From: nyatla <nyatla@7cac0a50-4618-4814-88d0-24b83990f816>
Date: Sat, 7 Jun 2008 01:29:06 +0000 (+0000)
Subject: [リリース]NyARToolkit 0.6
X-Git-Tag: 0.6~1
X-Git-Url: http://git.osdn.net/view?p=nyartoolkit-and%2Fnyartoolkit-and.git;a=commitdiff_plain;h=a3eab400fa4987c0399c7549e745ed79c97bbe70

[リリース]NyARToolkit 0.6
---

diff --git a/changelog/0.6.20080330.0.txt b/changelog/0.6.20080330.0.txt
new file mode 100644
index 0000000..0dba4ee
--- /dev/null
+++ b/changelog/0.6.20080330.0.txt
@@ -0,0 +1,30 @@
+2008.03.30 version 0.6.20080330.0
+
+*Title
+-メモリ管理の見直し
+-速度向上(84%up)
+-サンプルの15fps化
+
+*PublicAPI
+
+-NyARCode.java
+[改名--rename]
+ NyARCode::LoadFromARFileをNyARCode::loadFromARFile
+
+-NyARDetectMarker.java
+[廃止--delete]
+NyARDetectMarker::getMarkerArray
+[追加--add]
+NyARDetectMarker::getMarker
+
+
+-NyARMat.java
+[更新--update]
+NyARMat::matrixSelfInv 
+NyARMat::matrixDup
+
+-DoubleValue.java
+[廃止--delete]
+DoubleValue::set
+DoubleValue::get
+DoubleValue::add
diff --git a/readme.ja.txt b/readme.ja.txt
index 7ef27f4..aff2908 100644
--- a/readme.ja.txt
+++ b/readme.ja.txt
@@ -1,7 +1,7 @@
 ARToolkit Java class library NyARToolkit.
 Copyright (C)2008 R.Iizuka
 
-version Alpha 0.5.20080329.0
+version Alpha 0.6.20080330.0
 
 http://nyatla.jp/
 airmail(at)ebony.plala.or.jp
@@ -15,25 +15,30 @@ airmail(at)ebony.plala.or.jp
 NyARToolkitは、nativeなコードを一切使用しない、Pure Javaのみで
 構成されたARToolkitクラスライブラリです。
 
-ARToolkit 2.72.0をベースに構築されています。
+ARToolkit 2.72.1をベースに構築されています。
 
 J2SEでのみ動作を確認しました。
 J2MEやMIDP2.0にはそのうち対応します。
 
 
+ARToolkitは加藤博一先生とHuman Interface Technology Labにより
+開発されたAugmented Reality (AR) ライブラリです。
+詳しくはこちらをご覧下さい。
+http://www.hitl.washington.edu/artoolkit/
+
 
 
 ・基本構成
 
-+----------------------------
-|       Application         |
-+-------+-------+-----------+
-|NyARJMF| NyJogl|           |
-+-------+-------+           |
-|  JMF  |  JOGL |NyARToolkit|
-+-------+-------+           |
-|Camera |  3D   |           |
-----------------------------+
++-----------------------------+
+|         Application         |
++-------+-------+-------------+
+|NyARJMF| NyARJogl|           |
++-------+---------+           |
+|  JMF  |  JOGL   |NyARToolkit|
++-------+---------+           |
+|Camera |  3D     |           |
+------------------------------+
 
 映像キャプチャにはJMFを使用し、3D描画にはJoglを使用しています。
 NyARJMFとNyJoglは、これらのエクステンションをApplicationやNyARToolKit
@@ -103,7 +108,6 @@ GPLです。詳しくはLICENCE.txtをみてください。
 
 
 ・お願い
-
 NyARToolkitを使って面白いものが出来たら、是非教えてください。
 
 それと強制では有りませんが、NyARToolkitを使った感想などを
@@ -111,7 +115,6 @@ NyARToolkitを使って面白いものが出来たら、是非教えてくださ
 
 
 
-
 ではでは、楽しく遊んでくださいネ。
 
-2008.03.29 R.Iizuka@nyatla.jp
+2008.03.29 R.Iizuka nyatla.jp
diff --git a/sample/jmf/NyarToolkitLinkTest.java b/sample/jmf/NyarToolkitLinkTest.java
index ed667c5..4a6c79a 100644
--- a/sample/jmf/NyarToolkitLinkTest.java
+++ b/sample/jmf/NyarToolkitLinkTest.java
@@ -44,7 +44,7 @@ public class NyarToolkitLinkTest extends Frame implements JmfCaptureListener
         ar_param.loadFromARFile(PARAM_FILE);
         ar_param.changeSize(320,240);
         nya=new NyARSingleDetectMarker(ar_param,ar_code,80.0);
-        ar_code.LoadFromARFile(CARCODE_FILE);
+        ar_code.loadFromARFile(CARCODE_FILE);
     }
 
 
diff --git a/sample/jogl/JavaSimpleLite.java b/sample/jogl/JavaSimpleLite.java
index 5b54af6..35733fe 100644
--- a/sample/jogl/JavaSimpleLite.java
+++ b/sample/jogl/JavaSimpleLite.java
@@ -121,7 +121,7 @@ public class JavaSimpleLite implements GLEventListener,JmfCaptureListener
         //NyARToolkitの準備
         try{
             //キャプチャの準備
-            capture=new JmfCameraCapture(320,240,30f,JmfCameraCapture.PIXCEL_FORMAT_RGB);
+            capture=new JmfCameraCapture(320,240,15f,JmfCameraCapture.PIXCEL_FORMAT_RGB);
             capture.setCaptureListener(this);
             capture.start();
             //NyARToolkitの準備
@@ -130,7 +130,7 @@ public class JavaSimpleLite implements GLEventListener,JmfCaptureListener
             ar_param.loadFromARFile(PARAM_FILE);
             ar_param.changeSize(320,240);
             nya=new GLNyARSingleDetectMarker(ar_param,ar_code,80.0);
-            ar_code.LoadFromARFile(CARCODE_FILE);
+            ar_code.loadFromARFile(CARCODE_FILE);
             //GL対応のRGBラスタオブジェクト
             cap_image=new GLNyARRaster_RGB(gl,ar_param,320,240);
 
diff --git a/src/jp/nyatla/nyartoolkit/base/Param.java b/src/jp/nyatla/nyartoolkit/base/Param.java
index 5079131..42a7368 100644
--- a/src/jp/nyatla/nyartoolkit/base/Param.java
+++ b/src/jp/nyatla/nyartoolkit/base/Param.java
@@ -128,7 +128,7 @@ public class Param {
 		NyARException.trap("未チェックのパス");
 		NyARMat.matrixMul( mat_wm1, mat_at, mat_a );//if( arMatrixMul( mat_wm1, mat_at, mat_a ) < 0 ) {
 		NyARException.trap("未チェックのパス");
-		NyARMat.matrixSelfInv(mat_wm1 );//if( arMatrixSelfInv( mat_wm1 ) < 0 ) {
+		mat_wm1.matrixSelfInv();//if( arMatrixSelfInv( mat_wm1 ) < 0 ) {
 
 		NyARException.trap("未チェックのパス");
 		NyARMat.matrixMul( mat_wm2, mat_wm1, mat_at );//if( arMatrixMul( mat_wm2, mat_wm1, mat_at ) < 0 ) {
@@ -311,7 +311,7 @@ public class Param {
 	    t2_array[3][3]=1.0;//t2->m[15] = 1.0;
 	    }
 	    JartkException.trap("未チェックのパス");
-	    ARMat.matrixSelfInv(t1);//if( arMatrixSelfInv(t1) != 0 ) {
+	    t1.matrixSelfInv();//if( arMatrixSelfInv(t1) != 0 ) {
 
