本文整理汇总了C#中jp.nyatla.nyartoolkit.cs.core.NyARDoublePoint3d类的典型用法代码示例。如果您正苦于以下问题：C# NyARDoublePoint3d类的具体用法？C# NyARDoublePoint3d怎么用？C# NyARDoublePoint3d使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。
NyARDoublePoint3d类属于jp.nyatla.nyartoolkit.cs.core命名空间，在下文中一共展示了NyARDoublePoint3d类的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C#代码示例。
示例1: rotation2Sincos_ZXY
private void rotation2Sincos_ZXY(NyARDoubleMatrix33 i_rot_matrix, TSinCosValue[] o_out, NyARDoublePoint3d o_ang)
{
double x, y, z;
double sina = i_rot_matrix.m21;
if (sina >= 1.0)
{
x = Math.PI / 2;
y = 0;
z = Math.Atan2(-i_rot_matrix.m10, i_rot_matrix.m00);
}
else if (sina <= -1.0)
{
x = -Math.PI / 2;
y = 0;
z = Math.Atan2(-i_rot_matrix.m10, i_rot_matrix.m00);
}
else
{
x = Math.Asin(sina);
y = Math.Atan2(-i_rot_matrix.m20, i_rot_matrix.m22);
z = Math.Atan2(-i_rot_matrix.m01, i_rot_matrix.m11);
}
o_ang.x = x;
o_ang.y = y;
o_ang.z = z;
o_out[0].sin_val = Math.Sin(x);
o_out[0].cos_val = Math.Cos(x);
o_out[1].sin_val = Math.Sin(y);
o_out[1].cos_val = Math.Cos(y);
o_out[2].sin_val = Math.Sin(z);
o_out[2].cos_val = Math.Cos(z);
return;
}示例2: makeMatAtB
private static NyARMat makeMatAtB(NyARDoublePoint2d[] screenCoord, NyARDoublePoint3d[] worldCoord, int i_num, NyARMat o_matAtB)
{
double v0, v1, v2, v3, v4, v5, v6, v7;
v0 = v1 = v2 = v3 = v4 = v5 = v6 = v7 = 0;
for (int i = 0; i < i_num; i++)
{
double wx = worldCoord[i].x;
double wy = worldCoord[i].y;
double sx = screenCoord[i].x;
double sy = screenCoord[i].y;
v0 += wx * sx;
v1 += wy * sx;
v2 += sx;
v3 += wx * sy;
v4 += wy * sy;
v5 += sy;
v6 += -wx * sx * sx - wx * sy * sy;
v7 += -wy * sx * sx - wy * sy * sy;
}
double[][] t = o_matAtB.getArray();
t[0][0] = v0;
t[1][0] = v1;
t[2][0] = v2;
t[3][0] = v3;
t[4][0] = v4;
t[5][0] = v5;
t[6][0] = v6;
t[7][0] = v7;
return o_matAtB;
}示例3: setValue
public void setValue(NyARDoublePoint3d i_in)
{
this.x=i_in.x;
this.y=i_in.y;
this.z=i_in.z;
return;
}示例4: transformVertex
public void transformVertex(double i_x, double i_y, double i_z, NyARDoublePoint3d o_out)
{
o_out.x = this.m00 * i_x + this.m01 * i_y + this.m02 * i_z + this.m03;
o_out.y = this.m10 * i_x + this.m11 * i_y + this.m12 * i_z + this.m13;
o_out.z = this.m20 * i_x + this.m21 * i_y + this.m22 * i_z + this.m23;
return;
}示例5: dist
/**
* i_pointとのベクトルから距離を計算します。
* @return
*/
public double dist(NyARDoublePoint3d i_point)
{
double x, y, z;
x = this.x - i_point.x;
y = this.y - i_point.y;
z = this.z - i_point.z;
return Math.Sqrt(x * x + y * y + z * z);
}示例6: sqNorm
/**
* p2-p1ベクトルのsquare normを計算する。
* @param i_p1
* @param i_p2
* @return
*/
public static double sqNorm(NyARDoublePoint3d i_p1, NyARDoublePoint3d i_p2)
{
double x, y, z;
x = i_p2.x - i_p1.x;
