/**
* この関数は、理想座標系の四角系を元に、位置姿勢変換行列を求めます。
* 計算に過去の履歴を使う点が、{@link #transMat}と異なります。
* @see INyARTransMat#transMatContinue
*/
public bool transMatContinue(NyARSquare i_square, NyARRectOffset i_offset, NyARDoubleMatrix44 i_prev_result, double i_prev_err, NyARDoubleMatrix44 o_result, NyARTransMatResultParam o_param)
{
NyARDoublePoint3d trans = this.__transMat_trans;
//最適化計算の閾値を決定
double err_threshold = makeErrThreshold(i_square.sqvertex);
//平行移動量計算機に、2D座標系をセット
NyARDoublePoint2d[] vertex_2d;
if (this._ref_dist_factor != null)
{
vertex_2d = this.__transMat_vertex_2d;
this._ref_dist_factor.ideal2ObservBatch(i_square.sqvertex, vertex_2d, 4);
}
else
{
vertex_2d = i_square.sqvertex;
}
this._transsolver.set2dVertex(vertex_2d, 4);
//回転行列を計算
NyARRotMatrix rot = this._rotmatrix;
rot.initRotByPrevResult(i_prev_result);
//回転後の3D座標系から、平行移動量を計算
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
rot.getPoint3dBatch(i_offset.vertex, vertex_3d, 4);
this._transsolver.solveTransportVector(vertex_3d, trans);
//現在のエラーレートを計算
double min_err = errRate(rot, trans, i_offset.vertex, vertex_2d, 4, vertex_3d);
//エラーレートの判定
if (min_err < i_prev_err + err_threshold)
{
//save initial result
o_result.setValue(rot, trans);
// System.out.println("TR:ok");
//最適化してみる。
for (int i = 0; i < 5; i++)
{
//変換行列の最適化
this._mat_optimize.modifyMatrix(rot, trans, i_offset.vertex, vertex_2d, 4);
double err = errRate(rot, trans, i_offset.vertex, vertex_2d, 4, vertex_3d);
//System.out.println("E:"+err);
if (min_err - err < err_threshold / 2)
{
//System.out.println("BREAK");
break;
}
this._transsolver.solveTransportVector(vertex_3d, trans);
o_result.setValue(rot, trans);
min_err = err;
}
//継続計算成功
if (o_param != null)
{
o_param.last_error = min_err;
}
return(true);
}
//継続計算失敗
return(false);
}
/**
* この関数は、理想座標系の四角系を元に、位置姿勢変換行列を求めます。
* ARToolKitのarGetTransMatに該当します。
* @see INyARTransMat#transMatContinue
*/
public bool transMat(NyARSquare i_square, NyARRectOffset i_offset, NyARDoubleMatrix44 o_result, NyARTransMatResultParam o_param)
{
NyARDoublePoint3d trans = this.__transMat_trans;
double err_threshold = makeErrThreshold(i_square.sqvertex);
NyARDoublePoint2d[] vertex_2d;
if (this._ref_dist_factor != null)
{
//歪み復元必要
vertex_2d = this.__transMat_vertex_2d;
this._ref_dist_factor.ideal2ObservBatch(i_square.sqvertex, vertex_2d, 4);
}
else
{
//歪み復元は不要
vertex_2d = i_square.sqvertex;
}
//平行移動量計算機に、2D座標系をセット
this._transsolver.set2dVertex(vertex_2d, 4);
//回転行列を計算
if (!this._rotmatrix.initRotBySquare(i_square.line, i_square.sqvertex))
{
return(false);
}
//回転後の3D座標系から、平行移動量を計算
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
this._rotmatrix.getPoint3dBatch(i_offset.vertex, vertex_3d, 4);
this._transsolver.solveTransportVector(vertex_3d, trans);
//計算結果の最適化(平行移動量と回転行列の最適化)
double err = this.optimize(this._rotmatrix, trans, this._transsolver, i_offset.vertex, vertex_2d, err_threshold, o_result);
//必要なら計算パラメータを返却
if (o_param != null)
{
o_param.last_error = err;
}
return(true);
}
public override bool icpPoint(NyARDoublePoint2d[] screenCoord,
NyARDoublePoint3d[] worldCoord, int num,
NyARDoubleMatrix44 initMatXw2Xc, NyARDoubleMatrix44 o_matxw2xc, NyARTransMatResultParam o_result_param)
{
Debug.Assert(num >= 4);
double err0 = 0, err1;
NyARIcpUtils.U u = this.__u;
NyARIcpUtils.DeltaS dS = this.__dS;
//ワークオブジェクトのリセット
if (this.__jus.getArraySize() < num)
{
