package jp.nyatla.nyartoolkit.core.param;\r
\r
import jp.nyatla.nyartoolkit.core.*;\r
-import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix34;\r
+import jp.nyatla.nyartoolkit.core.types.matrix.*;\r
+import jp.nyatla.nyartoolkit.core.types.*;\r
\r
/**\r
* 透視変換行列を格納します。\r
//}\r
return;\r
}\r
-\r
+ /**\r
+ * 現在の行列で３次元座標を射影変換します。\r
+ * @param i_3dvertex\r
+ * @param o_2d\r
+ */\r
+ public void projectionConvert(NyARDoublePoint3d i_3dvertex,NyARDoublePoint2d o_2d)\r
+ {\r
+ o_2d.x=(i_3dvertex.x*this.m00+i_3dvertex.y*this.m01+i_3dvertex.z*this.m02)/i_3dvertex.z;\r
+ o_2d.y=(i_3dvertex.y*this.m11+i_3dvertex.z*this.m12)/i_3dvertex.z;\r
+ return;\r
+ }\r
\r
\r
\r
{\r
public NyARLinear[] line = NyARLinear.createArray(4);\r
public NyARDoublePoint2d[] sqvertex = NyARDoublePoint2d.createArray(4);\r
- public NyARIntPoint2d[] imvertex = NyARIntPoint2d.createArray(4);\r
+// public NyARIntPoint2d[] imvertex = NyARIntPoint2d.createArray(4);\r
public NyARSquare()\r
{\r
for (int i = 0; i < 4; i++)\r
*/\r
public interface INyARTransMat\r
{\r
- public void setCenter(double i_x, double i_y);\r
- public void transMat(NyARSquare i_square, double i_width, NyARTransMatResult o_result) throws NyARException;\r
- public void transMatContinue(NyARSquare i_square, double i_width, NyARTransMatResult io_result_conv) throws NyARException;\r
+ public void transMat(NyARSquare i_square,NyARRectOffset i_offset, NyARTransMatResult o_result) throws NyARException;\r
+ public void transMatContinue(NyARSquare i_square,NyARRectOffset i_offset, NyARTransMatResult io_result_conv) throws NyARException;\r
}\r
\r
import jp.nyatla.nyartoolkit.core.types.*;\r
\r
-\r
-final public class NyARTransOffset\r
+/**\r
+ * 矩形の頂点情報を格納します。\r
+ */\r
+final public class NyARRectOffset\r
{\r
public final NyARDoublePoint3d[] vertex=NyARDoublePoint3d.createArray(4);\r
- public final NyARDoublePoint3d point=new NyARDoublePoint3d(); \r
+ public static NyARRectOffset[] createArray(int i_number)\r
+ {\r
+ NyARRectOffset[] ret=new NyARRectOffset[i_number];\r
+ for(int i=0;i<i_number;i++)\r
+ {\r
+ ret[i]=new NyARRectOffset();\r
+ }\r
+ return ret;\r
+ } \r
/**\r
* 中心位置と辺長から、オフセット情報を作成して設定する。\r
* @param i_width\r
- * @param i_center\r
*/\r
- public void setSquare(double i_width,NyARDoublePoint2d i_center)\r
+ public void setSquare(double i_width)\r
{\r
final double w_2 = i_width / 2.0;\r
\r
vertex3d_ptr.y = -w_2;\r
vertex3d_ptr.z = 0.0;\r
\r
- this.point.x=-i_center.x;\r
- this.point.y=-i_center.y;\r
- this.point.z=0;\r
return;\r
}\r
}\r
*/\r
public class NyARTransMat implements INyARTransMat\r
{ \r
- private final NyARDoublePoint2d _center=new NyARDoublePoint2d(0,0);\r
- private final NyARTransOffset _offset=new NyARTransOffset();\r
private NyARPerspectiveProjectionMatrix _projection_mat_ref;\r
