public NyARSurfaceTrackingTransmatUtils(NyARParam i_ref_param, double i_tracking_threshold)
{
this._surface_threshold = i_tracking_threshold;
this._icp = new NyARIcpPoint(i_ref_param.getPerspectiveProjectionMatrix());
this._icp_r = new NyARIcpPointRobust(i_ref_param.getPerspectiveProjectionMatrix());
this._last_inliner_probability = 0;
}
/**
* The constructor.
* @param i_param
* ARToolkit parameter object that finished setup.
* @param i_al_mode
* fitting algorism type.
* @throws NyARException
*/
public NyARIcpTransMat(NyARParam i_param, int i_al_mode)
{
this._icpc = new NyARIcpPlane(i_param);
switch (i_al_mode)
{
case AL_POINT:
this._icpp = new NyARIcpPoint(i_param);
break;
case AL_POINT_ROBUST:
this._icpp = new NyARIcpPointRobust(i_param);
break;
default:
throw new System.ArgumentException();
}
return;
}
/**
* The constructor.
* @param i_param
* ARToolkit parameter object that finished setup.
* @param i_al_mode
* fitting algorism type.
* @throws NyARException
*/
public NyARIcpTransMat(NyARParam i_param, int i_al_mode)
{
this._icpc = new NyARIcpPlane(i_param);
switch (i_al_mode)
{
case AL_POINT:
this._icpp = new NyARIcpPoint(i_param);
break;
case AL_POINT_ROBUST:
this._icpp = new NyARIcpPointRobust(i_param);
break;
default:
throw new System.ArgumentException();
}
return;
}