WO2006003856A1 - 画像描画装置、頂点選出方法、頂点選出プログラム及び集積回路 - Google Patents
画像描画装置、頂点選出方法、頂点選出プログラム及び集積回路 Download PDFInfo
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- WO2006003856A1 WO2006003856A1 PCT/JP2005/011708 JP2005011708W WO2006003856A1 WO 2006003856 A1 WO2006003856 A1 WO 2006003856A1 JP 2005011708 W JP2005011708 W JP 2005011708W WO 2006003856 A1 WO2006003856 A1 WO 2006003856A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/60—Memory management
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
Definitions
- Image drawing apparatus vertex selection method, vertex selection program, and integrated circuit
- the present invention relates to an image drawing apparatus that displays a three-dimensional polygon image, and more particularly to a technique for displaying an image using a subdivision polygon.
- GE Graphics Engine
- CPU Central Processing Unit
- the image data is created by GE because when the CPU performs an operation on the image that changes depending on the animation, etc. and issues an instruction to GE, which pixel at which position from the CPU to GE is in what color, etc. This is because there is a possibility that the display will be delayed due to an increase in the amount of data transferred because data will be sent.
- the CPU gives only a simple instruction to the GE, such as drawing a triangle portion connecting the three points A, B, and C on the object surface in red. Then, GE calculates each pixel data in the triangle by calculation, and stores each pixel data in red at each pixel position in the frame memory corresponding to the inside of the triangle. Distribute processing to CPU and GE to avoid display delay as much as possible.
- the triangle ABC may actually be a curved surface. In such a case, the given triangle is divided into multiple triangles to express the sliding force.
- the pixel data may be generated for a triangle. This division technique is called Subdivision Surface, which uses the polygons generated by division to express the original polygon in more detail.
- Patent Document 1 There is a method described in Patent Document 1 regarding how to divide, and there is a technique for selecting an interpolation point for dividing a polygon based on the shape of the original polygon. It is disclosed. For example, the midpoints of the sides that make up a polygon are selected and divided by line segments formed by connecting the midpoints.
- GE For each divided polygon, GE writes the pixel data to the frame memory, reads the frame memory data, and the display displays the image. Writing to the frame memory is performed in units of a predetermined number of pixels. In addition, since image redrawing is performed for each polygon, redrawing can be performed only by rewriting only the portion with changes.
- Patent Document 1 Japanese Patent Publication 2001-67491
- the division point is determined based on the original polygonal shape, and the force frame memory has the advantage that the division point can be easily determined. Therefore, the drawing performance, particularly the drawing speed, may be reduced.
- an object of the present invention is to provide an image drawing apparatus capable of determining a dividing point so as to suppress a reduction in drawing performance.
- the image drawing apparatus projects a plurality of data in the data group onto a two-dimensional plane in order to represent the expression object specified by the data group by computer graphics.
- the other position components and other components that specify the drawing mode are extracted, and the polygon having the position component of each data as the vertex is extracted on the image plane by the data and other components that specify the previous drawing mode.
- An image drawing apparatus that draws a plurality of images in a drawing mode determined in accordance with a frame memory for storing pixel data values of each pixel on a two-dimensional plane, and a pixel for drawing an image
- a writing means having a function of writing data to the frame memory, and performing writing to one division at a time when the frame memory is divided by a predetermined number of pixels.
- the plurality of data to the first image element or last pixel of each section and at least one vertex of the polygon
- a data selection means for selecting the data.
- the other components here are components other than the two-dimensional position component, and are, for example, a three-dimensional or height position component, or a color component.
- the image drawing apparatus can set at least one of the vertices of the polygon as the first pixel or the last pixel of the continuous pixels that can be collectively written into the frame memory. Therefore, a reduction in drawing speed can be suppressed.
- writing to the frame memory is performed in units of a predetermined pixel, so if the vertex is in the middle of the writing unit, that vertex is usually shared by multiple polygons, so that vertex is included. In the area of the written pixel, writing is performed for each polygon having that point as a vertex, so access to the frame memory overlaps in that area. By minimizing this duplication, it is possible to reduce the number of accesses to the frame memory and suppress the degradation of drawing performance.