protected NyARRotMatrix _rotmatrix;\r
protected INyARTransportVectorSolver _transsolver;\r
this._projection_mat_ref=pmat;\r
}\r
\r
- public void setCenter(double i_x, double i_y)\r
- {\r
- this._center.x= i_x;\r
- this._center.y= i_y;\r
- }\r
-\r
-\r
-\r
-\r
-\r
-\r
private final NyARDoublePoint2d[] __transMat_vertex_2d = NyARDoublePoint2d.createArray(4);\r
private final NyARDoublePoint3d[] __transMat_vertex_3d = NyARDoublePoint3d.createArray(4);\r
private final NyARDoublePoint3d __transMat_trans=new NyARDoublePoint3d();\r
* @return\r
* @throws NyARException\r
*/\r
- public void transMat(final NyARSquare i_square, double i_width, NyARTransMatResult o_result_conv) throws NyARException\r
+ public void transMat(final NyARSquare i_square,NyARRectOffset i_offset, NyARTransMatResult o_result_conv) throws NyARException\r
{\r
final NyARDoublePoint3d trans=this.__transMat_trans;\r
\r
this._ref_dist_factor.ideal2ObservBatch(i_square.sqvertex, vertex_2d,4); \r
this._transsolver.set2dVertex(vertex_2d,4);\r
\r
- //基準矩形の3D座標系を作成\r
- this._offset.setSquare(i_width,this._center);\r
-\r
//回転行列を計算\r
this._rotmatrix.initRotBySquare(i_square.line,i_square.sqvertex);\r
\r
//回転後の3D座標系から、平行移動量を計算\r
- this._rotmatrix.getPoint3dBatch(this._offset.vertex,vertex_3d,4);\r
+ this._rotmatrix.getPoint3dBatch(i_offset.vertex,vertex_3d,4);\r
this._transsolver.solveTransportVector(vertex_3d,trans);\r
\r
//計算結果の最適化(平行移動量と回転行列の最適化)\r
- o_result_conv.error=this.optimize(this._rotmatrix, trans, this._transsolver,this._offset.vertex, vertex_2d,err_threshold);\r
+ o_result_conv.error=this.optimize(this._rotmatrix, trans, this._transsolver,i_offset.vertex, vertex_2d,err_threshold);\r
\r
// マトリクスの保存\r
- this.updateMatrixValue(this._rotmatrix, this._offset.point, trans,o_result_conv);\r
+ this.updateMatrixValue(this._rotmatrix, trans,o_result_conv);\r
return;\r
}\r
\r
* (non-Javadoc)\r
* @see jp.nyatla.nyartoolkit.core.transmat.INyARTransMat#transMatContinue(jp.nyatla.nyartoolkit.core.NyARSquare, int, double, jp.nyatla.nyartoolkit.core.transmat.NyARTransMatResult)\r
*/\r
- public void transMatContinue(NyARSquare i_square, double i_width, NyARTransMatResult o_result_conv) throws NyARException\r
+ public void transMatContinue(NyARSquare i_square,NyARRectOffset i_offset, NyARTransMatResult o_result_conv) throws NyARException\r
{\r
final NyARDoublePoint3d trans=this.__transMat_trans;\r
\r
// io_result_convが初期値なら、transMatで計算する。\r
if (!o_result_conv.has_value) {\r
- this.transMat(i_square,i_width, o_result_conv);\r
+ this.transMat(i_square,i_offset, o_result_conv);\r
return;\r
}\r
\r
this._ref_dist_factor.ideal2ObservBatch(i_square.sqvertex, vertex_2d,4); \r
this._transsolver.set2dVertex(vertex_2d,4);\r
\r
- //基準矩形の3D座標系を作成\r
- this._offset.setSquare(i_width,this._center);\r
-\r
//回転行列を計算\r