y = i_p2.y - i_p1.y;
z = i_p2.z - i_p1.z;
return x * x + y * y + z * z;
}示例7: getMarkerPlanePos
public void getMarkerPlanePos(int id,int i_x,int i_y,ref Vector3 i_out)
{
NyARDoublePoint3d p=new NyARDoublePoint3d();
this.getMarkerPlanePos(id,i_x,i_y,p);
i_out.x=-(float)p.x;
i_out.y=(float)p.y;
i_out.z=(float)p.z;
}示例8: createArray
/**
* 配列ファクトリ
* @param i_number
* @return
*/
public static NyARDoublePoint3d[] createArray(int i_number)
{
NyARDoublePoint3d[] ret = new NyARDoublePoint3d[i_number];
for (int i = 0; i < i_number; i++)
{
ret[i] = new NyARDoublePoint3d();
}
return ret;
}示例9: getPoint3d
/**
* この関数は、入力した３次元頂点を回転して返します。
* @param i_in_point
* 回転する三次元座標
* @param i_out_point
* 回転した三次元座標
*/
public void getPoint3d(NyARDoublePoint3d i_in_point, NyARDoublePoint3d i_out_point)
{
double x = i_in_point.x;
double y = i_in_point.y;
double z = i_in_point.z;
i_out_point.x = this.m00 * x + this.m01 * y + this.m02 * z;
i_out_point.y = this.m10 * x + this.m11 * y + this.m12 * z;
i_out_point.z = this.m20 * x + this.m21 * y + this.m22 * z;
return;
}示例10: optimizeParamX
/*
* 射影変換式 基本式 ox=(cosc * cosb - sinc * sina * sinb)*ix+(-sinc * cosa)*iy+(cosc * sinb + sinc * sina * cosb)*iz+i_trans.x; oy=(sinc * cosb + cosc * sina *
* sinb)*ix+(cosc * cosa)*iy+(sinc * sinb - cosc * sina * cosb)*iz+i_trans.y; oz=(-cosa * sinb)*ix+(sina)*iy+(cosb * cosa)*iz+i_trans.z;
*
* double ox=(cosc * cosb)*ix+(-sinc * sina * sinb)*ix+(-sinc * cosa)*iy+(cosc * sinb)*iz + (sinc * sina * cosb)*iz+i_trans.x; double oy=(sinc * cosb)*ix
* +(cosc * sina * sinb)*ix+(cosc * cosa)*iy+(sinc * sinb)*iz+(- cosc * sina * cosb)*iz+i_trans.y; double oz=(-cosa * sinb)*ix+(sina)*iy+(cosb *
* cosa)*iz+i_trans.z;
*
* sina,cosaについて解く cx=(cp00*(-sinc*sinb*ix+sinc*cosb*iz)+cp01*(cosc*sinb*ix-cosc*cosb*iz)+cp02*(iy))*sina
* +(cp00*(-sinc*iy)+cp01*((cosc*iy))+cp02*(-sinb*ix+cosb*iz))*cosa
* +(cp00*(i_trans.x+cosc*cosb*ix+cosc*sinb*iz)+cp01*((i_trans.y+sinc*cosb*ix+sinc*sinb*iz))+cp02*(i_trans.z));
* cy=(cp11*(cosc*sinb*ix-cosc*cosb*iz)+cp12*(iy))*sina +(cp11*((cosc*iy))+cp12*(-sinb*ix+cosb*iz))*cosa
* +(cp11*((i_trans.y+sinc*cosb*ix+sinc*sinb*iz))+cp12*(i_trans.z)); ch=(iy)*sina +(-sinb*ix+cosb*iz)*cosa +i_trans.z; sinb,cosb hx=(cp00*(-sinc *
* sina*ix+cosc*iz)+cp01*(cosc * sina*ix+sinc*iz)+cp02*(-cosa*ix))*sinb +(cp01*(sinc*ix-cosc * sina*iz)+cp00*(cosc*ix+sinc * sina*iz)+cp02*(cosa*iz))*cosb
* +(cp00*(i_trans.x+(-sinc*cosa)*iy)+cp01*(i_trans.y+(cosc * cosa)*iy)+cp02*(i_trans.z+(sina)*iy)); double hy=(cp11*(cosc *
* sina*ix+sinc*iz)+cp12*(-cosa*ix))*sinb +(cp11*(sinc*ix-cosc * sina*iz)+cp12*(cosa*iz))*cosb +(cp11*(i_trans.y+(cosc *
* cosa)*iy)+cp12*(i_trans.z+(sina)*iy)); double h =((-cosa*ix)*sinb +(cosa*iz)*cosb +i_trans.z+(sina)*iy); パラメータ返還式 L=2*Σ(d[n]*e[n]+a[n]*b[n])
