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/* |
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* PROJECT: NyARToolkit for proce55ing. |
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* -------------------------------------------------------------------------------- |
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* The MIT License |
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* Copyright (c) 2008 nyatla |
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* airmail(at)ebony.plala.or.jp |
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* http://nyatla.jp/nyartoolkit/ |
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* |
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* Permission is hereby granted, free of charge, to any person obtaining a copy |
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* of this software and associated documentation files (the "Software"), to deal |
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* in the Software without restriction, including without limitation the rights |
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the Software is |
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* furnished to do so, subject to the following conditions: |
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* The above copyright notice and this permission notice shall be included in |
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* all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
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* THE SOFTWARE. |
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* |
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*/ |
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|
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package jp.nyatla.nyar4psg; |
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import javax.media.opengl.GL; |
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|
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import processing.core.*; |
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import processing.opengl.PGraphicsOpenGL; |
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|
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import jp.nyatla.nyartoolkit.*; |
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import jp.nyatla.nyartoolkit.core.*; |
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import jp.nyatla.nyartoolkit.core.squaredetect.*; |
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import jp.nyatla.nyartoolkit.core.param.*; |
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import jp.nyatla.nyartoolkit.core.transmat.NyARTransMatResult; |
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import jp.nyatla.nyartoolkit.core.types.*; |
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|
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|
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|
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/** |
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* NyARToolkit for Processing������������������������ |
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* ������������������������������������������������������������������������������������������������������������������������������ |
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* @author nyatla |
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* |
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*/ |
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class NyARPsgBaseClass |
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{ |
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/** |
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* RightHand������������������������������������������ |
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* ��������������������������������������������������� |
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* <br/>EN: - |
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*/ |
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public final static int CS_RIGHT=0; |
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/** |
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* LeftHand������������������������������������������ |
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* ��������������������������������������������������� |
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* <br/>EN: - |
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*/ |
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public final static int CS_LEFT =1; |
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/** |
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* ��������������������������������� |
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* <br/>EN: |
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* version string. |
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*/ |
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public final String VERSION = "NyAR4psg/0.3.0;NyARToolkit for java/2.5.0+;ARToolKit/2.72.1"; |
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/** |
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* OpenGL���������������ProjectionMatrix��������� |
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* <br/>EN: |
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* OpenGL form projection matrix. |
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*/ |
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public final double[] projection=new double[16]; |
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|
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protected PMatrix3D _ps_projection=new PMatrix3D(); |
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protected PApplet _pa; |
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protected NyARParam _ar_param; |
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protected NyARPsgBaseClass(PApplet parent,String i_cparam_file, int i_width,int i_htight,int i_projection_coord_system) |
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{ |
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checkCoordinateSystemRange(parent,i_projection_coord_system); |
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this._pa=parent; |
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try{ |
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this._ar_param=new NyARParam(); |
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this._ar_param.loadARParam(this._pa.createInput(i_cparam_file)); |
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this._ar_param.changeScreenSize(i_width, i_htight); |
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initProjection(parent,this._ar_param,i_projection_coord_system); |
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}catch(NyARException e){ |
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this._pa.die("Error while setting up NyARToolkit for java", e); |
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} |
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return; |
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} |
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private void initProjection(PApplet i_pa, NyARParam i_param,int i_coord_system) |
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{ |
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NyARMat trans_mat = new NyARMat(3, 4); |
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NyARMat icpara_mat = new NyARMat(3, 4); |
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double[][] p = new double[3][3], q = new double[4][4]; |
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int i, j; |
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|
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final NyARIntSize size=i_param.getScreenSize(); |
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final int width = size.w; |
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final int height = size.h; |
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|
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i_param.getPerspectiveProjectionMatrix().decompMat(icpara_mat, trans_mat); |
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|
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double[][] icpara = icpara_mat.getArray(); |
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double[][] trans = trans_mat.getArray(); |
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for (i = 0; i < 4; i++) { |
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icpara[1][i] = (height - 1) * (icpara[2][i]) - icpara[1][i]; |
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} |
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|
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for (i = 0; i < 3; i++) { |
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for (j = 0; j < 3; j++) { |
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p[i][j] = icpara[i][j] / icpara[2][2]; |
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} |
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} |
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q[0][0] = (2.0 * p[0][0] / (width - 1)); |
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q[0][1] = (2.0 * p[0][1] / (width - 1)); |
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q[0][2] = -((2.0 * p[0][2] / (width - 1)) - 1.0); |
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q[0][3] = 0.0; |
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|
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q[1][0] = 0.0; |
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q[1][1] = -(2.0 * p[1][1] / (height - 1)); |
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q[1][2] = -((2.0 * p[1][2] / (height - 1)) - 1.0); |