this.__jus = new NyARIcpUtils.JusStack(num);
this.__E = new double[num];
this.__E2 = new double[num];
this.__du = NyARDoublePoint2d.createArray(num);
}
NyARIcpUtils.JusStack jus = this.__jus;
double[] E = this.__E;
double[] E2 = this.__E2;
NyARDoublePoint2d[] du = this.__du;
NyARDoubleMatrix44 matXw2U = this.__matXw2U;
int inlierNum = (int)(num * this.getInlierProbability()) - 1;
if (inlierNum < 3)
{
inlierNum = 3;
}
o_matxw2xc.setValue(initMatXw2Xc);
for (int i = 0;; i++) {
matXw2U.mul(this._ref_matXc2U, o_matxw2xc);
for (int j = 0; j < num; j++)
{
if (!u.setXbyMatX2U(matXw2U, worldCoord[j]))
{
return false;
}
double dx = screenCoord[j].x - u.x;
double dy = screenCoord[j].y - u.y;
du[j].x = dx;
du[j].y = dy;
E[j] = E2[j] = dx * dx + dy * dy;
}
Array.Sort(E2, 0, num);// qsort(E2, data->num, sizeof(ARdouble), compE);
double K2 = E2[inlierNum] * K2_FACTOR;
if (K2 < 16.0)
{
K2 = 16.0;
}
err1 = 0.0;
for (int j = 0; j < num; j++)
{
if (E2[j] > K2)
{
err1 += K2 / 6.0;
}
else
{
err1 += K2 / 6.0 * (1.0 - (1.0 - E2[j] / K2) * (1.0 - E2[j] / K2) * (1.0 - E2[j] / K2));
}
}
err1 /= num;
if (err1 < this.breakLoopErrorThresh)
{
break;
}
if (i > 0 && err1 < this.breakLoopErrorThresh2 && err1 / err0 > this.breakLoopErrorRatioThresh)
{
break;
}
if (i == this._maxLoop)
{
break;
}
err0 = err1;
jus.clear();
for (int j = 0; j < num; j++)
{
if (E[j] <= K2)
{
double W = (1.0 - E[j] / K2) * (1.0 - E[j] / K2);
if(!jus.push(this._ref_matXc2U,o_matxw2xc, worldCoord[j],du[j],W))
{
return false;
}
}
}
if (jus.getLength() < 3)
{
return false;
}
if (!dS.setJusArray(jus))
{
return false;
}
dS.makeMat(o_matxw2xc);
}
if(o_result_param!=null){
o_result_param.last_error=err1;
}
return true;
}
/**
* この関数は、理想座標系の四角系を元に、位置姿勢変換行列を求めます。
* 計算に過去の履歴を使う点が、{@link #transMat}と異なります。
* @see INyARTransMat#transMatContinue
*/
public bool transMatContinue(NyARSquare i_square,NyARRectOffset i_offset, NyARDoubleMatrix44 i_prev_result,double i_prev_err,NyARDoubleMatrix44 o_result,NyARTransMatResultParam o_param)
{
NyARDoublePoint3d trans = this.__transMat_trans;
//最適化計算の閾値を決定
double err_threshold = makeErrThreshold(i_square.sqvertex);
//平行移動量計算機に、2D座標系をセット
NyARDoublePoint2d[] vertex_2d;
if (this._ref_dist_factor != null)
{
vertex_2d = this.__transMat_vertex_2d;
this._ref_dist_factor.ideal2ObservBatch(i_square.sqvertex, vertex_2d, 4);
}
else
{
vertex_2d = i_square.sqvertex;
}
this._transsolver.set2dVertex(vertex_2d, 4);
//回転行列を計算
NyARRotMatrix rot = this._rotmatrix;
rot.initRotByPrevResult(i_prev_result);
//回転後の3D座標系から、平行移動量を計算
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
rot.getPoint3dBatch(i_offset.vertex, vertex_3d, 4);
this._transsolver.solveTransportVector(vertex_3d, trans);
//現在のエラーレートを計算
double min_err = errRate(rot, trans, i_offset.vertex, vertex_2d, 4, vertex_3d);
//エラーレートの判定
if(min_err<i_prev_err+err_threshold){
//save initial result
o_result.setValue(rot,trans);
// System.out.println("TR:ok");
//最適化してみる。
for (int i = 0; i < 5; i++)
{
//変換行列の最適化
this._mat_optimize.modifyMatrix(rot, trans, i_offset.vertex, vertex_2d, 4);
double err = errRate(rot, trans, i_offset.vertex, vertex_2d, 4, vertex_3d);
//System.out.println("E:"+err);
if (min_err - err < err_threshold / 2)
{
//System.out.println("BREAK");
break;
}
this._transsolver.solveTransportVector(vertex_3d, trans);
o_result.setValue(rot, trans);
min_err = err;
}
//継続計算成功
if (o_param != null)
