sample/sandbox/jp/nyatla/nyartoolkit/sandbox/x2/NyARTransMat_X2.java

   1 /* \r
   2  * PROJECT: NyARToolkit\r
   3  * --------------------------------------------------------------------------------\r
   4  * This work is based on the original ARToolKit developed by\r
   5  *   Hirokazu Kato\r
   6  *   Mark Billinghurst\r
   7  *   HITLab, University of Washington, Seattle\r
   8  * http://www.hitl.washington.edu/artoolkit/\r
   9  *\r
  10  * The NyARToolkit is Java version ARToolkit class library.\r
  11  * Copyright (C)2008 R.Iizuka\r
  12  *\r
  13  * This program is free software; you can redistribute it and/or\r
  14  * modify it under the terms of the GNU General Public License\r
  15  * as published by the Free Software Foundation; either version 2\r
  16  * of the License, or (at your option) any later version.\r
  17  * \r
  18  * This program is distributed in the hope that it will be useful,\r
  19  * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  20  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
  21  * GNU General Public License for more details.\r
  22  * \r
  23  * You should have received a copy of the GNU General Public License\r
  24  * along with this framework; if not, write to the Free Software\r
  25  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA\r
  26  * \r
  27  * For further information please contact.\r
  28  *      http://nyatla.jp/nyatoolkit/\r
  29  *      <airmail(at)ebony.plala.or.jp>\r
  30  * \r
  31  */\r
  32 package jp.nyatla.nyartoolkit.sandbox.x2;\r
  33 \r
  34 import jp.nyatla.nyartoolkit.NyARException;\r
  35 import jp.nyatla.nyartoolkit.core.NyARSquare;\r
  36 import jp.nyatla.nyartoolkit.core.param.*;\r
  37 import jp.nyatla.nyartoolkit.core.transmat.*;\r
  38 import jp.nyatla.nyartoolkit.core.transmat.rotmatrix.NyARRotMatrix;\r
  39 import jp.nyatla.nyartoolkit.core.types.*;\r
  40 import jp.nyatla.nyartoolkit.core2.types.NyARFixedFloat16Point2d;\r
  41 import jp.nyatla.nyartoolkit.core2.types.NyARFixedFloat16Point3d;\r
  42 \r
  43 \r
  44 /**\r
  45  * This class calculates ARMatrix from square information and holds it. --\r
  46  * 変換行列を計算して、結果を保持するクラス。\r
  47  * \r
  48  */\r
  49 public class NyARTransMat_X2 implements INyARTransMat\r
  50 {\r
  51         private final NyARFixedFloat16Point2d _center=new NyARFixedFloat16Point2d();\r
  52         private final NyARFixedFloatTransOffset _offset=new NyARFixedFloatTransOffset();\r
  53         private NyARFixedFloatRotMatrix _rotmatrix;\r
  54         private NyARFixedFloatFitVecCalculator _calculator;\r
  55         private NyARFixedFloatRotTransOptimize_O2 _mat_optimize;\r
  56 \r
  57         public NyARTransMat_X2(NyARParam i_param,NyARFixedFloatCameraDistortionFactorMap i_dist_factor_map) throws NyARException\r
  58         {\r
  59                 final NyARPerspectiveProjectionMatrix pmat=i_param.getPerspectiveProjectionMatrix();\r
  60                 this._calculator=new NyARFixedFloatFitVecCalculator(pmat,i_dist_factor_map);\r
  61                 this._rotmatrix = new NyARFixedFloatRotMatrix(pmat);\r
  62                 this._mat_optimize=new NyARFixedFloatRotTransOptimize_O2(pmat);\r
  63         }\r
  64 \r
  65         public void setCenter(double i_x, double i_y)\r
  66         {\r
  67                 this._center.x= (long)i_x*NyMath.FIXEDFLOAT16_1;\r
  68                 this._center.y= (long)i_y*NyMath.FIXEDFLOAT16_1;\r
  69                 return;\r
  70         }\r
  71         /**\r
  72          * 頂点順序をi_directionに対応して並べ替えます。\r
  73          * @param i_square\r
  74          * @param i_direction\r
  75          * @param o_sqvertex_ref\r
  76          * @param o_liner_ref\r
  77          */\r
  78         private final void initVertexOrder(NyARSquare i_square, int i_direction, NyARDoublePoint2d[] o_sqvertex_ref, NyARLinear[] o_liner_ref)\r
  79         {\r
  80                 //頂点順序を考慮した矩形の頂点情報\r
