); + nya=new GLNyARSingleDetectMarker(ar_param,ar_code,80.0); + ar_code.LoadFromARFile(CARCODE_FILE); + //GL対応のRGBラスタオブジェクト + cap_image=new GLNyARRaster_RGB(gl,ar_param,320,240); + + }catch(Exception e){ + e.printStackTrace(); + } + animator = new Animator(drawable); + + animator.start(); + + } + + public void reshape(GLAutoDrawable drawable, + int x, int y, + int width, int height) + { + float ratio = (float)height / (float)width; + gl.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT); + gl.glViewport(0, 0, width, height); + + //視体積の設定 + gl.glMatrixMode(GL.GL_PROJECTION); + gl.glLoadIdentity(); + gl.glFrustum(-1.0f, 1.0f, -ratio, ratio, + 5.0f, 40.0f); + //見る位置 + gl.glMatrixMode(GL.GL_MODELVIEW); + gl.glLoadIdentity(); + gl.glTranslatef(0.0f, 0.0f, -10.0f); + } + + public void display(GLAutoDrawable drawable) + { + + try{ + gl.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT); // Clear the buffers for new frame. + + + //キャプチャしたイメージを加工 + Buffer b=capture.readBuffer(); + //BufferToImage b2i=new BufferToImage((VideoFormat)b.getFormat()); + if(b.getData()==null){ + return; + }else{ + //画像準備OK + } + //画像チェックしてマーカー探して、背景を書く + boolean is_marker_exist; + synchronized(cap_image){ + is_marker_exist=nya.detectMarkerLite(cap_image,100); + //背景を書く + cap_image.glDispImage(1.0); + } + //あったら立方体を書く + if(is_marker_exist){ + // Projection transformation. + gl.glMatrixMode(GL.GL_PROJECTION); + gl.glLoadMatrixd(ar_param.getCameraFrustumRH(),0); + gl.glMatrixMode(GL.GL_MODELVIEW); + // Viewing transformation. + gl.glLoadIdentity(); + gl.glLoadMatrixd(nya.getCameraViewRH(),0); + + + // All other lighting and geometry goes here. + drawCube(); + } + }catch(Exception e){ + e.printStackTrace(); + } + } + public void onUpdateBuffer(Buffer i_buffer) + { + try{ + synchronized(cap_image){ + cap_image.setRawData((byte[])i_buffer.getData(), true); + } + }catch(Exception e){ + e.printStackTrace(); + } + } + + public void displayChanged(GLAutoDrawable drawable, + boolean modeChanged, + boolean deviceChanged) {} + + public static void main(String[] args) { + new JavaSimpleLite(); + } +} + diff --git a/sample/jogl/jp/nyatla/nyartoolkit/gutil/GLNyARParam.java b/sample/jogl/jp/nyatla/nyartoolkit/gutil/GLNyARParam.java new file mode 100644 index 0000000..5b6f51c --- /dev/null +++ b/sample/jogl/jp/nyatla/nyartoolkit/gutil/GLNyARParam.java @@ -0,0 +1,99 @@ +/** + * NyARParamにOpenGL向け関数を追加したもの + * (c)2008 R.iizuka + * airmail(at)ebony.plala.or.jp + * http://nyatla.jp/ + */ +package jp.nyatla.nyartoolkit.gutil; + +import jp.nyatla.nyartoolkit.core.*; +public class GLNyARParam extends NyARParam +{ + private double view_distance_min=0.1;//#define VIEW_DISTANCE_MIN 0.1 // Objects closer to the camera than this will not be displayed. + 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. + private double[] m_projection=null; + public void setViewDistanceMin(double i_new_value) + { + m_projection=null;//キャッシュ済変数初期化 + view_distance_min=i_new_value; + } + public void setViewDistanceMax(double i_new_value) + { + m_projection=null;//キャッシュ済変数初期化 + view_distance_max=i_new_value; + } + /** + * void arglCameraFrustumRH(const ARParam *cparam, const double focalmin, const double focalmax, GLdouble m_projection[16]) + * 関数の置き換え + * @param focalmin + * @param focalmax + * @return + */ + public double[] getCameraFrustumRH() + { + //既に値がキャッシュされていたらそれを使う + if(m_projection!=null){ + return m_projection; + } + //無ければ計算 + m_projection=new double[16]; + NyARMat trans_mat=new NyARMat(3,4); + NyARMat icpara_mat=new NyARMat(3,4); + double[][] p=new double[3][3], q=new double[4][4]; + int width, height; + int i, j; + + width = xsize; + height = ysize; + + decompMat(icpara_mat,trans_mat); + + double[][] icpara=icpara_mat.getArray(); + double[][] trans=trans_mat.getArray(); + for (i = 0; i < 4; i++) { + icpara[1][i] = (height - 1)*(icpara[2][i]) - icpara[1][i]; + } + + for(i = 0; i < 3; i++) { + for(j = 0; j < 3; j++) { + p[i][j] = icpara[i][j] / icpara[2][2]; + } + } + q[0][0] = (2.0 * p[0][0] / (width - 1)); + q[0][1] = (2.0 * p[0][1] / (width - 1)); + q[0][2] = -((2.0 * p[0][2] / (width - 1)) - 1.0); + q[0][3] = 0.0; + + q[1][0] = 0.0; + q[1][1] = -(2.0 * p[1][1] / (height - 1)); + q[1][2] = -((2.0 * p[1][2] / (height - 1)) - 1.0); + q[1][3] = 0.0; + + q[2][0] = 0.0; + q[2][1] = 0.0; + q[2][2] = (view_distance_max + view_distance_min)/(view_distance_min - view_distance_max); + q[2][3] = 2.0 * view_distance_max * view_distance_min / (view_distance_min - view_distance_max); + + q[3][0] = 0.0; + q[3][1] = 0.0; + q[3][2] = -1.0; + q[3][3] = 0.0; + + for (i = 0; i < 4; i++) { // Row. + // First 3 columns of the current row. + for (j = 0; j < 3; j++) { // Column. + m_projection[i + j*4] = + q[i][0] * trans[0][j] + + q[i][1] * trans[1][j] + + q[i][2] * trans[2][j]; + } + // Fourth column of the current row. + m_projection[i + 3*4]= + q[i][0] * trans[0][3] + + q[i][1] * trans[1][3] + + q[i][2] * trans[2][3] + + q[i][3]; + } + return m_projection; + } +} diff --git a/sample/jogl/jp/nyatla/nyartoolkit/gutil/GLNyARRaster_RGB.java b/sample/jogl/jp/nyatla/nyartoolkit/gutil/GLNyARRaster_RGB.java new file mode 100644 index 0000000..b956408 --- /dev/null +++ b/sample/jogl/jp/nyatla/nyartoolkit/gutil/GLNyARRaster_RGB.java @@ -0,0 +1,118 @@ +/** + * NyARRaster_RGBにOpenGL向け関数を追加したもの + * (c)2008 R.iizuka + * airmail(at)ebony.plala.or.jp + * http://nyatla.jp/ + */ +package jp.nyatla.nyartoolkit.gutil; + +import java.nio.ByteBuffer; +import java.nio.IntBuffer; + +import javax.media.opengl.GL; +import javax.media.opengl.glu.GLU; + +import jp.nyatla.nyartoolkit.core.NyARParam; +import jp.nyatla.nyartoolkit.core.raster.NyARRaster_RGB; + +public class GLNyARRaster_RGB extends NyARRaster_RGB +{ + private NyARParam cparam; + private GL ref_gl; + private GLU glu; + public GLNyARRaster_RGB(GL i_ref_gl,NyARParam i_cparam,int i_width,int i_height) + { + width=i_width; + height=i_height; + cparam=i_cparam; + ref_gl=i_ref_gl; + glu=new GLU(); + this.ref_buf=new byte[i_width*i_height*3]; + } + public void setRawData(byte[] i_buf,boolean i_is_reverse) + { + if(i_is_reverse){ + int length=width*3; + int src_idx=0; + int dest_idx=(height-1)*length; + for(int i=0;i + + + + + diff --git a/src/.project b/src/.project new file mode 100644 index 0000000..84e4f3f --- /dev/null +++ b/src/.project @@ -0,0 +1,17 @@ + + + NyARToolKit + + + + + + org.eclipse.jdt.core.javabuilder + + + + + + org.eclipse.jdt.core.javanature + + diff --git a/src/jp/nyatla/nyartoolkit/NyARException.java b/src/jp/nyatla/nyartoolkit/NyARException.java new file mode 100644 index 0000000..134ebbd --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/NyARException.java @@ -0,0 +1,49 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit; + +public class NyARException extends Exception { + private static final long serialVersionUID = 1L; + public NyARException(){ + super(); + } + public NyARException(Exception e){ + super(e); + } + public NyARException(String m){ + super(m); + } + public static void trap(String m) throws NyARException + { + throw new NyARException("トラップ:"+m); + } +} diff --git a/src/jp/nyatla/nyartoolkit/base/Config.java b/src/jp/nyatla/nyartoolkit/base/Config.java new file mode 100644 index 0000000..add7b1b --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/base/Config.java @@ -0,0 +1,75 @@ +package jp.nyatla.nyartoolkit.base; + +public class Config { + //Version系情報 +// public static final int AR_HEADER_VERSION_MAJOR=2; //#define AR_HEADER_VERSION_MAJOR 2 +// public static final int AR_HEADER_VERSION_MINOR=72;//#define AR_HEADER_VERSION_MINOR 72 +// +// public static final int AR_HEADER_VERSION_TINY=0;//#define AR_HEADER_VERSION_TINY 0 +// +// public static final int AR_HEADER_VERSION_BUILD=0;//#define AR_HEADER_VERSION_BUILD 0 +// +// public static final String AR_HEADER_VERSION_STRING="2.72.0";//#define AR_HEADER_VERSION_STRING "2.72.0" +// +// public static final boolean AR_HAVE_HEADER_VERSION_2=true;//#define AR_HAVE_HEADER_VERSION_2 +// public static final boolean AR_HAVE_HEADER_VERSION_2_72=true;//#define AR_HAVE_HEADER_VERSION_2_72 + + + /*ビデオ入力系？*/ + /*------------------------------------------------------------*/ + +// public static final int AR_DRAW_BY_GL_DRAW_PIXELS =0;//#define AR_DRAW_BY_GL_DRAW_PIXELS 0 +// public static final int AR_DRAW_BY_TEXTURE_MAPPING=1;//#define AR_DRAW_BY_TEXTURE_MAPPING 1 +// public static final int AR_DRAW_TEXTURE_FULL_IMAGE=0;//#define AR_DRAW_TEXTURE_FULL_IMAGE 0 +// public static final int AR_DRAW_TEXTURE_HALF_IMAGE=1;//#define AR_DRAW_TEXTURE_HALF_IMAGE 1 +// public static final int AR_IMAGE_PROC_IN_FULL=0;//#define AR_IMAGE_PROC_IN_FULL 0 +// public static final int AR_IMAGE_PROC_IN_HALF=1;//#define AR_IMAGE_PROC_IN_HALF 1 +// public static final int AR_FITTING_TO_IDEAL=0;//#define AR_FITTING_TO_IDEAL 0 +// public static final int AR_FITTING_TO_INPUT=1;//#define AR_FITTING_TO_INPUT 1 + +// public static final int AR_TEMPLATE_MATCHING_COLOR=0;//#define AR_TEMPLATE_MATCHING_COLOR 0 +// public static final int AR_TEMPLATE_MATCHING_BW=1;//#define AR_TEMPLATE_MATCHING_BW 1 +// public static final int AR_MATCHING_WITHOUT_PCA=0;//#define AR_MATCHING_WITHOUT_PCA 0 +// public static final int AR_MATCHING_WITH_PCA=1;//#define AR_MATCHING_WITH_PCA 1 + +// public static final int DEFAULT_TEMPLATE_MATCHING_MODE=AR_TEMPLATE_MATCHING_BW;//#define DEFAULT_TEMPLATE_MATCHING_MODE AR_TEMPLATE_MATCHING_COLOR +// public static final int DEFAULT_MATCHING_PCA_MODE=AR_MATCHING_WITH_PCA;//#define DEFAULT_MATCHING_PCA_MODE AR_MATCHING_WITHOUT_PCA + + + //#ifdef _WIN32 +// public static final int DEFAULT_IMAGE_PROC_MODE =AR_IMAGE_PROC_IN_FULL;//# define DEFAULT_IMAGE_PROC_MODE AR_IMAGE_PROC_IN_FULL +// public static final int DEFAULT_FITTING_MODE =AR_FITTING_TO_INPUT;//# define DEFAULT_FITTING_MODE AR_FITTING_TO_INPUT +// public static final int DEFAULT_DRAW_MODE =AR_DRAW_BY_TEXTURE_MAPPING;//# define DEFAULT_DRAW_MODE AR_DRAW_BY_TEXTURE_MAPPING +// public static final int DEFAULT_DRAW_TEXTURE_IMAGE =AR_DRAW_TEXTURE_FULL_IMAGE;//# define DEFAULT_DRAW_TEXTURE_IMAGE AR_DRAW_TEXTURE_FULL_IMAGE + //#endif + +// public static final int AR_PIX_SIZE_DEFAULT= +// (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: +// ((AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_BGR) || (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_RGB)?3: +// ((AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_2vuy) || (AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_yuvs)?2: +// ((AR_DEFAULT_PIXEL_FORMAT == AR_PIXEL_FORMAT_MONO)?1:-1))); +// public static final int AR_GET_TRANS_MAT_MAX_LOOP_COUNT=5;//#define AR_GET_TRANS_MAT_MAX_LOOP_COUNT 5 +// public static final double AR_GET_TRANS_MAT_MAX_FIT_ERROR=1.0;//#define AR_GET_TRANS_MAT_MAX_FIT_ERROR 1.0 +// 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 + +// public static final int AR_AREA_MAX=100000;//#define AR_AREA_MAX 100000 +// public static final int AR_AREA_MIN=70;//#define AR_AREA_MIN 70 + + +// public static final int AR_SQUARE_MAX=30;//#define AR_SQUARE_MAX 30 +// public static final int AR_CHAIN_MAX=10000;//#define AR_CHAIN_MAX 10000 +// public static final int AR_PATT_NUM_MAX=50;//#define AR_PATT_NUM_MAX 50 +// public static final int AR_PATT_SIZE_X=16;//#define AR_PATT_SIZE_X 16 +// public static final int AR_PATT_SIZE_Y=16;//#define AR_PATT_SIZE_Y 16 +// public static final int AR_PATT_SAMPLE_NUM=64;//#define AR_PATT_SAMPLE_NUM 64 + +// public static final double AR_GL_CLIP_NEAR=50.0;//#define AR_GL_CLIP_NEAR 50.0 +// public static final double AR_GL_CLIP_FAR=5000.0;//#define AR_GL_CLIP_FAR 5000.0 + +// public static final int AR_HMD_XSIZE=640;//#define AR_HMD_XSIZE 640 +// public static final int AR_HMD_YSIZE=480;//#define AR_HMD_YSIZE 480 + +// public static final int AR_PARAM_NMIN=6;//#define AR_PARAM_NMIN 6 +// public static final int AR_PARAM_NMAX=1000;//#define AR_PARAM_NMAX 1000 +// public static final double AR_PARAM_C34=100.0;//#define AR_PARAM_C34 100.0 +} diff --git a/src/jp/nyatla/nyartoolkit/base/Param.java b/src/jp/nyatla/nyartoolkit/base/Param.java new file mode 100644 index 0000000..5079131 --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/base/Param.java @@ -0,0 +1,366 @@ +package jp.nyatla.nyartoolkit.base; + +import jp.nyatla.nyartoolkit.NyARException; +import jp.nyatla.nyartoolkit.core.NyARMat; + + + + +public class Param { + private static final int AR_PARAM_NMIN=6;//#define AR_PARAM_NMIN 6 + private static final int AR_PARAM_NMAX=1000;//#define AR_PARAM_NMAX 1000 + private static final double AR_PARAM_C34=100.0;//#define AR_PARAM_C34 100.0 + + /* + typedef struct { + int xsize, ysize; + double matL[3][4]; + double matR[3][4]; + double matL2R[3][4]; + double dist_factorL[4]; + double dist_factorR[4]; + } ARSParam;*/ +/* static class ARSParam{ + int xsize, ysize; + Double2dArray matL=new Double2dArray(3,4); + Double2dArray matR=new Double2dArray(3,4); + Double2dArray matL2R=new Double2dArray(3,4); + double[] dist_factorL=new double[4]; + double[] dist_factorR=new double[4]; + }*/ + private static final int arParamGet_AR_PARAM_CDMIN = 12; + /*int arParamGet( double global[][3], double screen[][2], int data_num,double mat[3][4] );*/ + public static int arParamGet( double global[][], double[][] screen, int num,double[][] mat) throws NyARException + { + NyARMat mat_a, mat_at, mat_r;//ARMat *mat_a, *mat_at, *mat_r, mat_cpara; + NyARMat mat_wm1,mat_wm2;//ARMat *mat_wm1, *mat_wm2; + int i; + + if(num < AR_PARAM_NMIN){ + return( -1 ); + } + if(num > AR_PARAM_NMAX){ + return( -1 ); + } + NyARException.trap("未チェックのパス");{ + mat_a = new NyARMat(2*num,arParamGet_AR_PARAM_CDMIN-1 );//mat_a = arMatrixAlloc( 2*num, AR_PARAM_CDMIN-1 ); + mat_at =new NyARMat(arParamGet_AR_PARAM_CDMIN-1, 2*num );//mat_at = arMatrixAlloc( AR_PARAM_CDMIN-1, 2*num ); + mat_r = new NyARMat(2*num,1);//mat_r = arMatrixAlloc( 2*num, 1 ); + 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 ); + mat_wm2 =new NyARMat(arParamGet_AR_PARAM_CDMIN-1, 2*num );//mat_wm2 = arMatrixAlloc( AR_PARAM_CDMIN-1, 2*num ); + } +/* + mat_a = Matrix.arMatrixAlloc( 2*num, arParamGet_AR_PARAM_CDMIN-1 );//mat_a = arMatrixAlloc( 2*num, AR_PARAM_CDMIN-1 ); + if( mat_a == null){ + return -1; + } + mat_at =Matrix.arMatrixAlloc(arParamGet_AR_PARAM_CDMIN-1, 2*num );//mat_at = arMatrixAlloc( AR_PARAM_CDMIN-1, 2*num ); + if(mat_at == null){ + return -1; + } + mat_r = Matrix.arMatrixAlloc( 2*num, 1 );//mat_r = arMatrixAlloc( 2*num, 1 ); + if(mat_r ==null){ + return -1; + } + 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 ); + if( mat_wm1 == null) { + return -1; + } + mat_wm2 = Matrix.arMatrixAlloc(arParamGet_AR_PARAM_CDMIN-1, 2*num );//mat_wm2 = arMatrixAlloc( AR_PARAM_CDMIN-1, 2*num ); + if( mat_wm2 == null ) { + return -1; + } +*/ + /* Initializing array */ + mat_a.zeroClear();//Javaではゼロクリアされるので不要 +// pa1=mat_a.getPointer();//pa1 = mat_a->m; +// for(i = 0; i < 2 * num * (arParamGet_AR_PARAM_CDMIN-1); i++){ +// {//*pa1++ = 0.0; +// pa1.set(0.0); +// pa1.incPtr();} +// } + double[][] pa1 =mat_a.getArray(); + double[][] pa2 =mat_a.getArray(); + /* Calculate A,R matrix */ + double[][] pr=mat_r.getArray(); + int pr_ptr_col=0; + for(i = 0; i < num; i++) {//for(i = 0, pr = mat_r->m; i < num; i++) { + int pa1_ptr_row =2*i; //pa1 = &(mat_a->m[ (2*i) * (AR_PARAM_CDMIN-1) + int pa2_ptr_row =2*i+1;//pa2 = &(mat_a->m[ (2*i+1) * (AR_PARAM_CDMIN-1) + 4]); + + +// pa1=mat_a.getPointer((2*i)*(arParamGet_AR_PARAM_CDMIN-1)); ]); +// pa2=mat_a.getPointer((2*i+1)*(arParamGet_AR_PARAM_CDMIN-1) + 4); + //*pa1++ = global[i][0]; *pa1++ = global[i][1]; + pa1[pa1_ptr_row][ 0]=global[i][0]; + pa1[pa1_ptr_row][ 1]=global[i][1]; + //*pa1++ = global[i][2]; *pa1++ = 1.0; + pa1[pa1_ptr_row][ 2]=global[i][2]; + pa1[pa1_ptr_row][ 3]=1.0; + //*pa2++ = global[i][0]; *pa2++ = global[i][1]; + pa2[pa2_ptr_row][ 4]=global[i][0]; + pa2[pa2_ptr_row][ 5]=global[i][1]; + //*pa2++ = global[i][2]; *pa2++ = 1.0; + pa2[pa2_ptr_row][ 6]=global[i][2]; + pa2[pa2_ptr_row][ 7]=1.0; + //pa1 += 4; + //*pa1++ = -global[i][0] * screen[i][0]; + pa1[pa1_ptr_row][ 8]=-global[i][0] * screen[i][0]; + //*pa1++ = -global[i][1] * screen[i][0]; + pa1[pa1_ptr_row][ 9]=-global[i][1] * screen[i][0]; + //*pa1 = -global[i][2] * screen[i][0]; + pa1[pa1_ptr_row][10]=-global[i][2]* screen[i][0]; + //*pa2++ = -global[i][0] * screen[i][1]; + pa2[pa2_ptr_row][ 8]=-global[i][0] * screen[i][1]; + //*pa2++ = -global[i][1] * screen[i][1]; + pa2[pa2_ptr_row][ 9]=-global[i][1] * screen[i][1]; + //*pa2 = -global[i][2] * screen[i][1]; + pa2[pa2_ptr_row][10]=-global[i][2] * screen[i][1]; + //*pr++ = screen[i][0] * AR_PARAM_C34; + pr[0][pr_ptr_col]=screen[i][0] * AR_PARAM_C34;pr_ptr_col++; + //*pr++ = screen[i][1] * AR_PARAM_C34; + pr[0][pr_ptr_col]=screen[i][1] * AR_PARAM_C34;pr_ptr_col++; + } + + NyARException.trap("未チェックのパス"); + NyARMat.matrixTrans(mat_at, mat_a );//if( arMatrixTrans( mat_at, mat_a ) < 0 ){ + + NyARException.trap("未チェックのパス"); + NyARMat.matrixMul( mat_wm1, mat_at, mat_a );//if( arMatrixMul( mat_wm1, mat_at, mat_a ) < 0 ) { + NyARException.trap("未チェックのパス"); + NyARMat.matrixSelfInv(mat_wm1 );//if( arMatrixSelfInv( mat_wm1 ) < 0 ) { + + NyARException.trap("未チェックのパス"); + NyARMat.matrixMul( mat_wm2, mat_wm1, mat_at );//if( arMatrixMul( mat_wm2, mat_wm1, mat_at ) < 0 ) { + + //mat_cpara.row = AR_PARAM_CDMIN-1;//mat_cpara.row = AR_PARAM_CDMIN-1; + //mat_cpara.clm = 1; + //mat_cpara.m = &(mat[0][0]); + /*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*/ + NyARMat mat_cpara=new NyARMat(arParamGet_AR_PARAM_CDMIN-1,1); + double[][] mat_cpara_array=mat_cpara.getArray(); + NyARException.trap("未チェックのパス"); + NyARMat.matrixMul(mat_cpara, mat_wm2, mat_r );//if( arMatrixMul( &mat_cpara, mat_wm2, mat_r ) < 0 ) { + + for(int i2=0;i<3;i++){ + for(int i3=0;i3<4;i3++){ + mat[i2][i3]=mat_cpara_array[i2*4+i3][0]; + } + } + //ARMat.wrap(mat.array(),arParamGet_AR_PARAM_CDMIN-1,1);} + + mat[2][3]=AR_PARAM_C34;//mat[2][3] = AR_PARAM_C34; + + return 0; + } + +/* //int arsParamChangeSize( ARSParam *source, int xsize, int ysize, ARSParam *newparam ); + public static int arsParamChangeSize( ARSParam source, int xsize, int ysize, ARSParam newparam) + { + double scale; + + newparam.xsize=xsize;//newparam->xsize = xsize; + newparam.ysize=ysize;//newparam->ysize = ysize; + + scale=(double)xsize/ (double)(source.xsize);//scale = (double)xsize / (double)(source->xsize); + for(int i = 0; i < 4; i++ ){ + newparam.matL.set(0,i,source.matL.get(0,i)*scale);//newparam->matL[0][i] = source->matL[0][i] * scale; + newparam.matL.set(1,i,source.matL.get(1,i)*scale);//newparam->matL[1][i] = source->matL[1][i] * scale; + newparam.matL.set(2,i,source.matL.get(2,i));//newparam->matL[2][i] = source->matL[2][i]; + } + for(int i = 0; i < 4; i++ ) { + newparam.matR.set(0,i,source.matR.get(0,i)*scale);//newparam->matR[0][i] = source->matR[0][i] * scale; + newparam.matR.set(1,i,source.matR.get(1,i)*scale);//newparam->matR[1][i] = source->matR[1][i] * scale; + newparam.matR.set(2,i,source.matR.get(2,i));//newparam->matR[2][i] = source->matR[2][i]; + } + for(int i = 0; i < 4; i++ ) { + newparam.matL2R.set(0,i,source.matL2R.get(0,i));//newparam->matL2R[0][i] = source->matL2R[0][i]; + newparam.matL2R.set(1,i,source.matL2R.get(1,i));//newparam->matL2R[1][i] = source->matL2R[1][i]; + newparam.matL2R.set(2,i,source.matL2R.get(2,i));//newparam->matL2R[2][i] = source->matL2R[2][i]; + } + + newparam.dist_factorL[0] = source.dist_factorL[0] * scale;//newparam->dist_factorL[0] = source->dist_factorL[0] * scale; + newparam.dist_factorL[1] = source.dist_factorL[1] * scale;//newparam->dist_factorL[1] = source->dist_factorL[1] * scale; + newparam.dist_factorL[2] = source.dist_factorL[2] / (scale*scale);//newparam->dist_factorL[2] = source->dist_factorL[2] / (scale*scale); + newparam.dist_factorL[3] = source.dist_factorL[3];//newparam->dist_factorL[3] = source->dist_factorL[3]; + + newparam.dist_factorR[0] = source.dist_factorR[0] * scale;//newparam->dist_factorR[0] = source->dist_factorR[0] * scale; + newparam.dist_factorR[1] = source.dist_factorR[1] * scale;//newparam->dist_factorR[1] = source->dist_factorR[1] * scale; + newparam.dist_factorR[2] = source.dist_factorR[2] / (scale*scale);//newparam->dist_factorR[2] = source->dist_factorR[2] / (scale*scale); + newparam.dist_factorR[3] = source.dist_factorR[3];//newparam->dist_factorR[3] = source->dist_factorR[3]; + + return 0; + }*/ +/* //int arsParamSave( char *filename, ARSParam *sparam ); + public static int arsParamSave(String filename, ARSParam sparam) throws Exception + { + //int xsize, ysize; + //Double2dArray matL=new Double2dArray(3,4); + //Double2dArray matR=new Double2dArray(3,4); + //Double2dArray matL2R=new Double2dArray(3,4); + //double dist_factorL[]=new double[4]; + //double dist_factorR[]=new double[4]; + + byte[] buf=new byte[(4+4+(3*4*8)*3+(4*8)*2)]; + + //バッファをラップ + ByteBuffer bb = ByteBuffer.wrap(buf); + bb.order(ByteOrder.BIG_ENDIAN); + + //書き込み + bb.putInt(sparam.xsize); + bb.putInt(sparam.ysize); + for(int i=0;i<3;i++){ + for(int i2=0;i2<4;i2++){ + bb.putDouble(sparam.matL.get(i, i2)); + } + } + for(int i=0;i<3;i++){ + for(int i2=0;i2<4;i2++){ + bb.putDouble(sparam.matR.get(i, i2)); + } + } + for(int i=0;i<3;i++){ + for(int i2=0;i2<4;i2++){ + bb.putDouble(sparam.matL2R.get(i, i2)); + } + } + for(int i=0;i<4;i++){ + bb.putDouble(sparam.dist_factorL[i]); + } + for(int i=0;i<4;i++){ + bb.putDouble(sparam.dist_factorR[i]); + } + //ファイルに保存 + FileOutputStream fs=new FileOutputStream(filename); + fs.write(buf); + fs.close(); + + return 0; + }*/ +/* //int arsParamLoad( char *filename, ARSParam *sparam ); + public static int arsParamLoad(String filename, ARSParam sparam ) throws Exception + { + //ファイルを読んどく + FileInputStream fs=new FileInputStream(filename); + File f=new File(filename); + int file_size=(int)f.length(); + byte[] buf=new byte[file_size]; + fs.read(buf); + fs.close(); + + //バッファを加工 + ByteBuffer bb = ByteBuffer.wrap(buf); + bb.order(ByteOrder.BIG_ENDIAN); + + //固定回数パースして配列に格納 + sparam.xsize=bb.getInt(); + sparam.ysize=bb.getInt(); + for(int i=0;i<3;i++){ + for(int i2=0;i2<4;i2++){ + sparam.matL.set(i,i2,bb.getDouble()); + } + } + for(int i=0;i<3;i++){ + for(int i2=0;i2<4;i2++){ + sparam.matR.set(i,i2,bb.getDouble()); + } + } + for(int i=0;i<3;i++){ + for(int i2=0;i2<4;i2++){ + sparam.matL2R.set(i,i2,bb.getDouble()); + } + } + for(int i=0;i<3;i++){ + sparam.dist_factorL[i]=bb.getDouble(); + } + for(int i=0;i<3;i++){ + sparam.dist_factorR[i]=bb.getDouble(); + } + return 0; + }*/ +/* + // int arsParamGetMat( double matL[3][4], double matR[3][4],double cparaL[3][4], double cparaR[3][4], double matL2R[3][4] ); + public static int arsParamGetMat(double[][] matL, double[][] matR,double[][] cparaL, double[][] cparaR, double[][] matL2R) throws JartkException + { + ARMat t1,t2,t3;//ARMat *t1, *t2, *t3; + //double transL[3][4], transR[3][4]; + Double2dArray transL=new Double2dArray(3,4); + Double2dArray transR=new Double2dArray(3,4); + + arParamDecompMat( matL,cparaL,transL); + arParamDecompMat( matR,cparaR,transR); + JartkException.trap("未チェックパス");{ + t1=new ARMat(4,4);//t1 = arMatrixAlloc( 4, 4 ); + t2=new ARMat(4,4);//t2 = arMatrixAlloc( 4, 4 ); + } + double[][] t1_array=t1.getArray(); + double[][] t2_array=t2.getArray(); + for(int j = 0; j < 3; j++ ){ + for(int i = 0; i < 4; i++ ) { + JartkException.trap("未チェックパス");{ + t1_array[j][i]=transL.get(j,i);//t1->m[j*4+i] = transL[j][i]; + t2_array[j][i]=transL.get(j,i);//t2->m[j*4+i] = transR[j][i]; + } + } + } + JartkException.trap("未チェックパス");{ + 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; + t1_array[3][3]=1.0;//t1->m[15] = 1.0; + 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; + t2_array[3][3]=1.0;//t2->m[15] = 1.0; + } + JartkException.trap("未チェックのパス"); + ARMat.matrixSelfInv(t1);//if( arMatrixSelfInv(t1) != 0 ) { + + JartkException.trap("未チェックのパス"); + t3 =ARMat.matrixAllocMul(t2, t1);//t3 = arMatrixAllocMul(t2, t1); + double[][] t3_array=t3.getArray(); + if(t3==null){ + return -1; + } + + for(int j = 0; j < 3; j++ ) { + for(int i = 0; i < 4; i++ ) { + JartkException.trap("未チェックパス"); + matL2R[j][i]=t3_array[j][i];//matL2R[j][i] = t3->m[j*4+i]; + } + } + return 0; + } +*/ //int arsParamDisp( ARSParam *sparam ) +/* public static int arsParamDisp( ARSParam sparam) + { + System.out.println("--------------------------------------");//printf("--------------------------------------\n"); + System.out.println("SIZE = "+sparam.xsize+", "+sparam.ysize);// printf("SIZE = %d, %d\n", sparam->xsize, sparam->ysize); + System.out.println("-- Left --");//printf("-- Left --\n"); + 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] ); + for(int j = 0; j < 3; j++ ) { + for(int i = 0; i < 4; i++ ){ + System.out.print(sparam.matL.get(j,i)+" ");//printf("%7.5f ", sparam->matL[j][i]); + } + System.out.println();//printf("\n"); + } + + System.out.println("-- Right --");//printf("-- Right --\n"); + 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]); + for(int j = 0; j < 3; j++ ){ + for(int i = 0; i < 4; i++ ){ + System.out.println(sparam.matR.get(j,i)+" ");//printf("%7.5f ", sparam->matR[j][i]); + } + System.out.println();//printf("\n"); + } + + System.out.println("-- Left => Right --");//printf("-- Left => Right --\n"); + for(int j = 0; j < 3; j++ ) { + for(int i = 0; i < 4; i++ ){ + //printf("%7.5f ", sparam->matL2R[j][i]); + } + System.out.println();//printf("\n"); + } + + System.out.println("--------------------------------------");//printf("--------------------------------------\n"); + + return 0; + }*/ +} diff --git a/src/jp/nyatla/nyartoolkit/core/NyARCode.java b/src/jp/nyatla/nyartoolkit/core/NyARCode.java new file mode 100644 index 0000000..acc2596 --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/NyARCode.java @@ -0,0 +1,165 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ + +package jp.nyatla.nyartoolkit.core; + +import java.io.FileInputStream; +import java.io.InputStreamReader; +import java.io.StreamTokenizer; + +import jp.nyatla.nyartoolkit.NyARException; + + + + + +/** + * ARToolKitのマーカーコードを1個保持します。 + * + */ +public class NyARCode{ + private int[][][][] pat;//static int pat[AR_PATT_NUM_MAX][4][AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3]; + private double[] patpow=new double[4];//static double patpow[AR_PATT_NUM_MAX][4]; + private short[][][] patBW;//static int patBW[AR_PATT_NUM_MAX][4][AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3]; + private double[] patpowBW=new double[4];//static double patpowBW[AR_PATT_NUM_MAX][4]; + private int width,height; + public int[][][][] getPat() + { + return pat; + } + public double [] getPatPow() + { + return patpow; + } + public short[][][] getPatBW() + { + return patBW; + } + public double[] getPatPowBW() + { + return patpowBW; + } + public int getWidth() + { + return width; + } + public int getHeight() + { + return height; + } + + public NyARCode(int i_width,int i_height) + { + width=i_width; + height=i_height; + pat=new int[4][height][width][3];//static int pat[AR_PATT_NUM_MAX][4][AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3]; + patBW=new short[4][height][width];//static int patBW[AR_PATT_NUM_MAX][4][AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3]; + } + + /** + * int arLoadPatt( const char *filename ); + * ARToolKitのパターンファイルをロードする。 + * @param filename + * @return + * @throws Exception + */ + public void LoadFromARFile(String filename) throws NyARException + { + try{ + StreamTokenizer st=new StreamTokenizer(new InputStreamReader(new FileInputStream(filename))); + //パターンデータはGBRAで並んでる。 + for(int h=0; h<4; h++ ) { + int l = 0; + for(int i3 = 0; i3 < 3; i3++ ) { + for(int i2 = 0; i2 < height; i2++ ) { + for(int i1 = 0; i1 < width; i1++ ){ + //数値のみ読み出す + switch(st.nextToken()){//if( fscanf(fp, "%d", &j) != 1 ) { + case StreamTokenizer.TT_NUMBER: + break; + default: + throw new NyARException(); + } + short j=(short)(255-st.nval);//j = 255-j; + //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 + switch(i3){ + case 0:pat[h][i2][i1][2] = j;break;//pat[patno][h][(i2*Config.AR_PATT_SIZE_X+i1)*3+2] = j;break; + case 1:pat[h][i2][i1][1] = j;break;//pat[patno][h][(i2*Config.AR_PATT_SIZE_X+i1)*3+1] = j;break; + case 2:pat[h][i2][i1][0] = j;break;//pat[patno][h][(i2*Config.AR_PATT_SIZE_X+i1)*3+0] = j;break; + } + //pat[patno][h][(i2*Config.AR_PATT_SIZE_X+i1)*3+i3] = j; + if( i3 == 0 ){ + patBW[h][i2][i1] = j;//patBW[patno][h][i2*Config.AR_PATT_SIZE_X+i1] = j; + }else{ + patBW[h][i2][i1] += j;//patBW[patno][h][i2*Config.AR_PATT_SIZE_X+i1] += j; + } + if( i3 == 2 ){ + patBW[h][i2][i1] /= 3;//patBW[patno][h][i2*Config.AR_PATT_SIZE_X+i1] /= 3; + } + l += j; + } + } + } + + l /= (height*width*3); + + int m = 0; + for(int i = 0; i < height; i++ ) {//for( i = 0; i < AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3; i++ ) { + for(int i2 = 0; i2 < width; i2++ ) { + for(int i3 = 0; i3 < 3; i3++ ) { + pat[h][i][i2][i3] -= l; + m += (pat[h][i][i2][i3]*pat[h][i][i2][i3]); + } + } + } + patpow[h] = Math.sqrt((double)m); + if( patpow[h] == 0.0 ){ + patpow[h] = 0.0000001; + } + + m = 0; + for(int i = 0; i < height; i++ ) { + for(int i2 = 0; i2 < width; i2++ ) { + patBW[h][i][i2] -= l; + m += (patBW[h][i][i2]*patBW[h][i][i2]); + } + } + patpowBW[h] = Math.sqrt((double)m); + if(patpowBW[h] == 0.0 ){ + patpowBW[h] = 0.0000001; + } + } + }catch(Exception e){ + throw new NyARException(e); + } + } +} diff --git a/src/jp/nyatla/nyartoolkit/core/NyARColorPatt.java b/src/jp/nyatla/nyartoolkit/core/NyARColorPatt.java new file mode 100644 index 0000000..bfb749d --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/NyARColorPatt.java @@ -0,0 +1,227 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core; + +import jp.nyatla.nyartoolkit.NyARException; +import jp.nyatla.nyartoolkit.core.raster.*; + +/** + * 24ビットカラーのマーカーを保持するために使うクラスです。 + * このクラスは、ARToolkitのパターンと、ラスタから取得したパターンを保持します。 + * + */ +public class NyARColorPatt +{ + public static final int AR_PATT_SAMPLE_NUM=64;//#define AR_PATT_SAMPLE_NUM 64 + private short extpat[][][]; + private int width; + private int height; + public NyARColorPatt(int i_width,int i_height) + { + width=i_width; + height=i_height; + extpat=new short[i_height][i_width][3]; + } + public short[][][] getPatArray() + { + return extpat; + } + public int getWidth() + { + return width; + } + public int getHeight() + { + return height; + } + private static void get_cpara( double world[][], double vertex[][],double para[][] ) throws NyARException + { + NyARMat a = new NyARMat( 8, 8 ); + double[][] a_array=a.getArray(); + NyARMat b = new NyARMat( 8, 1 ); + double[][] b_array=b.getArray(); + NyARMat c = new NyARMat( 8, 1 ); + double[][] c_array=c.getArray(); + + for(int i = 0; i < 4; i++ ) { + a_array[i*2][0]=world[i][0];//a->m[i*16+0] = world[i][0]; + a_array[i*2][1]=world[i][1];//a->m[i*16+1] = world[i][1]; + a_array[i*2][2]=1.0;//a->m[i*16+2] = 1.0; + a_array[i*2][3]=0.0;//a->m[i*16+3] = 0.0; + a_array[i*2][4]=0.0;//a->m[i*16+4] = 0.0; + a_array[i*2][5]=0.0;//a->m[i*16+5] = 0.0; + a_array[i*2][6]=-world[i][0] * vertex[i][0];//a->m[i*16+6] = -world[i][0] * vertex[i][0]; + a_array[i*2][7]=-world[i][1] * vertex[i][0];//a->m[i*16+7] = -world[i][1] * vertex[i][0]; + a_array[i*2+1][0]=0.0;//a->m[i*16+8] = 0.0; + a_array[i*2+1][1]=0.0;//a->m[i*16+9] = 0.0; + a_array[i*2+1][2]=0.0;//a->m[i*16+10] = 0.0; + a_array[i*2+1][3]=world[i][0];//a->m[i*16+11] = world[i][0]; + a_array[i*2+1][4]=world[i][1];//a->m[i*16+12] = world[i][1]; + a_array[i*2+1][5]=1.0;//a->m[i*16+13] = 1.0; + a_array[i*2+1][6]=-world[i][0] * vertex[i][1];//a->m[i*16+14] = -world[i][0] * vertex[i][1]; + a_array[i*2+1][7]=-world[i][1] * vertex[i][1];//a->m[i*16+15] = -world[i][1] * vertex[i][1]; + b_array[i*2+0][0]=vertex[i][0];//b->m[i*2+0] = vertex[i][0]; + b_array[i*2+1][0]=vertex[i][1];//b->m[i*2+1] = vertex[i][1]; + } +// JartkException.trap("未チェックのパス"); + NyARMat.matrixSelfInv(a); + +// JartkException.trap("未チェックのパス"); + NyARMat.matrixMul( c, a, b ); + for(int i = 0; i < 2; i++ ) { + para[i][0] = c_array[i*3+0][0];//para[i][0] = c->m[i*3+0]; + para[i][1] = c_array[i*3+1][0];//para[i][1] = c->m[i*3+1]; + para[i][2] = c_array[i*3+2][0];//para[i][2] = c->m[i*3+2]; + } + para[2][0] = c_array[2*3+0][0];//para[2][0] = c->m[2*3+0]; + para[2][1] = c_array[2*3+1][0];//para[2][1] = c->m[2*3+1]; + para[2][2] = 1.0;//para[2][2] = 1.0; + } + /** + * 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。 + * @param image + * @param i_marker + * @throws Exception + */ + public void pickFromRaster(NyARRaster image, NyARMarker i_marker) throws NyARException + { + int[] x_coord=i_marker.x_coord; + int[] y_coord=i_marker.y_coord; + int[] vertex=i_marker.vertex; + int[][][] ext_pat2=new int[height][width][3];//ARUint32 ext_pat2[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3]; + double[][] world=new double[4][2];//double world[4][2]; + double[][] local=new double[4][2];//double local[4][2]; + double[][] para=new double[3][3]; //double para[3][3]; + double d, xw, yw; + int xc, yc; + int xdiv, ydiv; + int xdiv2, ydiv2; + int lx1, lx2, ly1, ly2; + int img_x,img_y; + + img_x=image.getWidth(); + img_y=image.getHeight(); + + double xdiv2_reciprocal; // [tp] + double ydiv2_reciprocal; // [tp] + int ext_pat2_x_index; + int ext_pat2_y_index; + + world[0][0] = 100.0; + world[0][1] = 100.0; + world[1][0] = 100.0 + 10.0; + world[1][1] = 100.0; + world[2][0] = 100.0 + 10.0; + world[2][1] = 100.0 + 10.0; + world[3][0] = 100.0; + world[3][1] = 100.0 + 10.0; + for(int i = 0; i < 4; i++ ) { + local[i][0] = x_coord[vertex[i]]; + local[i][1] = y_coord[vertex[i]]; + } + get_cpara( world, local, para ); + + 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])); + 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])); + 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])); + 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])); + if( lx2 > lx1 ){ + lx1 = lx2; + } + if( ly2 > ly1 ){ + ly1 = ly2; + } + xdiv2 =width; + ydiv2 =height; + + while( xdiv2*xdiv2 < lx1/4 ){ + xdiv2*=2; + } + while( ydiv2*ydiv2 < ly1/4 ){ + ydiv2*=2; + } + + if( xdiv2 > AR_PATT_SAMPLE_NUM) + { + xdiv2 =AR_PATT_SAMPLE_NUM; + } + if( ydiv2 >AR_PATT_SAMPLE_NUM) + { + ydiv2 = AR_PATT_SAMPLE_NUM; + } + + xdiv = xdiv2/width;//xdiv = xdiv2/Config.AR_PATT_SIZE_X; + ydiv = ydiv2/height;//ydiv = ydiv2/Config.AR_PATT_SIZE_Y; +/* +printf("%3d(%f), %3d(%f)\n", xdiv2, sqrt(lx1), ydiv2, sqrt(ly1)); +*/ + + xdiv2_reciprocal = 1.0 / xdiv2; + ydiv2_reciprocal = 1.0 / ydiv2; + int[] rgb_tmp=new int[3]; + // arGetCode_put_zero(ext_pat2);//put_zero( (ARUint8 *)ext_pat2, AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3*sizeof(ARUint32) ); + for(int j = 0; j < ydiv2; j++ ) { + yw = 102.5 + 5.0 * (j+0.5) * ydiv2_reciprocal; + for(int i = 0; i < xdiv2; i++ ) { + xw = 102.5 + 5.0 * (i+0.5) * xdiv2_reciprocal; + d = para[2][0]*xw + para[2][1]*yw + para[2][2]; + if( d == 0 ){ + throw new NyARException(); + } + xc = (int)((para[0][0]*xw + para[0][1]*yw + para[0][2])/d); + yc = (int)((para[1][0]*xw + para[1][1]*yw + para[1][2])/d); + + + if( xc >= 0 && xc < img_x && yc >= 0 && yc < img_y ) { + ext_pat2_y_index = j/ydiv; + ext_pat2_x_index = i/xdiv; +// image_index = (yc*arUtil_c.arImXsize+xc)*Config.AR_PIX_SIZE_DEFAULT; + image.pickRgbArray(xc, yc, rgb_tmp); + + ext_pat2[ext_pat2_y_index][ext_pat2_x_index][0] += rgb_tmp[0];//R + ext_pat2[ext_pat2_y_index][ext_pat2_x_index][1] += rgb_tmp[1];//G + ext_pat2[ext_pat2_y_index][ext_pat2_x_index][2] += rgb_tmp[2];//B +// System.out.println(xc+":"+yc+":"+rgb_tmp[0]+":"+rgb_tmp[1]+":"+rgb_tmp[2]); + } + } + } +// 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]; + + for(int j = 0; j < height; j++ ) { + for(int i = 0; i < width; i++ ) { // PRL 2006-06-08. + extpat[j][i][0]=(short)(ext_pat2[j][i][0] / (xdiv*ydiv));//ext_pat[j][i][0] = (byte)(ext_pat2[j][i][0] / (xdiv*ydiv)); + extpat[j][i][1]=(short)(ext_pat2[j][i][1] / (xdiv*ydiv));//ext_pat[j][i][1] = (byte)(ext_pat2[j][i][1] / (xdiv*ydiv)); + extpat[j][i][2]=(short)(ext_pat2[j][i][2] / (xdiv*ydiv));//ext_pat[j][i][2] = (byte)(ext_pat2[j][i][2] / (xdiv*ydiv)); + } + } + } +} \ No newline at end of file diff --git a/src/jp/nyatla/nyartoolkit/core/NyARDetectMarker.java b/src/jp/nyatla/nyartoolkit/core/NyARDetectMarker.java new file mode 100644 index 0000000..2a73545 --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/NyARDetectMarker.java @@ -0,0 +1,403 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core; + + + + +import jp.nyatla.nyartoolkit.NyARException; +import jp.nyatla.util.IntValue; +/** + * イメージからマーカー情報を検出するクラス。 + * このクラスは、arDetectMarker2.cとの置き換えになります。 + * 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。 + * + */ +public class NyARDetectMarker { + private static final int AR_AREA_MAX=100000;//#define AR_AREA_MAX 100000 + private static final int AR_AREA_MIN=70;//#define AR_AREA_MIN 70 + + private int area_max=AR_AREA_MAX; + private int area_min=AR_AREA_MIN; + private NyARMarker[] marker_info2_array; + private int marker_num; + private int width,height; + /** + * 最大i_squre_max個のマーカーを検出するクラスを作成する。 + * @param i_width + * @param i_height + * @param i_squre_max + */ + public NyARDetectMarker(int i_width,int i_height,int i_squre_max) + { + width =i_width; + height=i_height; + marker_info2_array=new NyARMarker[i_squre_max]; + } + public int getMarkerNum() + { + return marker_num; + } + public NyARMarker[] getMarkerArray() throws NyARException + { + return marker_info2_array; + } + /** + * static int get_vertex( int x_coord[], int y_coord[], int st, int ed,double thresh, int vertex[], int *vnum) + * 関数の代替関数 + * @param x_coord + * @param y_coord + * @param st + * @param ed + * @param thresh + * @param vertex + * @param vnum + * @return + */ + private static boolean get_vertex( int[] x_coord, int[] y_coord, int st, int ed,double thresh, int vertex[],IntValue vnum) + { + double d, dmax; + double a, b, c; + int i, v1=0; + + a = y_coord[ed] - y_coord[st]; + b = x_coord[st] - x_coord[ed]; + c = x_coord[ed]*y_coord[st] - y_coord[ed]*x_coord[st]; + dmax = 0; + for(i=st+1;i dmax ) { + dmax = d*d; + v1 = i; + } + } + if( dmax/(a*a+b*b) > thresh ) { + if(!get_vertex(x_coord, y_coord, st, v1, thresh, vertex, vnum)){ + return false; + } + if( vnum.get() > 5 ){ + return false; + } + vertex[vnum.get()] = v1;//vertex[(*vnum)] = v1; + vnum.inc();//(*vnum)++; + + if(!get_vertex(x_coord, y_coord, v1, ed, thresh, vertex, vnum)){ + return false; + } + } + return true; + } + /** + * static int arDetectMarker2_check_square( int area, ARMarkerInfo2 *marker_info2, double factor ) + * 関数の代替関数 + * @param area + * @param i_marker_info2 + * @param factor + * @return + */ + private static boolean check_square( int area, NyARMarker i_marker_info2, double factor ) + { + int sx, sy; + int dmax, d, v1; + int[] vertex=new int[10];//int vertex[10] + int[] wv1=new int[10],wv2=new int[10];//int wv1[10],wv2[10]; + int v2;// int wvnum1,wvnum2,v2; + double thresh; + int i; + IntValue wvnum1=new IntValue(),wvnum2=new IntValue(); + + + dmax = 0; + v1 = 0; + sx = i_marker_info2.x_coord[0];//sx = marker_info2->x_coord[0]; + sy = i_marker_info2.y_coord[0];//sy = marker_info2->y_coord[0]; + for(i=1;icoord_num-1;i++) { + d = (i_marker_info2.x_coord[i]-sx)*(i_marker_info2.x_coord[i]-sx)+ (i_marker_info2.y_coord[i]-sy)*(i_marker_info2.y_coord[i]-sy); + if( d > dmax ) { + dmax = d; + v1 = i; + } + } + + thresh = (area/0.75) * 0.01 * factor; +// vnum = 1; + vertex[0] = 0; + wvnum1.set(0);// wvnum1 = 0; + wvnum2.set(0);// wvnum2 = 0; + + if(!get_vertex(i_marker_info2.x_coord, i_marker_info2.y_coord, 0, v1,thresh, wv1, wvnum1)){ //if( get_vertex(marker_info2->x_coord, marker_info2->y_coord, 0, v1,thresh, wv1, &wvnum1) < 0 ) { + return false; + } + if(!get_vertex(i_marker_info2.x_coord, i_marker_info2.y_coord,v1, i_marker_info2.coord_num-1, thresh, wv2, wvnum2)) {//if(get_vertex(marker_info2->x_coord, marker_info2->y_coord,v1, marker_info2->coord_num-1, thresh, wv2, &wvnum2) < 0 ) { + return false; + } + + if( wvnum1.get() == 1 && wvnum2.get() == 1 ) {//if( wvnum1 == 1 && wvnum2 == 1 ) { + vertex[1] = wv1[0]; + vertex[2] = v1; + vertex[3] = wv2[0]; + }else if( wvnum1.get() > 1 && wvnum2.get() == 0 ) {//}else if( wvnum1 > 1 && wvnum2 == 0 ) { + v2 = v1 / 2; + wvnum1.set(0);wvnum2.set(0);//wvnum1 = wvnum2 = 0; + if(!get_vertex(i_marker_info2.x_coord, i_marker_info2.y_coord,0, v2, thresh, wv1, wvnum1)) { + return false; + } + if(!get_vertex(i_marker_info2.x_coord, i_marker_info2.y_coord,v2, v1, thresh, wv2, wvnum2)) { + return false; + } + if( wvnum1.get() == 1 && wvnum2.get() == 1 ) { + vertex[1] = wv1[0]; + vertex[2] = wv2[0]; + vertex[3] = v1; + }else{ + return false; + } + }else if( wvnum1.get() == 0 && wvnum2.get() > 1 ) { + v2 = (v1 + i_marker_info2.coord_num-1) / 2; + + wvnum1.set(0);wvnum2.set(0);//wvnum1 = wvnum2 = 0; + if(!get_vertex(i_marker_info2.x_coord, i_marker_info2.y_coord,v1, v2, thresh, wv1,wvnum1)) { + return false; + } + if(!get_vertex(i_marker_info2.x_coord, i_marker_info2.y_coord,v2, i_marker_info2.coord_num-1, thresh, wv2, wvnum2)) { + return false; + } + if( wvnum1.get() == 1 && wvnum2.get() == 1 ) { + vertex[1] = v1; + vertex[2] = wv1[0]; + vertex[3] = wv2[0]; + } + else { + return false; + } + } + else { + return false; + } + + i_marker_info2.vertex[0] = vertex[0]; + i_marker_info2.vertex[1] = vertex[1]; + i_marker_info2.vertex[2] = vertex[2]; + i_marker_info2.vertex[3] = vertex[3]; + i_marker_info2.vertex[4] = i_marker_info2.coord_num-1; + + return true; + } + /** + * int arGetContour( ARInt16 *limage, int *label_ref,int label, int clip[4], ARMarkerInfo2 *marker_info2 ) + * 関数の代替品 + * @param limage + * @param label_ref + * @param label + * @param clip + * @return + * 検出したマーカーからマーカーオブジェクトを生成して返す。 + * @throws NyARException + */ + private NyARMarker arGetContour(short[][] limage, int[] label_ref,int label, int[] clip) throws NyARException + { + final int[] xdir={0, 1, 1, 1, 0,-1,-1,-1}; //static int xdir[8] = { 0, 1, 1, 1, 0,-1,-1,-1}; + final int[] ydir={-1,-1, 0, 1, 1, 1, 0,-1};//static int ydir[8] = {-1,-1, 0, 1, 1, 1, 0,-1}; + //ShortPointer p1;//ARInt16 *p1; + int sx=0, sy=0, dir; + int dmax, d, v1=0; + int i, j; + +// JartkException.trap("未チェックのパス"); + j = clip[2]; + //p1=ShortPointer.wrap(limage,j*xsize+clip.get());//p1 = &(limage[j*xsize+clip[0]]); + for( i = clip[0]; i <= clip[1]; i++){//for( i = clip[0]; i <= clip[1]; i++, p1++ ) { + if(limage[j][i] > 0 && label_ref[(limage[j][i])-1] == label ) {//if( *p1 > 0 && label_ref[(*p1)-1] == label ) { + sx = i; sy = j; + break; + } + } + if(i> clip[1]){//if( i > clip[1] ) { + System.out.println("??? 1");//printf(); + throw new NyARException();//return(-1); + } + + NyARMarker marker_info2=new NyARMarker(); + + marker_info2.coord_num=1;//marker_info2->coord_num = 1; + marker_info2.x_coord[0]=sx;//marker_info2->x_coord[0] = sx; + marker_info2.y_coord[0]=sy;//marker_info2->y_coord[0] = sy; + dir = 5; + + for(;;){ + int r=marker_info2.y_coord[marker_info2.coord_num-1]; + int c=marker_info2.x_coord[marker_info2.coord_num-1]; + //p1 = &(limage[marker_info2->y_coord[marker_info2->coord_num-1] * xsize+ marker_info2->x_coord[marker_info2->coord_num-1]]); + dir = (dir+5)%8; + for(i=0;i<8;i++) { + if(limage[r+ydir[dir]][c+xdir[dir]]>0){//if( p1[ydir[dir]*xsize+xdir[dir]] > 0 ){ + break; + } + dir = (dir+1)%8; + } + if( i == 8 ){ + System.out.println("??? 2");//printf("??? 2\n"); + throw new NyARException();//return(-1); + } + marker_info2.x_coord[marker_info2.coord_num]= marker_info2.x_coord[marker_info2.coord_num-1] + xdir[dir];//marker_info2->x_coord[marker_info2->coord_num]= marker_info2->x_coord[marker_info2->coord_num-1] + xdir[dir]; + marker_info2.y_coord[marker_info2.coord_num]= marker_info2.y_coord[marker_info2.coord_num-1] + ydir[dir];//marker_info2->y_coord[marker_info2->coord_num]= marker_info2->y_coord[marker_info2->coord_num-1] + ydir[dir]; + if( marker_info2.x_coord[marker_info2.coord_num] == sx && marker_info2.y_coord[marker_info2.coord_num] == sy ){ + break; + } + marker_info2.coord_num++; + if( marker_info2.coord_num == marker_info2.x_coord.length-1){//if( marker_info2.coord_num == Config.AR_CHAIN_MAX-1 ){ + System.out.println("??? 3");//printf("??? 3\n"); + throw new NyARException();//return(-1); + } + } + + dmax = 0; + for(i=1;icoord_num;i++) { + 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);// 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); + if( d > dmax ) { + dmax = d; + v1 = i; + } + } + + int[] wx=new int[v1];//new int[Config.AR_CHAIN_MAX]; + int[] wy=new int[v1]; //new int[Config.AR_CHAIN_MAX]; + for(i=0;ix_coord[i]; + wy[i] = marker_info2.y_coord[i];//wy[i] = marker_info2->y_coord[i]; + } + for(i=v1;icoord_num;i++) { + marker_info2.x_coord[i-v1] = marker_info2.x_coord[i];//marker_info2->x_coord[i-v1] = marker_info2->x_coord[i]; + marker_info2.y_coord[i-v1] = marker_info2.y_coord[i];//marker_info2->y_coord[i-v1] = marker_info2->y_coord[i]; + } + for(i=0;ix_coord[i-v1+marker_info2->coord_num] = wx[i]; + marker_info2.y_coord[i-v1+marker_info2.coord_num] = wy[i];//marker_info2->y_coord[i-v1+marker_info2->coord_num] = wy[i]; + } + marker_info2.x_coord[marker_info2.coord_num] = marker_info2.x_coord[0];//marker_info2->x_coord[marker_info2->coord_num] = marker_info2->x_coord[0]; + marker_info2.y_coord[marker_info2.coord_num] = marker_info2.y_coord[0];//marker_info2->y_coord[marker_info2->coord_num] = marker_info2->y_coord[0]; + marker_info2.coord_num++;//marker_info2->coord_num++; + + return marker_info2; + } + /** + * 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 ) + * 関数の代替品 + * ラベリング情報からマーカー一覧を作成して、保持する。 + * @param i_labeling + * ラベリング済みの情報を持つラベリングオブジェクト + * @param area_max + * 何かの閾値？ + * @param area_min + * 何かの閾値？ + * @param factor + * 何かの閾値？ + * @return + * @throws NyARException + */ +// public void detectMarker(short[][] limage,int label_num,int[] label_ref,int[] warea,double[] wpos,int[] wclip,int area_max, int area_min, double factor) throws JartkException + public void detectMarker(NyARLabeling i_labeling,double factor) throws NyARException + { + int xsize, ysize; + int marker_num2; + int i, j; + double d; + int[] warea =i_labeling.getArea(); + int label_num =i_labeling.getLabelNum(); + int[][] wclip =i_labeling.getClip(); + double[] wpos =i_labeling.getPos(); + short[][] limage =i_labeling.getLabelImg(); + int[] label_ref =i_labeling.getLabelRef(); + + marker_num=0; + xsize =width; + ysize =height; + + marker_num2 = 0; + for(i=0; i area_max ){ + continue; + } + if( wclip[i][0] == 1 || wclip[i][1] == xsize-2 ){//if( wclip[i*4+0] == 1 || wclip[i*4+1] == xsize-2 ){ + continue; + } + if( wclip[i][2] == 1 || wclip[i][3] == ysize-2 ){//if( wclip[i*4+2] == 1 || wclip[i*4+3] == ysize-2 ){ + continue; + } + //ret = arGetContour( limage, label_ref, i+1,&(wclip[i*4]), &(marker_info2[marker_num2])); + marker_info2_array[marker_num2]=arGetContour( limage, label_ref, i+1,wclip[i]); + + boolean ret = check_square( warea[i], marker_info2_array[marker_num2], factor );//ret = check_square( warea[i], &(marker_info2[marker_num2]), factor ); + if(!ret){ + marker_info2_array[marker_num2]=null; + continue; + } + marker_info2_array[marker_num2].area = warea[i]; + marker_info2_array[marker_num2].pos[0] = wpos[i*2+0]; + marker_info2_array[marker_num2].pos[1] = wpos[i*2+1]; + marker_num2++; + //マーカーリストが上限に達した + if( marker_num2 == marker_info2_array.length){ + break; + } + } + for( i=0; i < marker_num2; i++ ) { + for( j=i+1; j < marker_num2; j++ ) { + d = (marker_info2_array[i].pos[0] - marker_info2_array[j].pos[0])* + (marker_info2_array[i].pos[0] - marker_info2_array[j].pos[0])+ + (marker_info2_array[i].pos[1] - marker_info2_array[j].pos[1])* + (marker_info2_array[i].pos[1] - marker_info2_array[j].pos[1]); + if(marker_info2_array[i].area >marker_info2_array[j].area ) { + if( d + * + */ +package jp.nyatla.nyartoolkit.core; + +import jp.nyatla.util.DoubleValue; +import jp.nyatla.nyartoolkit.NyARException; +import jp.nyatla.nyartoolkit.core.raster.*; + + +public class NyARDetectSquare{ + private NyARLabeling labeling; + private NyARDetectMarker detect; + + private NyARSquare[] marker_info; + private int number_of_square; + private NyARParam param; + + /** + * 最大i_sqaure_max個のマーカー情報を抽出できるインスタンスを作る。 + * @param i_sqaure_max + */ + public NyARDetectSquare(int i_sqaure_max,NyARParam i_param) + { + param=i_param; + marker_info=new NyARSquare[i_sqaure_max];//static ARMarkerInfo marker_infoL[AR_SQUARE_MAX]; + //解析オブジェクトを作る + int width=i_param.getX(); + int height=i_param.getY(); + + labeling=new NyARLabeling(width,height); + detect=new NyARDetectMarker(width,height,i_sqaure_max); + } + public NyARSquare[] getSquareArray() + { + return marker_info; + } + public int getSquareCount() + { + return number_of_square; + } + /** + * 矩形を検出する。 + * @param i_marker + * @param i_number_of_marker + * @throws NyARException + */ + public void detectSquare(NyARRaster i_image,int i_thresh) throws NyARException + { + number_of_square=0; + labeling.labeling(i_image, i_thresh); + if(labeling.getLabelNum()<1){ + return; + } + detect.detectMarker(labeling,1.0); + NyARMarker[] marker=detect.getMarkerArray(); + int number_of_marker=detect.getMarkerNum(); + + + + int j=0; + for (int i = 0; i =marker_info.length){ + break; + } + } + number_of_square=j; + } + /** + * arGetLine(int x_coord[], int y_coord[], int coord_num,int vertex[], double line[4][3], double v[4][2]) + * arGetLine2(int x_coord[], int y_coord[], int coord_num,int vertex[], double line[4][3], double v[4][2], double *dist_factor) + * の２関数の合成品です。 + * @param x_coord + * @param y_coord + * @param coord_num + * @param vertex + * @param line + * @param v + * @return + * @throws NyARException + */ + private boolean getLine(int x_coord[], int y_coord[], int coord_num,int vertex[], double line[][], double v[][]) throws NyARException + { + NyARMat input,evec; + NyARVec ev,mean; + double w1; + int st, ed, n; + int i, j; + DoubleValue dv1=new DoubleValue(); + DoubleValue dv2=new DoubleValue(); + + ev = new NyARVec(2); + mean = new NyARVec(2); + evec = new NyARMat(2,2); + double[] mean_array=mean.getArray(); + double[][] evec_array=evec.getArray(); + for( i = 0; i < 4; i++ ) { + w1 = (double)(vertex[i+1]-vertex[i]+1) * 0.05 + 0.5; + st = (int)(vertex[i] + w1); + ed = (int)(vertex[i+1] - w1); + n = ed - st + 1; + if(n<2){//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。 + //System.err.println("NyARDetectSquare::getLine 稀に出るエラーです。このエラーが出ても例外が起こらなければ平気だと思いますが、出たらnyatlaまで連絡してください。"); + return false;//throw new NyARException(); + } + input = new NyARMat( n, 2 ); + double [][] in_array=input.getArray(); + for( j = 0; j < n; j++ ) { + param.observ2Ideal(x_coord[st+j], 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]) ); + in_array[j][0]=dv1.get(); + in_array[j][1]=dv2.get(); + } + NyARMat.matrixPCA(input, evec, ev, mean); + + line[i][0] = evec_array[0][1];//line[i][0] = evec->m[1]; + line[i][1] = -evec_array[0][0];//line[i][1] = -evec->m[0]; + line[i][2] = -(line[i][0]*mean_array[0] + line[i][1]*mean_array[1]);//line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]); + } + + for( i = 0; i < 4; i++ ) { + w1 = line[(i+3)%4][0] * line[i][1] - line[i][0] * line[(i+3)%4][1]; + if( w1 == 0.0 ){ + return false; + } + v[i][0] = ( line[(i+3)%4][1] * line[i][2]- line[i][1] * line[(i+3)%4][2] ) / w1; + v[i][1] = ( line[i][0] * line[(i+3)%4][2]- line[(i+3)%4][0] * line[i][2] ) / w1; + } + return true; + } +} diff --git a/src/jp/nyatla/nyartoolkit/core/NyARLabeling.java b/src/jp/nyatla/nyartoolkit/core/NyARLabeling.java new file mode 100644 index 0000000..d649977 --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/NyARLabeling.java @@ -0,0 +1,383 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core; + +import jp.nyatla.nyartoolkit.NyARException; +import jp.nyatla.nyartoolkit.core.raster.