2 * PROJECT: NyARToolkit
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3 * --------------------------------------------------------------------------------
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4 * This work is based on the original ARToolKit developed by
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7 * HITLab, University of Washington, Seattle
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8 * http://www.hitl.washington.edu/artoolkit/
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10 * The NyARToolkit is Java version ARToolkit class library.
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11 * Copyright (C)2008 R.Iizuka
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13 * This program is free software; you can redistribute it and/or
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14 * modify it under the terms of the GNU General Public License
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15 * as published by the Free Software Foundation; either version 2
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16 * of the License, or (at your option) any later version.
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18 * This program is distributed in the hope that it will be useful,
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19 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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20 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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21 * GNU General Public License for more details.
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23 * You should have received a copy of the GNU General Public License
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24 * along with this framework; if not, write to the Free Software
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25 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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27 * For further information please contact.
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28 * http://nyatla.jp/nyatoolkit/
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29 * <airmail(at)ebony.plala.or.jp>
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32 package jp.nyatla.nyartoolkit.core.transmat;
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36 import jp.nyatla.nyartoolkit.NyARException;
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37 import jp.nyatla.nyartoolkit.core.NyARMat;
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38 import jp.nyatla.nyartoolkit.core.NyARParam;
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39 import jp.nyatla.nyartoolkit.core.NyARSquare;
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40 import jp.nyatla.util.DoubleValue;
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47 * This class calculates ARMatrix from square information and holds it.
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49 * 変換行列を計算して、結果を保持するクラス。
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52 public class NyARTransMat_O2 implements INyARTransMat
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54 private final static int AR_FITTING_TO_IDEAL=0;//#define AR_FITTING_TO_IDEAL 0
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55 private final static int AR_FITTING_TO_INPUT=1;//#define AR_FITTING_TO_INPUT 1
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56 private final static int arFittingMode =AR_FITTING_TO_INPUT;
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58 private final static int AR_GET_TRANS_MAT_MAX_LOOP_COUNT=5;//#define AR_GET_TRANS_MAT_MAX_LOOP_COUNT 5
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59 private final static double AR_GET_TRANS_MAT_MAX_FIT_ERROR=1.0;//#define AR_GET_TRANS_MAT_MAX_FIT_ERROR 1.0
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60 private final static double AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR=1.0;
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61 private final static int P_MAX=10;//頂点の数(4で十分だけどなんとなく10)//#define P_MAX 500
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62 private final static int NUMBER_OF_VERTEX=4;//処理対象の頂点数
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63 private final NyARTransRot transrot;
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64 private final double[] center={0.0,0.0};
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65 private final NyARParam param;
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66 private final NyARMat result_mat=new NyARMat(3,4);
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67 public NyARTransMat_O2(NyARParam i_param)throws NyARException
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70 transrot=new NyARTransRot_O3(i_param,NUMBER_OF_VERTEX);
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73 public void setCenter(double i_x,double i_y)
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78 public NyARMat getTransformationMatrix()
