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;
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36 import jp.nyatla.nyartoolkit.NyARException;
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37 import jp.nyatla.util.DoubleValue;
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40 * This class calculates ARMatrix from square information and holds it.
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42 * 変換行列を計算して、結果を保持するクラス。
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45 public class NyARTransMat{
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46 private final static int AR_FITTING_TO_IDEAL=0;//#define AR_FITTING_TO_IDEAL 0
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47 private final static int AR_FITTING_TO_INPUT=1;//#define AR_FITTING_TO_INPUT 1
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48 private final static int arFittingMode =AR_FITTING_TO_INPUT;
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50 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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51 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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52 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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53 private final static int NUMBER_OF_VERTEX=4;//処理対象の頂点数
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54 private final NyARTransRot transrot;
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55 private final double[] center={0.0,0.0};
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56 private final NyARParam param;
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57 private final NyARMat result_mat=new NyARMat(3,4);
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58 public NyARTransMat(NyARParam i_param)throws NyARException
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61 transrot=new NyARTransRot_O3(i_param,NUMBER_OF_VERTEX);
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64 public void setCenter(double i_x,double i_y)
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69 public NyARMat getTransformationMatrix()
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74 private final double[] wk_transMat_pos3d=new double[P_MAX*3];//pos3d[P_MAX][3];
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75 private final double[][] wk_transMat_ppos2d=new double[4][2];
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76 private final double[][] wk_transMat_ppos3d=new double[4][2];
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77 private final double[] wk_transMat_off=new double[3];
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79 * double arGetTransMat( ARMarkerInfo *marker_info,double center[2], double width, double conv[3][4] )
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83 * 計算対象のNyARSquareオブジェクト
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84 * @param i_direction
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87 * @throws NyARException
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89 public double transMat( NyARSquare square,int i_direction, double width)throws NyARException
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91 double[][] ppos2d=wk_transMat_ppos2d;
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92 double[][] ppos3d=wk_transMat_ppos3d;
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93 double[] off=wk_transMat_off;
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94 double[] pos3d=wk_transMat_pos3d;
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100 transrot.initRot(square,i_direction);
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103 ppos2d[0][0] = square.sqvertex[(4-dir)%4][0];
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104 ppos2d[0][1] = square.sqvertex[(4-dir)%4][1];
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105 ppos2d[1][0] = square.sqvertex[(5-dir)%4][0];
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106 ppos2d[1][1] = square.sqvertex[(5-dir)%4][1];
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107 ppos2d[2][0] = square.sqvertex[(6-dir)%4][0];
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108 ppos2d[2][1] = square.sqvertex[(6-dir)%4][1];
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109 ppos2d[3][0] = square.sqvertex[(7-dir)%4][0];
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110 ppos2d[3][1] = square.sqvertex[(7-dir)%4][1];
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111 ppos3d[0][0] = center[0] - width/2.0;
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112 ppos3d[0][1] = center[1] + width/2.0;
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113 ppos3d[1][0] = center[0] + width/2.0;
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114 ppos3d[1][1] = center[1] + width/2.0;
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115 ppos3d[2][0] = center[0] + width/2.0;
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116 ppos3d[2][1] = center[1] - width/2.0;
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117 ppos3d[3][0] = center[0] - width/2.0;
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118 ppos3d[3][1] = center[1] - width/2.0;
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120 //arGetTransMat3の前段処理(pos3dとoffを初期化)
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121 arGetTransMat3_initPos3d(ppos3d,pos3d,off);
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125 for(int i=0;i<AR_GET_TRANS_MAT_MAX_LOOP_COUNT; i++ ) {
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126 err = arGetTransMat3(ppos2d, pos3d,off);
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127 if( err < AR_GET_TRANS_MAT_MAX_FIT_ERROR ){
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133 private final double[] wk_arGetTransMat3_initPos3d_pmax=new double[3];
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134 private final double[] wk_arGetTransMat3_initPos3d_pmin=new double[3];
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136 * 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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137 * 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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144 * @throws NyARException
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146 private final void arGetTransMat3_initPos3d(double i_ppos3d[][],double[] o_pos3d,double[] o_off)throws NyARException
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148 double[] pmax=wk_arGetTransMat3_initPos3d_pmax;//new double[3];
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149 double[] pmin=wk_arGetTransMat3_initPos3d_pmin;//new double[3];//double off[3], pmax[3], pmin[3];
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150 pmax[0]=pmax[1]=pmax[2] = -10000000000.0;