- the image drawing device further includes initial data selection means for selecting polygon vertex data regardless of the first pixel or the last pixel of the section, and the data selection means includes the initial data selection means.
- the data selection means includes the initial data selection means.
- the image drawing apparatus can divide the original polygon and represent the original polygon by a plurality of polygons, and therefore can display the original polygon more smoothly. It becomes like this.
- the plurality of polygons are configured such that at least one of the vertices is on the side of the original polygon, the pixel position of the vertex can be easily determined.
- the data selection means selects the data of each vertex so that each of the vertices of two small polygons in which one of the vertices is in contact with each other becomes the last pixel and the first pixel of the adjacent section. Good.
- the data selection means may be arranged so that one of the vertices of each of the small polygons is a point in the vicinity of the midpoint of the side constituting the original polygon where the vertex exists. As you choose,.
- the image drawing apparatus sets one of the vertexes of the polygon generated by the division as a point near the midpoint of the original polygon so that the division method is as uniform as possible. And the generated image can also be as uniform and smooth as possible.
- the data selection means is a line formed by the two vertices so that at least two vertices of the selected vertex data have the power of the first pixel or the last pixel of each section. All pixel powers on the minute Select data so that the top pixel is the first pixel when the two vertices are in the first pixel, and the final pixel when the two vertices are in the last pixel As you do.
- the vertex can be determined so that the access efficiency from the GE to the frame memory becomes more efficient. It is hoped that drawing speed will be further improved by improving access efficiency.
- the data selection means selects a total of three points of data on each side constituting the triangle
- the original triangle may be divided by a line segment formed by connecting two of the three points, and the original triangle may be divided into four triangles.
- the image drawing apparatus can handle a triangle, which is one of its main control shapes, as a control shape in 3DCG, and newly divide the points on each side of the original triangle. Images can be drawn as vertices of triangles. Since the points on each side are set as the dividing points, the division is quick and the drawing is easy to handle. Conventionally, a triangular shape is often used as a control shape, and the provision of this configuration facilitates compatibility with conventional devices.
- the data selection means includes a total of four points on each side constituting the original rectangle and the point Four rectangles generated by selecting data with one point in the original rectangle, dividing the original rectangle by a line segment connecting the one point and the four points, and dividing the original rectangle Composed of Totoyo! /
- the image drawing device can handle a square, which is one of its main control shapes, as a control shape in 3DCG, and a new point on each side of the original rectangle and one point inside the rectangle. It can be controlled as a quadrangle vertex. Having vertices on the sides of the rectangle makes it easy to handle the division as a shape.
- the quadrangular shape is often a control shape as compared to the prior art, and the provision of this configuration makes it easier to deal with conventional devices.
- the predetermined number of pixels may be obtained by dividing the number of signal lines used for data input / output connected to the frame memory by the number of bits of data constituting one pixel.
- the predetermined number of pixels can be determined by the number of signal lines to the GE force frame memory of the image drawing device and the number of data of one pixel. The position of can be calculated.
- the predetermined number of pixels may be obtained by dividing the number of bits of a data unit transferred by burst transfer by the number of bits of pixels when writing to the frame memory is performed by burst transfer.
- the predetermined number of pixels can be determined by dividing the amount of burst transfer that is burst transferred at the time of burst transfer by the amount of data required to transfer one pixel. It becomes possible to calculate the position of the first pixel or the last pixel of one category.
- the vertex selection method uses a computer graphics to represent an expression object specified by a data group. Extract the position component when projected onto the plane and other components that specify the drawing mode, and connect the polygon with the position component of each data as the vertex to the data on the image plane! /, A polygon apex selection method in an image drawing apparatus that draws a plurality of images in a drawing form that is determined according to the other components that specify all the drawing modes.
- a frame memory for storing the pixel data value of each pixel on the plane, and a function of writing pixel data to the frame memory for drawing an image.
- Ward for each prime number And a writing means for collectively writing to one section when divided, wherein the vertex selecting method uses the first pixel or the last pixel of each section as at least one of the polygons.
- a data selection step of selecting the plurality of data so as to be vertices is included.
- the image drawing apparatus can determine one of the vertices of the polygon.
- the program for selecting vertices executed by the CPU mounted on the image drawing apparatus includes the data group in order to represent the expression object specified by the data group by computer graphics.
