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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34 import jp.nyatla.nyartoolkit.NyARException;
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47 public class NyARMat{
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48 private double[][] m;
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49 private int clm,row;
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50 public NyARMat(int i_row,int i_clm)
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52 m=new double[i_row][i_clm];
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67 public void zeroClear()
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69 for(int i=0;i<row;i++){
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70 for(int i2=0;i2<clm;i2++){
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75 public double[] getRowArray(int i_row)
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79 public double[][] getArray()
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83 public NyARVec getRowVec(int i_row)
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85 return NyARVec.wrap(m[i_row]);
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88 * aとbの積をdestに出力する。arMatrixMul()の代替品
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92 * @throws NyARException
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94 public static void matrixMul(NyARMat dest, NyARMat a, NyARMat b) throws NyARException
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96 if(a.clm != b.row || dest.row != a.row || dest.clm != b.clm){
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97 throw new NyARException();
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99 for(int r = 0; r < dest.row; r++){
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100 for(int c = 0; c < dest.getClm(); c++){
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101 dest.m[r][c]=0.0;//dest.setARELEM0(r, c,0.0);
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102 for(int i = 0; i < a.getClm(); i++){
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103 dest.m[r][c]+=a.m[r][i]*b.m[i][c];//ARELEM0(dest, r, c) += ARELEM0(a, r, i) * ARELEM0(b, i, c);
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108 private int[] wk_nos_matrixSelfInv=new int[50];
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110 * i_targetを逆行列に変換する。arMatrixSelfInv()と、arMatrixSelfInv_minv()関数を合成してあります。
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113 * @throws NyARException
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115 public void matrixSelfInv() throws NyARException
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118 int dimen=ap.length;
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119 double[] wcp,wap,wbp;
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121 int[] nos=wk_nos_matrixSelfInv;//この関数で初期化される。
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123 double p,pbuf,work;
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125 epsl = 1.0e-10; /* Threshold value */
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129 throw new NyARException();
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131 ap[0][0]=1.0/ap[0][0];//*ap = 1.0 / (*ap);
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132 return;/* 1 dimension */
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135 for(int n = 0; n < dimen ; n++){
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140 * ipが定まらないで計算が行われる場合があるので挿入。
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141 * ループ内で0初期化していいかが判らない。
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144 int wap_ptr,wbp_ptr;
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145 for(int n=0; n<dimen;n++)
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147 wcp =ap[n];//wcp = ap + n * rowa;
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149 wap_ptr=0;//wap = DoublePointer.wrap(wcp);
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150 for(int i = n; i<dimen ; i++){//for(i = n, wap = wcp, p = 0.0; i < dimen ; i++, wap += rowa)
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152 if( p < ( pbuf = Math.abs(wap[0]))) {
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169 for(j=0; j< dimen ; j++){//for(j = 0, wap = ap + ip * rowa, wbp = wcp; j < dimen ; j++) {
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170 work = wap[wap_ptr]; //work = *wap;
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171 wap[wap_ptr]=wbp[wbp_ptr];wap_ptr++;//*wap++ = *wbp;
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172 wbp[wbp_ptr]=work;wbp_ptr++; //*wbp++ = work;
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178 for(j = 1; j < dimen ; j++){//for(j = 1, wap = wcp, work = *wcp; j < dimen ; j++, wap++)
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179 wap[wap_ptr]=wap[wap_ptr+1]/work;//*wap = *(wap + 1) / work;
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182 wap[wap_ptr]=1.0/work;//*wap = 1.0 / work;
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184 for(int i = 0; i < dimen ; i++) {
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186 wap =ap[i];//wap = ap + i * rowa;
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191 for(j = 1;j < dimen ; j++){//for(j = 1, wbp = wcp, work = *wap;j < dimen ; j++, wap++, wbp++)
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192 wap[wap_ptr]=wap[wap_ptr+1]-work*wbp[wbp_ptr];//wap = *(wap + 1) - work * (*wbp);
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196 wap[wap_ptr]=-work*wbp[wbp_ptr];//*wap = -work * (*wbp);
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201 for(int n = 0; n < dimen ; n++) {
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202 for(j = n; j < dimen ; j++){
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208 for(int i = 0; i < dimen ;i++){//for(i = 0, wap = ap + j, wbp = ap + n; i < dimen ;i++, wap += rowa, wbp += rowa) {
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211 work =wap[j];//work = *wap;
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212 wap[j]=wbp[n];//*wap = *wbp;
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213 wbp[n]=work;//*wbp = work;
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219 * sourceの転置行列をdestに得る。arMatrixTrans()の代替品
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224 public static void matrixTrans(NyARMat dest,NyARMat source) throws NyARException
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226 if(dest.row != source.clm || dest.clm != source.row){
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227 throw new NyARException();
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229 NyARException.trap("未チェックのパス");
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230 for(int r=0;r< dest.row;r++){
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231 for(int c=0;c<dest.clm;c++){
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232 dest.m[r][c]=source.m[c][r];
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237 * unitを単位行列に初期化する。arMatrixUnitの代替品
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240 public static void matrixUnit(NyARMat unit) throws NyARException
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242 if(unit.row != unit.clm){
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243 throw new NyARException();
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245 NyARException.trap("未チェックのパス");
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246 for(int r = 0; r < unit.getRow(); r++) {
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247 for(int c = 0; c < unit.getClm(); c++) {
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257 * sourceの内容を自身にコピーする。
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262 public void matrixDup(NyARMat source) throws NyARException
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264 if(row != source.row || clm != source.clm)
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266 throw new NyARException();
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269 for(int r = 0; r < row; r++){
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270 for(int c = 0; c < clm; c++)
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272 m[r][c]=source.m[r][c];
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276 public NyARMat matrixAllocDup() throws NyARException
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278 NyARMat result=new NyARMat(row,clm);