this._rotmatrix.initRotByPrevResult(o_result_conv);\r
\r
//回転後の3D座標系から、平行移動量を計算\r
- this._rotmatrix.getPoint3dBatch(this._offset.vertex,vertex_3d,4);\r
+ this._rotmatrix.getPoint3dBatch(i_offset.vertex,vertex_3d,4);\r
this._transsolver.solveTransportVector(vertex_3d,trans);\r
\r
//現在のエラーレートを計算しておく\r
- double min_err=errRate(this._rotmatrix,trans, this._offset.vertex, vertex_2d,4,vertex_3d);\r
+ double min_err=errRate(this._rotmatrix,trans,i_offset.vertex, vertex_2d,4,vertex_3d);\r
NyARDoubleMatrix33 rot=this.__rot;\r
//エラーレートが前回のエラー値より閾値分大きかったらアゲイン\r
if(min_err<o_result_conv.error+err_threshold){\r
//最適化してみる。\r
for (int i = 0;i<5; i++) {\r
//変換行列の最適化\r
- this._mat_optimize.modifyMatrix(rot, trans, this._offset.vertex, vertex_2d, 4);\r
- double err=errRate(rot,trans,this._offset.vertex, vertex_2d,4,vertex_3d);\r
+ this._mat_optimize.modifyMatrix(rot, trans, i_offset.vertex, vertex_2d, 4);\r
+ double err=errRate(rot,trans,i_offset.vertex, vertex_2d,4,vertex_3d);\r
//System.out.println("E:"+err);\r
if(min_err-err<err_threshold/2){\r
//System.out.println("BREAK");\r
this._rotmatrix.setValue(rot);\r
min_err=err;\r
}\r
- this.updateMatrixValue(this._rotmatrix, this._offset.point, trans,o_result_conv);\r
+ this.updateMatrixValue(this._rotmatrix, trans,o_result_conv);\r
}else{\r
//回転行列を計算\r
this._rotmatrix.initRotBySquare(i_square.line,i_square.sqvertex);\r
\r
//回転後の3D座標系から、平行移動量を計算\r
- this._rotmatrix.getPoint3dBatch(this._offset.vertex,vertex_3d,4);\r
+ this._rotmatrix.getPoint3dBatch(i_offset.vertex,vertex_3d,4);\r
this._transsolver.solveTransportVector(vertex_3d,trans);\r
\r
//計算結果の最適化(平行移動量と回転行列の最適化)\r
- min_err=this.optimize(this._rotmatrix, trans, this._transsolver,this._offset.vertex, vertex_2d,err_threshold);\r
- this.updateMatrixValue(this._rotmatrix, this._offset.point, trans,o_result_conv);\r
+ min_err=this.optimize(this._rotmatrix, trans, this._transsolver,i_offset.vertex, vertex_2d,err_threshold);\r
+ this.updateMatrixValue(this._rotmatrix, trans,o_result_conv);\r
}\r
o_result_conv.error=min_err;\r
return;\r
* @param i_off\r
* @param i_trans\r
*/\r
- public void updateMatrixValue(NyARRotMatrix i_rot, NyARDoublePoint3d i_off, NyARDoublePoint3d i_trans,NyARTransMatResult o_result)\r
+ public void updateMatrixValue(NyARRotMatrix i_rot, NyARDoublePoint3d i_trans,NyARTransMatResult o_result)\r
{\r
o_result.m00=i_rot.m00;\r
o_result.m01=i_rot.m01;\r
o_result.m02=i_rot.m02;\r
- o_result.m03=i_rot.m00 * i_off.x + i_rot.m01 * i_off.y + i_rot.m02 * i_off.z + i_trans.x;\r
+ o_result.m03=i_trans.x;\r
\r
- o_result.m10 = i_rot.m10;\r
- o_result.m11 = i_rot.m11;\r
- o_result.m12 = i_rot.m12;\r
- o_result.m13 = i_rot.m10 * i_off.x + i_rot.m11 * i_off.y + i_rot.m12 * i_off.z + i_trans.y;\r
+ o_result.m10 =i_rot.m10;\r
+ o_result.m11 =i_rot.m11;\r
+ o_result.m12 =i_rot.m12;\r