 	    JartkException.trap("未チェックのパス");	    
 	    t3 =ARMat.matrixAllocMul(t2, t1);//t3 = arMatrixAllocMul(t2, t1);
diff --git a/src/jp/nyatla/nyartoolkit/core/NyARCode.java b/src/jp/nyatla/nyartoolkit/core/NyARCode.java
index acc2596..0a947d8 100644
--- a/src/jp/nyatla/nyartoolkit/core/NyARCode.java
+++ b/src/jp/nyatla/nyartoolkit/core/NyARCode.java
@@ -84,7 +84,8 @@ public class NyARCode{
 	pat=new int[4][height][width][3];//static int    pat[AR_PATT_NUM_MAX][4][AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3];
 	patBW=new short[4][height][width];//static int    patBW[AR_PATT_NUM_MAX][4][AR_PATT_SIZE_Y*AR_PATT_SIZE_X*3];
     }
-    
+
+
     /**
      * int arLoadPatt( const char *filename );
      * ARToolKitのパターンファイルをロードする。
@@ -92,11 +93,11 @@ public class NyARCode{
      * @return
      * @throws Exception
      */
-    public void LoadFromARFile(String filename) throws NyARException
+    public void loadFromARFile(String filename) throws NyARException
     {
 	try{
             StreamTokenizer st=new StreamTokenizer(new InputStreamReader(new FileInputStream(filename)));
-        	//パターンデータはGBRAで並んでる。
+            //パターンデータはGBRAで並んでる。
             for(int h=0; h<4; h++ ) {
                 int l = 0;
                 for(int i3 = 0; i3 < 3; i3++ ) {
diff --git a/src/jp/nyatla/nyartoolkit/core/NyARColorPatt.java b/src/jp/nyatla/nyartoolkit/core/NyARColorPatt.java
index bfb749d..f2f1021 100644
--- a/src/jp/nyatla/nyartoolkit/core/NyARColorPatt.java
+++ b/src/jp/nyatla/nyartoolkit/core/NyARColorPatt.java
@@ -93,7 +93,7 @@ public class NyARColorPatt
             b_array[i*2+1][0]=vertex[i][1];//b->m[i*2+1] = vertex[i][1];
         }
 //	    JartkException.trap("未チェックのパス");
-        NyARMat.matrixSelfInv(a);
+        a.matrixSelfInv();
 	    
 //	    JartkException.trap("未チェックのパス");
         NyARMat.matrixMul( c, a, b );
diff --git a/src/jp/nyatla/nyartoolkit/core/NyARDetectMarker.java b/src/jp/nyatla/nyartoolkit/core/NyARDetectMarker.java
index 2a73545..3d7370d 100644
--- a/src/jp/nyatla/nyartoolkit/core/NyARDetectMarker.java
+++ b/src/jp/nyatla/nyartoolkit/core/NyARDetectMarker.java
@@ -48,7 +48,8 @@ public class NyARDetectMarker {
 
     private int area_max=AR_AREA_MAX;
     private int area_min=AR_AREA_MIN;
-    private NyARMarker[] marker_info2_array;
+    private NyARMarker[] marker_holder;	//マーカーデータの保持配列
+    private NyARMarker[] marker_info2_array;	//マーカーデータのインデックス配列
     private int marker_num;
     private int width,height;
     /**
@@ -61,15 +62,19 @@ public class NyARDetectMarker {
     {
 	width =i_width;
 	height=i_height;
+	marker_holder=new NyARMarker[i_squre_max];
 	marker_info2_array=new NyARMarker[i_squre_max];
     }
     public int getMarkerNum()
     {
 	return marker_num;
     }
-    public NyARMarker[] getMarkerArray() throws NyARException
+    public NyARMarker getMarker(int idx) throws NyARException
     {
-	return marker_info2_array;
+	if(idx>=marker_num){
+	    throw new NyARException();
+	}
+	return marker_info2_array[idx];
     }
     /**
      * static int get_vertex( int x_coord[], int y_coord[], int st,  int ed,double thresh, int vertex[], int *vnum)
@@ -214,7 +219,9 @@ public class NyARDetectMarker {
 	}
     /**
      * int arGetContour( ARInt16 *limage, int *label_ref,int label, int clip[4], ARMarkerInfo2 *marker_info2 )
-     * 関数の代替品	
+     * 関数の代替品
+     * detectMarker関数から使う関数です。marker_holder[i_holder_num]にオブジェクトが無ければまず新規に作成し、もし
+     * 既に存在すればそこにマーカー情報を上書きして記録します。
      * @param limage
      * @param label_ref
      * @param label
@@ -223,7 +230,7 @@ public class NyARDetectMarker {
      * 	検出したマーカーからマーカーオブジェクトを生成して返す。
      * @throws NyARException
      */
-    private NyARMarker arGetContour(short[][] limage, int[] label_ref,int label, int[] clip) throws NyARException
+    private NyARMarker arGetContour(int i_holder_num,short[][] limage, int[] label_ref,int label, int[] clip) throws NyARException
     {
         final int[] xdir={0,  1, 1, 1, 0,-1,-1,-1}; //static int      xdir[8] = { 0, 1, 1, 1, 0,-1,-1,-1};
         final int[] ydir={-1,-1, 0, 1, 1, 1, 0,-1};//static int      ydir[8] = {-1,-1, 0, 1, 1, 1, 0,-1};
@@ -232,30 +239,35 @@ public class NyARDetectMarker {
         int             dmax, d, v1=0;
         int             i, j;
     
-//        JartkException.trap("未チェックのパス");
         j = clip[2];
         //p1=ShortPointer.wrap(limage,j*xsize+clip.get());//p1 = &(limage[j*xsize+clip[0]]);
         for( i = clip[0]; i <= clip[1]; i++){//for( i = clip[0]; i <= clip[1]; i++, p1++ ) {
-    	if(limage[j][i] > 0 && label_ref[(limage[j][i])-1] == label ) {//if( *p1 > 0 && label_ref[(*p1)-1] == label ) {
-    	    sx = i; sy = j;
-    	    break;
-    	}
+            if(limage[j][i] > 0 && label_ref[(limage[j][i])-1] == label ) {//if( *p1 > 0 && label_ref[(*p1)-1] == label ) {
+                sx = i; sy = j;
+                break;
+            }
         }
         if(i> clip[1]){//if( i > clip[1] ) {
-    	System.out.println("??? 1");//printf();
-    	throw new NyARException();//return(-1);
+            System.out.println("??? 1");//printf();
+            throw new NyARException();//return(-1);
         }
+        
+        //マーカーホルダが既に確保済みかを調べる
+        if(marker_holder[i_holder_num]==null){
+            //確保していなければ確保
+            marker_holder[i_holder_num]=new NyARMarker();
+        }
+        NyARMarker marker_ref=marker_holder[i_holder_num];
+
     