* J=2*Σ(d[n]*f[n]+a[n]*c[n])/L K=2*Σ(-e[n]*f[n]+b[n]*c[n])/L M=Σ(-e[n]^2+d[n]^2-b[n]^2+a[n]^2)/L 偏微分式 +J*cos(x) +K*sin(x) -sin(x)^2 +cos(x)^2
* +2*M*cos(x)*sin(x)
*/
private double optimizeParamX(double sinb, double cosb, double sinc, double cosc, NyARDoublePoint3d i_trans, NyARDoublePoint3d[] i_vertex3d, NyARDoublePoint2d[] i_vertex2d, int i_number_of_vertex, double i_hint_angle)
{
NyARPerspectiveProjectionMatrix cp = this._projection_mat_ref;
double L, J, K, M, N, O;
L = J = K = M = N = O = 0;
double cp00 = cp.m00;
double cp01 = cp.m01;
double cp02 = cp.m02;
double cp11 = cp.m11;
double cp12 = cp.m12;
for (int i = 0; i < i_number_of_vertex; i++)
{
double ix, iy, iz;
ix = i_vertex3d[i].x;
iy = i_vertex3d[i].y;
iz = i_vertex3d[i].z;
double X0 = (cp00 * (-sinc * sinb * ix + sinc * cosb * iz) + cp01 * (cosc * sinb * ix - cosc * cosb * iz) + cp02 * (iy));
double X1 = (cp00 * (-sinc * iy) + cp01 * ((cosc * iy)) + cp02 * (-sinb * ix + cosb * iz));
double X2 = (cp00 * (i_trans.x + cosc * cosb * ix + cosc * sinb * iz) + cp01 * ((i_trans.y + sinc * cosb * ix + sinc * sinb * iz)) + cp02 * (i_trans.z));
double Y0 = (cp11 * (cosc * sinb * ix - cosc * cosb * iz) + cp12 * (iy));
double Y1 = (cp11 * ((cosc * iy)) + cp12 * (-sinb * ix + cosb * iz));
double Y2 = (cp11 * ((i_trans.y + sinc * cosb * ix + sinc * sinb * iz)) + cp12 * (i_trans.z));
double H0 = (iy);
double H1 = (-sinb * ix + cosb * iz);
double H2 = i_trans.z;
double VX = i_vertex2d[i].x;
double VY = i_vertex2d[i].y;
double a, b, c, d, e, f;
a = (VX * H0 - X0);
b = (VX * H1 - X1);
c = (VX * H2 - X2);
d = (VY * H0 - Y0);
e = (VY * H1 - Y1);
f = (VY * H2 - Y2);
L += d * e + a * b;
N += d * d + a * a;
J += d * f + a * c;
M += e * e + b * b;
K += e * f + b * c;
O += f * f + c * c;
}
L *= 2;
J *= 2;
K *= 2;
return getMinimumErrorAngleFromParam(L, J, K, M, N, O, i_hint_angle);
}开发者ID:mlakhal，项目名称:CollaborativeAugmentedRealityEnvironment，代码行数:75，代码来源:NyARPartialDifferentiationOptimize.cs
示例11: makeMatAtA
private static NyARMat makeMatAtA(NyARDoublePoint2d[] screenCoord, NyARDoublePoint3d[] worldCoord, int i_num, NyARMat o_matAtA)
{
o_matAtA.loadZero();
double[][] t = o_matAtA.getArray();
for (int i = 0; i < i_num; i++)
{
//0
double wx = worldCoord[i].x;
double wy = worldCoord[i].y;
double sx = screenCoord[i].x;
double sy = screenCoord[i].y;
double wxwx = wx * wx;
double wywy = wy * wy;
double wxwy = wx * wy;
t[0][0] += wxwx;
t[0][1] += wxwy;
t[0][2] += wx;
t[1][2] += wy;
t[0][6] += (-wxwx) * (sx);
t[0][7] += (-wxwy) * (sx);
t[1][1] += wywy;
t[1][7] += (-wywy) * (sx);
t[2][6] += (-wx) * (sx);
t[2][7] += (-wy) * (sx);
t[3][6] += (-wxwx) * (sy);
