public NyARTransMat_ARToolKit(NyARParam i_param)
{
NyARCameraDistortionFactor dist = i_param.getDistortionFactor();
NyARPerspectiveProjectionMatrix pmat = i_param.getPerspectiveProjectionMatrix();
this._transsolver = new NyARTransportVectorSolver_ARToolKit(pmat);
//互換性が重要な時は、NyARRotMatrix_ARToolKitを使うこと。
//理屈はNyARRotMatrix_NyARToolKitもNyARRotMatrix_ARToolKitも同じだけど、少しだけ値がずれる。
this._rotmatrix = new NyARRotMatrix_ARToolKit_O2(pmat);
this._mat_optimize = new NyARRotMatrixOptimize_O2(pmat);
this._ref_dist_factor = dist;
}
public NyARTransMat_ARToolKit(NyARParam i_param)
{
NyARCameraDistortionFactor dist = i_param.getDistortionFactor();
NyARPerspectiveProjectionMatrix pmat = i_param.getPerspectiveProjectionMatrix();
this._transsolver = new NyARTransportVectorSolver_ARToolKit(pmat);
//互換性が重要な時は、NyARRotMatrix_ARToolKitを使うこと。
//理屈はNyARRotMatrix_NyARToolKitもNyARRotMatrix_ARToolKitも同じだけど、少しだけ値がずれる。
this._rotmatrix = new NyARRotMatrix_ARToolKit_O2(pmat);
this._mat_optimize = new NyARRotMatrixOptimize_O2(pmat);
this._ref_dist_factor = dist;
}
private void initInstance(NyARCameraDistortionFactor i_ref_distfactor, NyARPerspectiveProjectionMatrix i_ref_projmat)
{
NyARCameraDistortionFactor dist = i_ref_distfactor;
NyARPerspectiveProjectionMatrix pmat = i_ref_projmat;
this._transsolver = new NyARTransportVectorSolver_ARToolKit(pmat);
//互換性が重要な時は、NyARRotMatrix_ARToolKitを使うこと。
//理屈はNyARRotMatrix_NyARToolKitもNyARRotMatrix_ARToolKitも同じだけど、少しだけ値がずれる。
this._rotmatrix = new NyARRotMatrix_ARToolKit_O2(pmat);
this._mat_optimize = new NyARRotMatrixOptimize_O2(pmat);
this._ref_dist_factor = dist;
}
/**
* コンストラクタです。
* 座標計算に必要なオブジェクトの参照値を元に、インスタンスを生成します。
* @param i_ref_distfactor
* 樽型歪み矯正オブジェクトの参照値です。歪み矯正が不要な時は、nullを指定します。
* @param i_ref_projmat
* 射影変換オブジェクトの参照値です。
* @
*/
public NyARTransMat_ARToolKit(INyARCameraDistortionFactor i_ref_distfactor, NyARPerspectiveProjectionMatrix i_ref_projmat)
{
INyARCameraDistortionFactor dist = i_ref_distfactor;
NyARPerspectiveProjectionMatrix pmat = i_ref_projmat;
this._transsolver = new NyARTransportVectorSolver_ARToolKit(pmat);
//互換性が重要な時は、NyARRotMatrix_ARToolKitを使うこと。
//理屈はNyARRotMatrix_NyARToolKitもNyARRotMatrix_ARToolKitも同じだけど、少しだけ値がずれる。
this._rotmatrix = new NyARRotMatrix_ARToolKit_O2(pmat);
this._mat_optimize = new NyARRotMatrixOptimize_O2(pmat);
this._ref_dist_factor = dist;
return;
}
/**
*
* @param iw_rotmat
* @param iw_transvec
* @param i_solver
* @param i_offset_3d
* @param i_2d_vertex
* @param i_err_threshold
* @param o_result
* @return
* @
*/
private double optimize(NyARRotMatrix iw_rotmat, NyARDoublePoint3d iw_transvec, INyARTransportVectorSolver i_solver, NyARDoublePoint3d[] i_offset_3d, NyARDoublePoint2d[] i_2d_vertex, double i_err_threshold, NyARDoubleMatrix44 o_result)
{
//System.out.println("START");
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
//初期のエラー値を計算
double min_err = errRate(iw_rotmat, iw_transvec, i_offset_3d, i_2d_vertex, 4, vertex_3d);
o_result.setValue(iw_rotmat, iw_transvec);
for (int i = 0; i < 5; i++)
{
//変換行列の最適化
this._mat_optimize.modifyMatrix(iw_rotmat, iw_transvec, i_offset_3d, i_2d_vertex, 4);
double err = errRate(iw_rotmat, iw_transvec, i_offset_3d, i_2d_vertex, 4, vertex_3d);
//System.out.println("E:"+err);
if (min_err - err < i_err_threshold)
{
//System.out.println("BREAK");