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84 * transMat関数の初期化関数を分離したものです。
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86 * @param i_direction
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91 private final void init_transMat_ppos(NyARSquare square,int i_direction,double i_width,double[][] o_ppos2d,double[][] o_ppos3d)
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93 o_ppos2d[0][0] = square.sqvertex[(4-i_direction)%4][0];
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94 o_ppos2d[0][1] = square.sqvertex[(4-i_direction)%4][1];
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95 o_ppos2d[1][0] = square.sqvertex[(5-i_direction)%4][0];
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96 o_ppos2d[1][1] = square.sqvertex[(5-i_direction)%4][1];
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97 o_ppos2d[2][0] = square.sqvertex[(6-i_direction)%4][0];
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98 o_ppos2d[2][1] = square.sqvertex[(6-i_direction)%4][1];
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99 o_ppos2d[3][0] = square.sqvertex[(7-i_direction)%4][0];
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100 o_ppos2d[3][1] = square.sqvertex[(7-i_direction)%4][1];
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107 o_ppos3d[0][0] = c0 - w_2;//center[0] - w/2.0;
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108 o_ppos3d[0][1] = c1 + w_2;//center[1] + w/2.0;
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109 o_ppos3d[1][0] = c0 + w_2;//center[0] + w/2.0;
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110 o_ppos3d[1][1] = c1 + w_2;//center[1] + w/2.0;
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111 o_ppos3d[2][0] = c0 + w_2;//center[0] + w/2.0;
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112 o_ppos3d[2][1] = c1 - w_2;//center[1] - w/2.0;
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113 o_ppos3d[3][0] = c0 - w_2;//center[0] - w/2.0;
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114 o_ppos3d[3][1] = c1 - w_2;//center[1] - w/2.0;
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118 private final double[][] wk_transMat_pos3d=new double[P_MAX][3];//pos3d[P_MAX][3];
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119 private final double[][] wk_transMat_ppos2d=new double[4][2];
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120 private final double[][] wk_transMat_ppos3d=new double[4][2];
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121 private final double[] wk_transMat_off=new double[3];
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122 private final double[][] wk_transMat_pos2d=new double[P_MAX][2];//pos2d[P_MAX][2];
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123 private final NyARMat wk_transMat_mat_b=new NyARMat(3,NUMBER_OF_VERTEX*2);
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124 private final NyARMat wk_transMat_mat_d=new NyARMat( 3, 3 );
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125 private final double[] wk_transMat_mat_trans=new double[3];
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128 * double arGetTransMat( ARMarkerInfo *marker_info,double center[2], double width, double conv[3][4] )
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129 * 演算シーケンス最適化のため、arGetTransMat3等の関数フラグメントを含みます。
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132 * 計算対象のNyARSquareオブジェクト
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133 * @param i_direction
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136 * @throws NyARException
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138 public double transMat(NyARSquare square,int i_direction, double width,NyARTransMatResult o_result_conv)throws NyARException
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140 double[][] ppos2d=wk_transMat_ppos2d;
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141 double[][] ppos3d=wk_transMat_ppos3d;
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142 double[] off =wk_transMat_off;
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143 double[][] pos3d =wk_transMat_pos3d;
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146 transrot.initRot(square,i_direction);
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148 //ppos2dとppos3dの初期化
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149 init_transMat_ppos(square,i_direction,width,ppos2d,ppos3d);
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151 //arGetTransMat3の前段処理(pos3dとoffを初期化)
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152 double[][] pos2d=this.wk_transMat_pos2d;
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153 final NyARMat mat_b =this.wk_transMat_mat_b;
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154 final NyARMat mat_d =this.wk_transMat_mat_d;
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156 arGetTransMat3_initTransMat(ppos3d,ppos2d,pos2d,pos3d,off,mat_b,mat_d);
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159 double[] trans=this.wk_transMat_mat_trans;
