/* * 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.fitveccalc { import org.libspark.flartoolkit.core.FLARMat; import org.libspark.flartoolkit.core.param.FLARCameraDistortionFactor; import org.libspark.flartoolkit.core.param.FLARPerspectiveProjectionMatrix; import org.libspark.flartoolkit.core.transmat.FLARTransOffset; import org.libspark.flartoolkit.core.types.FLARDoublePoint2d; /** * 平行移動量を計算するクラス * * FLARPerspectiveProjectionMatrixに直接アクセスしてる場所があるけど、 * この辺の計算はFLARPerspectiveProjectionMatrixクラスの関数にして押し込む予定。 * */ public class student_ar_org_libspark_flartoolkit_core_transmat_fitveccalc_FLARFitVecCalculator { private const _mat_b:FLARMat = new FLARMat(3, 8); //3,NUMBER_OF_VERTEX*2 private const _mat_a:FLARMat = new FLARMat(8, 3); /*NUMBER_OF_VERTEX,3*/ private const _mat_d:FLARMat = new FLARMat(3, 3); private var _projection_mat:FLARPerspectiveProjectionMatrix; private var _distortionfactor:FLARCameraDistortionFactor; // private FLARDoublePoint2d[] _vertex_2d_ref; public function student_ar_org_libspark_flartoolkit_core_transmat_fitveccalc_FLARFitVecCalculator(i_projection_mat_ref:FLARPerspectiveProjectionMatrix, i_distortion_ref:FLARCameraDistortionFactor) { // 変換マトリクスdとbの準備(arGetTransMatSubの一部) const a_array:Array = this._mat_a.getArray(); // double[][] const b_array:Array = this._mat_b.getArray(); // double[][] //変換用行列のcpara固定値の部分を先に初期化してしまう。 var i:int; var x2:int; for (i = 0; i < 4; i++) { x2 = i * 2; a_array[x2][0] = b_array[0][x2] = i_projection_mat_ref.m00; // mat_a->m[j*6+0]=mat_b->m[num*0+j*2] =cpara[0][0]; a_array[x2][1] = b_array[1][x2] = i_projection_mat_ref.m01; // mat_a->m[j*6+1]=mat_b->m[num*2+j*2]=cpara[0][1]; //a_array[x2][2] = b_array[2][x2] = cpara[0 * 4 + 2] - o_marker_vertex_2d[i].x;// mat_a->m[j*6+2]=mat_b->m[num*4+j*2]=cpara[0][2]-pos2d[j][0]; a_array[x2 + 1][0] = b_array[0][x2 + 1] = 0.0; // mat_a->m[j*6+3] =mat_b->m[num*0+j*2+1]= 0.0; a_array[x2 + 1][1] = b_array[1][x2 + 1] = i_projection_mat_ref.m11;// mat_a->m[j*6+4] =mat_b->m[num*2+j*2+1]= cpara[1][1]; //a_array[x2 + 1][2] = b_array[2][x2 + 1] = cpara[1 * 4 + 2] - o_marker_vertex_2d[i].y;// mat_a->m[j*6+5]=mat_b->m[num*4+j*2+1]=cpara[1][2]-pos2d[j][1]; } this._projection_mat = i_projection_mat_ref; this._distortionfactor = i_distortion_ref; return; } private const _fitsquare_vertex:Array = FLARDoublePoint2d.createArray(4); // FLARDoublePoint2d[] private var _offset_square:FLARTransOffset; public function setOffsetSquare(i_offset:FLARTransOffset):void { this._offset_square = i_offset; return; } /** * @return FLARDoublePoint2d[] */ public function getFitSquare():Array { return this._fitsquare_vertex; } public function getOffsetVertex():FLARTransOffset { return this._offset_square; } /** * 適合させる矩形座標を指定します。 * @param i_square_vertex FLARDoublePoint2d[] * @throws FLARException */ public function setFittedSquare(i_square_vertex:Array):void { const vertex:Array = _fitsquare_vertex; // FLARDoublePoint2d[] // int i; // if (arFittingMode == AR_FITTING_TO_INPUT) { // // arParamIdeal2Observをバッチ処理 this._distortionfactor.ideal2ObservBatch(i_square_vertex, vertex, 4); // } else { // for (i = 0; i < NUMBER_OF_VERTEX; i++) { // o_marker_vertex_2d[i].x = i_square_vertex[i].x; // o_marker_vertex_2d[i].y = i_square_vertex[i].y; // } // } const cpara02:Number = this._projection_mat.m02; const cpara12:Number = this._projection_mat.m12; const mat_d:FLARMat = _mat_d; const mat_a:FLARMat = this._mat_a; const mat_b:FLARMat = this._mat_b; const a_array:Array = mat_a.getArray(); // double[][] const b_array:Array = mat_b.getArray(); // double[][] var i:int; var x2:int; for (i = 0; i < 4; i++) { x2 = i * 2; a_array[x2][2] = b_array[2][x2] = cpara02 - vertex[i].x; // mat_a->m[j*6+2]=mat_b->m[num*4+j*2]=cpara[0][2]-pos2d[j][0]; a_array[x2 + 1][2] = b_array[2][x2 + 1] = cpara12 - vertex[i].y; // mat_a->m[j*6+5]=mat_b->m[num*4+j*2+1]=cpara[1][2]-pos2d[j][1]; } // mat_d mat_d.matrixMul(mat_b, mat_a); mat_d.matrixSelfInv(); return; } import org.libspark.flartoolkit.core.FLARMat; import org.libspark.flartoolkit.core.transmat.rotmatrix.FLARRotMatrix; import org.libspark.flartoolkit.core.types.FLARDoublePoint3d; private const _mat_e:FLARMat = new FLARMat(3, 1); private const _mat_f:FLARMat = new FLARMat(3, 1); private const __calculateTransferVec_mat_c:FLARMat = new FLARMat(8, 1); //NUMBER_OF_VERTEX * 2, 1 private const __calculateTransfer_point3d:Array = FLARDoublePoint3d.createArray(4); // FLARDoublePoint3d[] /** * 現在のオフセット矩形、適合先矩形と、回転行列から、平行移動量を計算します。 * @param i_rotation * @param o_transfer * @throws FLARException */ public function calculateTransfer(i_rotation:FLARRotMatrix, o_transfer:FLARDoublePoint3d):void { // assert(this._offset_square!=null); const cpara00:Number = this._projection_mat.m00; const cpara01:Number = this._projection_mat.m01; const cpara02:Number = this._projection_mat.m02; const cpara11:Number = this._projection_mat.m11; const cpara12:Number = this._projection_mat.m12; const point3d:Array = this.__calculateTransfer_point3d; // FLARDoublePoint3d[] const vertex3d:Array = this._offset_square.vertex; // FLARDoublePoint3d[] const vertex2d:Array = this._fitsquare_vertex; // FLARDoublePoint2d[] const mat_c:FLARMat = this.__calculateTransferVec_mat_c; // 次処理で値をもらうので、初期化の必要は無い。 const f_array:Array = this._mat_f.getArray(); // double[][] const c_array:Array = mat_c.getArray(); // double[][] //（3D座標？）を一括請求 i_rotation.getPoint3dBatch(vertex3d, point3d, 4); var i:int; var x2:int; var point3d_ptr:FLARDoublePoint3d; for (i = 0;i < 4; i++) { x2 = i + i; point3d_ptr = point3d[i]; // i_rotation.getPoint3d(vertex3d[i],point3d); //透視変換？ c_array[x2][0] = point3d_ptr.z * vertex2d[i].x - cpara00 * point3d_ptr.x - cpara01 * point3d_ptr.y - cpara02 * point3d_ptr.z; // mat_c->m[j*2+0] = wz*pos2d[j][0]-cpara[0][0]*wx-cpara[0][1]*wy-cpara[0][2]*wz; c_array[x2 + 1][0] = point3d_ptr.z * vertex2d[i].y - cpara11 * point3d_ptr.y - cpara12 * point3d_ptr.z;// mat_c->m[j*2+1]= wz*pos2d[j][1]-cpara[1][1]*wy-cpara[1][2]*wz; } this._mat_e.matrixMul(this._mat_b, mat_c); this._mat_f.matrixMul(this._mat_d, this._mat_e); // double[] trans=wk_arGetTransMatSub_trans;//double trans[3]; o_transfer.x = f_array[0][0]; // trans[0] = mat_f->m[0]; o_transfer.y = f_array[1][0]; o_transfer.z = f_array[2][0]; // trans[2] = mat_f->m[2]; return; } } }