2 * PROJECT: NyARToolkit
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3 * --------------------------------------------------------------------------------
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4 * This work is based on the original ARToolKit developed by
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7 * HITLab, University of Washington, Seattle
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8 * http://www.hitl.washington.edu/artoolkit/
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10 * The NyARToolkit is Java version ARToolkit class library.
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11 * Copyright (C)2008 R.Iizuka
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13 * This program is free software; you can redistribute it and/or
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14 * modify it under the terms of the GNU General Public License
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15 * as published by the Free Software Foundation; either version 2
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16 * of the License, or (at your option) any later version.
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18 * This program is distributed in the hope that it will be useful,
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19 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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20 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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21 * GNU General Public License for more details.
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23 * You should have received a copy of the GNU General Public License
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24 * along with this framework; if not, write to the Free Software
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25 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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27 * For further information please contact.
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28 * http://nyatla.jp/nyatoolkit/
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29 * <airmail(at)ebony.plala.or.jp>
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32 package jp.nyatla.nyartoolkit.core.transmat.optimize;
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35 import jp.nyatla.nyartoolkit.NyARException;
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36 import jp.nyatla.nyartoolkit.core.param.*;
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37 import jp.nyatla.nyartoolkit.core.transmat.fitveccalc.NyARFitVecCalculator;
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38 import jp.nyatla.nyartoolkit.core.transmat.rotmatrix.NyARRotMatrix;
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39 import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint2d;
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40 import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint3d;
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42 * 基本姿勢と実画像を一致するように、角度を微調整→平行移動量を再計算
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43 * を繰り返して、変換行列を最適化する。
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46 public class NyARRotTransOptimize_O2 implements INyARRotTransOptimize
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48 private final static int AR_GET_TRANS_MAT_MAX_LOOP_COUNT = 5;// #define AR_GET_TRANS_MAT_MAX_LOOP_COUNT 5
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49 private final static double AR_GET_TRANS_MAT_MAX_FIT_ERROR = 1.0;// #define AR_GET_TRANS_MAT_MAX_FIT_ERROR 1.0
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50 private final NyARPerspectiveProjectionMatrix _projection_mat_ref;
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51 public NyARRotTransOptimize_O2(NyARPerspectiveProjectionMatrix i_projection_mat_ref)
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53 this._projection_mat_ref=i_projection_mat_ref;
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57 final public double optimize(NyARRotMatrix io_rotmat,NyARDoublePoint3d io_transvec,NyARFitVecCalculator i_calculator) throws NyARException
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59 final NyARDoublePoint2d[] fit_vertex=i_calculator.getFitSquare();
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60 final NyARDoublePoint3d[] offset_square=i_calculator.getOffsetVertex().vertex;
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63 /*ループを抜けるタイミングをARToolKitと合わせるために変なことしてます。*/
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64 for (int i = 0;; i++) {
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66 err = modifyMatrix(io_rotmat,io_transvec,offset_square,fit_vertex);
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67 i_calculator.calculateTransfer(io_rotmat, io_transvec);
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68 err = modifyMatrix(io_rotmat,io_transvec,offset_square,fit_vertex);
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69 // //</arGetTransMat3>
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70 if (err < AR_GET_TRANS_MAT_MAX_FIT_ERROR || i == AR_GET_TRANS_MAT_MAX_LOOP_COUNT-1) {
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73 i_calculator.calculateTransfer(io_rotmat, io_transvec);
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78 private final double[][] __modifyMatrix_double1D = new double[8][3];
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80 * arGetRot計算を階層化したModifyMatrix 896
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88 * @throws NyARException