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160 for(int i=0;i<AR_GET_TRANS_MAT_MAX_LOOP_COUNT; i++ ){
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162 err = arGetTransMatSub(pos2d, pos3d,mat_b,mat_d,trans);
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163 // //</arGetTransMat3>
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164 if( err < AR_GET_TRANS_MAT_MAX_FIT_ERROR ){
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169 o_result_conv.updateMatrixValue(this.transrot,off,trans);
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172 private final NyARTransMatResult wk_transMatContinue_result=new NyARTransMatResult();
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175 * double arGetTransMatCont( ARMarkerInfo *marker_info, double prev_conv[3][4],double center[2], double width, double conv[3][4] )
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178 * @param i_direction
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181 * @param io_result_conv
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182 * 計算履歴を持つNyARTransMatResultオブジェクトを指定する。
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183 * 履歴を持たない場合は、transMatと同じ処理を行う。
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185 * @throws NyARException
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187 public double transMatContinue(NyARSquare i_square,int i_direction, double i_width,NyARTransMatResult io_result_conv)throws NyARException
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189 //io_result_convが初期値なら、transMatで計算する。
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190 if(!io_result_conv.hasValue()){
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191 return this.transMat(i_square, i_direction, i_width, io_result_conv);
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194 double[][] ppos2d=wk_transMat_ppos2d;
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195 double[][] ppos3d=wk_transMat_ppos3d;
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196 double[] off =wk_transMat_off;
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197 double[][] pos3d =wk_transMat_pos3d;
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199 // arGetTransMatContSub計算部分
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200 transrot.initRotByPrevResult(io_result_conv);
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202 //ppos2dとppos3dの初期化
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203 init_transMat_ppos(i_square,i_direction,i_width,ppos2d,ppos3d);
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205 //arGetTransMat3の前段処理(pos3dとoffを初期化)
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206 double[][] pos2d=this.wk_transMat_pos2d;
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207 final NyARMat mat_b =this.wk_transMat_mat_b;
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208 final NyARMat mat_d =this.wk_transMat_mat_d;
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210 //transMatに必要な初期値を計算
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211 arGetTransMat3_initTransMat(ppos3d,ppos2d,pos2d,pos3d,off,mat_b,mat_d);
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217 double[] trans=this.wk_transMat_mat_trans;
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218 for( i = 0; i < AR_GET_TRANS_MAT_MAX_LOOP_COUNT; i++ ){
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219 err1 = arGetTransMatSub(pos2d, pos3d,mat_b,mat_d,trans);
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220 if( err1 < AR_GET_TRANS_MAT_MAX_FIT_ERROR ){
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226 io_result_conv.updateMatrixValue(this.transrot,off,trans);
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228 //エラー値が許容範囲でなければTransMatをやり直し
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229 if(err1>AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR) {
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230 NyARTransMatResult result2=this.wk_transMatContinue_result;
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231 //transMatを実行(初期化値は共用)
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232 transrot.initRot(i_square,i_direction);
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233 err2 = transMat(i_square,i_direction,i_width,result2);
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237 io_result_conv.copyFrom(result2);
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247 private final NyARMat wk_arGetTransMat3_mat_a=new NyARMat(NUMBER_OF_VERTEX*2,3);
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250 * arGetTransMat3関数の前処理部分。i_ppos3dから、o_pos3dとoffを計算する。
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251 * 計算結果から再帰的に変更される可能性が無いので、切り離し。
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258 * @throws NyARException
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260 private final void arGetTransMat3_initTransMat(double[][] i_ppos3d,double[][] i_ppos2d,double[][] o_pos2d,double[][] o_pos3d,double[] o_off,NyARMat o_mat_b,NyARMat o_mat_d)throws NyARException