+ o_result.m13 =i_trans.y;\r
\r
o_result.m20 = i_rot.m20;\r
o_result.m21 = i_rot.m21;\r
o_result.m22 = i_rot.m22;\r
- o_result.m23 = i_rot.m20 * i_off.x + i_rot.m21 * i_off.y + i_rot.m22 * i_off.z + i_trans.z;\r
+ o_result.m23 = i_trans.z;\r
\r
o_result.has_value = true;\r
return;\r
o_out.z=this.m20*i_x+this.m21*i_y+this.m22*i_z+this.m23;\r
return;\r
}\r
+ public final void transformVertex(NyARDoublePoint3d i_in,NyARDoublePoint3d o_out)\r
+ {\r
+ transformVertex(i_in.x,i_in.y,i_in.z,o_out);\r
+ }\r
}\r
private final static double AR_GET_TRANS_MAT_MAX_FIT_ERROR = 1.0;// #define AR_GET_TRANS_MAT_MAX_FIT_ERROR 1.0\r
private final static double AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR = 1.0;\r
\r
- private final NyARDoublePoint2d _center=new NyARDoublePoint2d(0,0);\r
- private final NyARTransOffset _offset=new NyARTransOffset();\r
protected NyARRotMatrix_ARToolKit _rotmatrix;\r
protected INyARTransportVectorSolver _transsolver;\r
protected INyARRotMatrixOptimize _mat_optimize;\r
this._ref_dist_factor=dist;\r
}\r
\r
- public void setCenter(double i_x, double i_y)\r
- {\r
- this._center.x= i_x;\r
- this._center.y= i_y;\r
- }\r
-\r
-\r
private final NyARDoublePoint2d[] __transMat_vertex_2d = NyARDoublePoint2d.createArray(4);\r
private final NyARDoublePoint3d[] __transMat_vertex_3d = NyARDoublePoint3d.createArray(4);\r
private final NyARDoublePoint3d __transMat_trans=new NyARDoublePoint3d();\r
* @return\r
* @throws NyARException\r
*/\r
- public void transMat(final NyARSquare i_square, double i_width, NyARTransMatResult o_result_conv) throws NyARException\r
+ public void transMat(final NyARSquare i_square,NyARRectOffset i_offset, NyARTransMatResult o_result_conv) throws NyARException\r
{\r
final NyARDoublePoint3d trans=this.__transMat_trans;\r
\r
NyARDoublePoint3d[] vertex_3d=this.__transMat_vertex_3d;\r
this._ref_dist_factor.ideal2ObservBatch(i_square.sqvertex, vertex_2d,4); \r
this._transsolver.set2dVertex(vertex_2d,4);\r
- \r
- //基準矩形の3D座標系を作成\r
- this._offset.setSquare(i_width,this._center);\r
\r
//回転行列を計算\r
this._rotmatrix.initRotBySquare(i_square.line,i_square.sqvertex);\r
\r
//回転後の3D座標系から、平行移動量を計算\r
- this._rotmatrix.getPoint3dBatch(this._offset.vertex,vertex_3d,4);\r
+ this._rotmatrix.getPoint3dBatch(i_offset.vertex,vertex_3d,4);\r
this._transsolver.solveTransportVector(vertex_3d,trans);\r
\r
//計算結果の最適化(平行移動量と回転行列の最適化)\r
- o_result_conv.error=this.optimize(this._rotmatrix, trans, this._transsolver,this._offset.vertex, vertex_2d);\r
+ o_result_conv.error=this.optimize(this._rotmatrix, trans, this._transsolver,i_offset.vertex, vertex_2d);\r
\r
// マトリクスの保存\r
- this.updateMatrixValue(this._rotmatrix, this._offset.point, trans,o_result_conv);\r
+ this.updateMatrixValue(this._rotmatrix, trans,o_result_conv);\r
return;\r
}\r
\r
* (non-Javadoc)\r