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90 private double modifyMatrix(NyARRotMatrix io_rot,NyARDoublePoint3d trans, NyARDoublePoint3d[] i_vertex3d, NyARDoublePoint2d[] i_vertex2d) throws NyARException
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95 double err, minerr = 0;
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99 factor = 10.0 * Math.PI / 180.0;
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100 double rot0, rot1, rot2;
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101 double combo00, combo01, combo02, combo03, combo10, combo11, combo12, combo13, combo20, combo21, combo22, combo23;
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102 double combo02_2, combo02_5, combo02_8, combo02_11;
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103 double combo22_2, combo22_5, combo22_8, combo22_11;
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104 double combo12_2, combo12_5, combo12_8, combo12_11;
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106 final double VX00, VX01, VX02, VX10, VX11, VX12, VX20, VX21, VX22, VX30, VX31, VX32;
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107 VX00 = i_vertex3d[0].x;
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108 VX01 = i_vertex3d[0].y;
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109 VX02 = i_vertex3d[0].z;
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110 VX10 = i_vertex3d[1].x;
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111 VX11 = i_vertex3d[1].y;
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112 VX12 = i_vertex3d[1].z;
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113 VX20 = i_vertex3d[2].x;
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114 VX21 = i_vertex3d[2].y;
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115 VX22 = i_vertex3d[2].z;
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116 VX30 = i_vertex3d[3].x;
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117 VX31 = i_vertex3d[3].y;
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118 VX32 = i_vertex3d[3].z;
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119 final double P2D00, P2D01, P2D10, P2D11, P2D20, P2D21, P2D30, P2D31;
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120 P2D00 = i_vertex2d[0].x;
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121 P2D01 = i_vertex2d[0].y;
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122 P2D10 = i_vertex2d[1].x;
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123 P2D11 = i_vertex2d[1].y;
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124 P2D20 = i_vertex2d[2].x;
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125 P2D21 = i_vertex2d[2].y;
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126 P2D30 = i_vertex2d[3].x;
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127 P2D31 = i_vertex2d[3].y;
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128 final NyARPerspectiveProjectionMatrix prjmat = this._projection_mat_ref;
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129 final double CP0 = prjmat.m00,CP1 = prjmat.m01,CP2 = prjmat.m02,CP4 = prjmat.m10,CP5 = prjmat.m11,CP6 = prjmat.m12,CP8 = prjmat.m20,CP9 = prjmat.m21,CP10 = prjmat.m22;
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130 combo03 = CP0 * trans.x + CP1 * trans.y + CP2 * trans.z + prjmat.m03;
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131 combo13 = CP4 * trans.x + CP5 * trans.y + CP6 * trans.z + prjmat.m13;
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132 combo23 = CP8 * trans.x + CP9 * trans.y + CP10 * trans.z + prjmat.m23;
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133 double CACA, SASA, SACA, CA, SA;
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134 double CACACB, SACACB, SASACB, CASB, SASB;
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135 double SACASC, SACACBSC, SACACBCC, SACACC;
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136 final double[][] double1D = this.__modifyMatrix_double1D;
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138 final double[] a_factor = double1D[1];
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139 final double[] sinb = double1D[2];
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140 final double[] cosb = double1D[3];
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141 final double[] b_factor = double1D[4];
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142 final double[] sinc = double1D[5];
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143 final double[] cosc = double1D[6];
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144 final double[] c_factor = double1D[7];
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148 final NyARDoublePoint3d angle = io_rot.refAngle();
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154 for (int i = 0; i < 10; i++) {
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155 minerr = 1000000000.0;
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156 // sin-cosテーブルを計算(これが外に出せるとは…。)
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157 for (int j = 0; j < 3; j++) {
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158 w2 = factor * (j - 1);
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163 sinb[j] = Math.sin(w);
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164 cosb[j] = Math.cos(w);
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167 sinc[j] = Math.sin(w);
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168 cosc[j] = Math.cos(w);
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171 for (t1 = 0; t1 < 3; t1++) {
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172 SA = Math.sin(a_factor[t1]);
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173 CA = Math.cos(a_factor[t1]);