{
o_param.last_error = min_err;
}
return true;
}
//継続計算失敗
return false;
}
/**
* この関数は、理想座標系の四角系を元に、位置姿勢変換行列を求めます。
* ARToolKitのarGetTransMatに該当します。
* @see INyARTransMat#transMatContinue
*/
public bool transMat(NyARSquare i_square,NyARRectOffset i_offset, NyARDoubleMatrix44 o_result,NyARTransMatResultParam o_param)
{
NyARDoublePoint3d trans = this.__transMat_trans;
double err_threshold = makeErrThreshold(i_square.sqvertex);
NyARDoublePoint2d[] vertex_2d;
if (this._ref_dist_factor != null)
{
//歪み復元必要
vertex_2d = this.__transMat_vertex_2d;
this._ref_dist_factor.ideal2ObservBatch(i_square.sqvertex, vertex_2d, 4);
}
else
{
//歪み復元は不要
vertex_2d = i_square.sqvertex;
}
//平行移動量計算機に、2D座標系をセット
this._transsolver.set2dVertex(vertex_2d, 4);
//回転行列を計算
if (!this._rotmatrix.initRotBySquare(i_square.line, i_square.sqvertex))
{
return false;
}
//回転後の3D座標系から、平行移動量を計算
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
this._rotmatrix.getPoint3dBatch(i_offset.vertex, vertex_3d, 4);
this._transsolver.solveTransportVector(vertex_3d, trans);
//計算結果の最適化(平行移動量と回転行列の最適化)
double err = this.optimize(this._rotmatrix, trans, this._transsolver, i_offset.vertex, vertex_2d, err_threshold, o_result);
//必要なら計算パラメータを返却
if (o_param != null)
{
o_param.last_error = err;
}
return true;
}
public override bool icpPoint(NyARDoublePoint2d[] screenCoord,
NyARDoublePoint3d[] worldCoord, int num,
NyARDoubleMatrix44 initMatXw2Xc, NyARDoubleMatrix44 o_matxw2xc, NyARTransMatResultParam o_result_param)
{
Debug.Assert(num >= 4);
double err0 = 0, err1;
NyARIcpUtils.U u = this.__u;
NyARIcpUtils.DeltaS dS = this.__dS;
//ワークオブジェクトのリセット
if (this.__jus.getArraySize() < num)
{
this.__jus = new NyARIcpUtils.JusStack(num);
this.__E = new double[num];
this.__E2 = new double[num];
this.__du = NyARDoublePoint2d.createArray(num);
}
NyARIcpUtils.JusStack jus = this.__jus;
double[] E = this.__E;
double[] E2 = this.__E2;
NyARDoublePoint2d[] du = this.__du;
NyARDoubleMatrix44 matXw2U = this.__matXw2U;
int inlierNum = (int)(num * this.getInlierProbability()) - 1;
if (inlierNum < 3)
{
inlierNum = 3;
}
o_matxw2xc.setValue(initMatXw2Xc);
for (int i = 0;; i++)
{
matXw2U.mul(this._ref_matXc2U, o_matxw2xc);
for (int j = 0; j < num; j++)
{
if (!u.setXbyMatX2U(matXw2U, worldCoord[j]))
{
return(false);
}
double dx = screenCoord[j].x - u.x;
double dy = screenCoord[j].y - u.y;
du[j].x = dx;
du[j].y = dy;
E[j] = E2[j] = dx * dx + dy * dy;
}
Array.Sort(E2, 0, num);// qsort(E2, data->num, sizeof(ARdouble), compE);
double K2 = E2[inlierNum] * K2_FACTOR;
if (K2 < 16.0)
{
K2 = 16.0;
}
err1 = 0.0;
for (int j = 0; j < num; j++)
{
if (E2[j] > K2)
{
err1 += K2 / 6.0;
}
else
{
err1 += K2 / 6.0 * (1.0 - (1.0 - E2[j] / K2) * (1.0 - E2[j] / K2) * (1.0 - E2[j] / K2));
}
}
err1 /= num;
if (err1 < this.breakLoopErrorThresh)
{
break;
}
if (i > 0 && err1 < this.breakLoopErrorThresh2 && err1 / err0 > this.breakLoopErrorRatioThresh)
{
break;
}
if (i == this._maxLoop)
{
break;
}
err0 = err1;
jus.clear();
for (int j = 0; j < num; j++)
{
if (E[j] <= K2)
{
double W = (1.0 - E[j] / K2) * (1.0 - E[j] / K2);
if (!jus.push(this._ref_matXc2U, o_matxw2xc, worldCoord[j], du[j], W))
{
return(false);
}
}
}
if (jus.getLength() < 3)
{
return(false);
}
if (!dS.setJusArray(jus))
{
return(false);
}
dS.makeMat(o_matxw2xc);
}
if (o_result_param != null)
{
o_result_param.last_error = err1;
}
return(true);
}