nyarcolorpatt_o3.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.pickup;

import jp.nyatla.nyartoolkit.NyARException;
import jp.nyatla.nyartoolkit.core.NyARMat;
import jp.nyatla.nyartoolkit.core.NyARSquare;
import jp.nyatla.nyartoolkit.core.raster.rgb.*;
import jp.nyatla.nyartoolkit.core.rasterreader.*;
import jp.nyatla.nyartoolkit.core.types.*;
/**
 * 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。
 * 演算順序を含む最適化をしたもの
 * 
 */
public class NyARColorPatt_O3 implements INyARColorPatt
{
	private static final int AR_PATT_SAMPLE_NUM = 64;// #define
														// AR_PATT_SAMPLE_NUM 64

	private int[][][] extpat;

	private int width;

	private int height;

	public NyARColorPatt_O3(int i_width, int i_height)
	{
		this.width = i_width;
		this.height = i_height;
		this.extpat = new int[i_height][i_width][3];
	}

	// public void setSize(int i_new_width,int i_new_height)
	// {
	// int array_w=this.extpat[0].length;
	// int array_h=this.extpat.length;
	// //十分なサイズのバッファがあるか確認
	// if(array_w>=i_new_width && array_h>=i_new_height){
	// //OK 十分だ→サイズ調整のみ
	// }else{
	// //足りないよ→取り直し
	// this.extpat=new int[i_new_height][i_new_width][3];
	// }
	// this.width =i_new_width;
	// this.height=i_new_height;
	// return;
	// }
	public int[][][] getPatArray()
	{
		return extpat;
	}

	public int getWidth()
	{
		return width;
	}

	public int getHeight()
	{
		return height;
	}

	private final NyARMat wk_get_cpara_a = new NyARMat(8, 8);

	private final NyARMat wk_get_cpara_b = new NyARMat(8, 1);

	/**
	 * @param world
	 * @param vertex
	 * @param o_para
	 * @throws NyARException
	 */
	private boolean get_cpara(final NyARIntPoint[] i_vertex, NyARMat o_para)throws NyARException
	{
		int[][] world = this.wk_pickFromRaster_world;
		NyARMat a = wk_get_cpara_a;// 次処理で値を設定するので、初期化不要// new NyARMat( 8, 8 );
		double[][] a_array = a.getArray();
		NyARMat b = wk_get_cpara_b;// 次処理で値を設定するので、初期化不要// new NyARMat( 8, 1 );
		double[][] b_array = b.getArray();
		double[] a_pt0, a_pt1;
		int[] world_pti;

		for (int i = 0; i < 4; i++) {
			a_pt0 = a_array[i * 2];
			a_pt1 = a_array[i * 2 + 1];
			world_pti = world[i];

			a_pt0[0] = (double) world_pti[0];// a->m[i*16+0] = world[i][0];
			a_pt0[1] = (double) world_pti[1];// a->m[i*16+1] = world[i][1];
			a_pt0[2] = 1.0;// a->m[i*16+2] = 1.0;
			a_pt0[3] = 0.0;// a->m[i*16+3] = 0.0;
			a_pt0[4] = 0.0;// a->m[i*16+4] = 0.0;
			a_pt0[5] = 0.0;// a->m[i*16+5] = 0.0;
			a_pt0[6] = (double) (-world_pti[0] * i_vertex[i].x);// a->m[i*16+6]= -world[i][0]*vertex[i][0];
			a_pt0[7] = (double) (-world_pti[1] * i_vertex[i].x);// a->m[i*16+7]=-world[i][1]*vertex[i][0];
			a_pt1[0] = 0.0;// a->m[i*16+8] = 0.0;
			a_pt1[1] = 0.0;// a->m[i*16+9] = 0.0;
			a_pt1[2] = 0.0;// a->m[i*16+10] = 0.0;
			a_pt1[3] = (double) world_pti[0];// a->m[i*16+11] = world[i][0];
			a_pt1[4] = (double) world_pti[1];// a->m[i*16+12] = world[i][1];
			a_pt1[5] = 1.0;// a->m[i*16+13] = 1.0;
			a_pt1[6] = (double) (-world_pti[0] * i_vertex[i].y);// a->m[i*16+14]=-world[i][0]*vertex[i][1];
			a_pt1[7] = (double) (-world_pti[1] * i_vertex[i].y);// a->m[i*16+15]=-world[i][1]*vertex[i][1];
			b_array[i * 2 + 0][0] = (double) i_vertex[i].x;// b->m[i*2+0] =vertex[i][0];
			b_array[i * 2 + 1][0] = (double) i_vertex[i].y;// b->m[i*2+1] =vertex[i][1];
		}
		if (!a.matrixSelfInv()) {
			return false;
		}