- the position component when projected on the two-dimensional plane and other components that specify the drawing mode are extracted, and a polygon having the position component of each data as a vertex is extracted on the image plane.
- a program to be executed by a computer of an image drawing device that draws a plurality of images in a drawing mode determined according to other components that specify a drawing mode for data, wherein the image drawing device is a two-dimensional plane
- a frame memory for storing the pixel data value of each pixel above, and a function for writing the pixel data to the frame memory for rendering an image.
- the vertex selection procedure in the program includes the above-described vertex selection procedures.
- the method includes a data selection step of selecting the plurality of data so that the first pixel or the last pixel of the segment is at least one vertex of the polygon.
- the CPU of the image drawing apparatus can determine one of the vertices of the polygon by reading and executing this program.
- the integrated circuit for selecting vertices expresses a representation object specified by a data group by computer graphics.
- the position component and other components that specify the drawing mode are extracted, and a polygon whose vertex is the position component of each data is extracted on the image plane.
- An integrated circuit that draws a plurality of images in a drawing mode determined according to other components to be specified, a frame memory for storing pixel data values of each pixel on a two-dimensional plane, and an image to draw Pixel data Writing means for collectively writing to one division when the frame memory is divided for each predetermined number of pixels, and the first pixel or the last pixel of each division And a data selection means for selecting the plurality of data so as to be at least one vertex of the polygon.
- An image drawing apparatus equipped with this integrated circuit can determine one of the vertices of a polygon.
- FIG. 1 is a block diagram showing a functional configuration of an image drawing apparatus according to the present invention.
- FIG. 2 is a conceptual diagram of a storage area of a frame memory of the image drawing apparatus according to the present invention.
- FIG. 3 is a conceptual diagram showing that a three-dimensional object is projected in two dimensions.
- FIG. 4 is a diagram showing three-dimensional data.
- FIG. 5 A schematic diagram in which the polygon data to be drawn by the CPU on the GE is stored in the frame memory.
- FIG. 6 is a diagram in which polygons are divided according to the dividing method of the present invention.
- FIG. 7 is a diagram in which polygons are divided according to a conventional dividing method.
- FIG. 8 is a diagram showing the amount of access to the frame memory for divided triangles.
- FIG. 9 is a flowchart showing the operation of the image drawing apparatus according to the present invention.
- FIG. 10 is a diagram showing the positions of division points.
- FIG. 11 A diagram showing a quadrangle as a division source.
- FIG. 12 is a division diagram when the image drawing apparatus of the present invention divides a quadrangle.
- FIG. 13 is a division diagram when a quadrangle is divided by a conventional technique.
- FIG. 14 is a division diagram showing an example of further dividing a triangle.
- FIG. 1 is a functional block diagram showing a functional configuration of an image drawing apparatus 100 according to the present invention.
- FIG. 1 shows an image drawing apparatus 100 that includes a CPU 110, a GE 120, a frame memory 130, A display 140 is included.
- the CPU 110 has a function of transmitting main data of an image to be displayed to the GE.
- the GE120 has a function to calculate the pixel data of the image to be drawn based on the instruction received from the CPU 110 and write the pixel data to the frame memory 130, and has the same performance as the conventional graphics engine. Have.
- the writing method to the frame memory 130 is performed in units of a predetermined number of pixels.
- the number of pixels is 8 pixels.
- the number of pixels is determined by the number of bus lines connecting the GE 120 and the frame memory 130 and the number of data of one pixel. For example, if there are 64 bus lines and the number of data per pixel is 8 bits, the number of pixels that can be written at one time is 8 pixels. Details of the frame memory 130 will be described later.
- the GE 120 divides a polygon given from the CPU 110 into a polygon with higher strength in order to express an object to be displayed more finely, each vertex of a new polygon generated by the division is displayed. It also has a function to decide. In the present invention, the difference from the conventional GE is
- the GE 120 also has a function of performing calculations similar to those performed by a conventional GE.
- the operations that GE120 performs are diverse.
- the main contents of the calculation include coordinate transformation by rotation Z movement, lighting, viewpoint transformation, clipping, raster transformation. Conversion, hidden surface processing, texture mapping, filtering, etc.