*; + + + + +/** + * 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。 + * + */ +public class NyARLabeling{ + private final int WORK_SIZE=1024*32;//#define WORK_SIZE 1024*32 + private short[][] label_img;//static ARInt16 l_imageL[HARDCODED_BUFFER_WIDTH*HARDCODED_BUFFER_HEIGHT]; + private int[] work=new int[WORK_SIZE];//static int workL[WORK_SIZE]; + private int[] work2=new int[WORK_SIZE*7];//static int work2L[WORK_SIZE*7]; + private int[] area=new int[WORK_SIZE];//static int wareaL[WORK_SIZE]; + private int[][] clip=new int[WORK_SIZE][4];//static int wclipL[WORK_SIZE*4]; + private double[] pos=new double[WORK_SIZE*2];//static double wposL[WORK_SIZE*2]; + private int label_num; + // + private int width; + private int height; + /** + * @param i_width + * 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。 + * @param i_height + * 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。 + */ + public NyARLabeling(int i_width,int i_height) + { + width =i_width; + height=i_height; + label_img=new short[height][width]; + label_num=0; + } + /** + * 検出したラベルの数を返す + * @return + */ + public int getLabelNum() + { + return label_num; + } + /** + * わからん + * @return + * @throws NyARException + */ + public int[] getLabelRef() throws NyARException + { + if(label_num<1){ + throw new NyARException(); + } + return work; + } + /** + * 検出したエリア配列？よくわからぬ + * @return + * @throws NyARException + */ + public int[] getArea() throws NyARException + { + if(label_num<1){ + throw new NyARException(); + } + return area; + } + /** + * 検出したクリップ配列？よくわからぬ + * @return + * @throws NyARException + */ + public int[][] getClip() throws NyARException + { + if(label_num<1){ + throw new NyARException(); + } + return clip; + } + /** + * 検出した位置配列？よくわからぬ + * @return + * @throws NyARException + */ + public double[] getPos() throws NyARException + { + if(label_num<1){ + throw new NyARException(); + } + return pos; + } + /** + * ラベリング済みイメージを返す + * @return + * @throws NyARException + */ + public short[][] getLabelImg() throws NyARException + { + if(label_num<1){ + throw new NyARException(); + } + return label_img; + } + /** + * 配列の先頭からsize個をゼロクリアする + * @param array + * @param size + */ + private void putZero(int[] array,int size) + { + for(int i=0;i0){//if( *pnt1 > 0 ) { + label_img[p2][i]=label_img[p1][i];//*pnt2 = *pnt1; + + + int p2_index=(label_img[p2][i]-1)*7; + work2[p2_index+0]++;//work2[((*pnt2)-1)*7+0] ++; + work2[p2_index+1]+=i;//work2[((*pnt2)-1)*7+1] += i; + work2[p2_index+2]+=j;//work2[((*pnt2)-1)*7+2] += j; + work2[p2_index+6]=j;//work2[((*pnt2)-1)*7+6] = j; + }else if(label_img[p1][i+1]> 0 ) {//}else if( *(pnt1+1) > 0 ) { + if(label_img[p1][i-1] > 0 ) {//if( *(pnt1-1) > 0 ) { + m = work[label_img[p1][i+1]-1];//m = work[*(pnt1+1)-1]; + n = work[label_img[p1][i-1]-1];//n = work[*(pnt1-1)-1]; + if( m > n ){ + //JartkException.trap("未チェックのパス"); + label_img[p2][i]=(short)n;//*pnt2 = n; + //wk=IntPointer.wrap(work, 0);//wk = &(work[0]); + for(int k = 0; k < wk_max; k++) { + //JartkException.trap("未チェックのパス"); + if(work[k] == m ){//if( *wk == m ) + //JartkException.trap("未チェックのパス"); + work[k]=n;//*wk = n; + } + } + }else if( m < n ) { + //JartkException.trap("未チェックのパス"); + label_img[p2][i]=(short)m;//*pnt2 = m; + //wk=IntPointer.wrap(work,0);//wk = &(work[0]); + for(int k = 0; k < wk_max; k++){ + //JartkException.trap("未チェックのパス"); + if(work[k]==n){//if( *wk == n ){ + //JartkException.trap("未チェックのパス"); + work[k]=m;//*wk = m; + } + } + }else{ + label_img[p2][i]=(short)m;//*pnt2 = m; + } + + int p2_index=(label_img[p2][i]-1)*7; + work2[p2_index+0] ++; + work2[p2_index+1] += i; + work2[p2_index+2] += j; + work2[p2_index+6] = j; + }else if( (label_img[p2][i-1]) > 0 ) {//}else if( *(pnt2-1) > 0 ) { + m = work[(label_img[p1][i+1])-1];//m = work[*(pnt1+1)-1]; + n = work[(label_img[p2][i-1])-1];//n = work[*(pnt2-1)-1]; + if( m > n ) { + + label_img[p2][i]=(short)n;//*pnt2 = n; + for(int k = 0; k < wk_max; k++) { + if(work[k]==m){//if( *wk == m ){ + work[k]=n;//*wk = n; + } + } + }else if( m < n ) { + label_img[p2][i]=(short)m;//*pnt2 = m; + for(int k = 0; k < wk_max; k++) { + if(work[k]==n){//if( *wk == n ){ + work[k]=m;//*wk = m; + } + } + }else{ + label_img[p2][i]=(short)m;//*pnt2 = m; + } + + + int p2_index=((label_img[p2][i])-1)*7; + work2[p2_index+0] ++;//work2[((*pnt2)-1)*7+0] ++; + work2[p2_index+1] += i;//work2[((*pnt2)-1)*7+1] += i; + work2[p2_index+2] += j;//work2[((*pnt2)-1)*7+2] += j; + }else{ + + label_img[p2][i]=label_img[p1][i+1];//*pnt2 = *(pnt1+1); + + int p2_index=((label_img[p2][i])-1)*7; + work2[p2_index+0] ++;//work2[((*pnt2)-1)*7+0] ++; + work2[p2_index+1] += i;//work2[((*pnt2)-1)*7+1] += i; + work2[p2_index+2] += j;//work2[((*pnt2)-1)*7+2] += j; + if( work2[p2_index+3] > i ){//if( work2[((*pnt2)-1)*7+3] > i ){ + work2[p2_index+3] = i;// work2[((*pnt2)-1)*7+3] = i; + } + work2[p2_index+6] = j;//work2[((*pnt2)-1)*7+6] = j; + } + }else if( (label_img[p1][i-1]) > 0 ) {//}else if( *(pnt1-1) > 0 ) { + label_img[p2][i]=label_img[p1][i-1];//*pnt2 = *(pnt1-1); + + int p2_index=((label_img[p2][i])-1)*7; + work2[p2_index+0] ++;//work2[((*pnt2)-1)*7+0] ++; + work2[p2_index+1] += i;//work2[((*pnt2)-1)*7+1] += i; + work2[p2_index+2] += j;//work2[((*pnt2)-1)*7+2] += j; + if( work2[p2_index+4] < i ){//if( work2[((*pnt2)-1)*7+4] < i ){ + work2[p2_index+4] = i;// work2[((*pnt2)-1)*7+4] = i; + } + work2[p2_index+6] = j;//work2[((*pnt2)-1)*7+6] = j; + }else if(label_img[p2][i-1] > 0) {//}else if( *(pnt2-1) > 0) { + label_img[p2][i]=label_img[p2][i-1];//*pnt2 = *(pnt2-1); + + int p2_index=((label_img[p2][i])-1)*7; + work2[p2_index+0] ++;//work2[((*pnt2)-1)*7+0] ++; + work2[p2_index+1] += i;//work2[((*pnt2)-1)*7+1] += i; + work2[p2_index+2] += j;//work2[((*pnt2)-1)*7+2] += j; + if( work2[p2_index+4] < i ){//if( work2[((*pnt2)-1)*7+4] < i ){ + work2[p2_index+4] = i;// work2[((*pnt2)-1)*7+4] = i; + } + }else{ + wk_max++; + if( wk_max > WORK_SIZE ) { + throw new NyARException();//return (0); + } + work[wk_max-1] = wk_max;label_img[p2][i]=(short)wk_max;//work[wk_max-1] = *pnt2 = wk_max; + work2[(wk_max-1)*7+0] = 1; + work2[(wk_max-1)*7+1] = i; + work2[(wk_max-1)*7+2] = j; + work2[(wk_max-1)*7+3] = i; + work2[(wk_max-1)*7+4] = i; + work2[(wk_max-1)*7+5] = j; + work2[(wk_max-1)*7+6] = j; + } + }else { + label_img[p2][i]=0;//*pnt2 = 0; + } + } + } + int j = 1; + for(int i = 0; i < wk_max; i++){//for(int i = 1; i <= wk_max; i++, wk++) { + work[i]=(work[i]==i+1)? j++: work[work[i]-1];//*wk = (*wk==i)? j++: work[(*wk)-1]; + } + + int wlabel_num=j - 1;//*label_num = *wlabel_num = j - 1; + + if(wlabel_num==0){//if( *label_num == 0 ) { + //発見数0 + return; + } + + putZero(warea,wlabel_num);//put_zero( (ARUint8 *)warea, *label_num * sizeof(int) ); + putZero(wpos,wlabel_num*2);//put_zero( (ARUint8 *)wpos, *label_num * 2 * sizeof(double) ); + for(int i = 0; i < wlabel_num; i++) {//for(i = 0; i < *label_num; i++) { + wclip[i][0] = lxsize;//wclip[i*4+0] = lxsize; + wclip[i][1] = 0;//wclip[i*4+1] = 0; + wclip[i][2] = lysize;//wclip[i*4+2] = lysize; + wclip[i][3] = 0;//wclip[i*4+3] = 0; + } + for(int i = 0; i < wk_max; i++) { + j = work[i] - 1; + warea[j] += work2[i*7+0]; + wpos[j*2+0] += work2[i*7+1]; + wpos[j*2+1] += work2[i*7+2]; + if( wclip[j][0] > work2[i*7+3] ){ + wclip[j][0] = work2[i*7+3]; + } + if( wclip[j][1] < work2[i*7+4] ){ + wclip[j][1] = work2[i*7+4]; + } + if( wclip[j][2] > work2[i*7+5] ){ + wclip[j][2] = work2[i*7+5]; + } + if( wclip[j][3] < work2[i*7+6] ){ + wclip[j][3] = work2[i*7+6]; + } + } + + for(int i = 0; i < wlabel_num; i++ ) {//for(int i = 0; i < *label_num; i++ ) { + wpos[i*2+0] /= warea[i]; + wpos[i*2+1] /= warea[i]; + } + + label_num=wlabel_num; + return; + } +} + diff --git a/src/jp/nyatla/nyartoolkit/core/NyARMarker.java b/src/jp/nyatla/nyartoolkit/core/NyARMarker.java new file mode 100644 index 0000000..48fdaa6 --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/NyARMarker.java @@ -0,0 +1,60 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core; + + + + + +/** + * typedef struct { + * int area; + * double pos[2]; + * int coord_num; + * int x_coord[AR_CHAIN_MAX]; + * int y_coord[AR_CHAIN_MAX]; + * int vertex[5]; + * } ARMarkerInfo2; + * + */ +class NyARMarker +{ + private static final int AR_CHAIN_MAX=10000; + int area; + double[] pos=new double[2]; + int coord_num; + int[] x_coord=new int[AR_CHAIN_MAX]; + int[] y_coord=new int[AR_CHAIN_MAX]; + int[] vertex=new int[5]; +} + + diff --git a/src/jp/nyatla/nyartoolkit/core/NyARMat.java b/src/jp/nyatla/nyartoolkit/core/NyARMat.java new file mode 100644 index 0000000..223637e --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/NyARMat.java @@ -0,0 +1,861 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core; + +import jp.nyatla.nyartoolkit.NyARException; + + + +/** + * ARMat構造体に対応するクラス + * typedef struct { + * double *m; + * int row; + * int clm; + * }ARMat; + * + */ +public class NyARMat{ + private double[][] m; + private int clm,row; + public NyARMat(int i_row,int i_clm) + { + m=new double[i_row][i_clm]; + clm=i_clm; + row=i_row; + } + public int getClm() + { + return clm; + } + public int getRow() + { + return row; + } + /** + * 行列をゼロクリアする。 + */ + public void zeroClear() + { + for(int i=0;irow, m->clm); + for(int r = 0; r < row; r++){//for(int r = 0; r < m->row; r++) { + System.out.print(" |");//printf(" |"); + for(int c = 0; c < clm; c++) {//for(int c = 0; c < m->clm; c++) { + System.out.print(" "+m[r][c]);//printf(" %10g", ARELEM0(m, r, c)); + } + System.out.println(" |");//printf(" |\n"); + } + System.out.println(" ======================");//printf(" ======================\n"); + return 0; + } + private final static double PCA_EPS=1e-6; //#define EPS 1e-6 + private final static int PCA_MAX_ITER=100; //#define MAX_ITER 100 + private final static double PCA_VZERO=1e-16; //#define VZERO 1e-16 + /** + * static int EX( ARMat *input, ARVec *mean )の代替関数 + * @param input + * @param mean + * @return + * @throws NyARException + */ + private static void PCA_EX(NyARMat input, NyARVec mean) throws NyARException + { + double[] v; + + int row, clm; + + row = input.row; + clm = input.clm; + if(row <= 0 || clm <= 0){ + throw new NyARException(); + } + if( mean.getClm() != clm ){ + throw new NyARException(); + } + double[] mean_array=mean.getArray(); + for(int i = 0; i < clm; i++ ){ + mean_array[i]=0.0;//mean->v[i] = 0.0; + } + + v=mean.getArray(); + for(int i = 0; i < row; i++ ) { + for(int j = 0; j < clm; j++ ){ + //*(v++) += *(m++); + v[j]+=input.m[i][j]; + } + } + + for(int i = 0; i < clm; i++ ){ + mean_array[i]/=row;//mean->v[i] /= row; + } + } + /** + * static int CENTER( ARMat *inout, ARVec *mean )の代替関数 + * @param inout + * @param mean + * @return + */ + private static void PCA_CENTER(NyARMat inout, NyARVec mean) throws NyARException + { + double[] v; + int row, clm; + + row = inout.getRow(); + clm = inout.getClm(); + if(mean.getClm()!= clm){ + throw new NyARException(); + } + + v = mean.getArray(); + for(int i = 0; i < row; i++ ) { + for(int j = 0; j < clm; j++ ){ + //*(m++) -= *(v++); + inout.m[i][j]-=v[j]; + } + } + } + /** + * int x_by_xt( ARMat *input, ARMat *output )の代替関数 + * @param input + * @param output + * @throws NyARException + */ + private static void PCA_x_by_xt( NyARMat input, NyARMat output) throws NyARException + { + NyARException.trap("動作未チェック/配列化未チェック"); + int row, clm; +// double[][] out; + double[] in1,in2; + + NyARException.trap("未チェックのパス"); + row = input.row; + clm = input.clm; + NyARException.trap("未チェックのパス"); + if( output.row != row || output.clm != row ){ + throw new NyARException(); + } + +// out = output.getArray(); + for(int i = 0; i < row; i++ ) { + for(int j = 0; j < row; j++ ) { + if( j < i ) { + NyARException.trap("未チェックのパス");{ + output.m[i][j]=output.m[j][i];//*out = output->m[j*row+i]; + } + }else{ + in1=input.getRowArray(i);//in1 = &(input->m[clm*i]); + in2=input.getRowArray(j);//in2 = &(input->m[clm*j]); + output.m[i][j]=0;//*out = 0.0; + for(int k = 0; k < clm; k++ ){ + output.m[i][j]+=(in1[k]*in2[k]);//*out += *(in1++) * *(in2++); + } + } + // out.incPtr(); + } + } + } + /** + * static int xt_by_x( ARMat *input, ARMat *output )の代替関数 + * @param input + * @param output + * @throws NyARException + */ + private static void PCA_xt_by_x(NyARMat input, NyARMat output) throws NyARException + { + double[] in; + int row, clm; + + row = input.row; + clm = input.clm; + if(output.row!= clm || output.clm != clm ){ + throw new NyARException(); + } + + for(int i = 0; i < clm; i++ ) { + for(int j = 0; j < clm; j++ ) { + if( j < i ) { + output.m[i][j]=output.m[j][i];//*out = output->m[j*clm+i]; + }else{ + output.m[i][j]=0.0;//*out = 0.0; + for(int k = 0; k < row; k++ ){ + in=input.getRowArray(k); + output.m[i][j]+=(in[i]*in[j]);//*out += *in1 * *in2; + } + } + } + } + } + /** + * static int QRM( ARMat *a, ARVec *dv )の代替関数 + * @param a + * @param dv + * @throws NyARException + */ + private static void PCA_QRM(NyARMat a, NyARVec dv) throws NyARException + { + double w, t, s, x, y, c; + int dim, iter; + double[] dv_array=dv.getArray(); + + dim = a.row; + if( dim != a.clm || dim < 2 ){ + throw new NyARException(); + } + if( dv.getClm() != dim ){ + throw new NyARException(); + } + + NyARVec ev = new NyARVec( dim ); + double[] ev_array=ev.getArray(); + if( ev == null ){ + throw new NyARException(); + } + + NyARVec.vecTridiagonalize(a,dv,ev,1); + + ev_array[0]=0.0;//ev->v[0] = 0.0; + for(int h = dim-1; h > 0; h-- ) { + int j = h; + 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--; + j--; + } + if( j == h ){ + continue; + } + iter = 0; + do{ + iter++; + if( iter > PCA_MAX_ITER ){ + break; + } + w = (dv_array[h-1] - dv_array[h]) / 2;//w = (dv->v[h-1] - dv->v[h]) / 2;//ここ？ + t = ev_array[h] * ev_array[h];//t = ev->v[h] * ev->v[h]; + s = Math.sqrt(w*w+t); + if( w < 0 ){ + s = -s; + } + x=dv_array[j] - dv_array[h] + t/(w+s);//x = dv->v[j] - dv->v[h] + t/(w+s); + y=ev_array[j+1];//y = ev->v[j+1]; + for(int k = j; k < h; k++ ){ + if( Math.abs(x) >= Math.abs(y)){ + if( Math.abs(x) > PCA_VZERO ) { + t = -y / x; + c = 1 / Math.sqrt(t*t+1); + s = t * c; + }else{ + c = 1.0; + s = 0.0; + } + }else{ + t = -x / y; + s = 1.0 / Math.sqrt(t*t+1); + c = t * s; + } + w = dv_array[k] - dv_array[k+1];//w = dv->v[k] - dv->v[k+1]; + t = (w * s + 2 * c * ev_array[k+1]) * s;//t = (w * s + 2 * c * ev->v[k+1]) * s; + dv_array[k]-=t;//dv->v[k] -= t; + dv_array[k+1]+=t;//dv->v[k+1] += t; + if( k > j){ + NyARException.trap("未チェックパス");{ + ev_array[k]=c * ev_array[k] - s * y;//ev->v[k] = c * ev->v[k] - s * y; + } + } + 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]); + + for(int i = 0; i < dim; i++ ){ + x = a.m[k][i];//x = a->m[k*dim+i]; + y = a.m[k+1][i];//y = a->m[(k+1)*dim+i]; + a.m[k][i]=c * x - s * y;//a->m[k*dim+i] = c * x - s * y; + a.m[k+1][i]=s * x + c * y;//a->m[(k+1)*dim+i] = s * x + c * y; + } + if( k < h-1 ) { + NyARException.trap("未チェックパス");{ + x = ev_array[k+1];//x = ev->v[k+1]; + y =-s*ev_array[k+2];//y = -s * ev->v[k+2]; + ev_array[k+2]*=c;//ev->v[k+2] *= c; + } + } + } + }while(Math.abs(ev_array[h]) > PCA_EPS*(Math.abs(dv_array[h-1])+Math.abs(dv_array[h]))); + } + double[] v1,v2; + for(int k = 0; k < dim-1; k++ ) { + int h = k; + t=dv_array[h];//t = dv->v[h]; + for(int i = k+1; i < dim; i++ ){ + if(dv_array[i] > t ){//if( dv->v[i] > t ) { + h = i; + t=dv_array[h];//t = dv->v[h]; + } + } + dv_array[h]=dv_array[k];//dv->v[h] = dv->v[k]; + dv_array[k]=t;//dv->v[k] = t; + v1=a.getRowArray(h);//v1 = &(a->m[h*dim]); + v2=a.getRowArray(k);//v2 = &(a->m[k*dim]); + for(int i = 0; i < dim; i++ ) { + w=v1[i];//w = *v1; + v1[i]=v2[i];//*v1 = *v2; + v2[i]=w;//*v2 = w; + } + } + } + /** + * static int EV_create( ARMat *input, ARMat *u, ARMat *output, ARVec *ev )の代替関数 + * @param input + * @param u + * @param output + * @param ev + * @throws NyARException + */ + private static void PCA_EV_create(NyARMat input, NyARMat u, NyARMat output, NyARVec ev) throws NyARException + { + NyARException.trap("未チェックのパス"); + int row, clm; + row = input.row;//row = input->row; + clm = input.clm;//clm = input->clm; + if( row <= 0 || clm <= 0 ){ + throw new NyARException(); + } + if( u.row != row || u.clm != row ){//if( u->row != row || u->clm != row ){ + throw new NyARException(); + } + if( output.row != row || output.clm != clm ){//if( output->row != row || output->clm != clm ){ + throw new NyARException(); + } + if( ev.getClm()!