-        NyARMarker marker_info2=new NyARMarker();
-    
-        marker_info2.coord_num=1;//marker_info2->coord_num = 1;
-        marker_info2.x_coord[0]=sx;//marker_info2->x_coord[0] = sx;
-        marker_info2.y_coord[0]=sy;//marker_info2->y_coord[0] = sy;
+        marker_ref.coord_num=1;//marker_info2->coord_num = 1;
+        marker_ref.x_coord[0]=sx;//marker_info2->x_coord[0] = sx;
+        marker_ref.y_coord[0]=sy;//marker_info2->y_coord[0] = sy;
         dir = 5;
     
         for(;;){
-            int r=marker_info2.y_coord[marker_info2.coord_num-1];
-            int c=marker_info2.x_coord[marker_info2.coord_num-1];
+            int r=marker_ref.y_coord[marker_ref.coord_num-1];
+            int c=marker_ref.x_coord[marker_ref.coord_num-1];
             //p1 = &(limage[marker_info2->y_coord[marker_info2->coord_num-1] * xsize+ marker_info2->x_coord[marker_info2->coord_num-1]]);
             dir = (dir+5)%8;
             for(i=0;i<8;i++) {
@@ -268,21 +280,21 @@ public class NyARDetectMarker {
                 System.out.println("??? 2");//printf("??? 2\n");
                 throw new NyARException();//return(-1);
             }
-            marker_info2.x_coord[marker_info2.coord_num]= marker_info2.x_coord[marker_info2.coord_num-1] + xdir[dir];//marker_info2->x_coord[marker_info2->coord_num]= marker_info2->x_coord[marker_info2->coord_num-1] + xdir[dir];
-            marker_info2.y_coord[marker_info2.coord_num]= marker_info2.y_coord[marker_info2.coord_num-1] + ydir[dir];//marker_info2->y_coord[marker_info2->coord_num]= marker_info2->y_coord[marker_info2->coord_num-1] + ydir[dir];
-            if( marker_info2.x_coord[marker_info2.coord_num] == sx && marker_info2.y_coord[marker_info2.coord_num] == sy ){
+            marker_ref.x_coord[marker_ref.coord_num]= marker_ref.x_coord[marker_ref.coord_num-1] + xdir[dir];//marker_info2->x_coord[marker_info2->coord_num]= marker_info2->x_coord[marker_info2->coord_num-1] + xdir[dir];
+            marker_ref.y_coord[marker_ref.coord_num]= marker_ref.y_coord[marker_ref.coord_num-1] + ydir[dir];//marker_info2->y_coord[marker_info2->coord_num]= marker_info2->y_coord[marker_info2->coord_num-1] + ydir[dir];
+            if( marker_ref.x_coord[marker_ref.coord_num] == sx && marker_ref.y_coord[marker_ref.coord_num] == sy ){
                 break;
             }
-            marker_info2.coord_num++;
-            if( marker_info2.coord_num == marker_info2.x_coord.length-1){//if( marker_info2.coord_num == Config.AR_CHAIN_MAX-1 ){
+            marker_ref.coord_num++;
+            if( marker_ref.coord_num == marker_ref.x_coord.length-1){//if( marker_info2.coord_num == Config.AR_CHAIN_MAX-1 ){
                 System.out.println("??? 3");//printf("??? 3\n");
                 throw new NyARException();//return(-1);
             }
         }
     
         dmax = 0;
-        for(i=1;i<marker_info2.coord_num;i++) {//	for(i=1;i<marker_info2->coord_num;i++) {
-            d = (marker_info2.x_coord[i]-sx)*(marker_info2.x_coord[i]-sx)+ (marker_info2.y_coord[i]-sy)*(marker_info2.y_coord[i]-sy);//	  d = (marker_info2->x_coord[i]-sx)*(marker_info2->x_coord[i]-sx)+ (marker_info2->y_coord[i]-sy)*(marker_info2->y_coord[i]-sy);
+        for(i=1;i<marker_ref.coord_num;i++) {//	for(i=1;i<marker_info2->coord_num;i++) {
+            d = (marker_ref.x_coord[i]-sx)*(marker_ref.x_coord[i]-sx)+ (marker_ref.y_coord[i]-sy)*(marker_ref.y_coord[i]-sy);//	  d = (marker_info2->x_coord[i]-sx)*(marker_info2->x_coord[i]-sx)+ (marker_info2->y_coord[i]-sy)*(marker_info2->y_coord[i]-sy);
             if( d > dmax ) {
     		dmax = d;
     		v1 = i;
@@ -292,33 +304,30 @@ public class NyARDetectMarker {
         int[]      wx=new int[v1];//new int[Config.AR_CHAIN_MAX];
         int[]      wy=new int[v1]; //new int[Config.AR_CHAIN_MAX];   
         for(i=0;i<v1;i++) {
-            wx[i] = marker_info2.x_coord[i];//wx[i] = marker_info2->x_coord[i];
-            wy[i] = marker_info2.y_coord[i];//wy[i] = marker_info2->y_coord[i];
+            wx[i] = marker_ref.x_coord[i];//wx[i] = marker_info2->x_coord[i];
+            wy[i] = marker_ref.y_coord[i];//wy[i] = marker_info2->y_coord[i];
         }
-        for(i=v1;i<marker_info2.coord_num;i++) {//for(i=v1;i<marker_info2->coord_num;i++) {
-            marker_info2.x_coord[i-v1] = marker_info2.x_coord[i];//marker_info2->x_coord[i-v1] = marker_info2->x_coord[i];
-            marker_info2.y_coord[i-v1] = marker_info2.y_coord[i];//marker_info2->y_coord[i-v1] = marker_info2->y_coord[i];
+        for(i=v1;i<marker_ref.coord_num;i++) {//for(i=v1;i<marker_info2->coord_num;i++) {
+            marker_ref.x_coord[i-v1] = marker_ref.x_coord[i];//marker_info2->x_coord[i-v1] = marker_info2->x_coord[i];
+            marker_ref.y_coord[i-v1] = marker_ref.y_coord[i];//marker_info2->y_coord[i-v1] = marker_info2->y_coord[i];
         }
         for(i=0;i<v1;i++) {
-            marker_info2.x_coord[i-v1+marker_info2.coord_num] = wx[i];//marker_info2->x_coord[i-v1+marker_info2->coord_num] = wx[i];
-            marker_info2.y_coord[i-v1+marker_info2.coord_num] = wy[i];//marker_info2->y_coord[i-v1+marker_info2->coord_num] = wy[i];
+            marker_ref.x_coord[i-v1+marker_ref.coord_num] = wx[i];//marker_info2->x_coord[i-v1+marker_info2->coord_num] = wx[i];
+            marker_ref.y_coord[i-v1+marker_ref.coord_num] = wy[i];//marker_info2->y_coord[i-v1+marker_info2->coord_num] = wy[i];
         }
-        marker_info2.x_coord[marker_info2.coord_num] = marker_info2.x_coord[0];//marker_info2->x_coord[marker_info2->coord_num] = marker_info2->x_coord[0];
-        marker_info2.y_coord[marker_info2.coord_num] = marker_info2.y_coord[0];//marker_info2->y_coord[marker_info2->coord_num] = marker_info2->y_coord[0];
-        marker_info2.coord_num++;//marker_info2->coord_num++;
+        marker_ref.x_coord[marker_ref.coord_num] = marker_ref.x_coord[0];//marker_info2->x_coord[marker_info2->coord_num] = marker_info2->x_coord[0];
+        marker_ref.y_coord[marker_ref.coord_num] = marker_ref.y_coord[0];//marker_info2->y_coord[marker_info2->coord_num] = marker_info2->y_coord[0];
+        marker_ref.coord_num++;//marker_info2->coord_num++;
     