- geometry calculation including coordinate conversion by rotation Z movement, lighting, viewpoint conversion, and clipping
- rendering including raster conversion, hidden surface processing, texture mapping and filtering.
- Lighting is to determine a color that changes depending on how the light hits.
- the viewpoint conversion is to calculate the distortion when the object to be displayed is viewed from an external point.
- Clipping is the deletion of the data that does not fit in the field of view on the displayed screen.
- Raster conversion is an operation of projecting a 3D polygon onto a 2D plane.
- the hidden surface process is an operation for removing a portion that is hidden behind the front surface of an object and cannot be seen.
- Texture 'mapping' is the pasting of image data representing a pattern on the object surface.
- Filtering is an operation that smooths the contours of jagged polygons.
- the frame memory 130 has a function of storing pixel data of an image to be displayed. An image is displayed using the pixel data stored in the frame memory 130. Basically, the GE 120 writes to the frame memory 130 every predetermined number of pixels. Here, the predetermined number of pixels is 8 pixels as described above.
- Figure 2 shows an image of the data storage area of the frame memory 130.
- the frame memory 130 is a RAM (Random Access Memory) that stores pixel data in a two-dimensional array, and is specifically composed of an SDRAM (Synchronous Dynamic Random Access Memory).
- RAM Random Access Memory
- SDRAM Synchronous Dynamic Random Access Memory
- the coordinate system of the frame memory 130 is set so as to correspond to the display position of the display 140.
- the frame memory 130 is assumed to be able to store 640 ⁇ 480 pixels.
- the coordinates of the first pixel are represented by pixel P0 (0, 0) in terms of (horizontal position, vertical position).
- the next pixel is pixel Pl (l, 0), and the next pixel is P2 (2, 0), and the last pixel in the first column is P639 (639, 0).
- the pixel at the head of the second column is P640 (0, 1).
- the pixels are arranged in order, and the first pixel in the last column is P306560 (0, 479), and the next pixel is P305451 (l, 479).
- the final pixel of the frame memory 130 is P307199 (639, 479). In this way, pixel data is stored in the order from left to right and from top to bottom, and the coordinates correspond to the coordinates of the display position of the display device 140.
- the display 140 has a function of sequentially reading data in the frame memory 130 and displaying the contents as an image, and is realized by, for example, an LCD (Liquid Crystal Display) or a plasma display.
- LCD Liquid Crystal Display
- FIG. 3 shows an example in which original data to be drawn by the image drawing apparatus 100 is three-dimensionally expressed. Such 3D structures can be projected from 3D to 2D planes. Display on the isplay.
- Figure 3 shows an example of topography as an example of a 3D map.
- the figure AOBOCO formed by the data indicated by the coordinates of the three points A0, B0, and CO among the surface data of this terrain becomes a triangle A1B1C1 when projected onto a two-dimensional plane. I will show you that. What is projected on the two-dimensional plane is displayed on the display device.
- the data as shown in FIG. 3 is actually a set of coordinate data as shown in FIG.
- a coordinate table 400 shown in FIG. 4 includes X-axis data 401, y-axis data 402, and z-axis data 403.
- Each of the X-axis data 401, the y-axis data 402, and the z-axis data 403 means data indicating each coordinate component! /.
- FIG. 9 shows an example of conventional division for comparison
- FIG. 8 is a diagram for explaining access units.
- the method of drawing a three-dimensional image in the image drawing device 100 will not be described as being based on a drawing device that draws a conventional three-dimensional image.
- the method is divided and generated that is a feature of the present application.
- the operation of the image drawing apparatus 100 will be described with respect to the polygon vertex determination method.
- FIG. 9 is a flowchart showing the operation of the GE 120 of the image drawing apparatus 100 according to the present invention.
- the GE 120 first receives a drawing instruction based on data picked up from the data group shown in FIG. 4 from the CPU 110 (step S901). Accepted Based on the drawing instruction, a dividing point for dividing the polygon is calculated based on the polygon data (step S903). The details of the dividing point calculation method in step S903 will be described later with reference to FIG.
- the calculated polygons are connected to divide the original polygon by the line segment (step S905).