t[3][7] += (-wxwy) * (sy);
t[4][7] += (-wywy) * (sy);
t[5][6] += (-wx) * (sy);
t[5][7] += (-wy) * (sy);
t[6][6] += (wxwx) * (sx) * (sx) + (wxwx) * (sy) * (sy);
t[6][7] += (wxwy) * (sx) * (sx) + (wxwy) * (sy) * (sy);
t[7][7] += (wywy) * (sx) * (sx) + (wywy) * (sy) * (sy);
}
t[1][0] = t[3][4] = t[4][3] = t[0][1];
t[2][0] = t[3][5] = t[5][3] = t[0][2];
t[2][1] = t[5][4] = t[4][5] = t[1][2];
t[7][0] = t[6][1] = t[1][6] = t[0][7];
t[4][6] = t[6][4] = t[7][3] = t[3][7];
t[2][2] = t[5][5] = i_num;
t[3][3] = t[0][0];
t[4][4] = t[1][1];
t[6][0] = t[0][6];
t[6][2] = t[2][6];
t[6][3] = t[3][6];
t[6][5] = t[5][6];
t[7][1] = t[1][7];
t[7][2] = t[2][7];
t[7][4] = t[4][7];
t[7][5] = t[5][7];
t[7][6] = t[6][7];
//先頭でゼロクリアしない場合。
//t[0][3]=t[0][4]=t[0][5]=t[1][3]=t[1][4]=t[1][5]=t[2][3]=t[2][4]=t[2][5]=t[3][0]=t[3][1]=t[3][2]=t[4][0]=t[4][1]=t[4][2]=t[5][0]=t[5][1]=t[5][2]=0;
return o_matAtA;
}示例12: getZXYAngle
/**
* この関数は、0-PIの間で値を返します。
* @param o_out
*/
public void getZXYAngle(NyARDoublePoint3d o_out)
{
double sina = this.m21;
if (sina >= 1.0)
{
o_out.x = Math.PI / 2;
o_out.y = 0;
o_out.z = Math.Atan2(-this.m10, this.m00);
}
else if (sina <= -1.0)
{
o_out.x = -Math.PI / 2;
o_out.y = 0;
o_out.z = Math.Atan2(-this.m10, this.m00);
}
else
{
o_out.x = Math.Asin(sina);
o_out.z = Math.Atan2(-this.m01, this.m11);
o_out.y = Math.Atan2(-this.m20, this.m22);
}
}示例13: modifyMatrix
public void modifyMatrix(NyARDoubleMatrix33 io_rot, NyARDoublePoint3d i_trans, NyARDoublePoint3d[] i_vertex3d, NyARDoublePoint2d[] i_vertex2d, int i_number_of_vertex)
{
TSinCosValue[] angles_in = this.__angles_in;// x,y,z
NyARDoublePoint3d ang = this.__ang;
// ZXY系のsin/cos値を抽出
rotation2Sincos_ZXY(io_rot, angles_in, ang);
ang.x += optimizeParamX(angles_in[1], angles_in[2], i_trans, i_vertex3d, i_vertex2d, i_number_of_vertex, ang.x);
ang.y += optimizeParamY(angles_in[0], angles_in[2], i_trans, i_vertex3d, i_vertex2d, i_number_of_vertex, ang.y);
ang.z += optimizeParamZ(angles_in[0], angles_in[1], i_trans, i_vertex3d, i_vertex2d, i_number_of_vertex, ang.z);
io_rot.setZXYAngle(ang.x, ang.y, ang.z);
return;
}示例14: setValue
/**
* この関数は、平行移動量と回転行列をセットして、インスタンスのパラメータを更新します。
* 拡大率は1倍にセットします。
* @param i_rot
* 設定する回転行列
* @param i_trans
* 設定する平行移動量
*/
public void setValue(NyARDoubleMatrix33 i_rot, NyARDoublePoint3d i_trans)
{
this.m00=i_rot.m00;
this.m01=i_rot.m01;
this.m02=i_rot.m02;
this.m03=i_trans.x;
this.m10 =i_rot.m10;
this.m11 =i_rot.m11;
this.m12 =i_rot.m12;
this.m13 =i_trans.y;
this.m20 = i_rot.m20;
this.m21 = i_rot.m21;
this.m22 = i_rot.m22;
this.m23 = i_trans.z;
this.m30=this.m31=this.m32=0;
this.m33=1.0;
return;
} 示例15: icpPoint
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){
//.........这里部分代码省略.........