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q[1][3] = 0.0; |
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|
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q[2][0] = 0.0; |
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q[2][1] = 0.0; |
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q[2][2] = (view_distance_max + view_distance_min) / (view_distance_min - view_distance_max); |
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q[2][3] = 2.0 * view_distance_max * view_distance_min / (view_distance_min - view_distance_max); |
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|
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q[3][0] = 0.0; |
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q[3][1] = 0.0; |
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q[3][2] = -1.0; |
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q[3][3] = 0.0; |
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|
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switch(i_coord_system){ |
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case NyARPsgBaseClass.CS_LEFT: |
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break; |
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case NyARPsgBaseClass.CS_RIGHT: |
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q[2][2] = q[2][2]* -1; |
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q[2][3] = q[2][3]* -1; |
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break; |
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default: |
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i_pa.die("Please set NyARBoard.CS_LEFT or NyARBoard.CS_RIGHT."); |
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} |
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|
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for (i = 0; i < 4; i++) { // Row. |
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// First 3 columns of the current row. |
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for (j = 0; j < 3; j++) { // Column. |
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this.projection[i + j * 4] = q[i][0] * trans[0][j] + q[i][1] * trans[1][j] + q[i][2] * trans[2][j]; |
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} |
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// Fourth column of the current row. |
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this.projection[i + 3 * 4] = q[i][0] * trans[0][3] + q[i][1] * trans[1][3] + q[i][2] * trans[2][3] + q[i][3]; |
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} |
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|
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//processing���ProjectionMatrix������������������������������ |
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this._ps_projection.m00=(float)this.projection[0]; |
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this._ps_projection.m01=(float)this.projection[1]; |
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this._ps_projection.m02=(float)this.projection[2]; |
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this._ps_projection.m03=(float)this.projection[3]; |
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this._ps_projection.m10=(float)this.projection[4]; |
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this._ps_projection.m11=(float)this.projection[5]; |
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this._ps_projection.m12=(float)this.projection[6]; |
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this._ps_projection.m13=(float)this.projection[7]; |
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this._ps_projection.m20=(float)this.projection[8]; |
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this._ps_projection.m21=(float)this.projection[9]; |
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this._ps_projection.m22=(float)this.projection[10]; |
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this._ps_projection.m23=(float)this.projection[11]; |
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this._ps_projection.m30=(float)this.projection[12]; |
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this._ps_projection.m31=(float)this.projection[13]; |
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this._ps_projection.m32=(float)this.projection[14]; |
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this._ps_projection.m33=(float)this.projection[15]; |
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this._ps_projection.transpose(); |
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|
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return; |
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} |
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|
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|
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private final static double view_distance_min = 100;//#define VIEW_DISTANCE_MIN 0.1 // Objects closer to the camera than this will not be displayed. |
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private final static double view_distance_max = 100000;//#define VIEW_DISTANCE_MAX 100.0 // Objects further away from the camera than this will not be displayed. |
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private final static void checkCoordinateSystemRange(PApplet i_pa,int i_cs) |
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{ |
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switch(i_cs){ |
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case NyARPsgBaseClass.CS_LEFT: |
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case NyARPsgBaseClass.CS_RIGHT: |
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return; |
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default: |
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i_pa.die("Please set constant CS_LEFT or CS_RIGHT."); |
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} |
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} |
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private static double view_scale_factor = 1.0; |
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protected static void matResult2GLArray(NyARTransMatResult i_src,double[] o_gl_array) |
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{ |
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o_gl_array[0 + 0 * 4] = i_src.m00; |
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o_gl_array[0 + 1 * 4] = i_src.m01; |
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o_gl_array[0 + 2 * 4] = i_src.m02; |
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o_gl_array[0 + 3 * 4] = i_src.m03; |
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o_gl_array[1 + 0 * 4] = -i_src.m10; |
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o_gl_array[1 + 1 * 4] = -i_src.m11; |
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o_gl_array[1 + 2 * 4] = -i_src.m12; |
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o_gl_array[1 + 3 * 4] = -i_src.m13; |
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o_gl_array[2 + 0 * 4] = -i_src.m20; |
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o_gl_array[2 + 1 * 4] = -i_src.m21; |
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o_gl_array[2 + 2 * 4] = -i_src.m22; |
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o_gl_array[2 + 3 * 4] = -i_src.m23; |
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o_gl_array[3 + 0 * 4] = 0.0; |
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o_gl_array[3 + 1 * 4] = 0.0; |
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o_gl_array[3 + 2 * 4] = 0.0; |
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o_gl_array[3 + 3 * 4] = 1.0; |
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if (view_scale_factor != 0.0) { |
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o_gl_array[12] *= view_scale_factor; |
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o_gl_array[13] *= view_scale_factor; |
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o_gl_array[14] *= view_scale_factor; |
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} |
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} |
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} |
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|
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/** |
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* ������������������������������������������������������������������������������������������������������������������������ |
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* ������������������������������������������������������������������������������ |
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* @author nyatla |
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* |
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*/ |
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class SingleMarkerBaseClass extends NyARPsgBaseClass |
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{ |
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/** |
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* ������������x,y,z������������������������ |
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* <br/>EN: |
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* The angle value in radian unit of "x,y,z" . |
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*/ |
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public PVector angle; |
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/** |
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* ������������x,y,z��������������������������� |
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* <br/>EN: |
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* The translation value in radian unit of "x,y,z". |
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*/ |
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public PVector trans; |