- the left and right pixels of the intersection of the side forming the original polygon and the boundary become the dividing points, it is necessary to select which of the left and right pixels is to be the dividing point. Therefore, it is divided so that the vertexes of the polygons generated by division do not cross the boundary. In other words, among the vertices of polygons generated by division, vertices are selected and divided so that they are close to the same vertex as the polygon before division.
- the GE 120 calculates pixel data to be interpolated, and stores the pixel data in the frame memory 130. Pixel data stored in the frame memory 130 is read out and displayed on the display device 140.
- FIG. 10 is a diagram of the image drawing apparatus 100 for obtaining the division point in step S903 in FIG.
- the GE 120 calculates a line segment connecting two points from the coordinates given from the CPU 110 (step S1001). Then find the coordinates of the midpoint of the line segment (Step S).
- step S1005 it is determined whether the coordinate force of the midpoint (8n, Y) or (8n + 7, Y) is satisfied.
- n is an integer greater than or equal to 0, and X is an arbitrary natural number. If the coordinates of the midpoint do not correspond to the coordinates (NO in step S1005), whether there is a pixel corresponding to (8n, Y) or (8n + 7, Y) in the pixel on the calculated line segment Is determined (step S10 07). If there is no corresponding pixel (NO in step S1007), the process ends with the pixel located at the midpoint coordinate as one of the division points.
- step S1007 If there is a corresponding pixel in step S1007 (YES in step S1007), if there are a plurality of corresponding pixels, a pixel close to the midpoint is determined as a division point (step S1007). S1009) End.
- the point on the side D0E0 that becomes the dividing point is the point D1 or D2.
- Figure 9 The selection of the dividing point in step S905 will be described in this example. In FIG. 6, the dividing point is selected so that the new triangle including the vertex DO becomes the triangle D0D2F1.
- Point D1 or point F2 is also a point on the edge of the original triangle DOEOFO and satisfies the condition of pixels on the left and right of the boundary.
- Points D1 and D2 are both pixels adjacent to the boundary and selected as the dividing point. However, both are not necessarily used as dividing points, but are based on the shape of a new triangle generated by dividing. In other words, in this case, the power point D 1 where the pixels of both the points Dl and D2 are selected as the dividing points is used to write the pixel data of the triangle D1EOE1 to the frame memory, and the point D2 is not used. . On the other hand, point D2 is used to write the pixel data of triangle D0D2F1 to the frame memory, and point D1 is not used.
- GE120 calculates a line segment connecting two points D0E0.
- the frame memory 130 determines whether there is no pixel that becomes (8n, Y) or (8n + 1, Y), that is, whether there is an intersection with the boundary. In this case, the two points Dl and D2 that are closer to the midpoint than the force that intersects the boundaries 610 and 611 are the intersections.
- the original triangle DOEOFO is divided into four three by the line segment connecting each selected division point.
- FIG. 8 (a) shows the middle triangle D2E2F 1 among a plurality of triangles generated by dividing the original triangle DOEOFO of FIG. 5 as shown in FIG. 6 based on the method according to the present invention.
- the GE120 writes to the frame memory 130 every 8 pixels, so it is convenient to write the pixels that make up the triangle D2E2F1 to the frame memory 130. Will do.
- Fig. 8 (b) shows the middle triangle D3E3F3 among the triangles generated by dividing the original triangle DOEOFO of Fig. 5 as shown in Fig. 7 based on the conventional method. .
- the triangle D3E3F3 is accessed 12 times for writing to the frame memory 130.
- the accesses generated for writing each of the generated triangles to the frame memory 130 are generated.
- the number of times is as follows.
- the force polygon described by taking the triangle as an example may not be a triangle but may be a rectangle, for example.
- polygons are often either triangular or quadrangular.
- FIG. 11 shows a state in which a polygon having a square shape instructing the CPU power GE to draw is stored in the frame memory.
- a pixel at the boundary of the unit of writing to the frame memory is set as a division point on each side.
- the pixel at the boundary of the writing unit to the frame memory at the point near the center of gravity of the original rectangle is set as the last division point.
- This last split point is the power to select the shortest distance to the center of gravity.For easy selection, the midpoint of the line segment connecting the two split points on the horizontal side is the last split point.
- Four new rectangles are formed by connecting the division points and the division points on each side. The original quadrilateral is expressed by the four new rectangles that are formed.