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178 for (t2 = 0; t2 < 3; t2++) {
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181 CACACB = CACA * wcos;
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182 SACACB = SACA * wcos;
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183 SASACB = SASA * wcos;
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187 combo02 = CP0 * CASB + CP1 * SASB + CP2 * wcos;
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188 combo12 = CP4 * CASB + CP5 * SASB + CP6 * wcos;
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189 combo22 = CP8 * CASB + CP9 * SASB + CP10 * wcos;
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191 combo02_2 = combo02 * VX02 + combo03;
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192 combo02_5 = combo02 * VX12 + combo03;
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193 combo02_8 = combo02 * VX22 + combo03;
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194 combo02_11 = combo02 * VX32 + combo03;
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195 combo12_2 = combo12 * VX02 + combo13;
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196 combo12_5 = combo12 * VX12 + combo13;
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197 combo12_8 = combo12 * VX22 + combo13;
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198 combo12_11 = combo12 * VX32 + combo13;
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199 combo22_2 = combo22 * VX02 + combo23;
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200 combo22_5 = combo22 * VX12 + combo23;
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201 combo22_8 = combo22 * VX22 + combo23;
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202 combo22_11 = combo22 * VX32 + combo23;
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203 for (t3 = 0; t3 < 3; t3++) {
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206 SACASC = SACA * wsin;
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207 SACACC = SACA * wcos;
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208 SACACBSC = SACACB * wsin;
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209 SACACBCC = SACACB * wcos;
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211 rot0 = CACACB * wcos + SASA * wcos + SACACBSC - SACASC;
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212 rot1 = SACACBCC - SACACC + SASACB * wsin + CACA * wsin;
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213 rot2 = -CASB * wcos - SASB * wsin;
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214 combo00 = CP0 * rot0 + CP1 * rot1 + CP2 * rot2;
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215 combo10 = CP4 * rot0 + CP5 * rot1 + CP6 * rot2;
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216 combo20 = CP8 * rot0 + CP9 * rot1 + CP10 * rot2;
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218 rot0 = -CACACB * wsin - SASA * wsin + SACACBCC - SACACC;
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219 rot1 = -SACACBSC + SACASC + SASACB * wcos + CACA * wcos;
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220 rot2 = CASB * wsin - SASB * wcos;
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221 combo01 = CP0 * rot0 + CP1 * rot1 + CP2 * rot2;
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222 combo11 = CP4 * rot0 + CP5 * rot1 + CP6 * rot2;
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223 combo21 = CP8 * rot0 + CP9 * rot1 + CP10 * rot2;
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226 h = combo20 * VX00 + combo21 * VX01 + combo22_2;
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227 x = P2D00 - (combo00 * VX00 + combo01 * VX01 + combo02_2) / h;
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228 y = P2D01 - (combo10 * VX00 + combo11 * VX01 + combo12_2) / h;
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229 err += x * x + y * y;
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230 h = combo20 * VX10 + combo21 * VX11 + combo22_5;
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231 x = P2D10 - (combo00 * VX10 + combo01 * VX11 + combo02_5) / h;
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232 y = P2D11 - (combo10 * VX10 + combo11 * VX11 + combo12_5) / h;
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233 err += x * x + y * y;
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234 h = combo20 * VX20 + combo21 * VX21 + combo22_8;
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235 x = P2D20 - (combo00 * VX20 + combo01 * VX21 + combo02_8) / h;
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236 y = P2D21 - (combo10 * VX20 + combo11 * VX21 + combo12_8) / h;
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237 err += x * x + y * y;
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238 h = combo20 * VX30 + combo21 * VX31 + combo22_11;
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239 x = P2D30 - (combo00 * VX30 + combo01 * VX31 + combo02_11) / h;
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240 y = P2D31 - (combo10 * VX30 + combo11 * VX31 + combo12_11) / h;
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241 err += x * x + y * y;
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242 if (err < minerr) {
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247 best_idx=t1+t2*3+t3*9;
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252 if (best_idx==(1+3+9)) {
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256 io_rot.setAngle(a2, b2, c2);
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257 /* printf("factor = %10.5f\n", factor*180.0/MD_PI); */
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