tags/2.0.0/src/jp/nyatla/nyartoolkit/core/transmat/NyARTransMat.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.core.transmat;\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.fitveccalc.NyARFitVecCalculator;\r
  38 import jp.nyatla.nyartoolkit.core.transmat.optimize.NyARRotTransOptimize;\r
  39 import jp.nyatla.nyartoolkit.core.transmat.rotmatrix.NyARRotMatrix;\r
  40 import jp.nyatla.nyartoolkit.core.types.*;\r
  41 \r
  42 \r
  43 /**\r
  44  * This class calculates ARMatrix from square information and holds it. --\r
  45  * 変換行列を計算して、結果を保持するクラス。\r
  46  * \r
  47  */\r
  48 public class NyARTransMat implements INyARTransMat\r
  49 {\r
  50         private final static double AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR = 1.0;\r
  51 \r
  52         private final NyARRotMatrix _rotmatrix;\r
  53         private final NyARDoublePoint2d _center=new NyARDoublePoint2d(0,0);\r
  54         private final NyARFitVecCalculator _calculator;\r
  55         private final NyARTransOffset _offset=new NyARTransOffset();\r
  56         private final NyARRotTransOptimize _mat_optimize;\r
  57 \r
  58 \r
  59         public NyARTransMat(NyARParam i_param) throws NyARException\r
  60         {\r
  61                 final NyARCameraDistortionFactor dist=i_param.getDistortionFactor();\r
  62                 final NyARPerspectiveProjectionMatrix pmat=i_param.getPerspectiveProjectionMatrix();\r
  63                 this._calculator=new NyARFitVecCalculator(pmat,dist);\r
  64                 this._rotmatrix = new NyARRotMatrix(pmat);\r
  65                 this._mat_optimize=new NyARRotTransOptimize(pmat);\r
  66         }\r
  67 \r
  68         public void setCenter(double i_x, double i_y)\r
  69         {\r
  70                 this._center.x= i_x;\r
  71                 this._center.y= i_y;\r
  72         }\r
  73 \r
  74 \r
  75 \r
  76 \r
  77         /**\r
  78          * 頂点順序をi_directionに対応して並べ替えます。\r
  79          * @param i_square\r
  80          * @param i_direction\r
  81          * @param o_sqvertex_ref\r
  82          * @param o_liner_ref\r
  83          */\r
  84         private final void initVertexOrder(NyARSquare i_square, int i_direction, NyARDoublePoint2d[] o_sqvertex_ref, NyARLinear[] o_liner_ref)\r
  85         {\r
  86                 //頂点順序を考慮した矩形の頂点情報\r
  87                 o_sqvertex_ref[0]= i_square.sqvertex[(4 - i_direction) % 4];\r
  88                 o_sqvertex_ref[1]= i_square.sqvertex[(5 - i_direction) % 4];\r
  89                 o_sqvertex_ref[2]= i_square.sqvertex[(6 - i_direction) % 4];\r
  90                 o_sqvertex_ref[3]= i_square.sqvertex[(7 - i_direction) % 4];    \r
  91                 o_liner_ref[0]=i_square.line[(4 - i_direction) % 4];\r
  92                 o_liner_ref[1]=i_square.line[(5 - i_direction) % 4];\r
  93                 o_liner_ref[2]=i_square.line[(6 - i_direction) % 4];\r
  94                 o_liner_ref[3]=i_square.line[(7 - i_direction) % 4];\r
  95                 return;\r
  96         }\r
  97 \r
  98 \r
  99         private final NyARDoublePoint2d[] __transMat_sqvertex_ref = new NyARDoublePoint2d[4];\r
 100         private final NyARLinear[] __transMat_linear_ref=new NyARLinear[4];\r
 101         private final NyARDoublePoint3d __transMat_trans=new NyARDoublePoint3d();\r
 102         /**\r
 103          * double arGetTransMat( ARMarkerInfo *marker_info,double center[2], double width, double conv[3][4] )\r
 104          * \r
 105          * @param i_square\r
 106          * 計算対象のNyARSquareオブジェクト\r
 107          * @param i_direction\r
 108          * @param i_width\r
 109          * @return\r
 110          * @throws NyARException\r
 111          */\r
 112         public void transMat(final NyARSquare i_square, int i_direction, double i_width, NyARTransMatResult o_result_conv) throws NyARException\r
 113         {\r
 114                 final NyARDoublePoint2d[] sqvertex_ref = __transMat_sqvertex_ref;\r
 115                 final NyARLinear[] linear_ref=__transMat_linear_ref;\r
 116                 final NyARDoublePoint3d trans=this.__transMat_trans;\r
 117                 \r
 118                 //計算用に頂点情報を初期化（順番調整）\r
 119                 initVertexOrder(i_square, i_direction, sqvertex_ref,linear_ref);\r
 120                 \r