break;
}
i_solver.solveTransportVector(vertex_3d, iw_transvec);
o_result.setValue(iw_rotmat, iw_transvec);
min_err = err;
}
//System.out.println("END");
return(min_err);
}
private double optimize(NyARRotMatrix_ARToolKit io_rotmat, NyARDoublePoint3d io_transvec, INyARTransportVectorSolver i_solver, NyARDoublePoint3d[] i_offset_3d, NyARDoublePoint2d[] i_2d_vertex)
{
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
double err = -1;
//System.out.println("START");
// 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。
for (int i = 0; ; i++)
{
// <arGetTransMat3>
err = this._mat_optimize.modifyMatrix(io_rotmat, io_transvec, i_offset_3d, i_2d_vertex);
io_rotmat.getPoint3dBatch(i_offset_3d, vertex_3d, 4);
i_solver.solveTransportVector(vertex_3d, io_transvec);
err = this._mat_optimize.modifyMatrix(io_rotmat, io_transvec, i_offset_3d, i_2d_vertex);
//System.out.println("E:"+err*4);
// //</arGetTransMat3>
if (err < AR_GET_TRANS_MAT_MAX_FIT_ERROR || i == AR_GET_TRANS_MAT_MAX_LOOP_COUNT - 1)
{
break;
}
io_rotmat.getPoint3dBatch(i_offset_3d, vertex_3d, 4);
i_solver.solveTransportVector(vertex_3d, io_transvec);
}
//System.out.println("END");
return(err);
}
private double optimize(NyARRotMatrix_ARToolKit io_rotmat, NyARDoublePoint3d io_transvec, INyARTransportVectorSolver i_solver, NyARDoublePoint3d[] i_offset_3d, NyARDoublePoint2d[] i_2d_vertex)
{
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
double err = -1;
//System.out.println("START");
// 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。
for (int i = 0; ; i++)
{
// <arGetTransMat3>
err = this._mat_optimize.modifyMatrix(io_rotmat, io_transvec, i_offset_3d, i_2d_vertex);
io_rotmat.getPoint3dBatch(i_offset_3d, vertex_3d, 4);
i_solver.solveTransportVector(vertex_3d, io_transvec);
err = this._mat_optimize.modifyMatrix(io_rotmat, io_transvec, i_offset_3d, i_2d_vertex);
//System.out.println("E:"+err*4);
// //</arGetTransMat3>
if (err < AR_GET_TRANS_MAT_MAX_FIT_ERROR || i == AR_GET_TRANS_MAT_MAX_LOOP_COUNT - 1)
{
break;
}
io_rotmat.getPoint3dBatch(i_offset_3d, vertex_3d, 4);
i_solver.solveTransportVector(vertex_3d, io_transvec);
}
//System.out.println("END");
return err;
}
/**
*
* @param iw_rotmat
* @param iw_transvec
* @param i_solver
* @param i_offset_3d
* @param i_2d_vertex
* @param i_err_threshold
* @param o_result
* @return
* @
*/
private double optimize(NyARRotMatrix iw_rotmat,NyARDoublePoint3d iw_transvec,INyARTransportVectorSolver i_solver,NyARDoublePoint3d[] i_offset_3d,NyARDoublePoint2d[] i_2d_vertex,double i_err_threshold,NyARDoubleMatrix44 o_result)
{
//System.out.println("START");
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
//初期のエラー値を計算
double min_err = errRate(iw_rotmat, iw_transvec, i_offset_3d, i_2d_vertex, 4, vertex_3d);
o_result.setValue(iw_rotmat, iw_transvec);
for (int i = 0; i < 5; i++)
{
//変換行列の最適化
this._mat_optimize.modifyMatrix(iw_rotmat, iw_transvec, i_offset_3d, i_2d_vertex, 4);
double err = errRate(iw_rotmat, iw_transvec, i_offset_3d, i_2d_vertex, 4, vertex_3d);
//System.out.println("E:"+err);
if (min_err - err < i_err_threshold)
{
//System.out.println("BREAK");
break;
}
i_solver.solveTransportVector(vertex_3d, iw_transvec);
o_result.setValue(iw_rotmat, iw_transvec);
min_err = err;
}
//System.out.println("END");
return min_err;
}