* @see jp.nyatla.nyartoolkit.core.transmat.INyARTransMat#transMatContinue(jp.nyatla.nyartoolkit.core.NyARSquare, int, double, jp.nyatla.nyartoolkit.core.transmat.NyARTransMatResult)\r
*/\r
- public void transMatContinue(NyARSquare i_square, double i_width, NyARTransMatResult o_result_conv) throws NyARException\r
+ public void transMatContinue(NyARSquare i_square,NyARRectOffset i_offset, NyARTransMatResult o_result_conv) throws NyARException\r
{\r
final NyARDoublePoint3d trans=this.__transMat_trans;\r
\r
// io_result_convが初期値なら、transMatで計算する。\r
if (!o_result_conv.has_value) {\r
- this.transMat(i_square, i_width, o_result_conv);\r
+ this.transMat(i_square, i_offset, o_result_conv);\r
return;\r
}\r
\r
this._ref_dist_factor.ideal2ObservBatch(i_square.sqvertex, vertex_2d,4); \r
this._transsolver.set2dVertex(vertex_2d,4);\r
\r
- //基準矩形の3D座標系を作成\r
- this._offset.setSquare(i_width,this._center);\r
-\r
//回転行列を計算\r
this._rotmatrix.initRotByPrevResult(o_result_conv);\r
\r
//回転後の3D座標系から、平行移動量を計算\r
- this._rotmatrix.getPoint3dBatch(this._offset.vertex,vertex_3d,4);\r
+ this._rotmatrix.getPoint3dBatch(i_offset.vertex,vertex_3d,4);\r
this._transsolver.solveTransportVector(vertex_3d,trans);\r
\r
//計算結果の最適化(平行移動量と回転行列の最適化)\r
- double err=this.optimize(this._rotmatrix, trans, this._transsolver, this._offset.vertex, vertex_2d);\r
+ double err=this.optimize(this._rotmatrix, trans, this._transsolver,i_offset.vertex, vertex_2d);\r
\r
// マトリクスの保存\r
- this.updateMatrixValue(this._rotmatrix, this._offset.point, trans,o_result_conv);\r
+ this.updateMatrixValue(this._rotmatrix, trans,o_result_conv);\r
\r
// エラー値が許容範囲でなければTransMatをやり直し\r
if (err > AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR) {\r
// rotationを矩形情報で初期化\r
this._rotmatrix.initRotBySquare(i_square.line,i_square.sqvertex);\r
//回転行列の平行移動量の計算\r
- this._rotmatrix.getPoint3dBatch(this._offset.vertex,vertex_3d,4);\r
+ this._rotmatrix.getPoint3dBatch(i_offset.vertex,vertex_3d,4);\r
this._transsolver.solveTransportVector(vertex_3d,trans);\r
//計算結果の最適化(this._rotmatrix,trans)\r
- final double err2=this.optimize(this._rotmatrix, trans, this._transsolver, this._offset.vertex, vertex_2d);\r
+ final double err2=this.optimize(this._rotmatrix, trans, this._transsolver,i_offset.vertex, vertex_2d);\r
//エラー値が低かったら値を差換え\r
if (err2 < err) {\r
// 良い値が取れたら、差換え\r
- this.updateMatrixValue(this._rotmatrix, this._offset.point, trans,o_result_conv);\r
+ this.updateMatrixValue(this._rotmatrix, trans,o_result_conv);\r
}\r
err=err2;\r
}\r
* @param i_off\r
* @param i_trans\r
*/\r
- public void updateMatrixValue(NyARRotMatrix i_rot, NyARDoublePoint3d i_off, NyARDoublePoint3d i_trans,NyARTransMatResult o_result)\r
+ public void updateMatrixValue(NyARRotMatrix i_rot,NyARDoublePoint3d i_trans,NyARTransMatResult o_result)\r
{\r
o_result.m00=i_rot.m00;\r