- FIG. 13 shows a diagram in which the original rectangle HOIOJOKO shown in FIG. 11 is divided at the midpoint.
- the original rectangle HOIOJOKO is composed of four rectangles, a rectangle H0H3L3 K3, a rectangle H3I0I3L4, a rectangle L4I3J0J3, and a rectangle K3L3J3K0.
- the number of accesses to the frame memory is 50 times for the entire square HOIOJOKO.
- FIG. 14 shows a further division of the triangle D0E0F0 shown in FIG.
- triangle D1E0E1 and triangle F2E2F0 both store data in the frame memory across 8 pixels, they are further divided because they are wasted during writing.
- side D1EO and side EOE1 intersect the boundary of the writing pixel, that point is taken as the dividing point.
- Split triangle D1EOE1 into three triangles: triangle D4E0E4, triangle D5E5E1, and triangle D1D5E1.
- the triangle F2E2F0 may be divided into a triangle F1E2 E6 and a triangle F2E7F0. By dividing, a smoother image can be drawn.
- each of the triangles generated by the division is the first or last pixel of the writing pixel at least one of its vertices, so there is no waste in writing.
- the number of divisions may be determined according to the degree of smoothness desired to be expressed.
- the frame memory is assumed to store 640 X 480 pixels, and this does not need to be 640 X 480. Or even a memory that can store 1024 x 768 pixels! /.
- a memory capable of storing 240 X 320 pixels may be used so as to be compatible with a display of a mobile phone.
- a large-capacity memory for example, a memory that can handle a resolution of 1600 X 1200
- a memory that can handle a resolution of 1600 X 1200 is prepared in advance, so that it can be used for various displays by changing its use area according to the display resolution.
- Each part of the image drawing apparatus shown in the above embodiment may be realized as part or all of LSI (Large Scale Integration), VLSI (Very Large Scale Integration), etc. It may be realized by a combination of one or more LSIs and other circuits.
- LSI Large Scale Integration
- VLSI Very Large Scale Integration
- the division of polygons may be processed programmatically by the force that GE has divided.
- the image drawing apparatus specifically includes a microprobe. It is a computer system that also includes power such as a processor, ROM, RAM, hard disk unit, display unit, keyboard, and mouse. A computer program is stored in the RAM or the hard disk unit. Microprocessor power By operating according to the computer program, the device achieves its functions.
- the number of pixels to be written at one time is determined by the number of bus lines between the GE and the frame memory.
- burst transfer which is a high-speed transfer method for transferring continuous data without specifying an address, subtracts the amount of data that can be transferred in one burst transfer by the number of data in one pixel at a time. It may be the number of pixels to be written.
- each of the three points has its own color information and is formed by the three points.
- the triangle to be drawn may be drawn with an average color of three colors, or the hue may be changed depending on the position of the light source.
- the GE 120 has a function of writing in units of 8 pixels as a frame memory ⁇ —all together, but may also have a function of writing only one pixel. .
- the image drawing device can be used for a game machine or the like as a device for displaying a 3D image.
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JP2001118082A (ja) * | 1999-10-15 | 2001-04-27 | Toshiba Corp | 描画演算処理装置 |
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2005
- 2005-06-27 JP JP2006528652A patent/JP4691494B2/ja not_active Expired - Fee Related
- 2005-06-27 US US11/630,026 patent/US7737971B2/en not_active Expired - Fee Related
- 2005-06-27 WO PCT/JP2005/011708 patent/WO2006003856A1/ja active Application Filing
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JP2002503855A (ja) * | 1998-02-17 | 2002-02-05 | サン・マイクロシステムズ・インコーポレーテッド | 可変解像度スーパーサンプリングによるグラフィックス・システム |
JP2003263650A (ja) * | 2002-03-12 | 2003-09-19 | Sony Corp | 画像処理装置およびその方法 |
JP2003317113A (ja) * | 2002-04-24 | 2003-11-07 | Sony Corp | 画像処理装置およびその方法 |
Also Published As
Publication number | Publication date |
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JP4691494B2 (ja) | 2011-06-01 |
JPWO2006003856A1 (ja) | 2008-04-17 |
US7737971B2 (en) | 2010-06-15 |
US20070229494A1 (en) | 2007-10-04 |
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