/* * PROJECT: FLARToolKit * -------------------------------------------------------------------------------- * This work is based on the NyARToolKit developed by * R.Iizuka (nyatla) * http://nyatla.jp/nyatoolkit/ * * The FLARToolKit is ActionScript 3.0 version ARToolkit class library. * Copyright (C)2008 Saqoosha * * This program is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License * as published by the Free Software Foundation; either version 2 * of the License, or (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this framework; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * * For further information please contact. * http://www.libspark.org/wiki/saqoosha/FLARToolKit * * */ package org.libspark.flartoolkit.core.transmat { import org.libspark.flartoolkit.core.FLARSquare; import org.libspark.flartoolkit.core.param.FLARCameraDistortionFactor; import org.libspark.flartoolkit.core.param.FLARParam; import org.libspark.flartoolkit.core.param.FLARPerspectiveProjectionMatrix; import org.libspark.flartoolkit.core.transmat.fitveccalc.FLARFitVecCalculator; import org.libspark.flartoolkit.core.transmat.optimize.FLARRotTransOptimize; import org.libspark.flartoolkit.core.transmat.rotmatrix.FLARRotMatrix; import org.libspark.flartoolkit.core.types.FLARDoublePoint2d; import org.libspark.flartoolkit.core.types.FLARDoublePoint3d; /** * 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 student_ar_org_libspark_flartoolkit_core_transmat_FLARTransMat implements Istudent_ar_org_libspark_flartoolkit_core_transmat_FLARTransMat { private static const AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR:Number = 1.0; private var _rotmatrix:FLARRotMatrix; private const _center:FLARDoublePoint2d = new FLARDoublePoint2d(0, 0); private var _calculator:FLARFitVecCalculator; private const _offset:FLARTransOffset = new FLARTransOffset(); private var _mat_optimize:FLARRotTransOptimize; public function student_ar_org_libspark_flartoolkit_core_transmat_FLARTransMat(i_param:FLARParam) { const dist:FLARCameraDistortionFactor = i_param.getDistortionFactor(); const pmat:FLARPerspectiveProjectionMatrix = i_param.getPerspectiveProjectionMatrix(); this._calculator = new FLARFitVecCalculator(pmat, dist); this._rotmatrix = new FLARRotMatrix(pmat); this._mat_optimize = new FLARRotTransOptimize(pmat); } public function setCenter(i_x:Number, i_y:Number):void { this._center.x = i_x; this._center.y = i_y; } /** * 頂点順序をi_directionに対応して並べ替えます。 * @param i_square * @param i_direction * @param o_sqvertex_ref FLARDoublePoint2d[] * @param o_liner_ref FLARLinear[] */ private function initVertexOrder(i_square:FLARSquare, i_direction:int, o_sqvertex_ref:Array, o_liner_ref:Array):void { //頂点順序を考慮した矩形の頂点情報 o_sqvertex_ref[0] = i_square.sqvertex[(4 - i_direction) % 4]; o_sqvertex_ref[1] = i_square.sqvertex[(5 - i_direction) % 4]; o_sqvertex_ref[2] = i_square.sqvertex[(6 - i_direction) % 4]; o_sqvertex_ref[3] = i_square.sqvertex[(7 - i_direction) % 4]; o_liner_ref[0] = i_square.line[(4 - i_direction) % 4]; o_liner_ref[1] = i_square.line[(5 - i_direction) % 4]; o_liner_ref[2] = i_square.line[(6 - i_direction) % 4]; o_liner_ref[3] = i_square.line[(7 - i_direction) % 4]; return; } private const __transMat_sqvertex_ref:Array = new Array(4); // FLARDoublePoint2d[] private const __transMat_linear_ref:Array = new