		o_para.matrixMul(a, b);
		return true;
	}

	// private final double[] wk_pickFromRaster_para=new double[9];//[3][3];
	private final int[][] wk_pickFromRaster_world = {// double world[4][2];
	{ 100, 100 }, { 100 + 10, 100 }, { 100 + 10, 100 + 10 }, { 100, 100 + 10 } };

	/**
	 * pickFromRaster関数から使う変数です。
	 * 
	 */
	private static void initValue_wk_pickFromRaster_ext_pat2(int[][][] i_ext_pat2, int i_width, int i_height)
	{
		int i, i2;
		int[][] pt2;
		int[] pt1;
		for (i = i_height - 1; i >= 0; i--) {
			pt2 = i_ext_pat2[i];
			for (i2 = i_width - 1; i2 >= 0; i2--) {
				pt1 = pt2[i2];
				pt1[0] = 0;
				pt1[1] = 0;
				pt1[2] = 0;
			}
		}
	}

	private final NyARMat wk_pickFromRaster_cpara = new NyARMat(8, 1);

	/**
	 * imageから、i_markerの位置にあるパターンを切り出して、保持します。 Optimize:STEP[769->750]
	 * 
	 * @param image
	 * @param i_marker
	 * @throws Exception
	 */
	public boolean pickFromRaster(INyARRgbRaster image, NyARSquare i_square)throws NyARException
	{
		NyARMat cpara = this.wk_pickFromRaster_cpara;
		NyARIntPoint[] local = i_square.imvertex;
		// //localの計算
		// int[] local_0=wk_pickFromRaster_local[0];//double local[4][2];
		// int[] local_1=wk_pickFromRaster_local[1];//double local[4][2];
		// //
		// for(int i = 0; i < 4; i++ ) {
		// local_0[i] = i_square.imvertex[i][0];
		// local_1[i] = i_square.imvertex[i][1];
		// }
		// xdiv2,ydiv2の計算
		int xdiv2, ydiv2;
		int l1, l2;
		int w1, w2;

		// x計算
		w1 = local[0].x - local[1].x;
		w2 = local[0].y - local[1].y;
		l1 = (w1 * w1 + w2 * w2);
		w1 = local[2].x - local[3].x;
		w2 = local[2].y - local[3].y;
		l2 = (w1 * w1 + w2 * w2);
		if (l2 > l1) {
			l1 = l2;
		}
		l1 = l1 / 4;
		xdiv2 = this.width;
		while (xdiv2 * xdiv2 < l1) {
			xdiv2 *= 2;
		}
		if (xdiv2 > AR_PATT_SAMPLE_NUM) {
			xdiv2 = AR_PATT_SAMPLE_NUM;
		}

		// y計算
		w1 = local[1].x - local[2].x;
		w2 = local[1].y - local[2].y;
		l1 = (w1 * w1 + w2 * w2);
		w1 = local[3].x - local[0].x;
		w2 = local[3].y - local[0].y;
		l2 = (w1 * w1 + w2 * w2);
		if (l2 > l1) {
			l1 = l2;
		}
		ydiv2 = this.height;
		l1 = l1 / 4;
		while (ydiv2 * ydiv2 < l1) {
			ydiv2 *= 2;
		}
		if (ydiv2 > AR_PATT_SAMPLE_NUM) {
			ydiv2 = AR_PATT_SAMPLE_NUM;
		}