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262 double pmax0,pmax1,pmax2,pmin0,pmin1,pmin2;
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264 pmax0=pmax1=pmax2 = -10000000000.0;
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265 pmin0=pmin1=pmin2 = 10000000000.0;
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266 for(i = 0; i < NUMBER_OF_VERTEX; i++ ) {
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267 if( i_ppos3d[i][0] > pmax0 ){
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268 pmax0 = i_ppos3d[i][0];
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270 if( i_ppos3d[i][0] < pmin0 ){
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271 pmin0 = i_ppos3d[i][0];
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273 if( i_ppos3d[i][1] > pmax1 ){
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274 pmax1 = i_ppos3d[i][1];
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276 if( i_ppos3d[i][1] < pmin1 ){
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277 pmin1 = i_ppos3d[i][1];
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280 if( ppos3d[i][2] > pmax[2] ) pmax[2] = ppos3d[i][2];
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281 if( ppos3d[i][2] < pmin[2] ) pmin[2] = ppos3d[i][2];
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284 o_off[0] = -(pmax0 + pmin0) / 2.0;
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285 o_off[1] = -(pmax1 + pmin1) / 2.0;
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286 o_off[2] = -(pmax2 + pmin2) / 2.0;
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289 double[] o_pos3d_pt;
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290 double[] i_pos_pd_pt;
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291 for(i = 0; i < NUMBER_OF_VERTEX; i++ ) {
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292 o_pos3d_pt =o_pos3d[i];
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293 i_pos_pd_pt=i_ppos3d[i];
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294 o_pos3d_pt[0] = i_pos_pd_pt[0] + o_off[0];
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295 o_pos3d_pt[1] = i_pos_pd_pt[1] + o_off[1];
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296 o_pos3d_pt[2] = 0.0;
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298 //ココから先でarGetTransMatSubの初期化処理
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299 //arGetTransMatSubにあった処理。毎回おなじっぽい。pos2dに変換座標を格納する。
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301 if(arFittingMode == AR_FITTING_TO_INPUT ){
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302 //arParamIdeal2Observをバッチ処理
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303 param.ideal2ObservBatch(i_ppos2d,o_pos2d,NUMBER_OF_VERTEX);
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305 for(i = 0; i < NUMBER_OF_VERTEX; i++ ){
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306 o_pos2d[i][0] = i_ppos2d[i][0];
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307 o_pos2d[i][1] = i_ppos2d[i][1];
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311 //変換マトリクスdとbの準備(arGetTransMatSubの一部)
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312 final double cpara[]=param.get34Array();
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313 final NyARMat mat_a =this.wk_arGetTransMat3_mat_a;
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314 final double[][] a_array=mat_a.getArray();
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317 final double[][] b_array=o_mat_b.getArray();
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320 for(i = 0; i < NUMBER_OF_VERTEX; i++ ) {
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323 a_array[x2 ][0]=b_array[0][x2]=cpara[0*4+0];//mat_a->m[j*6+0] = mat_b->m[num*0+j*2] = cpara[0][0];
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324 a_array[x2 ][1]=b_array[1][x2]=cpara[0*4+1];//mat_a->m[j*6+1] = mat_b->m[num*2+j*2] = cpara[0][1];
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325 a_array[x2 ][2]=b_array[2][x2]=cpara[0*4+2]-o_pos2d[i][0];//mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = cpara[0][2] - pos2d[j][0];
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326 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;
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327 a_array[x2+1][1]=b_array[1][x2+1]=cpara[1*4+1];//mat_a->m[j*6+4] = mat_b->m[num*2+j*2+1] = cpara[1][1];
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328 a_array[x2+1][2]=b_array[2][x2+1]=cpara[1*4+2]-o_pos2d[i][1];//mat_a->m[j*6+5] = mat_b->m[num*4+j*2+1] = cpara[1][2] - pos2d[j][1];
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332 o_mat_d.matrixMul(o_mat_b,mat_a);
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333 o_mat_d.matrixSelfInv();
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336 private final NyARMat wk_arGetTransMatSub_mat_c=new NyARMat(NUMBER_OF_VERTEX*2,1);
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337 private final NyARMat wk_arGetTransMatSub_mat_e=new NyARMat( 3, 1 );