o_result.m01=i_rot.m01;\r
o_result.m02=i_rot.m02;\r
- o_result.m03=i_rot.m00 * i_off.x + i_rot.m01 * i_off.y + i_rot.m02 * i_off.z + i_trans.x;\r
+ o_result.m03=i_trans.x;\r
\r
o_result.m10 = i_rot.m10;\r
o_result.m11 = i_rot.m11;\r
o_result.m12 = i_rot.m12;\r
- o_result.m13 = i_rot.m10 * i_off.x + i_rot.m11 * i_off.y + i_rot.m12 * i_off.z + i_trans.y;\r
+ o_result.m13 = i_trans.y;\r
\r
o_result.m20 = i_rot.m20;\r
o_result.m21 = i_rot.m21;\r
o_result.m22 = i_rot.m22;\r
- o_result.m23 = i_rot.m20 * i_off.x + i_rot.m21 * i_off.y + i_rot.m22 * i_off.z + i_trans.z;\r
+ o_result.m23 = i_trans.z;\r
\r
o_result.has_value = true;\r
return;\r
o_out.y = Math.atan2(-this.m20, this.m22);\r
}\r
}\r
+ public final void setZXYAngle(NyARDoublePoint3d i_angle)\r
+ {\r
+ setZXYAngle(i_angle.x,i_angle.y,i_angle.z);\r
+ return;\r
+ }\r
public final void setZXYAngle(final double i_x, final double i_y, final double i_z)\r
{\r
final double sina = Math.sin(i_x);\r
this.m20 = -cosa * sinb;\r
this.m21 = sina;\r
this.m22 = cosb * cosa;\r
- } \r
+ return;\r
+ }\r
+ /**\r
+ * 回転行列を適応して座標変換します。\r
+ * @param i_angle\r
+ * @param o_out\r
+ */\r
+ public final void transformVertex(NyARDoublePoint3d i_position,NyARDoublePoint3d o_out)\r
+ {\r
+ transformVertex(i_position.x,i_position.y,i_position.z,o_out);\r
+ return;\r
+ }\r
+ \r
+ public final void transformVertex(double i_x,double i_y,double i_z,NyARDoublePoint3d o_out)\r
+ {\r
+ o_out.x=this.m00*i_x+this.m01*i_y+this.m02*i_z;\r
+ o_out.y=this.m10*i_x+this.m11*i_y+this.m12*i_z;\r
+ o_out.z=this.m20*i_x+this.m21*i_y+this.m22*i_z;\r
+ return;\r
+ }\r
}\r
//directionを考慮して、squareを更新する。\r
for(int i=0;i<4;i++){\r
int idx=(i+4 - mr.direction) % 4;\r
- sq.imvertex[i].x=vertex[idx].x;\r
- sq.imvertex[i].y=vertex[idx].y;\r
this._coordline.coord2Line(i_vertex_index[idx],i_vertex_index[(idx+1)%4],i_coordx,i_coordy,i_coor_num,sq.line[i]);\r
}\r
for (int i = 0; i < 4; i++) {\r
private boolean _is_continue = false;\r
private INyARSquareContourDetector _square_detect;\r
protected INyARTransMat _transmat;\r
- private double _marker_width;\r
//画処理用\r
private NyARBinRaster _bin_raster;\r
protected INyARRasterFilter_RgbToBin _tobin_filter;\r
private DetectSquareCB _detect_cb;\r
+ private NyARRectOffset _offset; \r
\r
\r
protected NyARCustomSingleDetectMarker()\r
this._square_detect = i_sqdetect_inst;\r
this._transmat = i_transmat_inst;\r
this._tobin_filter=i_filter;\r
- // 比較コードを保存\r
- this._marker_width = i_marker_width;\r
//２値画像バッファを作る\r
this._bin_raster=new NyARBinRaster(scr_size.w,scr_size.h);\r
//_detect_cb\r
this._detect_cb=new DetectSquareCB(i_patt_inst,i_ref_code,i_ref_param);\r
+ //オフセットを作成\r
+ this._offset=new NyARRectOffset();\r
+ this._offset.setSquare(i_marker_width);\r
return;\r
\r
}\r
}\r
return true;\r
}\r
-\r
/**\r