 121                 //基準矩形を設定\r
 122                 this._offset.setSquare(i_width,this._center);\r
 123 \r
 124                 // rotationを矩形情報から計算\r
 125                 this._rotmatrix.initRotBySquare(linear_ref,sqvertex_ref);\r
 126 \r
 127                 //平行移動量計算機にオフセット頂点をセット\r
 128                 this._calculator.setOffsetSquare(this._offset);\r
 129                 \r
 130                 //平行移動量計算機に適応先矩形の情報をセット\r
 131                 this._calculator.setFittedSquare(sqvertex_ref); \r
 132 \r
 133                 //回転行列の平行移動量の計算\r
 134                 this._calculator.calculateTransfer(this._rotmatrix,trans);\r
 135                 \r
 136                 //計算結果の最適化(this._rotmatrix,trans)\r
 137                 this._mat_optimize.optimize(this._rotmatrix,trans,this._calculator);\r
 138                 \r
 139                 // マトリクスの保存\r
 140                 o_result_conv.updateMatrixValue(this._rotmatrix, this._offset.point, trans);\r
 141                 return;\r
 142         }\r
 143         /**\r
 144          * double arGetTransMatCont( ARMarkerInfo *marker_info, double prev_conv[3][4],double center[2], double width, double conv[3][4] )\r
 145          * \r
 146          * @param i_square\r
 147          * @param i_direction\r
 148          * マーカーの方位を指定する。\r
 149          * @param i_width\r
 150          * @param io_result_conv\r
 151          * 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
 152          * @return\r
 153          * @throws NyARException\r
 154          */\r
 155         public void transMatContinue(NyARSquare i_square, int i_direction, double i_width, NyARTransMatResult io_result_conv) throws NyARException\r
 156         {\r
 157                 final NyARDoublePoint2d[] sqvertex_ref = __transMat_sqvertex_ref;\r
 158                 final NyARLinear[] linear_ref=__transMat_linear_ref;\r
 159                 final NyARDoublePoint3d trans=this.__transMat_trans;\r
 160 \r
 161                 // io_result_convが初期値なら、transMatで計算する。\r
 162                 if (!io_result_conv.hasValue()) {\r
 163                         this.transMat(i_square, i_direction, i_width, io_result_conv);\r
 164                         return;\r
 165                 }\r
 166                 \r
 167                 //基準矩形を設定\r
 168                 this._offset.setSquare(i_width,this._center);\r
 169 \r
 170                 // rotationを矩形情報を一つ前の変換行列で初期化\r
 171                 this._rotmatrix.initRotByPrevResult(io_result_conv);\r
 172 \r
 173                 //平行移動量計算機に、オフセット頂点をセット\r
 174                 this._calculator.setOffsetSquare(this._offset);\r
 175                 \r
 176                 //平行移動量計算機に、適応先矩形の情報をセット\r
 177                 this._calculator.setFittedSquare(sqvertex_ref); \r
 178                                 \r
 179                 //回転行列の平行移動量の計算\r
 180                 this._calculator.calculateTransfer(this._rotmatrix,trans);\r
 181                 \r
 182                 //計算結果の最適化(this._rotmatrix,trans)\r
 183                 final double err=this._mat_optimize.optimize(this._rotmatrix,trans,this._calculator);\r
 184                 \r
 185                 //計算結果を保存\r
 186                 io_result_conv.updateMatrixValue(this._rotmatrix, this._offset.point, trans);\r
 187 \r
 188                 // エラー値が許容範囲でなければTransMatをやり直し\r
 189                 if (err > AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR) {\r
 190                         // rotationを矩形情報で初期化\r
 191                         this._rotmatrix.initRotBySquare(linear_ref,sqvertex_ref);\r
 192                         //回転行列の平行移動量の計算\r
 193                         this._calculator.calculateTransfer(this._rotmatrix,trans);\r
 194                         //計算結果の最適化(this._rotmatrix,trans)\r
 195                         final double err2=this._mat_optimize.optimize(this._rotmatrix,trans,this._calculator);\r
 196                         //エラー値が低かったら値を差換え\r
 197                         if (err2 < err) {\r
 198                                 // 良い値が取れたら、差換え\r
 199                                 io_result_conv.updateMatrixValue(this._rotmatrix, this._offset.point, trans);\r
 200                         }\r
 201                 }\r
 202                 return;\r
 203         }\r
 204 }\r