		// cparaの計算
		if (!get_cpara(local, cpara)) {
			return false;
		}
		updateExtpat(image, cpara, xdiv2, ydiv2);

		return true;
	}

	// かなり大きいワークバッファを取るな…。
	private double[] wk_updateExtpat_para00_xw;

	private double[] wk_updateExtpat_para10_xw;

	private double[] wk_updateExtpat_para20_xw;

	private int[] wk_updateExtpat_rgb_buf;

	private int[] wk_updateExtpat_x_rgb_index;

	private int[] wk_updateExtpat_y_rgb_index;

	private int[] wk_updateExtpat_i_rgb_index;

	private int wk_updateExtpat_buffer_size = 0;

	/**
	 * ワークバッファを予約する
	 * 
	 * @param i_xdiv2
	 */
	private void reservWorkBuffers(int i_xdiv2)
	{
		if (this.wk_updateExtpat_buffer_size < i_xdiv2) {
			wk_updateExtpat_para00_xw = new double[i_xdiv2];
			wk_updateExtpat_para10_xw = new double[i_xdiv2];
			wk_updateExtpat_para20_xw = new double[i_xdiv2];
			wk_updateExtpat_rgb_buf = new int[i_xdiv2 * 3];
			wk_updateExtpat_x_rgb_index = new int[i_xdiv2];
			wk_updateExtpat_y_rgb_index = new int[i_xdiv2];
			wk_updateExtpat_i_rgb_index = new int[i_xdiv2];
			this.wk_updateExtpat_buffer_size = i_xdiv2;
		}
		// 十分なら何もしない。
		return;
	}

	private void updateExtpat(INyARRgbRaster image, NyARMat i_cpara, int i_xdiv2,int i_ydiv2) throws NyARException
	{
		int img_x = image.getWidth();
		int img_y = image.getHeight();
		final int[][][] L_extpat = this.extpat;
		final int L_WIDTH = this.width;
		final int L_HEIGHT = this.height;
		/* wk_pickFromRaster_ext_pat2ワーク変数を初期化する。 */
		// int[][][] ext_pat2=wk_pickFromRaster_ext_pat2;//ARUint32
		// ext_pat2[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3];
		int[][] extpat_j;
		int[] extpat_j_i;
		// int ext_pat2_j[][],ext_pat2_j_i[];

		initValue_wk_pickFromRaster_ext_pat2(L_extpat, L_WIDTH, L_HEIGHT);

		double[][] cpara_array = i_cpara.getArray();
		double para21_x_yw, para01_x_yw, para11_x_yw;
		double para00, para01, para02, para10, para11, para12, para20, para21;
		para00 = cpara_array[0 * 3 + 0][0];// para[i][0] = c->m[i*3+0];
		para01 = cpara_array[0 * 3 + 1][0];// para[i][1] = c->m[i*3+1];
		para02 = cpara_array[0 * 3 + 2][0];// para[i][2] = c->m[i*3+2];
		para10 = cpara_array[1 * 3 + 0][0];// para[i][0] = c->m[i*3+0];
		para11 = cpara_array[1 * 3 + 1][0];// para[i][1] = c->m[i*3+1];
		para12 = cpara_array[1 * 3 + 2][0];// para[i][2] = c->m[i*3+2];
		para20 = cpara_array[2 * 3 + 0][0];// para[2][0] = c->m[2*3+0];
		para21 = cpara_array[2 * 3 + 1][0];// para[2][1] = c->m[2*3+1];

		double d, yw;
		int xc, yc;
		int i, j;
		// arGetCode_put_zero(ext_pat2);//put_zero( (ARUint8 *)ext_pat2,
		// AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3*sizeof(ARUint32) );
		int xdiv = i_xdiv2 / L_WIDTH;// xdiv = xdiv2/Config.AR_PATT_SIZE_X;
		int ydiv = i_ydiv2 / L_HEIGHT;// ydiv = ydiv2/Config.AR_PATT_SIZE_Y;