* 検出したマーカーの変換行列を計算して、o_resultへ値を返します。\r
* 直前に実行したdetectMarkerLiteが成功していないと使えません。\r
{\r
// 一番一致したマーカーの位置とかその辺を計算\r
if (this._is_continue) {\r
- this._transmat.transMatContinue(this._detect_cb.square,this._marker_width, o_result);\r
+ this._transmat.transMatContinue(this._detect_cb.square,this._offset, o_result);\r
} else {\r
- this._transmat.transMat(this._detect_cb.square,this._marker_width, o_result);\r
+ this._transmat.transMat(this._detect_cb.square,this._offset, o_result);\r
}\r
return;\r
}\r
/**\r
- * 画面上のマーカ頂点情報を配列へ取得します。\r
- * @param o_point\r
- * 4要素以上の配列を指定して下さい。先頭の4要素に値がコピーされます。\r
- */\r
- public void getSquarePosition(NyARIntPoint2d[] o_point)\r
- {\r
- NyARIntPoint2d.copyArray(this._detect_cb.square.imvertex,o_point);\r
- return;\r
- }\r
- /**\r
- * 画面上のマーカ頂点情報を配列へのリファレンスを返します。\r
- * 返されたオブジェクトはクラスに所有し続けられています。クラスのメンバ関数を実行すると内容が書き変わります。\r
- * 外部でデータをストックする場合は、getSquarePositionで複製して下さい。\r
- * @return\r
- */\r
- public NyARIntPoint2d[] refSquarePosition()\r
- {\r
- return this._detect_cb.square.imvertex;\r
- }\r
- \r
-\r
- /**\r
* 検出したマーカーの一致度を返します。\r
* \r
* @return マーカーの一致度を返します。0～1までの値をとります。 一致度が低い場合には、誤認識の可能性が高くなります。\r
//directionを考慮して、squareを更新する。\r
for(int i=0;i<4;i++){\r
int idx=(i+4 - direction) % 4;\r
- sq.imvertex[i].x=vertex[idx].x;\r
- sq.imvertex[i].y=vertex[idx].y;\r
this._coordline.coord2Line(i_vertex_index[idx],i_vertex_index[(idx+1)%4],i_coordx,i_coordy,i_coor_num,sq.line[i]);\r
}\r
for (int i = 0; i < 4; i++) {\r
private boolean _is_continue = false;\r
private INyARSquareContourDetector _square_detect;\r
protected INyARTransMat _transmat;\r
- private double[] _marker_width; \r
+ private NyARRectOffset[] _offset; \r
\r
\r
/**\r
this._tobin_filter=new NyARRasterFilter_ARToolkitThreshold(100,i_input_raster_type);\r
\r
//実サイズ保存\r
- this._marker_width = i_marker_width;\r
+ this._offset = NyARRectOffset.createArray(i_number_of_code);\r
+ for(int i=0;i<i_number_of_code;i++){\r
+ this._offset[i].setSquare(i_marker_width[i]);\r
+ }\r
//２値画像バッファを作る\r
this._bin_raster=new NyARBinRaster(scr_size.w,scr_size.h);\r
return; \r
final NyARDetectMarkerResult result = this._detect_cb.result_stack.getItem(i_index);\r
// 一番一致したマーカーの位置とかその辺を計算\r
if (_is_continue) {\r
- _transmat.transMatContinue(result.square, _marker_width[result.arcode_id], o_result);\r
+ _transmat.transMatContinue(result.square, this._offset[result.arcode_id], o_result);\r
} else {\r
- _transmat.transMat(result.square, _marker_width[result.arcode_id], o_result);\r
+ _transmat.transMat(result.square, this._offset[result.arcode_id], o_result);\r
}\r
return;\r
}\r
//directionを考慮して、squareを更新する。\r
for(int i=0;i<4;i++){\r
int idx=(i+4 - dir) % 4;\r
- sq.imvertex[i].x=vertex[idx].x;\r
- sq.imvertex[i].y=vertex[idx].y;\r
this._coordline.coord2Line(i_vertex_index[idx],i_vertex_index[(idx+1)%4],i_coordx,i_coordy,i_coor_num,sq.line[i]);\r