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151 pmin[0]=pmin[1]=pmin[2] = 10000000000.0;
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152 for(int i = 0; i < NUMBER_OF_VERTEX; i++ ) {
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153 if( i_ppos3d[i][0] > pmax[0] ){
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154 pmax[0] = i_ppos3d[i][0];
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156 if( i_ppos3d[i][0] < pmin[0] ){
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157 pmin[0] = i_ppos3d[i][0];
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159 if( i_ppos3d[i][1] > pmax[1] ){
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160 pmax[1] = i_ppos3d[i][1];
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162 if( i_ppos3d[i][1] < pmin[1] ){
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163 pmin[1] = i_ppos3d[i][1];
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166 o_off[0] = -(pmax[0] + pmin[0]) / 2.0;
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167 o_off[1] = -(pmax[1] + pmin[1]) / 2.0;
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168 o_off[2] = -(pmax[2] + pmin[2]) / 2.0;
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169 for(int i = 0; i < NUMBER_OF_VERTEX; i++ ) {
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170 o_pos3d[i*3+0] = i_ppos3d[i][0] + o_off[0];
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171 o_pos3d[i*3+1] = i_ppos3d[i][1] + o_off[1];
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172 o_pos3d[i*3+2] = 0.0;
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178 * double arGetTransMat3( double rot[3][3], double ppos2d[][2],double ppos3d[][2], int num, double conv[3][4],double *dist_factor, double cpara[3][4] )
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185 * @throws NyARException
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187 private final double arGetTransMat3(
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189 final double i_pos3d[],
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190 final double i_off[])throws NyARException{
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193 ret = arGetTransMatSub(ppos2d, i_pos3d);
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194 double[][] conv=result_mat.getArray();
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195 conv[0][3] = conv[0][0]*i_off[0] + conv[0][1]*i_off[1] + conv[0][2]*i_off[2] + conv[0][3];
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196 conv[1][3] = conv[1][0]*i_off[0] + conv[1][1]*i_off[1] + conv[1][2]*i_off[2] + conv[1][3];
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197 conv[2][3] = conv[2][0]*i_off[0] + conv[2][1]*i_off[1] + conv[2][2]*i_off[2] + conv[2][3];
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200 private final NyARMat wk_arGetTransMatSub_mat_a=new NyARMat(NUMBER_OF_VERTEX*2,3);
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201 private final NyARMat wk_arGetTransMatSub_mat_b=new NyARMat(3,NUMBER_OF_VERTEX*2);
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202 private final NyARMat wk_arGetTransMatSub_mat_c=new NyARMat(NUMBER_OF_VERTEX*2,1);
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203 private final NyARMat wk_arGetTransMatSub_mat_d=new NyARMat( 3, 3 );
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204 private final NyARMat wk_arGetTransMatSub_mat_e=new NyARMat( 3, 1 );
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205 private final NyARMat wk_arGetTransMatSub_mat_f=new NyARMat( 3, 1 );
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206 private final double[] wk_arGetTransMatSub_trans=new double[3];
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207 private final double[] wk_arGetTransMatSub_pos2d=new double[P_MAX*2];//pos2d[P_MAX][2];
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208 private final DoubleValue wk_arGetTransMatSub_a1=new DoubleValue();
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209 private final DoubleValue wk_arGetTransMatSub_a2=new DoubleValue();
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213 * 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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214 * Optimize:2008.04.20:STEP[1033→1004]
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220 * @throws NyARException
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222 private final double arGetTransMatSub(double i_ppos2d[][],double i_pos3d[]) throws NyARException
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224 double[] pos2d=wk_arGetTransMatSub_pos2d;
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225 double cpara[]=param.get34Array();
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226 NyARMat mat_a,mat_b,mat_c,mat_d,mat_e,mat_f;//ARMat *mat_a, *mat_b, *mat_c, *mat_d, *mat_e, *mat_f;
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232 mat_a =this.wk_arGetTransMatSub_mat_a;
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233 // mat_a.realloc(NUMBER_OF_VERTEX*2,3);
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234 double[][] a_array=mat_a.getArray();
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236 mat_b =this.wk_arGetTransMatSub_mat_b;
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237 // mat_b.realloc(3,NUMBER_OF_VERTEX*2);
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238 double[][] b_array=mat_b.getArray();
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241 DoubleValue a1=wk_arGetTransMatSub_a1;
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242 DoubleValue a2=wk_arGetTransMatSub_a2;
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243 if(arFittingMode == AR_FITTING_TO_INPUT ){
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244 for( i = 0; i < NUMBER_OF_VERTEX; i++ ) {
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245 param.ideal2Observ(i_ppos2d[i][0], i_ppos2d[i][1],a1,a2);//arParamIdeal2Observ(dist_factor, ppos2d[i][0], ppos2d[i][1],&pos2d[i][0], &pos2d[i][1]);
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246 pos2d[i*2+0]=a1.value;
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247 pos2d[i*2+1]=a2.value;
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250 for( i = 0; i < NUMBER_OF_VERTEX; i++ ) {
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251 pos2d[i*2+0] = i_ppos2d[i][0];
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252 pos2d[i*2+1] = i_ppos2d[i][1];
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255 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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256 // mat_c.realloc(NUMBER_OF_VERTEX*2,1);
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257 double[][] c_array=mat_c.getArray();
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258 double[] rot=transrot.getArray();
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259 for( j = 0; j < NUMBER_OF_VERTEX; j++ ) {