		// 計算バッファを予約する
		this.reservWorkBuffers(i_xdiv2);
		double[] para00_xw = this.wk_updateExtpat_para00_xw;
		double[] para10_xw = this.wk_updateExtpat_para10_xw;
		double[] para20_xw = this.wk_updateExtpat_para20_xw;
		int[] x_rgb_index = this.wk_updateExtpat_x_rgb_index;
		int[] y_rgb_index = this.wk_updateExtpat_y_rgb_index;
		int[] i_rgb_index = this.wk_updateExtpat_i_rgb_index;
		int[] rgb_buf = this.wk_updateExtpat_rgb_buf;
		double xw;
		for (i = 0; i < i_xdiv2; i++) {
			xw = 102.5 + 5.0 * ((double) i + 0.5) / i_xdiv2;
			para20_xw[i] = para20 * xw;
			para00_xw[i] = para00 * xw;
			para10_xw[i] = para10 * xw;
		}

		int index_num;
		//ピクセルリーダーを取得
		INyARRgbPixelReader reader=image.getRgbPixelReader();
		
		for (j = 0; j < i_ydiv2; j++) {
			yw = 102.5 + 5.0 * ((double) j + 0.5) / i_ydiv2;
			para21_x_yw = para21 * yw + 1.0;
			para11_x_yw = para11 * yw + para12;
			para01_x_yw = para01 * yw + para02;
			extpat_j = L_extpat[j / ydiv];
			index_num = 0;
			// ステップ１．RGB取得用のマップを作成
			for (i = 0; i < i_xdiv2; i++) {
				d = para20_xw[i] + para21_x_yw;
				if (d == 0) {
					throw new NyARException();
				}
				xc = (int) ((para00_xw[i] + para01_x_yw) / d);
				yc = (int) ((para10_xw[i] + para11_x_yw) / d);
				// 範囲外は無視
				if (xc < 0 || xc >= img_x || yc < 0 || yc >= img_y) {
					continue;
				}
				// ピクセル値の計算
				// image.getPixel(xc,yc,rgb_buf);
				// ext_pat2_j_i=ext_pat2_j[i/xdiv];
				// ext_pat2_j_i[0] += rgb_buf[0];//R
				// ext_pat2_j_i[1] += rgb_buf[1];//G
				// ext_pat2_j_i[2] += rgb_buf[2];//B

				x_rgb_index[index_num] = xc;
				y_rgb_index[index_num] = yc;
				i_rgb_index[index_num] = i / xdiv;
				index_num++;
			}
			// //ステップ２．ピクセル配列を取得
			reader.getPixelSet(x_rgb_index, y_rgb_index, index_num, rgb_buf);
			// //ピクセル値の計算
			for (i = index_num - 1; i >= 0; i--) {
				extpat_j_i = extpat_j[i_rgb_index[i]];
				extpat_j_i[0] += rgb_buf[i * 3 + 0];// R
				extpat_j_i[1] += rgb_buf[i * 3 + 1];// G
				extpat_j_i[2] += rgb_buf[i * 3 + 2];// B
			}
		}
		/* <Optimize> */
		int xdiv_x_ydiv = xdiv * ydiv;
		for (j = L_HEIGHT - 1; j >= 0; j--) {
			extpat_j = L_extpat[j];
			for (i = L_WIDTH - 1; i >= 0; i--) { // PRL 2006-06-08.
				extpat_j_i = extpat_j[i];
				extpat_j_i[0] /= (xdiv_x_ydiv);// ext_pat[j][i][0] =(byte)(ext_pat2[j][i][0] /(xdiv*ydiv));
				extpat_j_i[1] /= (xdiv_x_ydiv);// ext_pat[j][i][1] =(byte)(ext_pat2[j][i][1] /(xdiv*ydiv));
				extpat_j_i[2] /= (xdiv_x_ydiv);// ext_pat[j][i][2] =(byte)(ext_pat2[j][i][2] /(xdiv*ydiv));
			}
		}
		return;
	}
}