nyarmatchpatt_color_with_pca.java

java 版的 ARToolkit

/* 
 * 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/
 *	<airmail(at)ebony.plala.or.jp>
 * 
 */
package jp.nyatla.nyartoolkit.core.match;

import jp.nyatla.nyartoolkit.NyARException;
import jp.nyatla.nyartoolkit.core.NyARCode;
import jp.nyatla.nyartoolkit.core.pickup.INyARColorPatt;

/**
 * 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 INyARMatchPatt
{
	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 boolean setPatt(INyARColorPatt i_target_patt) throws NyARException
	{
		width = i_target_patt.getWidth();
		height = i_target_patt.getHeight();
		int[][][] 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 < height; i++) {// for(int i=0;i<Config.AR_PATT_SIZE_Y;i++){
			for (int i2 = 0; i2 < width; i2++) {// for(int i2=0;i2<Config.AR_PATT_SIZE_X;i2++){
				ave += (255 - data[i][i2][0]) + (255 - data[i][i2][1])
						+ (255 - data[i][i2][2]);
			}
		}
		ave /= (height * width * 3);

		for (int i = 0; i < height; i++) {// for(int
											// i=0;i<Config.AR_PATT_SIZE_Y;i++){
			for (int i2 = 0; i2 < width; i2++) {// for(int
												// i2=0;i2<Config.AR_PATT_SIZE_X;i2++){
				for (int i3 = 0; i3 < 3; i3++) {
					input[i][i2][i3] = (255 - data[i][i2][i3]) - ave;
					sum += input[i][i2][i3] * input[i][i2][i3];
				}
			}
		}
		datapow = Math.sqrt((double) sum);
		if (datapow == 0.0) {
			return false;// throw new NyARException();
			// dir.set(0);//*dir = 0;
			// cf.set(-1.0);//*cf = -1.0;
			// return -1;
		}
		return true;
	}

	/**
	 * public int pattern_match(short[][][] data,IntPointer dir,DoublePointer
	 * cf)
	 * 
	 */
	public void evaluate(NyARCode i_code)
	{
		int[][][][] pat = i_code.getPat();
		double[] patpow = i_code.getPatPow();
		double[] invec = new double[EVEC_MAX];

		double max = 0.0; // fix VC7 compiler warning: uninitialized variable
		// 確認
		for (int i = 0; i < evec_dim; i++) {
			invec[i] = 0.0;
			for (int j = 0; j < height; j++) {// for(int j = 0; j<Config.AR_PATT_SIZE_Y; j++){
				for (int j2 = 0; j2 < width; j2++) {
					for (int j3 = 0; j3 < 3; j3++) {
						invec[i] += evec[i][j][j2][j3] * input[j][j2][j3];// invec[i]+=evec[i][j]*input[j];
					}
				}
			}
			invec[i] /= datapow;
		}

		double min = 10000.0;
		int res = -1;
		for (int j = 0; j < 4; j++) {
			double sum2 = 0;
			for (int i = 0; i < evec_dim; i++) {
				sum2 += (invec[i] - epat[j][i]) * (invec[i] - epat[j][i]);
			}
			if (sum2 < min) {
				min = sum2;
				res = j;
				// res2 = k;//kは常にインスタンスを刺すから、省略可能
			}
		}

		int sum = 0;
		for (int i = 0; i < height; i++) {// for(int
											// i=0;i<Config.AR_PATT_SIZE_Y;i++){
			for (int i2 = 0; i2 < width; i2++) {// for(int
												// i2=0;i<Config.AR_PATT_SIZE_X;i2++){
				for (int i3 = 0; i3 < 3; i3++) {
					sum += input[i][i2][i3] * pat[res][i][i2][i3];// sum +=input[i][i2][i3]*pat[res2][res][i][i2][i3];
				}
			}
		}
		max = sum / patpow[res] / datapow;
		dir = res;
		cf = max;
	}
}