/* * 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.param { import org.libspark.flartoolkit.core.types.FLARDoublePoint2d; import org.libspark.flartoolkit.utils.DoubleValue; /** * カメラの歪み成分を格納するクラスと、補正関数群 * http://www.hitl.washington.edu/artoolkit/Papers/ART02-Tutorial.pdf * 11ページを読むといいよ。 * * x=x(xi-x0),y=s(yi-y0) * d^2=x^2+y^2 * p=(1-fd^2) * xd=px+x0,yd=py+y0 */ final public class student_ar_org_libspark_flartoolkit_core_param_FLARCameraDistortionFactor { private static const PD_LOOP:int = 3; private var _f0:Number; //x0 private var _f1:Number; //y0 private var _f2:Number; //100000000.0*ｆ private var _f3:Number; //s /** * 配列の値をファクタ値としてセットする。 * @param i_factor * 4要素以上の配列 */ public function setValue(i_factor:Array):void { this._f0 = i_factor[0]; this._f1 = i_factor[1]; this._f2 = i_factor[2]; this._f3 = i_factor[3]; return; } public function getValue(o_factor:Array):void { o_factor[0] = this._f0; o_factor[1] = this._f1; o_factor[2] = this._f2; o_factor[3] = this._f3; return; } public function changeScale(i_scale:Number):void { this._f0 = this._f0 * i_scale; // newparam->dist_factor[0] =source->dist_factor[0] *scale; this._f1 = this._f1 * i_scale; // newparam->dist_factor[1] =source->dist_factor[1] *scale; this._f2 = this._f2 / (i_scale * i_scale); // newparam->dist_factor[2]=source->dist_factor[2]/ (scale*scale); //this.f3=this.f3;// newparam->dist_factor[3] =source->dist_factor[3]; return; } /** * int arParamIdeal2Observ( const double dist_factor[4], const double ix,const double iy,double *ox, double *oy ) 関数の代替関数 * * @param i_in * @param o_out */ public function ideal2Observ(i_in:FLARDoublePoint2d, o_out:FLARDoublePoint2d):void { const x:Number = (i_in.x - this._f0) * this._f3; const y:Number = (i_in.y - this._f1) * this._f3; if (x == 0.0 && y == 0.0) { o_out.x = this._f0; o_out.y = this._f1; } else { const d:Number = 1.0 - this._f2 / 100000000.0 * (x * x + y * y); o_out.x = x * d + this._f0; o_out.y = y * d + this._f1; } return; } /** * ideal2Observをまとめて実行します。 * @param i_in FLARDoublePoint2d[] * @param o_out FLARDoublePoint2d[] */ public function ideal2ObservBatch(i_in:Array, o_out:Array, i_size:int):void { var x:Number; var y:Number; const d0:Number = this._f0; const d1:Number = this._f1; const d3:Number = this._f3; const d2_w:Number = this._f2 / 100000000.0; var d:Number; for (var i:int = 0; i < i_size; i++) { x = (i_in[i].x - d0) * d3; y = (i_in[i].y - d1) * d3; if (x == 0.0 && y == 0.0) { o_out[i].x = d0; o_out[i].y = d1; } else { d = 1.0 - d2_w * (x * x + y * y); o_out[i].x = x * d + d0; o_out[i].y = y * d + d1; } } return; } /** * int arParamObserv2Ideal( const double dist_factor[4], const double ox,const double oy,double *ix, double *iy ); * * @param ox * @param oy * @param ix * @param iy * @return */ public function observ2Ideal(ox:Number, oy:Number, ix:DoubleValue, iy:DoubleValue):void { var z02:Number; var z0:Number; var p:Number; var q:Number; var z:Number; var px:Number; var py:Number; var opttmp_1:Number; const d0:Number = this._f0; const d1:Number = this._f1; px = ox - d0; py = oy - d1; p = this._f2 / 100000000.0; z02 = px * px + py * py; q = z0 = Math.sqrt(z02); // Optimize//q = z0 = Math.sqrt(px*px+ py*py); for (var i:int = 1; ; i++) { if (z0 != 0.0) { // Optimize opttmp_1 opttmp_1 = p * z02; z = z0 - ((1.0 - opttmp_1) * z0 - q) / (1.0 - 3.0 * opttmp_1); px = px * z / z0; py = py * z / z0; } else { px = 0.0; py = 0.0; break; } if (i == PD_LOOP) { break; } z02 = px * px + py * py; z0 = Math.sqrt(z02);// Optimize//z0 = Math.sqrt(px*px+ py*py); } ix.value = px / this._f3 + d0; iy.value = py / this._f3 + d1; return; } /** * 指定範囲のobserv2Idealをまとめて実行して、結果をo_idealに格納します。 * * @param i_x_coord int[] * @param i_y_coord int[] * @param i_start * coord開始点 * @param i_num * 計算数 * @param o_ideal * 出力バッファ[i_num][2]であること。 * double[][] */ public function observ2IdealBatch(i_x_coord:Array, i_y_coord:Array, i_start:int, i_num:int, o_ideal:Array):void { var z02:Number; var z0:Number; var q:Number; var z:Number; var px:Number; var py:Number; var opttmp_1:Number; const d0:Number = this._f0; const d1:Number = this._f1; const d3:Number = this._f3; const p:Number = this._f2 / 100000000.0; var j:int; var i:int; for (j = 0; j < i_num; j++) { px = i_x_coord[i_start + j] - d0; py = i_y_coord[i_start + j] - d1; z02 = px * px + py * py; q = z0 = Math.sqrt(z02); // Optimize//q = z0 = Math.sqrt(px*px+py*py); for (i = 1; ; i++) { if (z0 != 0.0) { // Optimize opttmp_1 opttmp_1 = p * z02; z = z0 - ((1.0 - opttmp_1) * z0 - q) / (1.0 - 3.0 * opttmp_1); px = px * z / z0; py = py * z / z0; } else { px = 0.0; py = 0.0; break; } if (i == PD_LOOP) { break; } z02 = px * px + py * py; z0 = Math.sqrt(z02);// Optimize//z0 = Math.sqrt(px*px+ py*py); } o_ideal[j][0] = px / d3 + d0; o_ideal[j][1] = py / d3 + d1; } return; } } }