-        return marker_info2;
+        return marker_ref;
     }
     	/**
     	 * ARMarkerInfo2 *arDetectMarker2( ARInt16 *limage, int label_num, int *label_ref,int *warea, double *wpos, int *wclip,int area_max, int area_min, double factor, int *marker_num )
     	 * 関数の代替品
-    	 * ラベリング情報からマーカー一覧を作成して、保持する。
+    	 * ラベリング情報からマーカー一覧を作成して保持します。
+    	 * この関数を実行すると、前回のdetectMarker関数で計算した保持値は破壊されます。
     	 * @param i_labeling
     	 * ラベリング済みの情報を持つラベリングオブジェクト
-    	 * @param area_max
-    	 * 何かの閾値？
-    	 * @param area_min
-    	 * 何かの閾値？
     	 * @param factor
     	 * 何かの閾値？
     	 * @return
@@ -329,7 +338,6 @@ public class NyARDetectMarker {
     {
         int               xsize, ysize;
         int               marker_num2;
-        int               i, j;
         double            d;
         int[] warea  	=i_labeling.getArea();
         int label_num	=i_labeling.getLabelNum();
@@ -343,7 +351,7 @@ public class NyARDetectMarker {
         ysize =height;
         
         marker_num2 = 0;
-        for(i=0; i<label_num; i++ ) {
+        for(int i=0; i<label_num; i++ ) {
             if( warea[i] < area_min || warea[i] > area_max ){
                 continue;
             }
@@ -354,49 +362,58 @@ public class NyARDetectMarker {
                 continue;
             }
             //ret = arGetContour( limage, label_ref, i+1,&(wclip[i*4]), &(marker_info2[marker_num2]));
-            marker_info2_array[marker_num2]=arGetContour( limage, label_ref, i+1,wclip[i]);
+            arGetContour(marker_num2,limage, label_ref, i+1,wclip[i]);
             
-            boolean ret = check_square( warea[i], marker_info2_array[marker_num2], factor );//ret = check_square( warea[i], &(marker_info2[marker_num2]), factor );
+            boolean ret = check_square( warea[i], marker_holder[marker_num2], factor );//ret = check_square( warea[i], &(marker_info2[marker_num2]), factor );
             if(!ret){
-                marker_info2_array[marker_num2]=null;
+        	//後半で整理するからここはいらない。//        	marker_holder[marker_num2]=null;
                 continue;
             }
-            marker_info2_array[marker_num2].area   = warea[i];
-            marker_info2_array[marker_num2].pos[0] = wpos[i*2+0];
-            marker_info2_array[marker_num2].pos[1] = wpos[i*2+1];
+            marker_holder[marker_num2].area   = warea[i];
+            marker_holder[marker_num2].pos[0] = wpos[i*2+0];
+            marker_holder[marker_num2].pos[1] = wpos[i*2+1];
             marker_num2++;
             //マーカーリストが上限に達した
-            if( marker_num2 == marker_info2_array.length){
+            if( marker_num2 == marker_holder.length){
                 break;
             }
         }
-        for( i=0; i < marker_num2; i++ ) {
-            for( j=i+1; j < marker_num2; j++ ) {
-                d = (marker_info2_array[i].pos[0] - marker_info2_array[j].pos[0])*
-                    (marker_info2_array[i].pos[0] - marker_info2_array[j].pos[0])+
-                    (marker_info2_array[i].pos[1] - marker_info2_array[j].pos[1])*
-                    (marker_info2_array[i].pos[1] - marker_info2_array[j].pos[1]);
-                if(marker_info2_array[i].area >marker_info2_array[j].area ) {
-                    if( d <marker_info2_array[i].area / 4 ) {
-                        marker_info2_array[j].area = 0;
+        for(int i=0; i < marker_num2; i++ ) {
+            for(int j=i+1; j < marker_num2; j++ ) {
+                d = (marker_holder[i].pos[0] - marker_holder[j].pos[0])*
+                    (marker_holder[i].pos[0] - marker_holder[j].pos[0])+
+                    (marker_holder[i].pos[1] - marker_holder[j].pos[1])*
+                    (marker_holder[i].pos[1] - marker_holder[j].pos[1]);
+                if(marker_holder[i].area >marker_holder[j].area ) {
+                    if( d <marker_holder[i].area / 4 ) {
+                	marker_holder[j].area = 0;
                     }
                 }else{
-                    if( d < marker_info2_array[j].area / 4 ) {
-                        marker_info2_array[i].area = 0;
+                    if( d < marker_holder[j].area / 4 ) {
+                	marker_holder[i].area = 0;
                     }
                 }
             }
         }
-        for( i=0; i < marker_num2; i++ ) {
-            if( marker_info2_array[i].area == 0.0 ) {
-                for( j=i+1; j < marker_num2; j++ ) {
-            	marker_info2_array[j-1] = marker_info2_array[j];
-                }
-                marker_num2--;
+        //みつかったマーカーを整理する。
+        //エリアが0のマーカーを外した配列を作って、その数もついでに計算
+        for(int i=0;i<marker_num2;i++){
+            if(marker_holder[i].area==0.0){
+        	continue;
             }
-        }
+            marker_info2_array[marker_num]=marker_holder[i];
+            marker_num++;
+        }        
+//        for( i=0; i < marker_num2; i++ ) {
+//            if( marker_info2_array[i].area == 0.0 ) {
+//                for( j=i+1; j < marker_num2; j++ ){
+//                    marker_info2_array[j-1] = marker_info2_array[j];
+//                }
+//                marker_num2--;
+//            }
+//        }
         //発見したマーカー数をセット
-        marker_num=marker_num2;//*marker_num = marker_num2;
+//        marker_num=marker_num2;//*marker_num = marker_num2;
         //return( &(marker_info2[0]) );
     }
 
diff --git a/src/jp/nyatla/nyartoolkit/core/NyARDetectSquare.java b/src/jp/nyatla/nyartoolkit/core/NyARDetectSquare.java
index ca3ae4f..c53a678 100644
--- a/src/jp/nyatla/nyartoolkit/core/NyARDetectSquare.java
+++ b/src/jp/nyatla/nyartoolkit/core/NyARDetectSquare.java
@@ -81,7 +81,6 @@ public class NyARDetectSquare{
 	    return;
 	}
 	detect.detectMarker(labeling,1.0);
-	NyARMarker[] marker=detect.getMarkerArray();
 	int number_of_marker=detect.getMarkerNum();
 
 
@@ -90,13 +89,15 @@ public class NyARDetectSquare{
 	for (int i = 0; i <number_of_marker; i++){
 	    double[][]  line	=new double[4][3];
 	    double[][]  vertex	=new double[4][2];
+	    NyARMarker marker=detect.getMarker(i);
 	    
 	    //・・・線の検出？？
-            if (!getLine(marker[i].x_coord, marker[i].y_coord,marker[i].coord_num, marker[i].vertex,line,vertex))
+            if (!getLine(marker.x_coord, marker.y_coord,marker.coord_num, marker.vertex,line,vertex))
             {
             	continue;
             }
-            marker_info[j]=new NyARSquare(marker[i],line,vertex);
+            //markerは参照渡し。実体はdetect内のバッファを共有してるので注意
+            marker_info[j]=new NyARSquare(marker,line,vertex);
 