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262 //wx = rot[0][0] * pos3d[j][0]+ rot[0][1] * pos3d[j][1]+ rot[0][2] * pos3d[j][2];
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263 //wy = rot[1][0] * pos3d[j][0]+ rot[1][1] * pos3d[j][1]+ rot[1][2] * pos3d[j][2];
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264 //wz = rot[2][0] * pos3d[j][0]+ rot[2][1] * pos3d[j][1]+ rot[2][2] * pos3d[j][2];
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265 wx = rot[0] * i_pos3d[j*3+0]+ rot[1] * i_pos3d[j*3+1]+ rot[2] * i_pos3d[j*3+2];
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266 wy = rot[3] * i_pos3d[j*3+0]+ rot[4] * i_pos3d[j*3+1]+ rot[5] * i_pos3d[j*3+2];
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267 wz = rot[6] * i_pos3d[j*3+0]+ rot[7] * i_pos3d[j*3+1]+ rot[8] * i_pos3d[j*3+2];
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269 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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270 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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271 a_array[x2 ][2]=b_array[2][x2]=cpara[0*4+2] - pos2d[j*2+0];//mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = cpara[0][2] - pos2d[j][0];
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272 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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273 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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274 a_array[x2+1][2]=b_array[2][x2+1]=cpara[1*4+2] - pos2d[j*2+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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275 c_array[x2][0] =wz * pos2d[j*2+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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276 c_array[x2+1][0]=wz * pos2d[j*2+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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278 mat_d = this.wk_arGetTransMatSub_mat_d;//次処理で値をもらうので、初期化の必要は無い。
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279 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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280 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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281 double[][] f_array=mat_f.getArray();
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283 mat_d.matrixMul(mat_b, mat_a );
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284 mat_e.matrixMul(mat_b, mat_c );
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285 mat_d.matrixSelfInv();
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286 mat_f.matrixMul(mat_d, mat_e );
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288 double[] trans=wk_arGetTransMatSub_trans;//double trans[3];
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289 trans[0] = f_array[0][0];//trans[0] = mat_f->m[0];
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290 trans[1] = f_array[1][0];
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291 trans[2] = f_array[2][0];//trans[2] = mat_f->m[2];
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293 ret =transrot.modifyMatrix(trans, i_pos3d, pos2d);
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294 for( j = 0; j < NUMBER_OF_VERTEX; j++ ) {
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297 //wx = rot[0][0] * pos3d[j][0]+ rot[0][1] * pos3d[j][1]+ rot[0][2] * pos3d[j][2];
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298 //wy = rot[1][0] * pos3d[j][0]+ rot[1][1] * pos3d[j][1]+ rot[1][2] * pos3d[j][2];
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299 //wz = rot[2][0] * pos3d[j][0]+ rot[2][1] * pos3d[j][1]+ rot[2][2] * pos3d[j][2];
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300 wx = rot[0] * i_pos3d[j*3+0]+ rot[1] * i_pos3d[j*3+1]+ rot[2] * i_pos3d[j*3+2];
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301 wy = rot[3] * i_pos3d[j*3+0]+ rot[4] * i_pos3d[j*3+1]+ rot[5] * i_pos3d[j*3+2];
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302 wz = rot[6] * i_pos3d[j*3+0]+ rot[7] * i_pos3d[j*3+1]+ rot[8] * i_pos3d[j*3+2];
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304 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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305 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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306 a_array[x2 ][2]=b_array[2][x2]=cpara[0*4+2] - pos2d[j*2+0];//mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = cpara[0][2] - pos2d[j][0];
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307 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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308 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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309 a_array[x2+1][2]=b_array[2][x2+1]=cpara[1*4+2] - pos2d[j*2+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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310 c_array[x2][0] =wz * pos2d[j*2+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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311 c_array[x2+1][0]=wz * pos2d[j*2+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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313 // JartkException.trap("未チェックのパス");{
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314 mat_d.matrixMul(mat_b, mat_a );
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315 mat_e.matrixMul(mat_b, mat_c );
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316 mat_d.matrixSelfInv();
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317 mat_f.matrixMul(mat_d, mat_e );
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319 trans[0] = f_array[0][0];//trans[0] = mat_f->m[0];
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320 trans[1] = f_array[1][0];
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321 trans[2] = f_array[2][0];//trans[2] = mat_f->m[2];
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324 ret = transrot.modifyMatrix(trans, i_pos3d, pos2d);
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325 double[][] conv=result_mat.getArray();
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326 for( j = 2; j >=0; j-- ) {//<Optimize/>for( j = 0; j < 3; j++ ) {
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328 //for( i = 0; i < 3; i++ ){
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329 // conv[j][i] = rot[j][i];
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331 conv[j][0] = rot[j*3+0];
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332 conv[j][1] = rot[j*3+1];
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333 conv[j][2] = rot[j*3+2];
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335 conv[j][3] = trans[j];
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