  81                 o_sqvertex_ref[0]= i_square.sqvertex[(4 - i_direction) % 4];\r
  82                 o_sqvertex_ref[1]= i_square.sqvertex[(5 - i_direction) % 4];\r
  83                 o_sqvertex_ref[2]= i_square.sqvertex[(6 - i_direction) % 4];\r
  84                 o_sqvertex_ref[3]= i_square.sqvertex[(7 - i_direction) % 4];    \r
  85                 o_liner_ref[0]=i_square.line[(4 - i_direction) % 4];\r
  86                 o_liner_ref[1]=i_square.line[(5 - i_direction) % 4];\r
  87                 o_liner_ref[2]=i_square.line[(6 - i_direction) % 4];\r
  88                 o_liner_ref[3]=i_square.line[(7 - i_direction) % 4];\r
  89                 return;\r
  90         }\r
  91 \r
  92 \r
  93         private final NyARDoublePoint2d[] __transMat_sqvertex_ref = new NyARDoublePoint2d[4];\r
  94         private final NyARLinear[] __transMat_linear_ref=new NyARLinear[4];\r
  95         private final NyARFixedFloat16Point3d __transMat_trans=new NyARFixedFloat16Point3d();\r
  96         /**\r
  97          * double arGetTransMat( ARMarkerInfo *marker_info,double center[2], double width, double conv[3][4] )\r
  98          * \r
  99          * @param i_square\r
 100          * 計算対象のNyARSquareオブジェクト\r
 101          * @param i_direction\r
 102          * @param i_width\r
 103          * @return\r
 104          * @throws NyARException\r
 105          */\r
 106         public void transMat(final NyARSquare i_square, int i_direction, double i_width, NyARTransMatResult o_result_conv) throws NyARException\r
 107         {\r
 108                 final NyARDoublePoint2d[] sqvertex_ref = __transMat_sqvertex_ref;\r
 109                 final NyARLinear[] linear_ref=__transMat_linear_ref;\r
 110                 final NyARFixedFloat16Point3d trans=this.__transMat_trans;\r
 111                 \r
 112                 //計算用に頂点情報を初期化（順番調整）\r
 113                 initVertexOrder(i_square, i_direction, sqvertex_ref,linear_ref);\r
 114                 \r
 115                 //基準矩形を設定\r
 116                 this._offset.setSquare((long)(i_width*NyMath.FIXEDFLOAT16_1),this._center);\r
 117 \r
 118                 // rotationを矩形情報から計算\r
 119                 this._rotmatrix.initRotBySquare(linear_ref,sqvertex_ref);\r
 120 \r
 121                 //平行移動量計算機にオフセット頂点をセット\r
 122                 this._calculator.setOffsetSquare(this._offset);\r
 123                 \r
 124                 //平行移動量計算機に適応先矩形の情報をセット\r
 125                 this._calculator.setFittedSquare(sqvertex_ref); \r
 126 \r
 127                 //回転行列の平行移動量の計算\r
 128                 this._calculator.calculateTransfer(this._rotmatrix,trans);\r
 129                 \r
 130                 //計算結果の最適化(this._rotmatrix,trans)\r
 131                 this._mat_optimize.optimize(this._rotmatrix,trans,this._calculator);\r
 132                 \r
 133                 // マトリクスの保存\r
 134                 this.updateMatrixValue(this._rotmatrix, this._offset.point, trans,o_result_conv);\r
 135                 return;\r
 136         }\r
 137         /**\r
 138          * double arGetTransMatCont( ARMarkerInfo *marker_info, double prev_conv[3][4],double center[2], double width, double conv[3][4] )\r
 139          * \r
 140          * @param i_square\r
 141          * @param i_direction\r
 142          * マーカーの方位を指定する。\r
 143          * @param i_width\r
 144          * @param io_result_conv\r
 145          * 計算履歴を持つNyARTransMatResultオブジェクトを指定する。 履歴を持たない場合は、transMatと同じ処理を行う。\r
 146          * @return\r
 147          * @throws NyARException\r
 148          */\r
 149         public void transMatContinue(NyARSquare i_square, int i_direction, double i_width, NyARTransMatResult io_result_conv) throws NyARException\r
 150         {\r
 151                 /*      今度実装\r
 152                 final NyARDoublePoint2d[] sqvertex_ref = __transMat_sqvertex_ref;\r
 153                 final NyARLinear[] linear_ref=__transMat_linear_ref;\r