             
 //ここで計算するのは良くないと思うんだ	
@@ -152,8 +153,8 @@ public class NyARDetectSquare{
             double [][] in_array=input.getArray();
             for( j = 0; j < n; j++ ) {
         	param.observ2Ideal(x_coord[st+j], y_coord[st+j],dv1,dv2);//arParamObserv2Ideal( dist_factor, x_coord[st+j], y_coord[st+j],&(input->m[j*2+0]), &(input->m[j*2+1]) );
-                in_array[j][0]=dv1.get();
-                in_array[j][1]=dv2.get();
+                in_array[j][0]=dv1.value;
+                in_array[j][1]=dv2.value;
             }
             NyARMat.matrixPCA(input, evec, ev, mean);
             
diff --git a/src/jp/nyatla/nyartoolkit/core/NyARLabeling.java b/src/jp/nyatla/nyartoolkit/core/NyARLabeling.java
index d649977..5c8f048 100644
--- a/src/jp/nyatla/nyartoolkit/core/NyARLabeling.java
+++ b/src/jp/nyatla/nyartoolkit/core/NyARLabeling.java
@@ -75,7 +75,7 @@ public class NyARLabeling{
 	return label_num;
     }
     /**
-     * わからん
+     * 
      * @return
      * @throws NyARException
      */
@@ -87,7 +87,7 @@ public class NyARLabeling{
 	return work;
     }
     /**
-     * 検出したエリア配列？よくわからぬ
+     * 検出したエリア配列？
      * @return
      * @throws NyARException
      */
@@ -99,7 +99,7 @@ public class NyARLabeling{
 	return area;
     }
     /**
-     * 検出したクリップ配列？よくわからぬ
+     * 検出したクリップ配列？
      * @return
      * @throws NyARException
      */
@@ -111,7 +111,7 @@ public class NyARLabeling{
 	return clip;
     }
     /**
-     * 検出した位置配列？よくわからぬ
+     * 検出した位置配列？
      * @return
      * @throws NyARException
      */
diff --git a/src/jp/nyatla/nyartoolkit/core/NyARMat.java b/src/jp/nyatla/nyartoolkit/core/NyARMat.java
index 223637e..8a3819c 100644
--- a/src/jp/nyatla/nyartoolkit/core/NyARMat.java
+++ b/src/jp/nyatla/nyartoolkit/core/NyARMat.java
@@ -105,19 +105,20 @@ public class NyARMat{
 	    }
 	}
     }
+    private int[] wk_nos_matrixSelfInv=new int[50];
     /**
      * i_targetを逆行列に変換する。arMatrixSelfInv()と、arMatrixSelfInv_minv()関数を合成してあります。
      * @param i_target
      * 逆行列にする行列
      * @throws NyARException
      */
-    public static void matrixSelfInv(NyARMat i_target) throws NyARException
+    public void matrixSelfInv() throws NyARException
     {
-	double[][] ap=i_target.m;
+	double[][] ap=m;
 	int dimen=ap.length;
 	double[] wcp,wap,wbp;
-	int i,j,ip,nwork;
-	int[] nos=new int[50];
+	int j,ip,nwork;
+	int[] nos=wk_nos_matrixSelfInv;//この関数で初期化される。
 	double epsl;
 	double p,pbuf,work;
 
@@ -146,7 +147,7 @@ public class NyARMat{
             wcp =ap[n];//wcp = ap + n * rowa;
             p=0.0;
             wap_ptr=0;//wap = DoublePointer.wrap(wcp);
-            for(i = n; i<dimen ; i++){//for(i = n, wap = wcp, p = 0.0; i < dimen ; i++, wap += rowa)
+            for(int i = n; i<dimen ; i++){//for(i = n, wap = wcp, p = 0.0; i < dimen ; i++, wap += rowa)
         	wap=ap[i];
         	if( p < ( pbuf = Math.abs(wap[0]))) {
         	    p = pbuf;
@@ -180,7 +181,7 @@ public class NyARMat{
             }
             wap[wap_ptr]=1.0/work;//*wap = 1.0 / work;
 
-            for(i = 0; i < dimen ; i++) {
+            for(int i = 0; i < dimen ; i++) {
                 if(i != n) {
                     wap =ap[i];//wap = ap + i * rowa;
                     wbp =wcp;
@@ -204,7 +205,7 @@ public class NyARMat{
         	}
             }
             nos[j] = nos[n];
-            for(i = 0; i < dimen ;i++){//for(i = 0, wap = ap + j, wbp = ap + n; i < dimen ;i++, wap += rowa, wbp += rowa) {
+            for(int i = 0; i < dimen ;i++){//for(i = 0, wap = ap + j, wbp = ap + n; i < dimen ;i++, wap += rowa, wbp += rowa) {
         	wap=ap[i];
         	wbp=ap[i];
                 work  =wap[j];//work = *wap;
@@ -253,28 +254,29 @@ public class NyARMat{
 	}
     }
     /**
-     * destにsourceと同じ内容をコピーする。arMatrixDupの代替品
+     * sourceの内容を自身にコピーする。
      * @param dest
      * @param source
      * @return
      */
-    public static void matrixDup(NyARMat dest, NyARMat source) throws NyARException
+    public void matrixDup(NyARMat source) throws NyARException
     {
-	if(dest.row != source.row || dest.clm != source.clm)
+	if(row != source.row || clm != source.clm)
 	{
 	    throw new NyARException();
 	}
-	for(int r = 0; r < source.getRow(); r++) {
-	    for(int c = 0; c < source.getClm(); c++)
+	
+	for(int r = 0; r < row; r++){
+	    for(int c = 0; c < clm; c++)
 	    {
-		dest.m[r][c]=source.m[r][c];
+		m[r][c]=source.m[r][c];
 	    }
 	}
     }
     public NyARMat matrixAllocDup() throws NyARException
     {
 	NyARMat result=new NyARMat(row,clm);
-	matrixDup(result,this);
+	result.matrixDup(this);
 	return result;
     }    
     /**
@@ -287,10 +289,10 @@ public class NyARMat{
     public static void matrixInv(NyARMat dest,NyARMat source) throws NyARException
     {
 	NyARException.trap("未チェックのパス");
-	matrixDup(dest, source);
+	dest.matrixDup(source);
 
 	NyARException.trap("未チェックのパス");
-	matrixSelfInv(dest);
+	dest.matrixSelfInv();
     }
     public NyARMat matrixAllocInv() throws NyARException
     {
@@ -298,7 +300,7 @@ public class NyARMat{
 	NyARMat result=matrixAllocDup();
 
 	NyARException.trap("未チェックのパス");
-	matrixSelfInv(result);
+	result.matrixSelfInv();
 	return result;
     }
     /**
diff --git a/src/jp/nyatla/nyartoolkit/core/NyARParam.java b/src/jp/nyatla/nyartoolkit/core/NyARParam.java
index a91400a..9fd44b9 100644
--- a/src/jp/nyatla/nyartoolkit/core/NyARParam.java
+++ b/src/jp/nyatla/nyartoolkit/core/NyARParam.java
@@ -236,44 +236,48 @@ public class NyARParam{
         x = (ix - dist_factor[0]) * dist_factor[3];
         y = (iy - dist_factor[1]) * dist_factor[3];
         if( x == 0.0 && y == 0.0 ) {
-            ox.set(dist_factor[0]);
-            oy.set(dist_factor[1]);
+            ox.value=dist_factor[0];
+            oy.value=dist_factor[1];
         }else{
             d = 1.0 - dist_factor[2]/100000000.0 * (x*x+y*y);
-            ox.set(x * d + dist_factor[0]);
-            oy.set(y * d + dist_factor[1]);
+            ox.value=x * d + dist_factor[0];
+            oy.value=y * d + dist_factor[1];
         }
     }
     /*int arParamObserv2Ideal( const double dist_factor[4], const double ox, const double oy,double *ix, double *iy );*/
     public int observ2Ideal(double ox,double oy,DoubleValue ix,DoubleValue iy)
     {
-    	double  z02, z0, p, q, z, px, py;
+    	double  z02, z0, p, q, z, px, py,opttmp_1;
     	