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338 private final NyARMat wk_arGetTransMatSub_mat_f=new NyARMat( 3, 1 );
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341 * static double arGetTransMatSub( double rot[3][3], double ppos2d[][2],double pos3d[][3], int num, double conv[3][4],double *dist_factor, double cpara[3][4] )
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342 * Optimize:2008.04.20:STEP[1033→1004]
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350 * @throws NyARException
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352 private final double arGetTransMatSub(double i_pos2d[][],double i_pos3d[][],NyARMat i_mat_b,NyARMat i_mat_d,double[] o_trans) throws NyARException
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354 double cpara[]=param.get34Array();
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355 NyARMat mat_c,mat_e,mat_f;//ARMat *mat_a, *mat_b, *mat_c, *mat_d, *mat_e, *mat_f;
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361 mat_c =this.wk_arGetTransMatSub_mat_c;//次処理で値をもらうので、初期化の必要は無い。
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362 double[][] c_array=mat_c.getArray();
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363 double[] rot=transrot.getArray();
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364 double[] i_pos3d_pt;
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366 for( i = 0; i < NUMBER_OF_VERTEX; i++ ) {
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368 i_pos3d_pt=i_pos3d[i];
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369 wx = rot[0] * i_pos3d_pt[0]+ rot[1] * i_pos3d_pt[1]+ rot[2] * i_pos3d_pt[2];
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370 wy = rot[3] * i_pos3d_pt[0]+ rot[4] * i_pos3d_pt[1]+ rot[5] * i_pos3d_pt[2];
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371 wz = rot[6] * i_pos3d_pt[0]+ rot[7] * i_pos3d_pt[1]+ rot[8] * i_pos3d_pt[2];
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372 c_array[x2][0] =wz * i_pos2d[i][0]- cpara[0*4+0]*wx - cpara[0*4+1]*wy - cpara[0*4+2]*wz;//mat_c->m[j*2+0] = wz * pos2d[j][0]- cpara[0][0]*wx - cpara[0][1]*wy - cpara[0][2]*wz;
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373 c_array[x2+1][0]=wz * i_pos2d[i][1]- cpara[1*4+1]*wy - cpara[1*4+2]*wz;//mat_c->m[j*2+1] = wz * pos2d[j][1]- cpara[1][1]*wy - cpara[1][2]*wz;
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375 mat_e = this.wk_arGetTransMatSub_mat_e;//次処理で値をもらうので、初期化の必要は無い。
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376 mat_f = this.wk_arGetTransMatSub_mat_f;//次処理で値をもらうので、初期化の必要は無い。
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377 double[][] f_array=mat_f.getArray();
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379 mat_e.matrixMul(i_mat_b, mat_c );
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380 mat_f.matrixMul(i_mat_d, mat_e );
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382 // double[] trans=wk_arGetTransMatSub_trans;//double trans[3];
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383 o_trans[0] = f_array[0][0];//trans[0] = mat_f->m[0];
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384 o_trans[1] = f_array[1][0];
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385 o_trans[2] = f_array[2][0];//trans[2] = mat_f->m[2];
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386 ret =transrot.modifyMatrix(o_trans, i_pos3d, i_pos2d);
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387 for( i = 0; i < NUMBER_OF_VERTEX; i++ ) {
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389 i_pos3d_pt=i_pos3d[i];
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390 wx = rot[0] * i_pos3d_pt[0]+ rot[1] * i_pos3d_pt[1]+ rot[2] * i_pos3d_pt[2];
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391 wy = rot[3] * i_pos3d_pt[0]+ rot[4] * i_pos3d_pt[1]+ rot[5] * i_pos3d_pt[2];
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392 wz = rot[6] * i_pos3d_pt[0]+ rot[7] * i_pos3d_pt[1]+ rot[8] * i_pos3d_pt[2];
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393 c_array[x2][0] =wz * i_pos2d[i][0]- cpara[0*4+0]*wx - cpara[0*4+1]*wy - cpara[0*4+2]*wz;//mat_c->m[j*2+0] = wz * pos2d[j][0]- cpara[0][0]*wx - cpara[0][1]*wy - cpara[0][2]*wz;
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394 c_array[x2+1][0]=wz * i_pos2d[i][1]- cpara[1*4+1]*wy - cpara[1*4+2]*wz;//mat_c->m[j*2+1] = wz * pos2d[j][1]- cpara[1][1]*wy - cpara[1][2]*wz;
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397 mat_e.matrixMul(i_mat_b, mat_c );
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398 mat_f.matrixMul(i_mat_d, mat_e );
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399 o_trans[0] = f_array[0][0];//trans[0] = mat_f->m[0];
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400 o_trans[1] = f_array[1][0];
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401 o_trans[2] = f_array[2][0];//trans[2] = mat_f->m[2];
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402 ret = transrot.modifyMatrix(o_trans, i_pos3d, i_pos2d);
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