Array(4); // FLARLinear[] private const __transMat_trans:FLARDoublePoint3d = new FLARDoublePoint3d(); /** * double arGetTransMat( ARMarkerInfo *marker_info,double center[2], double width, double conv[3][4] ) * * @param i_square * 計算対象のFLARSquareオブジェクト * @param i_direction * @param i_width * @return * @throws FLARException */ public function transMat(i_square:FLARSquare, i_direction:int, i_width:Number, o_result_conv:student_ar_org_libspark_flartoolkit_core_transmat_FLARTransMatResult):void { const sqvertex_ref:Array = __transMat_sqvertex_ref; // FLARDoublePoint2d[] const linear_ref:Array = __transMat_linear_ref; // FLARLinear[] const trans:FLARDoublePoint3d = this.__transMat_trans; //計算用に頂点情報を初期化（順番調整） initVertexOrder(i_square, i_direction, sqvertex_ref, linear_ref); //基準矩形を設定 this._offset.setSquare(i_width, this._center); // rotationを矩形情報から計算 this._rotmatrix.initRotBySquare(linear_ref, sqvertex_ref); //平行移動量計算機にオフセット頂点をセット this._calculator.setOffsetSquare(this._offset); //平行移動量計算機に適応先矩形の情報をセット this._calculator.setFittedSquare(sqvertex_ref); //回転行列の平行移動量の計算 this._calculator.calculateTransfer(this._rotmatrix, trans); //計算結果の最適化(this._rotmatrix,trans) this._mat_optimize.optimize(this._rotmatrix, trans, this._calculator); // マトリクスの保存 o_result_conv.updateMatrixValue(this._rotmatrix, this._offset.point, trans); return; } /** * double arGetTransMatCont( ARMarkerInfo *marker_info, double prev_conv[3][4],double center[2], double width, double conv[3][4] ) * * @param i_square * @param i_direction * マーカーの方位を指定する。 * @param i_width * @param io_result_conv * 計算履歴を持つstudent_ar_org_libspark_flartoolkit_core_transmat_FLARTransMatResultオブジェクトを指定する。 履歴を持たない場合は、transMatと同じ処理を行う。 * @return * @throws FLARException */ public function transMatContinue(i_square:FLARSquare, i_direction:int, i_width:Number, io_result_conv:student_ar_org_libspark_flartoolkit_core_transmat_FLARTransMatResult):void { const sqvertex_ref:Array = __transMat_sqvertex_ref; // FLARDoublePoint2d[] const linear_ref:Array = __transMat_linear_ref; // FLARLinear[] const trans:FLARDoublePoint3d = this.__transMat_trans; // io_result_convが初期値なら、transMatで計算する。 if (!io_result_conv.hasValue()) { this.transMat(i_square, i_direction, i_width, io_result_conv); return; } //基準矩形を設定 this._offset.setSquare(i_width, this._center); // rotationを矩形情報を一つ前の変換行列で初期化 this._rotmatrix.initRotByPrevResult(io_result_conv); //平行移動量計算機に、オフセット頂点をセット this._calculator.setOffsetSquare(this._offset); //平行移動量計算機に、適応先矩形の情報をセット this._calculator.setFittedSquare(sqvertex_ref); //回転行列の平行移動量の計算 this._calculator.calculateTransfer(this._rotmatrix, trans); //計算結果の最適化(this._rotmatrix,trans) const err:Number = this._mat_optimize.optimize(this._rotmatrix, trans, this._calculator); //計算結果を保存 io_result_conv.updateMatrixValue(this._rotmatrix, this._offset.point, trans); // エラー値が許容範囲でなければTransMatをやり直し if (err > AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR) { // rotationを矩形情報で初期化 this._rotmatrix.initRotBySquare(linear_ref, sqvertex_ref); //回転行列の平行移動量の計算 this._calculator.calculateTransfer(this._rotmatrix, trans); //計算結果の最適化(this._rotmatrix,trans) const err2:Number = this._mat_optimize.optimize(this._rotmatrix, trans, this._calculator); //エラー値が低かったら値を差換え if (err2 < err) { // 良い値が取れたら、差換え io_result_conv.updateMatrixValue(this._rotmatrix, this._offset.point, trans); } } return; } } }