     	px = ox - dist_factor[0];
     	py = oy - dist_factor[1];
     	p = dist_factor[2]/100000000.0;
-    	z02 = px*px+ py*py;
-    	q = z0 = Math.sqrt(px*px+ py*py);
+    	z02 = px*px+py*py;
+    	q = z0 = Math.sqrt(z02);//Optimize//q = z0 = Math.sqrt(px*px+ py*py);
     	
     	for(int i = 1; ; i++ ) {
-    		if( z0 != 0.0 ) {
-    			z = z0 - ((1.0 - p*z02)*z0 - q) / (1.0 - 3.0*p*z02);
-    			px = px * z / z0;
-    			py = py * z / z0;
-    		}else {
-    			px = 0.0;
-    			py = 0.0;
-    			break;
-    		}
-    		if( i == PD_LOOP ){
-    			break;
-    		}
-    		z02 = px*px+ py*py;
-    		z0 = Math.sqrt(px*px+ py*py);
+            if( z0 != 0.0 ) {
+        	//Optimize opttmp_1
+        	opttmp_1=p*z02;
+                z = z0 - ((1.0 - opttmp_1)*z0 - q) / (1.0 - 3.0*opttmp_1);
+        	//Optimize opttmp_1       
+                opttmp_1=z / z0;
+                px = px * opttmp_1;
+                py = py * opttmp_1;
+            }else {
+                px = 0.0;
+                py = 0.0;
+                break;
+            }
+            if( i == PD_LOOP ){
+                break;
+            }
+            z02 = px*px+ py*py;
+            z0 = Math.sqrt(z02);//Optimize//z0 = Math.sqrt(px*px+ py*py);
     	}
     	
-    	ix.set(px / dist_factor[3] + dist_factor[0]);
-    	iy.set(py / dist_factor[3] + dist_factor[1]);
+    	ix.value=px / dist_factor[3] + dist_factor[0];
+    	iy.value=py / dist_factor[3] + dist_factor[1];
     	return 0;
     }
     /**
diff --git a/src/jp/nyatla/nyartoolkit/core/NyARTransMat.java b/src/jp/nyatla/nyartoolkit/core/NyARTransMat.java
index f42a0c4..fe7013a 100644
--- a/src/jp/nyatla/nyartoolkit/core/NyARTransMat.java
+++ b/src/jp/nyatla/nyartoolkit/core/NyARTransMat.java
@@ -36,6 +36,12 @@ package jp.nyatla.nyartoolkit.core;
 import jp.nyatla.nyartoolkit.NyARException;
 import jp.nyatla.util.DoubleValue;
 
+/**
+ * This class calculates ARMatrix from square information and holds it.
+ * --
+ * 変換行列を計算して、結果を保持するクラス。
+ *
+ */
 public class NyARTransMat{
     private static final int AR_FITTING_TO_IDEAL=0;//#define  AR_FITTING_TO_IDEAL          0
     private static final int AR_FITTING_TO_INPUT=1;//#define  AR_FITTING_TO_INPUT          1
@@ -66,7 +72,17 @@ public class NyARTransMat{
     {
 	return result_mat;
     }
-    /*double arGetTransMat( ARMarkerInfo *marker_info,double center[2], double width, double conv[3][4] )*/
+    /**
+     * double arGetTransMat( ARMarkerInfo *marker_info,double center[2], double width, double conv[3][4] )
+     * 関数の置き換え。
+     * 保持している変換行列を更新する。
+     * @param square
+     * 計算対象のNyARSquareオブジェクト
+     * @param i_direction
+     * @param width
+     * @return
+     * @throws NyARException
+     */
     public double transMat( NyARSquare square,int i_direction, double width)throws NyARException
     {
 	double[][]  rot=new double[3][3];
@@ -79,7 +95,7 @@ public class NyARTransMat{
 
     
     	if( arGetInitRot( square,i_direction, rot ) < 0 ){
-            return -1;
+            throw new NyARException();//return -1;
     	}
     
     	dir = i_direction;
@@ -175,8 +191,8 @@ public class NyARTransMat{
 	    DoubleValue a1=new DoubleValue(),a2=new DoubleValue();
 	    for( i = 0; i < num; i++ ) {
 		param.ideal2Observ(ppos2d[i][0], ppos2d[i][1],a1,a2);//arParamIdeal2Observ(dist_factor, ppos2d[i][0], ppos2d[i][1],&pos2d[i][0], &pos2d[i][1]);
-		pos2d[i][0]=a1.get();
-		pos2d[i][1]=a2.get();
+		pos2d[i][0]=a1.value;
+		pos2d[i][1]=a2.value;
 	    }
 	}else{
 	    for( i = 0; i < num; i++ ) {
@@ -201,7 +217,7 @@ public class NyARTransMat{
 //	JartkException.trap("未チェックのパス");{
 	NyARMat.matrixMul( mat_d, mat_b, mat_a );
 	NyARMat.matrixMul( mat_e, mat_b, mat_c );
-	NyARMat.matrixSelfInv(mat_d);
+	mat_d.matrixSelfInv();
 	NyARMat.matrixMul( mat_f, mat_d, mat_e );
 //	}
 	trans[0] = f_array[0][0];//trans[0] = mat_f->m[0];
@@ -226,7 +242,7 @@ public class NyARTransMat{
 //	JartkException.trap("未チェックのパス");{
 	NyARMat.matrixMul( mat_d, mat_b, mat_a );
 	NyARMat.matrixMul( mat_e, mat_b, mat_c );
-	NyARMat.matrixSelfInv(mat_d);
+	mat_d.matrixSelfInv();
 	NyARMat.matrixMul( mat_f, mat_d, mat_e );
 //	}
 	trans[0] = f_array[0][0];//trans[0] = mat_f->m[0];
@@ -258,9 +274,9 @@ public class NyARTransMat{
         int       i, j;
 
         arGetAngle( rot, a, b, c);//arGetAngle( rot, &a, &b, &c );
-        a2 = a.get();
-        b2 = b.get();
-        c2 = c.get();
+        a2 = a.value;
+        b2 = b.value;
+        c2 = c.value;
         factor = 10.0*Math.PI/180.0;
         for( j = 0; j < 10; j++ ) {
             minerr = 1000000000.0;
@@ -303,37 +319,64 @@ public class NyARTransMat{
         /*  printf("factor = %10.5f\n", factor*180.0/MD_PI); */
         return minerr/num;
     }
+    private double[][] wk_cpara2_arGetNewMatrix=new double[3][4];
+    private double[][] wk_rot_arGetNewMatrix   =new double[3][3];
+    /**
+     * 
+     * @param a
+     * @param b
+     * @param c
+     * @param trans
+     * @param trans2
+     * @param ret
+     * @return
+     */
     private int arGetNewMatrix( double a, double b, double c,double trans[], double trans2[][], double ret[][] )
     {
 	double cpara[][]=param.getMat();
-        double[][] cpara2=new double[3][4];
-        double[][] rot=new double[3][3];
+        double[][] cpara2=wk_cpara2_arGetNewMatrix;	//この関数で初期化される。
+        double[][] rot   =wk_rot_arGetNewMatrix;	//arGetRotで初期化される。
         int      i, j;
         