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/** |
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* ������������������������4������������������������������������������ |
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* <br/>EN: |
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* The position of 4 corner of marker. |
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*/ |
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public int[][] pos2d; |
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/** |
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* ��������������������������������������������� |
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* <br/>EN: |
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* The transform matrix of detected marker. |
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*/ |
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public double[] transmat; |
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/** |
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* ���������������������������Matrix��������������������� |
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* ���������������������������������processing������������������������������������������������������ |
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* ������������������������������endTransform������������������������������������������������������������ |
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* <br/>EN: |
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* This function sets corresponding transform matrix to the surface of the marker to OpenGL. |
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* The coordinate system of processing moves to the surface of the marker when this function is executed. |
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* Must return the coordinate system by using endTransform function at the end. |
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* @param i_pgl |
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* PGraphicsOpenGL���������������������������������������processing���g��������������������������������������������������������� |
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* <br/>EN: |
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* Specify PGraphicsOpenGL instance. |
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* Set cast "g" member of processing graphics object. |
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*/ |
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public void beginTransform(PGraphicsOpenGL i_pgl) |
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{ |
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if(this._gl!=null){ |
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this._pa.die("The function beginTransform is already called.", null); |
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} |
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this._pgl=i_pgl; |
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this._gl=this._pgl.beginGL(); |
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|
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|
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this._gl=i_pgl.gl; |
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this._gl.glMatrixMode(GL.GL_PROJECTION); |
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this._pa.pushMatrix(); |
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this._pa.resetMatrix(); |
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//PGraphicsOpenGL���updateProjection������������������������������ |
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this._gl.glLoadMatrixd(this.projection,0); |
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this._old_matrix=this._pgl.projection; |
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this._pgl.projection=this._ps_projection; |
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|
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|
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this._gl.glMatrixMode(GL.GL_MODELVIEW); |
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this._pa.pushMatrix(); |
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this._pa.resetMatrix(); |
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this._gl.glLoadMatrixd(this.transmat,0); |
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|
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this._pa.pushMatrix(); |
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return; |
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} |
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/** |
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* beginTransform��������������������������������������������������������� |
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* <br/>EN: |
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* This function recover coordinate system that was changed by beginTransform function. |
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*/ |
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public void endTransform() |
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{ |
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if(this._gl==null){ |
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this._pa.die("The function beginTransform is never called.", null); |
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} |
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this._pgl.projection=this._old_matrix; |
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this._pa.popMatrix(); |
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this._pa.popMatrix(); |
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this._gl.glMatrixMode(GL.GL_PROJECTION); |
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this._pa.popMatrix(); |
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this._gl.glMatrixMode(GL.GL_MODELVIEW); |
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if(this._pgl!=null){ |
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this._pgl.endGL(); |
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} |
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this._gl=null; |
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this._pgl=null; |
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return; |
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} |
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protected void updateTransmat(NyARSquare i_square,NyARTransMatResult i_src) |
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{ |
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matResult2GLArray(i_src,this.transmat); |
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//angle |
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i_src.getZXYAngle(this._tmp_d3p); |
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|
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this.angle.x=(float)this._tmp_d3p.x; |
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this.angle.y=(float)this._tmp_d3p.y; |
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this.angle.z=(float)this._tmp_d3p.z; |
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//trans |
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this.trans.x=(float)i_src.m03; |
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this.trans.y=(float)i_src.m13; |
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this.trans.z=(float)i_src.m23; |
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|
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//pos������ |
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final NyARDoublePoint2d[] pts=i_square.sqvertex; |
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for(int i=0;i<4;i++){ |
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this.pos2d[i][0]=(int)pts[i].x; |
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this.pos2d[i][1]=(int)pts[i].y; |
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} |
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|
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return; |
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} |
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/******** |
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* protected/private |
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*******/ |
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private final NyARDoublePoint3d _tmp_d3p=new NyARDoublePoint3d(); |
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|
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|
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//��������������������� |
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private GL _gl=null; |
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private PGraphicsOpenGL _pgl=null; |
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private PMatrix3D _old_matrix; |
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protected SingleMarkerBaseClass(PApplet parent,String i_cparam_file, int i_width,int i_htight,int i_projection_coord_system) |
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{ |
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super(parent,i_cparam_file,i_width,i_htight,i_projection_coord_system); |
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} |
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|
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|
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|
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|
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|
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|
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} |
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