 154                 final NyARDoublePoint3d trans=this.__transMat_trans;\r
 155 \r
 156                 // io_result_convが初期値なら、transMatで計算する。\r
 157                 if (!io_result_conv.hasValue()) {\r
 158                         this.transMat(i_square, i_direction, i_width, io_result_conv);\r
 159                         return;\r
 160                 }\r
 161                 \r
 162                 //基準矩形を設定\r
 163                 this._offset.setSquare(i_width,this._center);\r
 164 \r
 165                 // rotationを矩形情報を一つ前の変換行列で初期化\r
 166                 this._rotmatrix.initRotByPrevResult(io_result_conv);\r
 167 \r
 168                 //平行移動量計算機に、オフセット頂点をセット\r
 169                 this._calculator.setOffsetSquare(this._offset);\r
 170                 \r
 171                 //平行移動量計算機に、適応先矩形の情報をセット\r
 172                 this._calculator.setFittedSquare(sqvertex_ref); \r
 173                                 \r
 174                 //回転行列の平行移動量の計算\r
 175                 this._calculator.calculateTransfer(this._rotmatrix,trans);\r
 176                 \r
 177                 //計算結果の最適化(this._rotmatrix,trans)\r
 178                 final double err=this._mat_optimize.optimize(this._rotmatrix,trans,this._calculator);\r
 179                 \r
 180                 //計算結果を保存\r
 181                 io_result_conv.updateMatrixValue(this._rotmatrix, this._offset.point, trans);\r
 182 \r
 183                 // エラー値が許容範囲でなければTransMatをやり直し\r
 184                 if (err > AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR) {\r
 185                         // rotationを矩形情報で初期化\r
 186                         this._rotmatrix.initRotBySquare(linear_ref,sqvertex_ref);\r
 187                         //回転行列の平行移動量の計算\r
 188                         this._calculator.calculateTransfer(this._rotmatrix,trans);\r
 189                         //計算結果の最適化(this._rotmatrix,trans)\r
 190                         final double err2=this._mat_optimize.optimize(this._rotmatrix,trans,this._calculator);\r
 191                         //エラー値が低かったら値を差換え\r
 192                         if (err2 < err) {\r
 193                                 // 良い値が取れたら、差換え\r
 194                                 io_result_conv.updateMatrixValue(this._rotmatrix, this._offset.point, trans);\r
 195                         }\r
 196                 }               \r
 197                 return;*/\r
 198                 NyARException.notImplement();\r
 199         }\r
 200         public void updateMatrixValue(NyARFixedFloatRotMatrix i_rot, NyARFixedFloat16Point3d i_off, NyARFixedFloat16Point3d i_trans,NyARTransMatResult o_result)\r
 201         {\r
 202                 o_result.m00=(double)i_rot.m00/NyMath.FIXEDFLOAT24_1;\r
 203                 o_result.m01=(double)i_rot.m01/NyMath.FIXEDFLOAT24_1;\r
 204                 o_result.m02=(double)i_rot.m02/NyMath.FIXEDFLOAT24_1;\r
 205                 o_result.m03=(double)(((i_rot.m00 * i_off.x + i_rot.m01 * i_off.y + i_rot.m02 * i_off.z)>>24) + i_trans.x)/NyMath.FIXEDFLOAT16_1;\r
 206 \r
 207                 o_result.m10 =(double)i_rot.m10/NyMath.FIXEDFLOAT24_1;\r
 208                 o_result.m11 =(double)i_rot.m11/NyMath.FIXEDFLOAT24_1;\r
 209                 o_result.m12 =(double)i_rot.m12/NyMath.FIXEDFLOAT24_1;\r
 210                 o_result.m13 =(double)(((i_rot.m10 * i_off.x + i_rot.m11 * i_off.y + i_rot.m12 * i_off.z)>>24) + i_trans.y)/NyMath.FIXEDFLOAT16_1;\r
 211 \r
 212                 o_result.m20 =(double)i_rot.m20/NyMath.FIXEDFLOAT24_1;\r
 213                 o_result.m21 =(double)i_rot.m21/NyMath.FIXEDFLOAT24_1;\r
 214                 o_result.m22 =(double)i_rot.m22/NyMath.FIXEDFLOAT24_1;\r
 215                 o_result.m23 =(double)(((i_rot.m20 * i_off.x + i_rot.m21 * i_off.y + i_rot.m22 * i_off.z)>>24) + i_trans.z)/NyMath.FIXEDFLOAT16_1;\r
 216 \r
 217                 o_result.has_value = true;\r
 218                 return;\r
 219         }       \r
 220 }\r