         arGetRot( a, b, c, rot );
         
         if( trans2 != null ) {
             for( j = 0; j < 3; j++ ) {
-            	for( i = 0; i < 4; i++ ) {
-                    cpara2[j][i] = cpara[j][0] * trans2[0][i]+ cpara[j][1] * trans2[1][i]+ cpara[j][2] * trans2[2][i];
-            	}
+//            	for( i = 0; i < 4; i++ ) {
+//                    cpara2[j][i] = cpara[j][0] * trans2[0][i]+ cpara[j][1] * trans2[1][i]+ cpara[j][2] * trans2[2][i];
+//            	}
+//Optimize
+                cpara2[j][0] = cpara[j][0] * trans2[0][0]+ cpara[j][1] * trans2[1][0]+ cpara[j][2] * trans2[2][0];
+                cpara2[j][1] = cpara[j][0] * trans2[0][1]+ cpara[j][1] * trans2[1][1]+ cpara[j][2] * trans2[2][1];
+                cpara2[j][2] = cpara[j][0] * trans2[0][2]+ cpara[j][1] * trans2[1][2]+ cpara[j][2] * trans2[2][2];
+                cpara2[j][3] = cpara[j][0] * trans2[0][3]+ cpara[j][1] * trans2[1][3]+ cpara[j][2] * trans2[2][3];
             }
-        }else{
+        }else{            
             for( j = 0; j < 3; j++ ) {
-            	for( i = 0; i < 4; i++ ) {
-                    cpara2[j][i] = cpara[j][i];
-        	}
+//            	for( i = 0; i < 4; i++ ) {
+//                    cpara2[j][i] = cpara[j][i];
+//        	}
+//Optimize        	
+        	cpara2[j][0] = cpara[j][0];
+        	cpara2[j][1] = cpara[j][1];
+        	cpara2[j][2] = cpara[j][2];
+        	cpara2[j][3] = cpara[j][3];
             }
-        }      
+        }
         for( j = 0; j < 3; j++ ) {
-            for( i = 0; i < 3; i++ ) {
-            	ret[j][i] = cpara2[j][0] * rot[0][i]+ cpara2[j][1] * rot[1][i]+ cpara2[j][2] * rot[2][i];
-            }
+//            for( i = 0; i < 3; i++ ) {
+//            	ret[j][i] = cpara2[j][0] * rot[0][i]+ cpara2[j][1] * rot[1][i]+ cpara2[j][2] * rot[2][i];
+//            }
+//Optimize            
+            ret[j][0] = cpara2[j][0] * rot[0][0]+ cpara2[j][1] * rot[1][0]+ cpara2[j][2] * rot[2][0];
+            ret[j][1] = cpara2[j][0] * rot[0][1]+ cpara2[j][1] * rot[1][1]+ cpara2[j][2] * rot[2][1];
+            ret[j][2] = cpara2[j][0] * rot[0][2]+ cpara2[j][1] * rot[1][2]+ cpara2[j][2] * rot[2][2];
+//
             ret[j][3] = cpara2[j][0] * trans[0]+ cpara2[j][1] * trans[1]+ cpara2[j][2] * trans[2]+ cpara2[j][3];
         }
         return(0);
     }
-    private int arGetRot( double a, double b, double c, double rot[][] )
+    private void arGetRot( double a, double b, double c, double rot[][] )
     {
         double   sina, sinb, sinc;
         double   cosa, cosb, cosc;
@@ -344,6 +387,27 @@ public class NyARTransMat{
         cosb = Math.cos(b);
         sinc = Math.sin(c);
         cosc = Math.cos(c);
+        //Optimize
+        double A,B,C,D,E,F,G;
+        A=sina*cosa;
+        B=sina*sina;
+        C=cosa*cosa;
+        D=cosa*sinb;
+        F=cosb*cosc;
+        E=cosb*sinc;
+        G=sina*sinb;
+
+        rot[0][0] = C*F + B*cosc + A*(E - sinc);
+        rot[0][1] = -C*E-B*sinc+A*(F-cosc);
+        rot[0][2] = D;
+        rot[1][0] = A*(F-cosc)+B*E+C*sinc;
+        rot[1][1] = A*(-E+sinc)+B*F+C*cosc;
+        rot[1][2] = G;
+        rot[2][0] = -D*cosc-G*sinc;
+        rot[2][1] = D*sinc-G*cosc;
+        rot[2][2] = cosb;
+  /*      
+	//49回
         rot[0][0] = cosa*cosa*cosb*cosc+sina*sina*cosc+sina*cosa*cosb*sinc-sina*cosa*sinc;
         rot[0][1] = -cosa*cosa*cosb*sinc-sina*sina*sinc+sina*cosa*cosb*cosc-sina*cosa*cosc;
         rot[0][2] = cosa*sinb;
@@ -353,8 +417,7 @@ public class NyARTransMat{
         rot[2][0] = -cosa*sinb*cosc-sina*sinb*sinc;
         rot[2][1] = cosa*sinb*sinc-sina*sinb*cosc;
         rot[2][2] = cosb;
-    
-        return 0;
+*/
     }
     /*int arGetAngle( double rot[3][3], double *wa, double *wb, double *wc )*/
     private int arGetAngle( double rot[][], DoubleValue wa, DoubleValue wb, DoubleValue wc )
@@ -462,9 +525,9 @@ public class NyARTransMat{
             if( sinc < 0 ) c = -c;
         }
         
-        wa.set(a);//*wa = a;
-        wb.set(b);//*wb = b;
-        wc.set(c);//*wc = c;
+        wa.value=a;//*wa = a;
+        wb.value=b;//*wb = b;
+        wc.value=c;//*wc = c;
         
         return 0;
     }
@@ -537,52 +600,52 @@ public class NyARTransMat{
     }
 
     /*static int check_dir( double dir[3], double st[2], double ed[2],double cpara[3][4] )*/
-    		private static int check_dir( double dir[], double st[], double ed[],double cpara[][]) throws NyARException
-    		{
-    
-    		    double[][]	world=new double[2][3];
-    		    double[][] camera=new double[2][2];
-    		    double[][] v=new double[2][2];
-    		    double    h;
-    		    int       i, j;
-    //		    JartkException.trap("未チェックパス");
-    		    NyARMat mat_a = new NyARMat( 3, 3 );
-    		    double[][] a_array=mat_a.getArray();
-    		    for(j=0;j<3;j++){
-    			for(i=0;i<3;i++){
-    			    a_array[j][i]=cpara[j][i];//m[j*3+i] = cpara[j][i];
-    			}
-    		    }
-    //		    JartkException.trap("未チェックのパス");
-    		    NyARMat.matrixSelfInv(mat_a);
-    		    world[0][0] = a_array[0][0]*st[0]*10.0+ a_array[0][1]*st[1]*10.0+ a_array[0][2]*10.0;//mat_a->m[0]*st[0]*10.0+ mat_a->m[1]*st[1]*10.0+ mat_a->m[2]*10.0;
-    		    world[0][1] = a_array[1][0]*st[0]*10.0+ a_array[1][1]*st[1]*10.0+ a_array[1][2]*10.0;//mat_a->m[3]*st[0]*10.0+ mat_a->m[4]*st[1]*10.0+ mat_a->m[5]*10.0;
-    		    world[0][2] = a_array[2][0]*st[0]*10.0+ a_array[2][1]*st[1]*10.0+ a_array[2][2]*10.0;//mat_a->m[6]*st[0]*10.0+ mat_a->m[7]*st[1]*10.0+ mat_a->m[8]*10.0;
-    		    world[1][0] = world[0][0] + dir[0];
-    		    world[1][1] = world[0][1] + dir[1];
-    		    world[1][2] = world[0][2] + dir[2];
-    
-    		    for( i = 0; i < 2; i++ ) {
-    			h = cpara[2][0] * world[i][0]+ cpara[2][1] * world[i][1]+ cpara[2][2] * world[i][2];
-    			if( h == 0.0 ){
-    			    return -1;
-    			}
-    			camera[i][0] = (cpara[0][0] * world[i][0]+ cpara[0][1] * world[i][1]+ cpara[0][2] * world[i][2]) / h;
-    			camera[i][1] = (cpara[1][0] * world[i][0]+ cpara[1][1] * world[i][1]+ cpara[1][2] * world[i][2]) / h;
-    		    }
+    private static int check_dir( double dir[], double st[], double ed[],double cpara[][]) throws NyARException
+    {
     