}\r
for (int i = 0; i < 4; i++) {\r
\r
protected INyARTransMat _transmat;\r
\r
- private double _marker_width;\r
+ private NyARRectOffset _offset; \r
private int _threshold = 110;\r
// [AR]検出結果の保存用\r
private NyARBinRaster _bin_raster;\r
this._initialized=true;\r
//コールバックハンドラ\r
this._detectmarker_cb=new DetectSquareCB(i_param);\r
- \r
+ this._offset=new NyARRectOffset();\r
return;\r
}\r
\r
}\r
//検出するマーカセット、情報、検出器を作り直す。(1ピクセル4ポイントサンプリング,マーカのパターン領域は50%)\r
this._detectmarker_cb.setNyARCodeTable(i_ref_code_table,i_code_resolution);\r
- this._marker_width = i_marker_width;\r
+ this._offset.setSquare(i_marker_width);\r
return;\r
}\r
\r
// OnEnter\r
this.onEnterHandler(i_code_index);\r
// 変換行列を作成\r
- this._transmat.transMat(i_square, this._marker_width, result);\r
+ this._transmat.transMat(i_square, this._offset, result);\r
// OnUpdate\r
this.onUpdateHandler(i_square, result);\r
this._lost_delay_count = 0;\r
} else if (i_code_index == this._current_arcode_index) {// 同じARCodeの再認識\r
// イベント生成\r
// 変換行列を作成\r
- this._transmat.transMat(i_square, this._marker_width, result);\r
+ this._transmat.transMat(i_square, this._offset, result);\r
// OnUpdate\r
this.onUpdateHandler(i_square, result);\r
this._lost_delay_count = 0;\r
//directionを考慮して、squareを更新する。\r
for(int i=0;i<4;i++){\r
int idx=(i+4 - param.direction) % 4;\r
- sq.imvertex[i].x=vertex[idx].x;\r
- sq.imvertex[i].y=vertex[idx].y;\r
this._coordline.coord2Line(i_vertex_index[idx],i_vertex_index[(idx+1)%4],i_coordx,i_coordy,i_coor_num,sq.line[i]);\r
}\r
for (int i = 0; i < 4; i++) {\r
\r
private NyARSquareContourDetector_Rle _square_detect;\r
protected INyARTransMat _transmat;\r
- private double _marker_width=100;\r
+ private NyARRectOffset _offset; \r
private boolean _is_active;\r
private int _current_threshold=110;\r
// [AR]検出結果の保存用\r
this._threshold_detect=new NyARRasterThresholdAnalyzer_SlidePTile(15,i_raster_format,4);\r
this._initialized=true;\r
this._is_active=false;\r
+ this._offset=new NyARRectOffset();\r
return;\r
\r
}\r
\r
public void setMarkerWidth(int i_width)\r
{\r
- this._marker_width=i_width;\r
+ this._offset.setSquare(i_width);\r
return;\r
}\r
\r
// OnEnter\r
this.onEnterHandler(this._data_current);\r
// 変換行列を作成\r
- this._transmat.transMat(i_square, this._marker_width, result);\r
+ this._transmat.transMat(i_square, this._offset, result);\r
// OnUpdate\r
this.onUpdateHandler(i_square, result);\r
this._lost_delay_count = 0;\r
}\r
} else if(this._data_current.isEqual(i_marker_data)) {\r
//同じidの再認識\r
- this._transmat.transMat(i_square, this._marker_width, result);\r
+ this._transmat.transMat(i_square, this._offset, result);\r
// OnUpdate\r
this.onUpdateHandler(i_square, result);\r
this._lost_delay_count = 0;\r
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