= row ){//if( ev->clm != row ){ + throw new NyARException(); + } + double[][] m,in; + double[] m1,ev_array; + double sum, work; + + m =output.getArray();//m = output->m; + in=input.getArray(); + int i; + ev_array=ev.getArray(); + for(i = 0; i < row; i++ ) { + NyARException.trap("未チェックのパス"); + if( ev_array[i]v[i] < VZERO ){ + break; + } + NyARException.trap("未チェックのパス"); + work = 1 / Math.sqrt(Math.abs(ev_array[i]));//work = 1 / sqrt(fabs(ev->v[i])); + for(int j = 0; j < clm; j++ ) { + sum = 0.0; + m1=u.getRowArray(i);//m1 = &(u->m[i*row]); + // m2=input.getPointer(j);//m2 = &(input->m[j]); + for(int k = 0; k < row; k++ ) { + sum+=m1[k]+in[k][j];//sum += *m1 * *m2; + // m1.incPtr(); //m1++; + // m2.addPtr(clm);//m2 += clm; + } + m1[j]=sum * work;//*(m++) = sum * work; + // {//*(m++) = sum * work; + // m.set(sum * work); + // m.incPtr();} + } + } + for( ; i < row; i++ ) { + NyARException.trap("未チェックのパス"); + ev_array[i]=0.0;//ev->v[i] = 0.0; + for(int j = 0; j < clm; j++ ){ + m[i][j]=0.0; + // m.set(0.0);//*(m++) = 0.0; + // m.incPtr(); + } + } + } + /*static int PCA( ARMat *input, ARMat *output, ARVec *ev )*/ + private static void PCA_PCA(NyARMat input, NyARMat output, NyARVec ev) throws NyARException + { + NyARMat u; + int row, clm, min; + double[] ev_array=ev.getArray(); + + row =input.row;//row = input->row; + clm =input.clm;//clm = input->clm; + min =(clm < row)? clm: row; + if( row < 2 || clm < 2 ){ + throw new NyARException(); + } + if( output.clm != input.clm){//if( output->clm != input->clm ){ + throw new NyARException(); + } + if( output.row!= min ){//if( output->row != min ){ + throw new NyARException(); + } + if( ev.getClm() != min ){//if( ev->clm != min ){ + throw new NyARException(); + } + u =new NyARMat( min, min ); + + if( row < clm ){ + NyARException.trap("未チェックのパス"); + PCA_x_by_xt( input, u );//if(x_by_xt( input, u ) < 0 ) { + }else{ + PCA_xt_by_x( input, u );//if(xt_by_x( input, u ) < 0 ) { + } + PCA_QRM( u, ev ); + + double[][] m1,m2; + if( row < clm ) { + NyARException.trap("未チェックのパス");{ + PCA_EV_create( input, u, output, ev ); + } + }else{ + m1=u.m;//m1 = u->m; + m2=output.m;//m2 = output->m; + int i; + for(i = 0; i < min; i++){ + if( ev_array[i] < PCA_VZERO){//if( ev->v[i] < VZERO ){ + break; + } + for(int j = 0; j < min; j++ ){ + m2[i][j]=m1[i][j];//*(m2++) = *(m1++); + } + } + for( ; i < min; i++){//for( ; i < min; i++){ + //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"); + ev_array[i]=0.0;//ev->v[i] = 0.0; + for(int j = 0; j < min; j++ ){ + m2[i][j]=0.0;//*(m2++) = 0.0; + } + } + } + } + + /*int arMatrixPCA( ARMat *input, ARMat *evec, ARVec *ev, ARVec *mean );*/ + public static void matrixPCA(NyARMat input, NyARMat evec, NyARVec ev, NyARVec mean) throws NyARException + { + NyARMat work; + double srow, sum; + int row, clm; + int check; + + row=input.row;//row = input->row; + clm=input.clm;//clm = input->clm; + check = (row < clm)? row: clm; + if( row < 2 || clm < 2 ){ + throw new NyARException(); + } + if( evec.clm != input.clm || evec.row != check ){//if( evec->clm != input->clm || evec->row != check ){ + throw new NyARException(); + } + if( ev.getClm() != check ){//if( ev->clm != check ){ + throw new NyARException(); + } + if( mean.getClm() != input.clm){//if( mean->clm != input->clm ){ + throw new NyARException(); + } + + work =input.matrixAllocDup();//arMatrixAllocDup( input );work = arMatrixAllocDup( input ); + + srow = Math.sqrt((double)row); + PCA_EX( work, mean ); + + PCA_CENTER(work,mean); + + + for(int i=0; im[i] /= srow; + } + } + + PCA_PCA( work, evec, ev ); + + sum = 0.0; + double[] ev_array=ev.getArray(); + for(int i = 0; i < ev.getClm(); i++ ){//for(int i = 0; i < ev->clm; i++ ){ + sum+=ev_array[i];//sum += ev->v[i]; + } + for(int i = 0; i < ev.getClm(); i++ ){//for(int i = 0; i < ev->clm; i++ ){ + ev_array[i]/=sum;//ev->v[i] /= sum; + } + } + + /*int arMatrixPCA2( ARMat *input, ARMat *evec, ARVec *ev );*/ + public static void arMatrixPCA2( NyARMat input, NyARMat evec, NyARVec ev) throws NyARException + { + NyARException.trap("未チェックのパス"); + NyARMat work; + // double srow; // unreferenced + double sum; + int row, clm; + int check; + + row=input.row;//row = input->row; + clm=input.clm;//clm = input->clm; + check = (row < clm)? row: clm; + if( row < 2 || clm < 2 ){ + throw new NyARException(); + } + if( evec.getClm()!= input.clm|| evec.row!=check){//if( evec->clm != input->clm || evec->row != check ){ + throw new NyARException(); + } + if( ev.getClm() != check ){//if( ev->clm != check ){ + throw new NyARException(); + } + + NyARException.trap("未チェックのパス"); + work =input.matrixAllocDup(); + + NyARException.trap("未チェックパス"); + PCA_PCA( work, evec, ev );//rval = PCA( work, evec, ev ); + sum = 0.0; + double[] ev_array=ev.getArray(); + for(int i = 0; i < ev.getClm(); i++ ){//for( i = 0; i < ev->clm; i++ ){ + NyARException.trap("未チェックパス"); + sum+=ev_array[i];//sum += ev->v[i]; + } + for(int i = 0; i < ev.getClm(); i++ ){//for(int i = 0; i < ev->clm; i++ ){ + NyARException.trap("未チェックパス"); + ev_array[i]/=sum;//ev->v[i] /= sum; + } + return; + } + public static NyARMat matrixAllocMul(NyARMat a, NyARMat b) throws NyARException + { + NyARException.trap("未チェックのパス"); + NyARMat dest=new NyARMat(a.row, b.clm); + NyARException.trap("未チェックのパス"); + matrixMul(dest, a, b); + return dest; + } + /*static double mdet(double *ap, int dimen, int rowa)*/ + private static double Det_mdet(double[][] ap, int dimen, int rowa) throws NyARException + { + NyARException.trap("動作未チェック/配列化未チェック"); + double det = 1.0; + double work; + int is = 0; + int mmax; + + for(int k = 0; k < dimen - 1; k++) { + mmax = k; + for(int i = k + 1; i < dimen; i++){ +// if (Math.abs(arMatrixDet_MATRIX_get(ap, i, k, rowa)) > Math.abs(arMatrixDet_MATRIX_get(ap, mmax, k, rowa))){ + if (Math.abs(ap[i][k]) > Math.abs(ap[mmax][k])){ + mmax = i; + } + } + if(mmax != k) { + for (int j = k; j < dimen; j++) { + work = ap[k][j];//work = MATRIX(ap, k, j, rowa); + ap[k][j]=ap[mmax][j];//MATRIX(ap, k, j, rowa) = MATRIX(ap, mmax, j, rowa); + ap[mmax][j]=work;//MATRIX(ap, mmax, j, rowa) = work; + } + is++; + } + for(int i = k + 1; i < dimen; i++) { + work = ap[i][k]/ ap[k][k];//work = arMatrixDet_MATRIX_get(ap, i, k, rowa) / arMatrixDet_MATRIX_get(ap, k, k, rowa); + for (int j = k + 1; j < dimen; j++){ + //MATRIX(ap, i, j, rowa) -= work * MATRIX(ap, k, j, rowa); + ap[i][j]-=work * ap[k][j]; + } + } + } + for(int i = 0; i < dimen; i++){ + det=ap[i][i];//det *= MATRIX(ap, i, i, rowa); + } + for(int i = 0; i < is; i++){ + det *= -1.0; + } + return det; + } + /*double arMatrixDet(ARMat *m);*/ + public static double arMatrixDet(NyARMat m) throws NyARException + { + NyARException.trap("動作未チェック/配列化未チェック"); + if(m.row != m.clm){ + return 0.0; + } + return Det_mdet(m.getArray(), m.row, m.clm);//return mdet(m->m, m->row, m->row); + } +} \ No newline at end of file diff --git a/src/jp/nyatla/nyartoolkit/core/NyARParam.java b/src/jp/nyatla/nyartoolkit/core/NyARParam.java new file mode 100644 index 0000000..a91400a --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/NyARParam.java @@ -0,0 +1,351 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core; + + +import java.io.*; +import java.nio.*; + +import jp.nyatla.nyartoolkit.NyARException; +import jp.nyatla.util.DoubleValue; + +/*typedef struct { + int xsize, ysize; + double mat[3][4]; + double dist_factor[4]; +} ARParam;*/ +public class NyARParam{ + private static final int SIZE_OF_PARAM_SET=4+4+(3*4*8)+(4*8); + private static final int PD_LOOP = 3; + protected int xsize, ysize; + private double[][] mat=new double[3][4];//Double2dArray mat=new Double2dArray(3,4); + private double[] dist_factor=new double[4]; + public int getX() + { + return xsize; + } + public int getY() + { + return ysize; + } + public double[] getDistFactor() + { + return dist_factor; + } + public double[][] getMat() + { + return mat; + } + /** + * ARToolKit標準ファイルから1個目の設定をロードする。 + * @param i_filename + * @throws NyARException + */ + public void loadFromARFile(String i_filename) throws NyARException + { + try{ + FileInputStream fs=new FileInputStream(i_filename); + NyARParam new_inst[]=arParamLoad(fs,1); + fs.close(); + xsize =new_inst[0].xsize; + ysize =new_inst[0].ysize; + mat =new_inst[0].mat; + dist_factor=new_inst[0].dist_factor; + }catch(Exception e){ + throw new NyARException(e); + } + } + /*static double dot( double a1, double a2, double a3,double b1, double b2, double b3 )*/ + private static double dot( double a1, double a2, double a3,double b1, double b2, double b3 ) + { + return( a1 * b1 + a2 * b2 + a3 * b3 ); + } + /* static double norm( double a, double b, double c )*/ + private static double norm( double a, double b, double c ) + { + return Math.sqrt( a*a + b*b + c*c ); + } + /** + * int arParamDecompMat( double source[3][4], double cpara[3][4], double trans[3][4] ); + * 関数の置き換え + * @param o_cpara + * 戻り引数。3x4のマトリクスを指定すること。 + * @param o_trans + * 戻り引数。3x4のマトリクスを指定すること。 + * @return + */ + public void decompMat(NyARMat o_cpara, NyARMat o_trans) + { + double[][] source=mat; + double[][] Cpara=new double[3][4];//double Cpara[3][4]; + double rem1, rem2, rem3; + + if(source[2][3]>= 0 ){//if( source[2][3] >= 0 ) { + for(int r = 0; r < 3; r++ ){ + for(int c = 0; c < 4; c++ ){ + Cpara[r][c]=source[r][c];//Cpara[r][c] = source[r][c]; + } + } + }else { + for(int r = 0; r < 3; r++ ){ + for(int c = 0; c < 4; c++ ){ + Cpara[r][c]=-source[r][c];//Cpara[r][c] = -(source[r][c]); + } + } + } + + double[][] cpara=o_cpara.getArray(); + double[][] trans=o_trans.getArray(); + for(int r = 0; r < 3; r++ ){ + for(int c = 0; c < 4; c++ ){ + cpara[r][c]=0.0;//cpara[r][c] = 0.0; + } + } + cpara[2][2]=norm(Cpara[2][0],Cpara[2][1], Cpara[2][2]);//cpara[2][2] = norm( Cpara[2][0], Cpara[2][1], Cpara[2][2] ); + trans[2][0]=Cpara[2][0] / cpara[2][2];//trans[2][0] = Cpara[2][0] / cpara[2][2]; + trans[2][1]=Cpara[2][1]/ cpara[2][2];//trans[2][1] = Cpara[2][1] / cpara[2][2]; + trans[2][2]=Cpara[2][2]/ cpara[2][2];//trans[2][2] = Cpara[2][2] / cpara[2][2]; + trans[2][3]=Cpara[2][3] / cpara[2][2];//trans[2][3] = Cpara[2][3] / cpara[2][2]; + + cpara[1][2]=dot(trans[2][0], trans[2][1], trans[2][2],Cpara[1][0], Cpara[1][1], Cpara[1][2]);//cpara[1][2] = dot( trans[2][0], trans[2][1], trans[2][2],Cpara[1][0], Cpara[1][1], Cpara[1][2] ); + rem1=Cpara[1][0]- cpara[1][2] * trans[2][0];//rem1 = Cpara[1][0] - cpara[1][2] * trans[2][0]; + rem2=Cpara[1][1] - cpara[1][2] * trans[2][1];//rem2 = Cpara[1][1] - cpara[1][2] * trans[2][1]; + rem3=Cpara[1][2] - cpara[1][2] * trans[2][2];//rem3 = Cpara[1][2] - cpara[1][2] * trans[2][2]; + cpara[1][1]=norm(rem1, rem2, rem3 );//cpara[1][1] = norm( rem1, rem2, rem3 ); + trans[1][0]= rem1/cpara[1][1];//trans[1][0] = rem1 / cpara[1][1]; + trans[1][1]=rem2/cpara[1][1];//trans[1][1] = rem2 / cpara[1][1]; + trans[1][2]=rem3 / cpara[1][1];//trans[1][2] = rem3 / cpara[1][1]; + + cpara[0][2]=dot(trans[2][0],trans[2][1], trans[2][2],Cpara[0][0], Cpara[0][1], Cpara[0][2] );//cpara[0][2] = dot( trans[2][0], trans[2][1], trans[2][2],Cpara[0][0], Cpara[0][1], Cpara[0][2] ); + cpara[0][1]=dot(trans[1][0],trans[1][1], trans[1][2],Cpara[0][0], Cpara[0][1], Cpara[0][2]);//cpara[0][1] = dot( trans[1][0], trans[1][1], trans[1][2],Cpara[0][0], Cpara[0][1], Cpara[0][2] ); + rem1=Cpara[0][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]; + rem2 = Cpara[0][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]; + rem3 = Cpara[0][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]; + cpara[0][0]=norm(rem1, rem2, rem3);//cpara[0][0] = norm( rem1, rem2, rem3 ); + trans[0][0]=rem1 / cpara[0][0];//trans[0][0] = rem1 / cpara[0][0]; + trans[0][1]= rem2 / cpara[0][0];//trans[0][1] = rem2 / cpara[0][0]; + trans[0][2]= rem3 / cpara[0][0];//trans[0][2] = rem3 / cpara[0][0]; + + trans[1][3]=(Cpara[1][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]; + trans[0][3]=(Cpara[0][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]; + + for(int r = 0; r < 3; r++ ){ + for(int c = 0; c < 3; c++ ){ + cpara[r][c]/=cpara[2][2];//cpara[r][c] /= cpara[2][2]; + } + } + } + + + /*int arParamDisp( ARParam *param );*/ + public int paramDisp() + { + System.out.println("--------------------------------------");//printf("--------------------------------------\n"); + System.out.print("SIZE = "+xsize+", "+ysize);//printf("SIZE = %d, %d\n", param->xsize, param->ysize); + 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] ); + for(int j = 0; j < 3; j++ ) {//for(j = 0; j < 3; j++ ) { + for(int i = 0; i < 4; i++ ){ + System.out.print(mat[j][i]+" ");//printf("%7.5f ", param->mat[j][i]); + } + System.out.println();// printf("\n"); + }//} + System.out.println("--------------------------------------");//printf("--------------------------------------\n"); + return 0; + } +// /*int arParamDecomp( ARParam *source, ARParam *icpara, double trans[3][4] );*/ +// private static int arParamDecomp( NyARParam source, NyARParam icpara, double[][] trans) +// { +// icpara.xsize = source.xsize;//icpara->xsize = source->xsize; +// icpara.ysize = source.ysize;//icpara->ysize = source->ysize; +// icpara.dist_factor[0] = source.dist_factor[0];//icpara->dist_factor[0] = source->dist_factor[0]; +// icpara.dist_factor[1] = source.dist_factor[1];// icpara->dist_factor[1] = source->dist_factor[1]; +// icpara.dist_factor[2] = source.dist_factor[2];//icpara->dist_factor[2] = source->dist_factor[2]; +// icpara.dist_factor[3] = source.dist_factor[3];//icpara->dist_factor[3] = source->dist_factor[3]; +// return arParamDecompMat(source.mat, icpara.mat, trans ); +// } + /** + * int arParamChangeSize( ARParam *source, int xsize, int ysize, ARParam *newparam ); + * 関数の代替関数 + * サイズプロパティをi_xsize,i_ysizeに変更します。 + * @param xsize + * @param ysize + * @param newparam + * @return + * + */ + public void changeSize(int i_xsize, int i_ysize) + { + double scale; + scale = (double)i_xsize / (double)(xsize);//scale = (double)xsize / (double)(source->xsize); + + for(int i = 0; i < 4; i++ ) { + mat[0][i]=mat[0][i]*scale;//newparam->mat[0][i] = source->mat[0][i] * scale; + mat[1][i]=mat[1][i]*scale;//newparam->mat[1][i] = source->mat[1][i] * scale; + mat[2][i]=mat[2][i];//newparam->mat[2][i] = source->mat[2][i]; + } + + dist_factor[0] = dist_factor[0] * scale;//newparam->dist_factor[0] = source->dist_factor[0] * scale; + dist_factor[1] = dist_factor[1] * scale;//newparam->dist_factor[1] = source->dist_factor[1] * scale; + dist_factor[2] = dist_factor[2] / (scale*scale);//newparam->dist_factor[2] = source->dist_factor[2] / (scale*scale); + dist_factor[3] = dist_factor[3];//newparam->dist_factor[3] = source->dist_factor[3]; + + xsize = i_xsize;//newparam->xsize = xsize; + ysize = i_ysize;//newparam->ysize = ysize; + } + /** + * int arParamIdeal2Observ( const double dist_factor[4], const double ix, const double iy,double *ox, double *oy ) + * 関数の代替関数 + * @param ix + * @param iy + * @param ox + * @param oy + */ + public void ideal2Observ(double ix,double iy,DoubleValue ox, DoubleValue oy) + { + double x, y, d; + + x = (ix - dist_factor[0]) * dist_factor[3]; + y = (iy - dist_factor[1]) * dist_factor[3]; + if( x == 0.0 && y == 0.0 ) { + ox.set(dist_factor[0]); + oy.set(dist_factor[1]); + }else{ + d = 1.0 - dist_factor[2]/100000000.0 * (x*x+y*y); + ox.set(x * d + dist_factor[0]); + oy.set(y * d + dist_factor[1]); + } + } + /*int arParamObserv2Ideal( const double dist_factor[4], const double ox, const double oy,double *ix, double *iy );*/ + public int observ2Ideal(double ox,double oy,DoubleValue ix,DoubleValue iy) + { + double z02, z0, p, q, z, px, py; + + px = ox - dist_factor[0]; + py = oy - dist_factor[1]; + p = dist_factor[2]/100000000.0; + z02 = px*px+ py*py; + q = z0 = Math.sqrt(px*px+ py*py); + + for(int i = 1; ; i++ ) { + if( z0 != 0.0 ) { + z = z0 - ((1.0 - p*z02)*z0 - q) / (1.0 - 3.0*p*z02); + px = px * z / z0; + py = py * z / z0; + }else { + px = 0.0; + py = 0.0; + break; + } + if( i == PD_LOOP ){ + break; + } + z02 = px*px+ py*py; + z0 = Math.sqrt(px*px+ py*py); + } + + ix.set(px / dist_factor[3] + dist_factor[0]); + iy.set(py / dist_factor[3] + dist_factor[1]); + return 0; + } + /** + * int arParamLoad( const char *filename, int num, ARParam *param, ...); + * 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。 + * @param filename + * @param num + * @param param + * @return + * 設定を格納した配列を返します。 + * @throws Exception + * i_num個の設定が読み出せない場合、JartkExceptionを発生します。 + */ + private static NyARParam[] arParamLoad(InputStream i_stream, int i_num) throws NyARException + { + try{ + int read_size=SIZE_OF_PARAM_SET*i_num; + byte[] buf=new byte[read_size]; + i_stream.read(buf); + //返却配列を確保 + NyARParam[] result=new NyARParam[i_num]; + + //バッファを加工 + ByteBuffer bb = ByteBuffer.wrap(buf); + bb.order(ByteOrder.BIG_ENDIAN); + + //固定回数パースして配列に格納 + for(int i=0;i + * + */ +package jp.nyatla.nyartoolkit.core; +/** + * ARMarkerInfoに相当するクラス。 + * スクエア情報を保持します。 + * + */ +public class NyARSquare{ + private NyARMarker marker; + public int area; + public double[] pos; + public double[][] line; //double[4][3] + public double[][] vertex;//double[4][2]; + public NyARSquare(NyARMarker i_marker,double[][] i_attached_line,double[][] i_attached_vertex) + { + //ARSquareは、ARMarkerを完全にラップするようにした。 + marker=i_marker; + area=i_marker.area; + pos =i_marker.pos; + line =i_attached_line; + vertex=i_attached_vertex; + } + public NyARMarker getMarker() + { + return marker; + } +} diff --git a/src/jp/nyatla/nyartoolkit/core/NyARTransMat.java b/src/jp/nyatla/nyartoolkit/core/NyARTransMat.java new file mode 100644 index 0000000..f42a0c4 --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/NyARTransMat.java @@ -0,0 +1,817 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core; + + + +import jp.nyatla.nyartoolkit.NyARException; +import jp.nyatla.util.DoubleValue; + +public class NyARTransMat{ + private static final int AR_FITTING_TO_IDEAL=0;//#define AR_FITTING_TO_IDEAL 0 + private static final int AR_FITTING_TO_INPUT=1;//#define AR_FITTING_TO_INPUT 1 + private static final int arFittingMode =AR_FITTING_TO_INPUT; + + private static final int AR_GET_TRANS_MAT_MAX_LOOP_COUNT=5;//#define AR_GET_TRANS_MAT_MAX_LOOP_COUNT 5 + private static final double AR_GET_TRANS_MAT_MAX_FIT_ERROR=1.0;//#define AR_GET_TRANS_MAT_MAX_FIT_ERROR 1.0 + private final static int P_MAX=500;//#define P_MAX 500 + private double[][] pos3d=new double[P_MAX][3];//pos3d[P_MAX][3]; + private double[][] pos2d=new double[P_MAX][2];//pos2d[P_MAX][2]; + + private double[] center={0.0,0.0}; + private NyARParam param; + private double conv[][]; + private NyARMat result_mat=new NyARMat(3,4); + public NyARTransMat(NyARParam i_param) + { + conv=result_mat.getArray(); + param=i_param; + + } + public void setCenter(double i_x,double i_y) + { + center[0]=i_x; + center[1]=i_x; + } + public NyARMat getTransformationMatrix() + { + return result_mat; + } + /*double arGetTransMat( ARMarkerInfo *marker_info,double center[2], double width, double conv[3][4] )*/ + public double transMat( NyARSquare square,int i_direction, double width)throws NyARException + { + double[][] rot=new double[3][3]; + double[][] ppos2d=new double[4][2]; + double[][] ppos3d=new double[4][2]; + int dir; + double err=-1; + + + + + if( arGetInitRot( square,i_direction, rot ) < 0 ){ + return -1; + } + + dir = i_direction; + ppos2d[0][0] = square.vertex[(4-dir)%4][0]; + ppos2d[0][1] = square.vertex[(4-dir)%4][1]; + ppos2d[1][0] = square.vertex[(5-dir)%4][0]; + ppos2d[1][1] = square.vertex[(5-dir)%4][1]; + ppos2d[2][0] = square.vertex[(6-dir)%4][0]; + ppos2d[2][1] = square.vertex[(6-dir)%4][1]; + ppos2d[3][0] = square.vertex[(7-dir)%4][0]; + ppos2d[3][1] = square.vertex[(7-dir)%4][1]; + ppos3d[0][0] = center[0] - width/2.0; + ppos3d[0][1] = center[1] + width/2.0; + ppos3d[1][0] = center[0] + width/2.0; + ppos3d[1][1] = center[1] + width/2.0; + ppos3d[2][0] = center[0] + width/2.0; + ppos3d[2][1] = center[1] - width/2.0; + ppos3d[3][0] = center[0] - width/2.0; + ppos3d[3][1] = center[1] - width/2.0; + + + + + + for(int i=0;i pmax[0] ){ + pmax[0] = ppos3d[i][0]; + } + if( ppos3d[i][0] < pmin[0] ){ + pmin[0] = ppos3d[i][0]; + } + if( ppos3d[i][1] > pmax[1] ){ + pmax[1] = ppos3d[i][1]; + } + if( ppos3d[i][1] < pmin[1] ){ + pmin[1] = ppos3d[i][1]; + } + } + off[0] = -(pmax[0] + pmin[0]) / 2.0; + off[1] = -(pmax[1] + pmin[1]) / 2.0; + off[2] = -(pmax[2] + pmin[2]) / 2.0; + for(int i = 0; i < num; i++ ) { + pos3d[i][0] = ppos3d[i][0] + off[0]; + pos3d[i][1] = ppos3d[i][1] + off[1]; + + pos3d[i][2] = 0.0; + } + ret = arGetTransMatSub( rot, ppos2d, pos3d, num); + + conv[0][3] = conv[0][0]*off[0] + conv[0][1]*off[1] + conv[0][2]*off[2] + conv[0][3]; + conv[1][3] = conv[1][0]*off[0] + conv[1][1]*off[1] + conv[1][2]*off[2] + conv[1][3]; + conv[2][3] = conv[2][0]*off[0] + conv[2][1]*off[1] + conv[2][2]*off[2] + conv[2][3]; + + return ret; + } + /*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] )*/ + private double arGetTransMatSub( double rot[][], double ppos2d[][],double pos3d[][], int num) throws NyARException + { + double cpara[][]=param.getMat(); + 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; + double[] trans=new double[3];//double trans[3]; + double wx, wy, wz; + double ret; + int i, j; + mat_a = new NyARMat(num*2, 3 ); + mat_b = new NyARMat( 3, num*2 ); + mat_c = new NyARMat( num*2, 1 ); + mat_d = new NyARMat( 3, 3 ); + mat_e = new NyARMat( 3, 1 ); + mat_f = new NyARMat( 3, 1 ); + double[][] a_array=mat_a.getArray(); + double[][] b_array=mat_b.getArray(); + double[][] c_array=mat_c.getArray(); + double[][] f_array=mat_f.getArray(); + + if(arFittingMode == AR_FITTING_TO_INPUT ){ + DoubleValue a1=new DoubleValue(),a2=new DoubleValue(); + for( i = 0; i < num; i++ ) { + param.ideal2Observ(ppos2d[i][0], ppos2d[i][1],a1,a2);//arParamIdeal2Observ(dist_factor, ppos2d[i][0], ppos2d[i][1],&pos2d[i][0], &pos2d[i][1]); + pos2d[i][0]=a1.get(); + pos2d[i][1]=a2.get(); + } + }else{ + for( i = 0; i < num; i++ ) { + pos2d[i][0] = ppos2d[i][0]; + pos2d[i][1] = ppos2d[i][1]; + } + } + for( j = 0; j < num; j++ ) { + int x2=j*2; + wx = rot[0][0] * pos3d[j][0]+ rot[0][1] * pos3d[j][1]+ rot[0][2] * pos3d[j][2]; + wy = rot[1][0] * pos3d[j][0]+ rot[1][1] * pos3d[j][1]+ rot[1][2] * pos3d[j][2]; + wz = rot[2][0] * pos3d[j][0]+ rot[2][1] * pos3d[j][1]+ rot[2][2] * pos3d[j][2]; + a_array[x2 ][0]=b_array[0][x2]=cpara[0][0];//mat_a->m[j*6+0] = mat_b->m[num*0+j*2] = cpara[0][0]; + a_array[x2 ][1]=b_array[1][x2]=cpara[0][1];//mat_a->m[j*6+1] = mat_b->m[num*2+j*2] = cpara[0][1]; + a_array[x2 ][2]=b_array[2][x2]=cpara[0][2] - pos2d[j][0];//mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = cpara[0][2] - pos2d[j][0]; + 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; + a_array[x2+1][1]=b_array[1][x2+1]=cpara[1][1];//mat_a->m[j*6+4] = mat_b->m[num*2+j*2+1] = cpara[1][1]; + a_array[x2+1][2]=b_array[2][x2+1]=cpara[1][2] - pos2d[j][1];//mat_a->m[j*6+5] = mat_b->m[num*4+j*2+1] = cpara[1][2] - pos2d[j][1]; + c_array[x2][0] =wz * pos2d[j][0]- cpara[0][0]*wx - cpara[0][1]*wy - cpara[0][2]*wz;//mat_c->m[j*2+0] = wz * pos2d[j][0]- cpara[0][0]*wx - cpara[0][1]*wy - cpara[0][2]*wz; + c_array[x2+1][0]=wz * pos2d[j][1]- cpara[1][1]*wy - cpara[1][2]*wz;//mat_c->m[j*2+1] = wz * pos2d[j][1]- cpara[1][1]*wy - cpara[1][2]*wz; + } +// JartkException.trap("未チェックのパス");{ + NyARMat.matrixMul( mat_d, mat_b, mat_a ); + NyARMat.matrixMul( mat_e, mat_b, mat_c ); + NyARMat.matrixSelfInv(mat_d); + NyARMat.matrixMul( mat_f, mat_d, mat_e ); +// } + trans[0] = f_array[0][0];//trans[0] = mat_f->m[0]; + trans[1] = f_array[1][0]; + trans[2] = f_array[2][0];//trans[2] = mat_f->m[2]; + + ret = arModifyMatrix( rot, trans, pos3d, pos2d, num ); + for( j = 0; j < num; j++ ) { + int x2=j*2; + wx = rot[0][0] * pos3d[j][0]+ rot[0][1] * pos3d[j][1]+ rot[0][2] * pos3d[j][2]; + wy = rot[1][0] * pos3d[j][0]+ rot[1][1] * pos3d[j][1]+ rot[1][2] * pos3d[j][2]; + wz = rot[2][0] * pos3d[j][0]+ rot[2][1] * pos3d[j][1]+ rot[2][2] * pos3d[j][2]; + a_array[x2 ][0]=b_array[0][x2]=cpara[0][0];//mat_a->m[j*6+0] = mat_b->m[num*0+j*2] = cpara[0][0]; + a_array[x2 ][1]=b_array[1][x2]=cpara[0][1];//mat_a->m[j*6+1] = mat_b->m[num*2+j*2] = cpara[0][1]; + a_array[x2 ][2]=b_array[2][x2]=cpara[0][2] - pos2d[j][0];//mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = cpara[0][2] - pos2d[j][0]; + 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; + a_array[x2+1][1]=b_array[1][x2+1]=cpara[1][1];//mat_a->m[j*6+4] = mat_b->m[num*2+j*2+1] = cpara[1][1]; + a_array[x2+1][2]=b_array[2][x2+1]=cpara[1][2] - pos2d[j][1];//mat_a->m[j*6+5] = mat_b->m[num*4+j*2+1] = cpara[1][2] - pos2d[j][1]; + c_array[x2][0] =wz * pos2d[j][0]- cpara[0][0]*wx - cpara[0][1]*wy - cpara[0][2]*wz;//mat_c->m[j*2+0] = wz * pos2d[j][0]- cpara[0][0]*wx - cpara[0][1]*wy - cpara[0][2]*wz; + c_array[x2+1][0]=wz * pos2d[j][1]- cpara[1][1]*wy - cpara[1][2]*wz;//mat_c->m[j*2+1] = wz * pos2d[j][1]- cpara[1][1]*wy - cpara[1][2]*wz; + } +// JartkException.trap("未チェックのパス");{ + NyARMat.matrixMul( mat_d, mat_b, mat_a ); + NyARMat.matrixMul( mat_e, mat_b, mat_c ); + NyARMat.matrixSelfInv(mat_d); + NyARMat.matrixMul( mat_f, mat_d, mat_e ); +// } + trans[0] = f_array[0][0];//trans[0] = mat_f->m[0]; + trans[1] = f_array[1][0]; + trans[2] = f_array[2][0];//trans[2] = mat_f->m[2]; + + + ret = arModifyMatrix( rot, trans, pos3d, pos2d, num ); + for( j = 0; j < 3; j++ ) { + for( i = 0; i < 3; i++ ){ + conv[j][i] = rot[j][i]; + } + conv[j][3] = trans[j]; + } + return ret; + } + private double arModifyMatrix( double rot[][], double trans[],double vertex[][], double pos2d[][], int num ) + { + double factor; + DoubleValue a=new DoubleValue(),b=new DoubleValue(),c=new DoubleValue();//double a, b, c; + double a1, b1, c1; + double a2, b2, c2; + double ma = 0.0, mb = 0.0, mc = 0.0; + double[][] combo=new double[3][4]; + double hx, hy, h, x, y; + double err, minerr=0; + int t1, t2, t3; + int s1 = 0, s2 = 0, s3 = 0; + int i, j; + + arGetAngle( rot, a, b, c);//arGetAngle( rot, &a, &b, &c ); + a2 = a.get(); + b2 = b.get(); + c2 = c.get(); + factor = 10.0*Math.PI/180.0; + for( j = 0; j < 10; j++ ) { + minerr = 1000000000.0; + for(t1=-1;t1<=1;t1++) { + for(t2=-1;t2<=1;t2++) { + for(t3=-1;t3<=1;t3++) { + a1 = a2 + factor*t1; + b1 = b2 + factor*t2; + c1 = c2 + factor*t3; + arGetNewMatrix( a1, b1, c1, trans, null, combo ); + err = 0.0; + for( i = 0; i < num; i++ ) { + hx = combo[0][0] * vertex[i][0]+ combo[0][1] * vertex[i][1]+ combo[0][2] * vertex[i][2]+ combo[0][3]; + hy = combo[1][0] * vertex[i][0]+ combo[1][1] * vertex[i][1]+ combo[1][2] * vertex[i][2]+ combo[1][3]; + h = combo[2][0] * vertex[i][0]+ combo[2][1] * vertex[i][1]+ combo[2][2] * vertex[i][2]+ combo[2][3]; + x = hx / h; + y = hy / h; + err += (pos2d[i][0] - x) * (pos2d[i][0] - x)+ (pos2d[i][1] - y) * (pos2d[i][1] - y); + } + if( err < minerr ) { + minerr = err; + ma = a1; + mb = b1; + mc = c1; + s1 = t1; + s2 = t2; + s3 = t3; + } + } + } + } + if( s1 == 0 && s2 == 0 && s3 == 0 ){ + factor *= 0.5; + } + a2 = ma; + b2 = mb; + c2 = mc; + } + arGetRot( ma, mb, mc, rot ); + /* printf("factor = %10.5f\n", factor*180.0/MD_PI); */ + return minerr/num; + } + private int arGetNewMatrix( double a, double b, double c,double trans[], double trans2[][], double ret[][] ) + { + double cpara[][]=param.getMat(); + double[][] cpara2=new double[3][4]; + double[][] rot=new double[3][3]; + int i, j; + + arGetRot( a, b, c, rot ); + + if( trans2 != null ) { + for( j = 0; j < 3; j++ ) { + for( i = 0; i < 4; i++ ) { + cpara2[j][i] = cpara[j][0] * trans2[0][i]+ cpara[j][1] * trans2[1][i]+ cpara[j][2] * trans2[2][i]; + } + } + }else{ + for( j = 0; j < 3; j++ ) { + for( i = 0; i < 4; i++ ) { + cpara2[j][i] = cpara[j][i]; + } + } + } + for( j = 0; j < 3; j++ ) { + for( i = 0; i < 3; i++ ) { + ret[j][i] = cpara2[j][0] * rot[0][i]+ cpara2[j][1] * rot[1][i]+ cpara2[j][2] * rot[2][i]; + } + ret[j][3] = cpara2[j][0] * trans[0]+ cpara2[j][1] * trans[1]+ cpara2[j][2] * trans[2]+ cpara2[j][3]; + } + return(0); + } + private int arGetRot( double a, double b, double c, double rot[][] ) + { + double sina, sinb, sinc; + double cosa, cosb, cosc; + + sina = Math.sin(a); + cosa = Math.cos(a); + sinb = Math.sin(b); + cosb = Math.cos(b); + sinc = Math.sin(c); + cosc = Math.cos(c); + rot[0][0] = cosa*cosa*cosb*cosc+sina*sina*cosc+sina*cosa*cosb*sinc-sina*cosa*sinc; + rot[0][1] = -cosa*cosa*cosb*sinc-sina*sina*sinc+sina*cosa*cosb*cosc-sina*cosa*cosc; + rot[0][2] = cosa*sinb; + rot[1][0] = sina*cosa*cosb*cosc-sina*cosa*cosc+sina*sina*cosb*sinc+cosa*cosa*sinc; + rot[1][1] = -sina*cosa*cosb*sinc+sina*cosa*sinc+sina*sina*cosb*cosc+cosa*cosa*cosc; + rot[1][2] = sina*sinb; + rot[2][0] = -cosa*sinb*cosc-sina*sinb*sinc; + rot[2][1] = cosa*sinb*sinc-sina*sinb*cosc; + rot[2][2] = cosb; + + return 0; + } + /*int arGetAngle( double rot[3][3], double *wa, double *wb, double *wc )*/ + private int arGetAngle( double rot[][], DoubleValue wa, DoubleValue wb, DoubleValue wc ) + { + double a, b, c; + double sina, cosa, sinb, cosb, sinc, cosc; +// #if CHECK_CALC +// double w[3]; +// int i; +// for(i=0;i<3;i++) w[i] = rot[i][0]; +// for(i=0;i<3;i++) rot[i][0] = rot[i][1]; +// for(i=0;i<3;i++) rot[i][1] = rot[i][2]; +// for(i=0;i<3;i++) rot[i][2] = w[i]; +// #endif + if( rot[2][2] > 1.0 ) { + /* printf("cos(beta) = %f\n", rot[2][2]); */ + rot[2][2] = 1.0; + }else if( rot[2][2] < -1.0 ) { + /* printf("cos(beta) = %f\n", rot[2][2]); */ + rot[2][2] = -1.0; + } + cosb = rot[2][2]; + b = Math.acos( cosb ); + sinb = Math.sin( b ); + if( b >= 0.000001 || b <= -0.000001) { + cosa = rot[0][2] / sinb; + sina = rot[1][2] / sinb; + if( cosa > 1.0 ) { + /* printf("cos(alph) = %f\n", cosa); */ + cosa = 1.0; + sina = 0.0; + } + if( cosa < -1.0 ) { + /* printf("cos(alph) = %f\n", cosa); */ + cosa = -1.0; + sina = 0.0; + } + if( sina > 1.0 ) { + /* printf("sin(alph) = %f\n", sina); */ + sina = 1.0; + cosa = 0.0; + } + if( sina < -1.0 ) { + /* printf("sin(alph) = %f\n", sina); */ + sina = -1.0; + cosa = 0.0; + } + a = Math.acos( cosa ); + if( sina < 0 ){ + a = -a; + } + 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]); + 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]); + if( cosc > 1.0 ) { + /* printf("cos(r) = %f\n", cosc); */ + cosc = 1.0; + sinc = 0.0; + } + if( cosc < -1.0 ) { + /* printf("cos(r) = %f\n", cosc); */ + cosc = -1.0; + sinc = 0.0; + } + if( sinc > 1.0 ) { + /* printf("sin(r) = %f\n", sinc); */ + sinc = 1.0; + cosc = 0.0; + } + if( sinc < -1.0 ) { + /* printf("sin(r) = %f\n", sinc); */ + sinc = -1.0; + cosc = 0.0; + } + c = Math.acos( cosc ); + if( sinc < 0 ){ + c = -c; + } + }else { + a = b = 0.0; + cosa = cosb = 1.0; + sina = sinb = 0.0; + cosc = rot[0][0]; + sinc = rot[1][0]; + if( cosc > 1.0 ) { + /* printf("cos(r) = %f\n", cosc); */ + cosc = 1.0; + sinc = 0.0; + } + if( cosc < -1.0 ) { + /* printf("cos(r) = %f\n", cosc); */ + cosc = -1.0; + sinc = 0.0; + } + if( sinc > 1.0 ) { + /* printf("sin(r) = %f\n", sinc); */ + sinc = 1.0; + cosc = 0.0; + } + if( sinc < -1.0 ) { + /* printf("sin(r) = %f\n", sinc); */ + sinc = -1.0; + cosc = 0.0; + } + c = Math.acos( cosc ); + if( sinc < 0 ) c = -c; + } + + wa.set(a);//*wa = a; + wb.set(b);//*wb = b; + wc.set(c);//*wc = c; + + return 0; + } + /*int arGetInitRot( ARMarkerInfo *marker_info, double cpara[3][4], double rot[3][3] )*/ + private int arGetInitRot( NyARSquare marker_info,int i_direction, double rot[][] ) throws NyARException + { + double cpara[][]=param.getMat(); + double[][] wdir=new double[3][3]; + double w, w1, w2, w3; + int dir; + int j; + + dir = i_direction; + + for( j = 0; j < 2; j++ ) { + 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]; + 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]; + 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]; + + wdir[j][0] = w1*(cpara[0][1]*cpara[1][2]-cpara[0][2]*cpara[1][1])+ w2*cpara[1][1]- w3*cpara[0][1]; + wdir[j][1] = -w1*cpara[0][0]*cpara[1][2]+ w3*cpara[0][0]; + wdir[j][2] = w1*cpara[0][0]*cpara[1][1]; + w = Math.sqrt( wdir[j][0]*wdir[j][0]+ wdir[j][1]*wdir[j][1]+ wdir[j][2]*wdir[j][2] ); + wdir[j][0] /= w; + wdir[j][1] /= w; + wdir[j][2] /= w; + } + + if( check_dir(wdir[0], marker_info.vertex[(4-dir)%4],marker_info.vertex[(5-dir)%4], cpara) < 0 ){ + return -1; + } + if( check_dir(wdir[1], marker_info.vertex[(7-dir)%4],marker_info.vertex[(4-dir)%4], cpara) < 0 ){ + return -1; + } + if( check_rotation(wdir) < 0 ){ + return -1; + } + + wdir[2][0] = wdir[0][1]*wdir[1][2] - wdir[0][2]*wdir[1][1]; + wdir[2][1] = wdir[0][2]*wdir[1][0] - wdir[0][0]*wdir[1][2]; + wdir[2][2] = wdir[0][0]*wdir[1][1] - wdir[0][1]*wdir[1][0]; + w = Math.sqrt( wdir[2][0]*wdir[2][0]+ wdir[2][1]*wdir[2][1]+ wdir[2][2]*wdir[2][2] ); + wdir[2][0] /= w; + wdir[2][1] /= w; + wdir[2][2] /= w; + /* + if( wdir[2][2] < 0 ) { + wdir[2][0] /= -w; + wdir[2][1] /= -w; + wdir[2][2] /= -w; + } + else { + wdir[2][0] /= w; + wdir[2][1] /= w; + wdir[2][2] /= w; + } + */ + + rot[0][0] = wdir[0][0]; + rot[1][0] = wdir[0][1]; + rot[2][0] = wdir[0][2]; + rot[0][1] = wdir[1][0]; + rot[1][1] = wdir[1][1]; + rot[2][1] = wdir[1][2]; + rot[0][2] = wdir[2][0]; + rot[1][2] = wdir[2][1]; + rot[2][2] = wdir[2][2]; + + return 0; + } + + /*static int check_dir( double dir[3], double st[2], double ed[2],double cpara[3][4] )*/ + private static int check_dir( double dir[], double st[], double ed[],double cpara[][]) throws NyARException + { + + double[][] world=new double[2][3]; + double[][] camera=new double[2][2]; + double[][] v=new double[2][2]; + double h; + int i, j; + // JartkException.trap("未チェックパス"); + NyARMat mat_a = new NyARMat( 3, 3 ); + double[][] a_array=mat_a.getArray(); + for(j=0;j<3;j++){ + for(i=0;i<3;i++){ + a_array[j][i]=cpara[j][i];//m[j*3+i] = cpara[j][i]; + } + } + // JartkException.trap("未チェックのパス"); + NyARMat.matrixSelfInv(mat_a); + 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; + 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; + 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; + world[1][0] = world[0][0] + dir[0]; + world[1][1] = world[0][1] + dir[1]; + world[1][2] = world[0][2] + dir[2]; + + for( i = 0; i < 2; i++ ) { + h = cpara[2][0] * world[i][0]+ cpara[2][1] * world[i][1]+ cpara[2][2] * world[i][2]; + if( h == 0.0 ){ + return -1; + } + camera[i][0] = (cpara[0][0] * world[i][0]+ cpara[0][1] * world[i][1]+ cpara[0][2] * world[i][2]) / h; + camera[i][1] = (cpara[1][0] * world[i][0]+ cpara[1][1] * world[i][1]+ cpara[1][2] * world[i][2]) / h; + } + + v[0][0] = ed[0] - st[0]; + v[0][1] = ed[1] - st[1]; + v[1][0] = camera[1][0] - camera[0][0]; + v[1][1] = camera[1][1] - camera[0][1]; + + if( v[0][0]*v[1][0] + v[0][1]*v[1][1] < 0 ) { + dir[0] = -dir[0]; + dir[1] = -dir[1]; + dir[2] = -dir[2]; + } + return 0; + } + + /*int check_rotation( double rot[2][3] )*/ + private static int check_rotation( double rot[][] ) + { + double[] v1=new double[3], v2=new double[3], v3=new double[3]; + double ca, cb, k1, k2, k3, k4; + double a, b, c, d; + double p1, q1, r1; + double p2, q2, r2; + double p3, q3, r3; + double p4, q4, r4; + double w; + double e1, e2, e3, e4; + int f; + + v1[0] = rot[0][0]; + v1[1] = rot[0][1]; + v1[2] = rot[0][2]; + v2[0] = rot[1][0]; + v2[1] = rot[1][1]; + v2[2] = rot[1][2]; + v3[0] = v1[1]*v2[2] - v1[2]*v2[1]; + v3[1] = v1[2]*v2[0] - v1[0]*v2[2]; + v3[2] = v1[0]*v2[1] - v1[1]*v2[0]; + w = Math.sqrt( v3[0]*v3[0]+v3[1]*v3[1]+v3[2]*v3[2] ); + if( w == 0.0 ) return -1; + v3[0] /= w; + v3[1] /= w; + v3[2] /= w; + + cb = v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; + if( cb < 0 ) cb *= -1.0; + ca = (Math.sqrt(cb+1.0) + Math.sqrt(1.0-cb)) * 0.5; + + if( v3[1]*v1[0] - v1[1]*v3[0] != 0.0 ) { + f = 0; + } + else { + if( v3[2]*v1[0] - v1[2]*v3[0] != 0.0 ) { + w = v1[1]; v1[1] = v1[2]; v1[2] = w; + w = v3[1]; v3[1] = v3[2]; v3[2] = w; + f = 1; + } + else { + w = v1[0]; v1[0] = v1[2]; v1[2] = w; + w = v3[0]; v3[0] = v3[2]; v3[2] = w; + f = 2; + } + } + if( v3[1]*v1[0] - v1[1]*v3[0] == 0.0 ){ + return -1; + } + k1 = (v1[1]*v3[2] - v3[1]*v1[2]) / (v3[1]*v1[0] - v1[1]*v3[0]); + k2 = (v3[1] * ca) / (v3[1]*v1[0] - v1[1]*v3[0]); + k3 = (v1[0]*v3[2] - v3[0]*v1[2]) / (v3[0]*v1[1] - v1[0]*v3[1]); + k4 = (v3[0] * ca) / (v3[0]*v1[1] - v1[0]*v3[1]); + + a = k1*k1 + k3*k3 + 1; + b = k1*k2 + k3*k4; + c = k2*k2 + k4*k4 - 1; + + d = b*b - a*c; + if( d < 0 ){ + return -1; + } + r1 = (-b + Math.sqrt(d))/a; + p1 = k1*r1 + k2; + q1 = k3*r1 + k4; + r2 = (-b - Math.sqrt(d))/a; + p2 = k1*r2 + k2; + q2 = k3*r2 + k4; + if( f == 1 ) { + w = q1; q1 = r1; r1 = w; + w = q2; q2 = r2; r2 = w; + w = v1[1]; v1[1] = v1[2]; v1[2] = w; + w = v3[1]; v3[1] = v3[2]; v3[2] = w; + f = 0; + } + if( f == 2 ) { + w = p1; p1 = r1; r1 = w; + w = p2; p2 = r2; r2 = w; + w = v1[0]; v1[0] = v1[2]; v1[2] = w; + w = v3[0]; v3[0] = v3[2]; v3[2] = w; + f = 0; + } + + if( v3[1]*v2[0] - v2[1]*v3[0] != 0.0 ) { + f = 0; + } + else { + if( v3[2]*v2[0] - v2[2]*v3[0] != 0.0 ) { + w = v2[1]; v2[1] = v2[2]; v2[2] = w; + w = v3[1]; v3[1] = v3[2]; v3[2] = w; + f = 1; + } + else { + w = v2[0]; v2[0] = v2[2]; v2[2] = w; + w = v3[0]; v3[0] = v3[2]; v3[2] = w; + f = 2; + } + } + if( v3[1]*v2[0] - v2[1]*v3[0] == 0.0 ) return -1; + k1 = (v2[1]*v3[2] - v3[1]*v2[2]) / (v3[1]*v2[0] - v2[1]*v3[0]); + k2 = (v3[1] * ca) / (v3[1]*v2[0] - v2[1]*v3[0]); + k3 = (v2[0]*v3[2] - v3[0]*v2[2]) / (v3[0]*v2[1] - v2[0]*v3[1]); + k4 = (v3[0] * ca) / (v3[0]*v2[1] - v2[0]*v3[1]); + + a = k1*k1 + k3*k3 + 1; + b = k1*k2 + k3*k4; + c = k2*k2 + k4*k4 - 1; + + d = b*b - a*c; + if( d < 0 ){ + return -1; + } + r3 = (-b + Math.sqrt(d))/a; + p3 = k1*r3 + k2; + q3 = k3*r3 + k4; + r4 = (-b - Math.sqrt(d))/a; + p4 = k1*r4 + k2; + q4 = k3*r4 + k4; + if( f == 1 ) { + w = q3; q3 = r3; r3 = w; + w = q4; q4 = r4; r4 = w; + w = v2[1]; v2[1] = v2[2]; v2[2] = w; + w = v3[1]; v3[1] = v3[2]; v3[2] = w; + f = 0; + } + if( f == 2 ) { + w = p3; p3 = r3; r3 = w; + w = p4; p4 = r4; r4 = w; + w = v2[0]; v2[0] = v2[2]; v2[2] = w; + w = v3[0]; v3[0] = v3[2]; v3[2] = w; + f = 0; + } + + e1 = p1*p3+q1*q3+r1*r3; + if( e1 < 0 ){ + e1 = -e1; + } + e2 = p1*p4+q1*q4+r1*r4; + if( e2 < 0 ){ + e2 = -e2; + } + e3 = p2*p3+q2*q3+r2*r3; + if( e3 < 0 ){ + e3 = -e3; + } + e4 = p2*p4+q2*q4+r2*r4; + if( e4 < 0 ){ + e4 = -e4; + } + if( e1 < e2 ) { + if( e1 < e3 ) { + if( e1 < e4 ) { + rot[0][0] = p1; + rot[0][1] = q1; + rot[0][2] = r1; + rot[1][0] = p3; + rot[1][1] = q3; + rot[1][2] = r3; + } + else { + rot[0][0] = p2; + rot[0][1] = q2; + rot[0][2] = r2; + rot[1][0] = p4; + rot[1][1] = q4; + rot[1][2] = r4; + } + } + else { + if( e3 < e4 ) { + rot[0][0] = p2; + rot[0][1] = q2; + rot[0][2] = r2; + rot[1][0] = p3; + rot[1][1] = q3; + rot[1][2] = r3; + } + else { + rot[0][0] = p2; + rot[0][1] = q2; + rot[0][2] = r2; + rot[1][0] = p4; + rot[1][1] = q4; + rot[1][2] = r4; + } + } + } + else { + if( e2 < e3 ) { + if( e2 < e4 ) { + rot[0][0] = p1; + rot[0][1] = q1; + rot[0][2] = r1; + rot[1][0] = p4; + rot[1][1] = q4; + rot[1][2] = r4; + } + else { + rot[0][0] = p2; + rot[0][1] = q2; + rot[0][2] = r2; + rot[1][0] = p4; + rot[1][1] = q4; + rot[1][2] = r4; + } + } + else { + if( e3 < e4 ) { + rot[0][0] = p2; + rot[0][1] = q2; + rot[0][2] = r2; + rot[1][0] = p3; + rot[1][1] = q3; + rot[1][2] = r3; + } + else { + rot[0][0] = p2; + rot[0][1] = q2; + rot[0][2] = r2; + rot[1][0] = p4; + rot[1][1] = q4; + rot[1][2] = r4; + } + } + } + return 0; + } + +} diff --git a/src/jp/nyatla/nyartoolkit/core/NyARVec.java b/src/jp/nyatla/nyartoolkit/core/NyARVec.java new file mode 100644 index 0000000..53a22ff --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/NyARVec.java @@ -0,0 +1,243 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core; + +import jp.nyatla.nyartoolkit.NyARException; + + + +public class NyARVec +{ + private int clm; + private NyARVec(double[] i_array) + { + v=i_array; + clm=v.length; + } + public NyARVec(int i_clm) + { + v=new double[i_clm]; + clm=i_clm; + } + private double[] v; + public int getClm() + { + return clm; + } + public double[] getArray() + { + return v; + } + public static NyARVec wrap(double[] i_array) + { + return new NyARVec(i_array); + } + /** + * arVecDispの代替品 + * @param v + * @return + */ + public int arVecDisp() throws NyARException + { + NyARException.trap("未チェックのパス"); + System.out.println(" === vector ("+clm+") ===\n");//printf(" === vector (%d) ===\n", v->clm); + System.out.print(" |");//printf(" |"); + for(int c = 0; c < clm; c++ ){//for( c = 0; c < v->clm; c++ ){ + System.out.print(" "+v[c]);//printf( " %10g", v->v[c] ); + } + System.out.println(" |");//printf(" |\n"); + System.out.println(" ===================");//printf(" ===================\n"); + return 0; + } + /** + * arVecInnerproduct関数の代替品 + * @param x + * @param y + * @param i_start + * 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) + * @return + * @throws NyARException + */ + private static double vecInnerproduct(NyARVec x,NyARVec y,int i_start) throws NyARException + { + NyARException.trap("この関数は動作確認できていません。"); + double result = 0.0; +// double[] x_array=x.v;.getArray(); +// double[] y_array=y.getArray(); + + if(x.clm!= y.clm){ + throw new NyARException();//exit(); + } + for(int i = i_start; i < x.clm; i++ ) { + NyARException.trap("未チェックのパス"); + result += x.v[i] * y.v[i];//result += x->v[i] * y->v[i]; + } + return result; + } + /** + * double arVecHousehold関数の代替品 + * @param x + * @param i_start + * 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) + * @return + * @throws NyARException + */ + private static double vecHousehold(NyARVec x,int i_start) throws NyARException + { + NyARException.trap("この関数は動作確認できていません。"); + double s, t; + s = Math.sqrt(vecInnerproduct(x,x,i_start)); +// double[] x_array=x.getArray(); + if( s != 0.0 ){ + NyARException.trap("未チェックのパス"); + if(x.v[i_start]< 0){ + s = -s; + } + NyARException.trap("未チェックのパス");{ + x.v[i_start]+=s;//x->v[0] += s; + t = 1 / Math.sqrt(x.v[i_start]* s);//t = 1 / sqrt(x->v[0] * s); + } + for(int i = i_start; i < x.clm; i++){ + NyARException.trap("未チェックのパス"); + x.v[i]*=t;//x->v[i] *= t; + } + } + return -s; + } + /** + * arVecTridiagonalize関数の代替品 + * 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 + * @param a + * @param d + * @param e + * @param i_e_start + * 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) + * @return + * @throws NyARException + */ + public static void vecTridiagonalize(NyARMat a, NyARVec d, NyARVec e,int i_e_start) throws NyARException + { + NyARVec vec,vec2; + double[][] a_array=a.getArray(); + double s, t, p, q; + int dim; + + if(a.getClm()!=a.getRow()){ + throw new NyARException(); + } + if(a.getClm() != d.clm){ + throw new NyARException(); + } + if(a.getClm() != e.clm){ + throw new NyARException(); + } + dim = a.getClm(); + + for(int k = 0; k < dim-2; k++ ){ + vec=a.getRowVec(k); +// double[] vec_array=vec.getArray(); + NyARException.trap("未チェックパス"); + d.v[k]=vec.v[k];//d.set(k,v.get(k)); //d->v[k] = v[k]; + + //wv1.clm = dim-k-1; + //wv1.v = &(v[k+1]); + NyARException.trap("未チェックパス"); + e.v[k+i_e_start]=vecHousehold(vec,k+1);//e->v[k] = arVecHousehold(&wv1); + if(e.v[k+i_e_start]== 0.0 ){ + continue; + } + + for(int i = k+1; i < dim; i++ ){ + s = 0.0; + for(int j = k+1; j < i; j++ ) { + NyARException.trap("未チェックのパス"); + 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]; + } + for(int j = i; j < dim; j++ ) { + NyARException.trap("未チェックのパス"); + 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]; + } + NyARException.trap("未チェックのパス"); + d.v[i]=s;//d->v[i] = s; + } + + + //wv1.clm = wv2.clm = dim-k-1; + //wv1.v = &(v[k+1]); + //wv2.v = &(d->v[k+1]); + vec=a.getRowVec(k); +// vec_array=vec.getArray(); + NyARException.trap("未チェックパス"); + t = vecInnerproduct(vec,d,k+1)/ 2; + for(int i = dim-1; i > k; i-- ) { + NyARException.trap("未チェックパス"); + p = vec.v[i];//p = v.get(i);//p = v[i]; + d.v[i]-=t*p;q=d.v[i];//q = d->v[i] -= t*p； + for(int j = i; j < dim; j++ ){ + NyARException.trap("未チェックパス"); + a_array[i][j]-=p*(d.v[j] + q*vec.v[j]);//a->m[i*dim+j] -= p*(d->v[j]) + q*v[j]; + } + } + } + + if( dim >= 2) { + d.v[dim-2]=a_array[dim-2][dim-2];//d->v[dim-2] = a->m[(dim-2)*dim+(dim-2)]; + e.v[dim-2+i_e_start]=a_array[dim-2][dim-1];//e->v[dim-2] = a->m[(dim-2)*dim+(dim-1)]; + } + + if( dim >= 1 ){ + d.v[dim-1]=a_array[dim-1][dim-1];//d->v[dim-1] = a->m[(dim-1)*dim+(dim-1)]; + } + + for(int k = dim-1; k >= 0; k--) { + vec=a.getRowVec(k);//v = a.getPointer(k*dim);//v = &(a->m[k*dim]); + if( k < dim-2 ) { + for(int i = k+1; i < dim; i++ ){ + //wv1.clm = wv2.clm = dim-k-1; + //wv1.v = &(v[k+1]); + //wv2.v = &(a->m[i*dim+k+1]); + vec2=a.getRowVec(i); + + t = vecInnerproduct(vec,vec2,k+1); + for(int j = k+1; j < dim; j++ ){ + NyARException.trap("未チェックパス"); + 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]; + } + } + } + for(int i = 0; i < dim; i++ ){ + vec.v[i]=0.0;//v.set(i,0.0);//v[i] = 0.0; + } + vec.v[k]=1;//v.set(k,1);//v[k] = 1; + } + } +} diff --git a/src/jp/nyatla/nyartoolkit/core/NyARVersion.java b/src/jp/nyatla/nyartoolkit/core/NyARVersion.java new file mode 100644 index 0000000..ef76572 --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/NyARVersion.java @@ -0,0 +1,66 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core; + + +/** + * ARUint32 arGetVersion(char **versionStringRef); + * 関数の置き換え + */ +public class NyARVersion { + private static final int AR_HEADER_VERSION_MAJOR=2; //#define AR_HEADER_VERSION_MAJOR 2 + private static final int AR_HEADER_VERSION_MINOR=72;//#define AR_HEADER_VERSION_MINOR 72 + private static final int AR_HEADER_VERSION_TINY=0;//#define AR_HEADER_VERSION_TINY 0 + private static final int AR_HEADER_VERSION_BUILD=0;//#define AR_HEADER_VERSION_BUILD 0 + private static final String AR_HEADER_VERSION_STRING="2.72.0";//#define AR_HEADER_VERSION_STRING "2.72.0" + public static final boolean AR_HAVE_HEADER_VERSION_2=true;//#define AR_HAVE_HEADER_VERSION_2 + public static final boolean AR_HAVE_HEADER_VERSION_2_72=true;//#define AR_HAVE_HEADER_VERSION_2_72 + + public static String getARVersion() + { + return AR_HEADER_VERSION_STRING; + } + public static int getARVersionInt() + { + // Represent full version number (major, minor, tiny, build) in + // binary coded decimal. N.B: Integer division. + return (int)(0x10000000 * (AR_HEADER_VERSION_MAJOR / 10)) + + (int)(0x01000000 * (AR_HEADER_VERSION_MAJOR % 10)) + + (int)(0x00100000 * (AR_HEADER_VERSION_MINOR / 10)) + + (int)(0x00010000 * (AR_HEADER_VERSION_MINOR % 10)) + + (int)(0x00001000 * (AR_HEADER_VERSION_TINY / 10)) + + (int)(0x00000100 * (AR_HEADER_VERSION_TINY % 10)) + + (int)(0x00000010 * (AR_HEADER_VERSION_BUILD / 10)) + + (int)(0x00000001 * (AR_HEADER_VERSION_BUILD % 10)); + + } +} diff --git a/src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt.java b/src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt.java new file mode 100644 index 0000000..72b99e6 --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt.java @@ -0,0 +1,59 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core.match; + +import jp.nyatla.nyartoolkit.NyARException; +import jp.nyatla.nyartoolkit.core.NyARCode; +import jp.nyatla.nyartoolkit.core.NyARColorPatt; + + + + + +/** + * ARColorPattのマッチング計算をするインタフェイスです。 + * 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。 + * 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。 + * + */ +interface ARMatchPatt{ + public double getConfidence(); + public int getDirection(); + public void evaluate(NyARCode i_code); + public void setPatt(NyARColorPatt i_target_patt) throws NyARException; +} + + + + + + diff --git a/src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt_BlackWhite.java b/src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt_BlackWhite.java new file mode 100644 index 0000000..0712557 --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt_BlackWhite.java @@ -0,0 +1,112 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core.match; + +import jp.nyatla.nyartoolkit.NyARException; +import jp.nyatla.nyartoolkit.core.*; + +/** + * AR_TEMPLATE_MATCHING_BWと同等のルールで + * マーカーを評価します。 + * + */ +public class NyARMatchPatt_BlackWhite implements ARMatchPatt{ + private double datapow; + private int width; + private int height; + private double cf=0; + private int dir=0; + private int ave; + private int[][][] input=new int[height][width][3]; + public void setPatt(NyARColorPatt i_target_patt) throws NyARException + { + width=i_target_patt.getWidth(); + height=i_target_patt.getHeight(); + short[][][] data=i_target_patt.getPatArray(); + input=new int[height][width][3]; + + int sum = ave = 0; + for(int i=0;i max ) { + max = sum2; + res = j; + } + } + dir=res; + cf=max; + } +} diff --git a/src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt_Color_WITHOUT_PCA.java b/src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt_Color_WITHOUT_PCA.java new file mode 100644 index 0000000..2d60521 --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt_Color_WITHOUT_PCA.java @@ -0,0 +1,118 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core.match; + +import jp.nyatla.nyartoolkit.NyARException; +import jp.nyatla.nyartoolkit.core.*; + +/** + * AR_TEMPLATE_MATCHING_COLORかつAR_MATCHING_WITHOUT_PCAと同等のルールで + * マーカーを評価します。 + * + */ +public class NyARMatchPatt_Color_WITHOUT_PCA implements ARMatchPatt{ + private int[][][] input; + private int ave; + private double datapow; + + private int width; + private int height; + private double cf=0; + private int dir=0; + public double getConfidence(){ + return cf; + } + public int getDirection(){ + return dir; + } + public void setPatt(NyARColorPatt i_target_patt) throws NyARException + { + width=i_target_patt.getWidth(); + height=i_target_patt.getHeight(); + short[][][] data=i_target_patt.getPatArray(); + + input=new int[height][width][3]; + int sum; + + sum = ave = 0; + for(int i=0;i max ){ + max = sum2; + res = j; + } + } + dir=res; + cf=max; + } +} \ No newline at end of file diff --git a/src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt_Color_WITH_PCA.java b/src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt_Color_WITH_PCA.java new file mode 100644 index 0000000..1fba3cc --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/match/NyARMatchPatt_Color_WITH_PCA.java @@ -0,0 +1,146 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core.match; + +import jp.nyatla.nyartoolkit.NyARException; +import jp.nyatla.nyartoolkit.core.NyARCode; +import jp.nyatla.nyartoolkit.core.NyARColorPatt; + +/** + * AR_TEMPLATE_MATCHING_COLORかつAR_MATCHING_WITH_PCAと同等のルールで + * マーカーを評価します。 + * + */ +public class NyARMatchPatt_Color_WITH_PCA implements ARMatchPatt{ + private final int EVEC_MAX=10;//#define EVEC_MAX 10 + private int evec_dim;//static int evec_dim; + private int[][][] input; + private double[][][][] evec;//static double evec[EVEC_MAX][AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3]; + private double[][] epat=new double[4][EVEC_MAX];//static double epat[AR_PATT_NUM_MAX][4][EVEC_MAX]; + private int ave; + private double datapow; + + private int width; + private int height; + private double cf=0; + private int dir=0;//向きか！ + public double getConfidence(){ + return cf; + } + public int getDirection(){ + return dir; + } + public void setPatt(NyARColorPatt i_target_patt) throws NyARException + { + width=i_target_patt.getWidth(); + height=i_target_patt.getHeight(); + short[][][] data=i_target_patt.getPatArray(); + + input=new int[height][width][3]; + evec=new double[EVEC_MAX][height][width][3];//static double evec[EVEC_MAX][AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3]; + int sum; + + sum = ave = 0; + for(int i=0;i + * + */ +package jp.nyatla.nyartoolkit.core.raster; + +public interface NyARRaster{ + //RGBの合計値を返す + public int getPixcelTotal(int i_x,int i_y); + public int getWidth(); + public int getHeight(); + public void pickRgbArray(int i_x,int i_y,int[] i_rgb); +} + + + diff --git a/src/jp/nyatla/nyartoolkit/core/raster/NyARRaster_BGRA.java b/src/jp/nyatla/nyartoolkit/core/raster/NyARRaster_BGRA.java new file mode 100644 index 0000000..81743a4 --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/raster/NyARRaster_BGRA.java @@ -0,0 +1,70 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core.raster; + + +public class NyARRaster_BGRA implements NyARRaster +{ + private byte[] ref_buf; + int width; + int height; + public static NyARRaster_BGRA wrap(byte[] i_buffer,int i_width,int i_height) + { + NyARRaster_BGRA new_inst=new NyARRaster_BGRA(); + new_inst.ref_buf=i_buffer; + new_inst.width =i_width; + new_inst.height =i_height; + return new_inst; + } + //RGBの合計値を返す + public int getPixcelTotal(int i_x,int i_y) + { + int bp=(i_x+i_y*width)*4; + return (ref_buf[bp] & 0xff)+(ref_buf[bp+1] & 0xff)+(ref_buf[bp+2] & 0xff); + } + public int getWidth() + { + return width; + } + public int getHeight() + { + return height; + } + public void pickRgbArray(int i_x,int i_y,int[] i_rgb) + { + int bp=(i_x+i_y*width)*4; + i_rgb[0]=(ref_buf[bp+2] & 0xff);//R + i_rgb[1]=(ref_buf[bp+1] & 0xff);//G + i_rgb[2]=(ref_buf[bp+0] & 0xff);//B + } +} + diff --git a/src/jp/nyatla/nyartoolkit/core/raster/NyARRaster_Blank.java b/src/jp/nyatla/nyartoolkit/core/raster/NyARRaster_Blank.java new file mode 100644 index 0000000..0e268ce --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/raster/NyARRaster_Blank.java @@ -0,0 +1,68 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core.raster; + + +/* + * 真っ黒の矩形を定義する。 + * + */ +public class NyARRaster_Blank implements NyARRaster +{ + int width; + int height; + public NyARRaster_Blank(int i_width,int i_height) + { + NyARRaster_BGRA new_inst=new NyARRaster_BGRA(); + new_inst.width =i_width; + new_inst.height =i_height; + } + //RGBの合計値を返す + public int getPixcelTotal(int i_x,int i_y) + { + return 0; + } + public int getWidth() + { + return width; + } + public int getHeight() + { + return height; + } + public void pickRgbArray(int i_x,int i_y,int[] i_rgb) + { + i_rgb[0]=0; + i_rgb[1]=0; + i_rgb[2]=0; + } +} diff --git a/src/jp/nyatla/nyartoolkit/core/raster/NyARRaster_RGB.java b/src/jp/nyatla/nyartoolkit/core/raster/NyARRaster_RGB.java new file mode 100644 index 0000000..c04621e --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/core/raster/NyARRaster_RGB.java @@ -0,0 +1,70 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.core.raster; + + +public class NyARRaster_RGB implements NyARRaster +{ + protected byte[] ref_buf; + protected int width; + protected int height; + public static NyARRaster_RGB wrap(byte[] i_buffer,int i_width,int i_height) + { + NyARRaster_RGB new_inst=new NyARRaster_RGB(); + new_inst.ref_buf=i_buffer; + new_inst.width =i_width; + new_inst.height =i_height; + return new_inst; + } + //RGBの合計値を返す + public int getPixcelTotal(int i_x,int i_y) + { + int bp=(i_x+i_y*width)*3; + return (ref_buf[bp] & 0xff)+(ref_buf[bp+1] & 0xff)+(ref_buf[bp+2] & 0xff); + } + public int getWidth() + { + return width; + } + public int getHeight() + { + return height; + } + public void pickRgbArray(int i_x,int i_y,int[] i_rgb) + { + int bp=(i_x+i_y*width)*3; + i_rgb[0]=(ref_buf[bp+0] & 0xff);//R + i_rgb[1]=(ref_buf[bp+1] & 0xff);//G + i_rgb[2]=(ref_buf[bp+2] & 0xff);//B + } +} + diff --git a/src/jp/nyatla/nyartoolkit/detector/NyARSingleDetectMarker.java b/src/jp/nyatla/nyartoolkit/detector/NyARSingleDetectMarker.java new file mode 100644 index 0000000..93104e0 --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/detector/NyARSingleDetectMarker.java @@ -0,0 +1,175 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * This work is based on the original ARToolKit developed by + * Hirokazu Kato + * Mark Billinghurst + * HITLab, University of Washington, Seattle + * http://www.hitl.washington.edu/artoolkit/ + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.detector; + +import jp.nyatla.nyartoolkit.NyARException; +import jp.nyatla.nyartoolkit.core.*; +import jp.nyatla.nyartoolkit.core.match.NyARMatchPatt_Color_WITHOUT_PCA; +import jp.nyatla.nyartoolkit.core.raster.*; +/** + * 1個のマーカーに対する変換行列を計算するクラスです。 + * + */ +public class NyARSingleDetectMarker{ + private static final int AR_SQUARE_MAX=10; + private NyARParam param; + private NyARDetectSquare square; + private NyARCode code; + protected NyARTransMat transmat; + private double marker_width; + //検出結果の保存用 + private int detected_direction; + private double detected_confidence; + private NyARSquare detected_square; + public NyARSingleDetectMarker(NyARParam i_param,NyARCode i_code,double i_marker_width) + { + param=i_param; + //解析オブジェクトを作る + square=new NyARDetectSquare(AR_SQUARE_MAX,i_param); + transmat=new NyARTransMat(param); + //比較コードを保存 + code=i_code; + marker_width=i_marker_width; + + + } + /** + * i_imageにマーカー検出処理を実行して、結果を保持します。 + * @param dataPtr + * @param thresh + * @return + * マーカーが検出できたかを真偽値で返します。 + * @throws NyARException + */ + public boolean detectMarkerLite(NyARRaster i_image,int i_thresh) throws NyARException + { + detected_square=null; + //スクエアコードを探す + square.detectSquare(i_image, i_thresh); + int number_of_square=square.getSquareCount(); + //コードは見つかった？ + if(number_of_square<1){ + return false; + } + + //コードの一致度を調べる準備 + NyARSquare[] squares=square.getSquareArray(); + //パターンホルダを作る + NyARColorPatt patt=new NyARColorPatt(code.getWidth(),code.getHeight()); + //評価基準になるパターンをイメージから切り出す + patt.pickFromRaster(i_image,squares[0].getMarker()); + + //パターンの評価オブジェクトを作る。 + NyARMatchPatt_Color_WITHOUT_PCA eva=new NyARMatchPatt_Color_WITHOUT_PCA(); + //パターンを評価器にセット + eva.setPatt(patt); + //コードと比較する + eva.evaluate(code); + int square_index=0; + int direction=eva.getDirection(); + double confidence=eva.getConfidence(); + for(int i=1;ic2){ + continue; + } + //もっと一致するマーカーがあったぽい + square_index=i; + direction=eva.getDirection(); + confidence=c2; + } + //マーカー情報を保存 + detected_square=squares[square_index]; + detected_direction=direction; + detected_confidence=confidence; + return true; + } + /** + * 変換行列を返します。直前に実行したdetectMarkerLiteが成功していないと使えません。 + * @param i_marker_width + * マーカーの大きさを指定します。 + * @return + * double[3][4]の変換行列を返します。 + * @throws NyARException + */ + public NyARMat getTransmationMatrix() throws NyARException + { + //一番一致したマーカーの位置とかその辺を計算 + transmat.transMat(detected_square,detected_direction,marker_width); + return transmat.getTransformationMatrix(); + } + public double getConfidence() + { + return detected_confidence; + } + public int getDirection() + { + return detected_direction; + } + + + + + + + +// public static class arUtil_c{ +// public static final int arFittingMode =Config.DEFAULT_FITTING_MODE; +// private static final int arImageProcMode =Config.DEFAULT_IMAGE_PROC_MODE; +// public static final int arTemplateMatchingMode =Config.DEFAULT_TEMPLATE_MATCHING_MODE; +// public static final int arMatchingPCAMode =Config.DEFAULT_MATCHING_PCA_MODE; + /*int arInitCparam( ARParam *param )*/ + + + +} + + + + + + + + + + + + + + + diff --git a/src/jp/nyatla/nyartoolkit/sample/RawFileTest.java b/src/jp/nyatla/nyartoolkit/sample/RawFileTest.java new file mode 100644 index 0000000..d251e11 --- /dev/null +++ b/src/jp/nyatla/nyartoolkit/sample/RawFileTest.java @@ -0,0 +1,95 @@ +/* + * PROJECT: NyARToolkit + * -------------------------------------------------------------------------------- + * + * The NyARToolkit is Java version ARToolkit class library. + * Copyright (C)2008 R.Iizuka + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this framework; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * For further information please contact. + * http://nyatla.jp/nyatoolkit/ + * + * + */ +package jp.nyatla.nyartoolkit.sample; + + +import java.io.*; +import java.util.*; + +import jp.nyatla.nyartoolkit.core.*; +import jp.nyatla.nyartoolkit.core.raster.*; +import jp.nyatla.nyartoolkit.detector.*; + +/** + * 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、 + * その変換行列を求めます。 + * + * @author R.iizuka + * + */ +public class RawFileTest { + private final String code_file ="../Data/patt.hiro"; + private final String data_file ="../Data/320x240ABGR.raw"; + private final String camera_file="../Data/camera_para.dat"; + public RawFileTest() + { + } + public void Test_arDetectMarkerLite() throws Exception + { + //AR用カメラパラメタファイルをロード + NyARParam ap =new NyARParam(); + ap.loadFromARFile(camera_file); + ap.changeSize(320,240); + + //AR用のパターンコードを読み出し + NyARCode code=new NyARCode(16,16); + code.LoadFromARFile(code_file); + + //試験イメージの読み出し(320x240 BGRAのRAWデータ) + File f=new File(data_file); + FileInputStream fs=new FileInputStream(data_file); + byte[] buf=new byte[(int)f.length()]; + fs.read(buf); + NyARRaster_BGRA ra=NyARRaster_BGRA.wrap(buf, 320, 240); + // Blank_Raster ra=new Blank_Raster(320, 240); + + //１パターンのみを追跡するクラスを作成 + NyARSingleDetectMarker ar=new NyARSingleDetectMarker(ap,code,80.0); + + //マーカーを検出 + Date d2=new Date(); + for(int i=0;i<100;i++){ + ar.detectMarkerLite(ra,100); + //変換行列を取得 + double[][] tm=ar.getTransmationMatrix().getArray(); + } + Date d=new Date(); + System.out.println(d.getTime()-d2.getTime()); + } + public static void main(String[] args) + { + + try{ + RawFileTest t=new RawFileTest(); + //t.Test_arGetVersion(); + t.Test_arDetectMarkerLite(); + }catch(Exception e){ + e.printStackTrace(); + } + } + +} diff --git a/src/jp/nyatla/util/BytePointer.java b/src/jp/nyatla/util/BytePointer.java new file mode 100644 index 0000000..1de1df9 --- /dev/null +++ b/src/jp/nyatla/util/BytePointer.java @@ -0,0 +1,56 @@ +package jp.nyatla.util; + +public class BytePointer { + private byte[] array_ref; //配列 + private int array_offset; //配列に対する基準値 + private int position; //array_offsetに対する現在位置 + public static BytePointer wrap(byte[] i_array_ref,int i_offset) + { + return new BytePointer(i_array_ref,i_offset); + } + public void set(byte i_value) + { + array_ref[array_offset+position]=i_value; + } + public void set(int i_rel_positon,byte i_value) + { + array_ref[array_offset+position+i_rel_positon]=i_value; + } + /** + * カレント位置の値を取得する + * @return + */ + public byte get() + { + return array_ref[array_offset+position]; + } + /** + * カレント位置から+i_slideの位置にある値を取得する。 + * @param i_step + * @return + */ + public byte get(int i_slide) + { + return array_ref[array_offset+position+i_slide]; + } + public void incPtr() + { + position++; + } + public void addPtr(int v) + { + position+=v; + } + private BytePointer(byte[] i_array_ref,int i_base_point) + { + array_offset =i_base_point; + array_ref =i_array_ref; + position =0; + } +// public BytePointer() +// { +// array_offset =0; +// array_ref =new int[1]; +// position =0; +// } +} diff --git a/src/jp/nyatla/util/DoublePointer.java b/src/jp/nyatla/util/DoublePointer.java new file mode 100644 index 0000000..223ab54 --- /dev/null +++ b/src/jp/nyatla/util/DoublePointer.java @@ -0,0 +1,106 @@ +package jp.nyatla.util; +/** + * double型ポインタのエミュレートクラス + * 対象のdouble配列を基点を基準に参照する。 + * @author atla + * + */ +public class DoublePointer +{ + private double[] array_ref; //配列 + private int array_offset; //配列に対する基準値 + private int position; //array_offsetに対する現在位置 + public static DoublePointer wrap(double[] i_array_ref,int i_offset) + { + return new DoublePointer(i_array_ref,i_offset); + } + public static DoublePointer wrap(DoublePointer i_inst) + { + return new DoublePointer(i_inst.array_ref,i_inst.getPtrArrayOffset()); + } + //現在位置からのサブシーケンスを返す。 + public DoublePointer slice(int i_offset) + { + return DoublePointer.wrap(array_ref,array_offset+position+i_offset); + } + public void set(double i_value) + { + array_ref[array_offset+position]=i_value; + } + public void set(int i_rel_positon,double i_value) + { + array_ref[array_offset+position+i_rel_positon]=i_value; + } + /** + * カレント位置の値を取得する + * @return + */ + public double get() + { + return array_ref[array_offset+position]; + } + /** + * カレント位置から+i_slideの位置にある値を取得する。 + * @param i_step + * @return + */ + public double get(int i_slide) + { + return array_ref[array_offset+position+i_slide]; + } + public void incPtr() + { + position++; + } + public void addPtr(int v) + { + position+=v; + } + public double[] array() + { + return array_ref; + } + public void subValue(double i_val) + { + array_ref[array_offset+position]-=i_val; + } + public void subValue(int i_step,double i_val) + { + array_ref[array_offset+position+i_step]-=i_val; + } + public void addValue(double i_val) + { + array_ref[array_offset+position]+=i_val; + } + public void addValue(int i_step,double i_val) + { + array_ref[array_offset+position+i_step]+=i_val; + } + + /** + * 現在位置のオフセット位置を返す。 + * @return + */ + public int getPtrArrayOffset() + { + return array_offset+position; + } + private DoublePointer(double[] i_array_ref,int i_base_point) + { + array_offset =i_base_point; + array_ref =i_array_ref; + position =0; + } + public DoublePointer(int i_length) + { + array_offset =0; + array_ref =new double[i_length]; + position =0; + } + public DoublePointer() + { + array_offset =0; + array_ref =new double[1]; + position =0; + } +} \ No newline at end of file diff --git a/src/jp/nyatla/util/DoubleValue.java b/src/jp/nyatla/util/DoubleValue.java new file mode 100644 index 0000000..83a26f1 --- /dev/null +++ b/src/jp/nyatla/util/DoubleValue.java @@ -0,0 +1,14 @@ +package jp.nyatla.util; + +public class DoubleValue { + private double v; + public void set(double i_v){ + v=i_v; + } + public double get(){ + return v; + } + public void add(double i_v){ + v+=i_v; + } +} \ No newline at end of file diff --git a/src/jp/nyatla/util/IntPointer.java b/src/jp/nyatla/util/IntPointer.java new file mode 100644 index 0000000..e655913 --- /dev/null +++ b/src/jp/nyatla/util/IntPointer.java @@ -0,0 +1,64 @@ +package jp.nyatla.util; + +public class IntPointer { + private int[] array_ref; //配列 + private int array_offset; //配列に対する基準値 + private int position; //array_offsetに対する現在位置 + public static IntPointer wrap(int[] i_array_ref,int i_offset) + { + return new IntPointer(i_array_ref,i_offset); + } + public void set(int i_value) + { + array_ref[array_offset+position]=i_value; + } + public void set(int i_rel_positon,int i_value) + { + array_ref[array_offset+position+i_rel_positon]=i_value; + } + /** + * カレント位置の値を取得する + * @return + */ + public int get() + { + return array_ref[array_offset+position]; + } + /** + * カレント位置から+i_slideの位置にある値を取得する。 + * @param i_step + * @return + */ + public int get(int i_slide) + { + return array_ref[array_offset+position+i_slide]; + } + public void incPtr() + { + position++; + } + public void addPtr(int v) + { + position+=v; + } + public void addValue(int i_val) + { + array_ref[array_offset+position]+=i_val; + } + public void addValue(int i_step,int i_val) + { + array_ref[array_offset+position+i_step]+=i_val; + } + private IntPointer(int[] i_array_ref,int i_base_point) + { + array_offset =i_base_point; + array_ref =i_array_ref; + position =0; + } + public IntPointer() + { + array_offset =0; + array_ref =new int[1]; + position =0; + } +} diff --git a/src/jp/nyatla/util/IntValue.java b/src/jp/nyatla/util/IntValue.java new file mode 100644 index 0000000..7743171 --- /dev/null +++ b/src/jp/nyatla/util/IntValue.java @@ -0,0 +1,17 @@ +package jp.nyatla.util; + +public class IntValue { + private int v; + public void set(int i_v){ + v=i_v; + } + public int get(){ + return v; + } + public void inc(){ + v++; + } + public void add(int i_v){ + v+=i_v; + } +} diff --git a/src/jp/nyatla/util/ShortPointer.java b/src/jp/nyatla/util/ShortPointer.java new file mode 100644 index 0000000..7c75a1a --- /dev/null +++ b/src/jp/nyatla/util/ShortPointer.java @@ -0,0 +1,60 @@ +package jp.nyatla.util; + +public class ShortPointer { + private short[] array_ref; //配列 + private int array_offset; //配列に対する基準値 + private int position; //array_offsetに対する現在位置 + public static ShortPointer wrap(short[] i_array_ref,int i_offset) + { + return new ShortPointer(i_array_ref,i_offset); + } + public static ShortPointer wrap(ShortPointer i_inst,int i_offset) + { + return new ShortPointer(i_inst.array_ref,i_inst.array_offset+i_inst.position+i_offset); + } + public void set(short i_value) + { + array_ref[array_offset+position]=i_value; + } + public void set(int i_rel_positon,short i_value) + { + array_ref[array_offset+position+i_rel_positon]=i_value; + } + /** + * カレント位置の値を取得する + * @return + */ + public short get() + { + return array_ref[array_offset+position]; + } + /** + * カレント位置から+i_slideの位置にある値を取得する。 + * @param i_step + * @return + */ + public short get(int i_slide) + { + return array_ref[array_offset+position+i_slide]; + } + public void incPtr() + { + position++; + } + public void addPtr(int v) + { + position+=v; + } + private ShortPointer(short[] i_array_ref,int i_base_point) + { + array_offset =i_base_point; + array_ref =i_array_ref; + position =0; + } +// public BytePointer() +// { +// array_offset =0; +// array_ref =new int[1]; +// position =0; +// } +} diff --git a/src/jp/nyatla/util/StringPointer.java b/src/jp/nyatla/util/StringPointer.java new file mode 100644 index 0000000..dc2244b --- /dev/null +++ b/src/jp/nyatla/util/StringPointer.java @@ -0,0 +1,25 @@ +package jp.nyatla.util; + +public class StringPointer { + private String[] array_ref;//配列 + private int array_offset; //配列に対する基準値 + private int position; //array_offsetに対する現在位置 + public void set(String i_value) + { + array_ref[array_offset+position]=i_value; + } + public String get() + { + return array_ref[array_offset+position]; + } + public String toString() + { + return get(); + } + public StringPointer() + { + array_ref=new String[1]; + array_offset=0; + position=0; + } +} diff --git a/src/jp/nyatla/util/StringValue.java b/src/jp/nyatla/util/StringValue.java new file mode 100644 index 0000000..47102c6 --- /dev/null +++ b/src/jp/nyatla/util/StringValue.java @@ -0,0 +1,25 @@ +package jp.nyatla.util; + +public class StringValue { + private String v; + public StringValue() + { + v=""; + } + public StringValue(String i_v) + { + v=i_v; + } + public void set(String i_v) + { + v=i_v; + } + public String get() + { + return v; + } + public String toString() + { + return v; + } +} -- 2.11.0