-    		    v[0][0] = ed[0] - st[0];
-    		    v[0][1] = ed[1] - st[1];
-    		    v[1][0] = camera[1][0] - camera[0][0];
-    		    v[1][1] = camera[1][1] - camera[0][1];
+        double[][]	world=new double[2][3];
+        double[][] camera=new double[2][2];
+        double[][] v=new double[2][2];
+        double    h;
+        int       i, j;
+        //		    JartkException.trap("未チェックパス");
+        NyARMat mat_a = new NyARMat( 3, 3 );
+        double[][] a_array=mat_a.getArray();
+        for(j=0;j<3;j++){
+            for(i=0;i<3;i++){
+                a_array[j][i]=cpara[j][i];//m[j*3+i] = cpara[j][i];
+            }
+        }
+    //	JartkException.trap("未チェックのパス");
+        mat_a.matrixSelfInv();
+        world[0][0] = a_array[0][0]*st[0]*10.0+ a_array[0][1]*st[1]*10.0+ a_array[0][2]*10.0;//mat_a->m[0]*st[0]*10.0+ mat_a->m[1]*st[1]*10.0+ mat_a->m[2]*10.0;
+        world[0][1] = a_array[1][0]*st[0]*10.0+ a_array[1][1]*st[1]*10.0+ a_array[1][2]*10.0;//mat_a->m[3]*st[0]*10.0+ mat_a->m[4]*st[1]*10.0+ mat_a->m[5]*10.0;
+        world[0][2] = a_array[2][0]*st[0]*10.0+ a_array[2][1]*st[1]*10.0+ a_array[2][2]*10.0;//mat_a->m[6]*st[0]*10.0+ mat_a->m[7]*st[1]*10.0+ mat_a->m[8]*10.0;
+        world[1][0] = world[0][0] + dir[0];
+        world[1][1] = world[0][1] + dir[1];
+        world[1][2] = world[0][2] + dir[2];
     
-    		    if( v[0][0]*v[1][0] + v[0][1]*v[1][1] < 0 ) {
-    			dir[0] = -dir[0];
-    			dir[1] = -dir[1];
-    			dir[2] = -dir[2];
-    		    }
-    		    return 0;
-    		}
+        for( i = 0; i < 2; i++ ) {
+            h = cpara[2][0] * world[i][0]+ cpara[2][1] * world[i][1]+ cpara[2][2] * world[i][2];
+            if( h == 0.0 ){
+                return -1;
+            }
+            camera[i][0] = (cpara[0][0] * world[i][0]+ cpara[0][1] * world[i][1]+ cpara[0][2] * world[i][2]) / h;
+            camera[i][1] = (cpara[1][0] * world[i][0]+ cpara[1][1] * world[i][1]+ cpara[1][2] * world[i][2]) / h;
+        }
+
+        v[0][0] = ed[0] - st[0];
+        v[0][1] = ed[1] - st[1];
+        v[1][0] = camera[1][0] - camera[0][0];
+        v[1][1] = camera[1][1] - camera[0][1];
+
+        if( v[0][0]*v[1][0] + v[0][1]*v[1][1] < 0 ) {
+            dir[0] = -dir[0];
+            dir[1] = -dir[1];
+            dir[2] = -dir[2];
+        }
+        return 0;
+    }
 
 		/*int check_rotation( double rot[2][3] )*/
 		private static int check_rotation( double rot[][] )
diff --git a/src/jp/nyatla/nyartoolkit/detector/NyARSingleDetectMarker.java b/src/jp/nyatla/nyartoolkit/detector/NyARSingleDetectMarker.java
index 93104e0..23fe38a 100644
--- a/src/jp/nyatla/nyartoolkit/detector/NyARSingleDetectMarker.java
+++ b/src/jp/nyatla/nyartoolkit/detector/NyARSingleDetectMarker.java
@@ -50,6 +50,7 @@ public class NyARSingleDetectMarker{
     private int detected_direction;
     private double detected_confidence;
     private NyARSquare detected_square;
+    private NyARColorPatt patt;
     public NyARSingleDetectMarker(NyARParam i_param,NyARCode i_code,double i_marker_width)
     {
 	param=i_param;
@@ -59,7 +60,8 @@ public class NyARSingleDetectMarker{
 	//比較コードを保存
 	code=i_code;
 	marker_width=i_marker_width;
-
+	//評価パターンのホルダを作る
+	patt=new NyARColorPatt(code.getWidth(),code.getHeight());
 	
     }
     /**
@@ -83,8 +85,6 @@ public class NyARSingleDetectMarker{
 
 	//コードの一致度を調べる準備
 	NyARSquare[] squares=square.getSquareArray();
-	//パターンホルダを作る
-	NyARColorPatt patt=new NyARColorPatt(code.getWidth(),code.getHeight());
 	//評価基準になるパターンをイメージから切り出す
 	patt.pickFromRaster(i_image,squares[0].getMarker());
 	
diff --git a/src/jp/nyatla/nyartoolkit/sample/RawFileTest.java b/src/jp/nyatla/nyartoolkit/sample/RawFileTest.java
index d251e11..d1b84f3 100644
--- a/src/jp/nyatla/nyartoolkit/sample/RawFileTest.java
+++ b/src/jp/nyatla/nyartoolkit/sample/RawFileTest.java
@@ -57,7 +57,7 @@ public class RawFileTest {
         
         //AR用のパターンコードを読み出し	
         NyARCode code=new NyARCode(16,16);
-        code.LoadFromARFile(code_file);
+        code.loadFromARFile(code_file);
         
         //試験イメージの読み出し(320x240 BGRAのRAWデータ)
         File f=new File(data_file);
diff --git a/src/jp/nyatla/util/DoubleValue.java b/src/jp/nyatla/util/DoubleValue.java
index 83a26f1..a42bd14 100644
--- a/src/jp/nyatla/util/DoubleValue.java
+++ b/src/jp/nyatla/util/DoubleValue.java
@@ -1,14 +1,5 @@
 package jp.nyatla.util;
 
 public class DoubleValue {
-	private double v;
-	public void set(double i_v){
-		v=i_v;
-	}
-	public double get(){
-		return v;
-	}
-	public void add(double i_v){
-		v+=i_v;
-	}
+    public double value;
 }
\ No newline at end of file