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279 result.matrixDup(this);
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283 * arMatrixInv関数の代替品です。
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284 * destにsourceの逆行列を返します。
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287 * @throws NyARException
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289 public static void matrixInv(NyARMat dest,NyARMat source) throws NyARException
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291 NyARException.trap("未チェックのパス");
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292 dest.matrixDup(source);
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294 NyARException.trap("未チェックのパス");
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295 dest.matrixSelfInv();
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297 public NyARMat matrixAllocInv() throws NyARException
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299 NyARException.trap("未チェックのパス");
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300 NyARMat result=matrixAllocDup();
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302 NyARException.trap("未チェックのパス");
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303 result.matrixSelfInv();
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307 * dim x dim の単位行列を作る。
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310 * @throws NyARException
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312 public static NyARMat matrixAllocUnit(int dim) throws NyARException
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314 NyARException.trap("未チェックのパス");
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315 NyARMat result = new NyARMat(dim, dim);
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316 NyARException.trap("未チェックのパス");
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317 NyARMat.matrixUnit(result);
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325 public int matrixDisp() throws NyARException
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327 NyARException.trap("未チェックのパス");
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328 System.out.println(" === matrix ("+row+","+clm+") ===");//printf(" === matrix (%d,%d) ===\n", m->row, m->clm);
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329 for(int r = 0; r < row; r++){//for(int r = 0; r < m->row; r++) {
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330 System.out.print(" |");//printf(" |");
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331 for(int c = 0; c < clm; c++) {//for(int c = 0; c < m->clm; c++) {
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332 System.out.print(" "+m[r][c]);//printf(" %10g", ARELEM0(m, r, c));
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334 System.out.println(" |");//printf(" |\n");
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336 System.out.println(" ======================");//printf(" ======================\n");
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339 private final static double PCA_EPS=1e-6; //#define EPS 1e-6
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340 private final static int PCA_MAX_ITER=100; //#define MAX_ITER 100
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341 private final static double PCA_VZERO=1e-16; //#define VZERO 1e-16
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343 * static int EX( ARMat *input, ARVec *mean )の代替関数
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347 * @throws NyARException
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349 private static void PCA_EX(NyARMat input, NyARVec mean) throws NyARException
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357 if(row <= 0 || clm <= 0){
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358 throw new NyARException();
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360 if( mean.getClm() != clm ){
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361 throw new NyARException();
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363 double[] mean_array=mean.getArray();
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364 for(int i = 0; i < clm; i++ ){
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365 mean_array[i]=0.0;//mean->v[i] = 0.0;
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369 for(int i = 0; i < row; i++ ) {
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370 for(int j = 0; j < clm; j++ ){
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371 //*(v++) += *(m++);
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372 v[j]+=input.m[i][j];
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376 for(int i = 0; i < clm; i++ ){
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377 mean_array[i]/=row;//mean->v[i] /= row;
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381 * static int CENTER( ARMat *inout, ARVec *mean )の代替関数
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386 private static void PCA_CENTER(NyARMat inout, NyARVec mean) throws NyARException
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391 row = inout.getRow();
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392 clm = inout.getClm();
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393 if(mean.getClm()!= clm){
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394 throw new NyARException();
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397 v = mean.getArray();
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398 for(int i = 0; i < row; i++ ) {
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399 for(int j = 0; j < clm; j++ ){
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400 //*(m++) -= *(v++);
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401 inout.m[i][j]-=v[j];
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406 * int x_by_xt( ARMat *input, ARMat *output )の代替関数
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409 * @throws NyARException
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411 private static void PCA_x_by_xt( NyARMat input, NyARMat output) throws NyARException
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413 NyARException.trap("動作未チェック/配列化未チェック");
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418 NyARException.trap("未チェックのパス");
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421 NyARException.trap("未チェックのパス");
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422 if( output.row != row || output.clm != row ){
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423 throw new NyARException();
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426 // out = output.getArray();
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427 for(int i = 0; i < row; i++ ) {
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428 for(int j = 0; j < row; j++ ) {
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430 NyARException.trap("未チェックのパス");{
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431 output.m[i][j]=output.m[j][i];//*out = output->m[j*row+i];
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434 in1=input.getRowArray(i);//in1 = &(input->m[clm*i]);
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435 in2=input.getRowArray(j);//in2 = &(input->m[clm*j]);
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436 output.m[i][j]=0;//*out = 0.0;
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437 for(int k = 0; k < clm; k++ ){
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438 output.m[i][j]+=(in1[k]*in2[k]);//*out += *(in1++) * *(in2++);
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446 * static int xt_by_x( ARMat *input, ARMat *output )の代替関数
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449 * @throws NyARException
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451 private static void PCA_xt_by_x(NyARMat input, NyARMat output) throws NyARException
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458 if(output.row!= clm || output.clm != clm ){
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459 throw new NyARException();
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462 for(int i = 0; i < clm; i++ ) {
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463 for(int j = 0; j < clm; j++ ) {
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465 output.m[i][j]=output.m[j][i];//*out = output->m[j*clm+i];
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467 output.m[i][j]=0.0;//*out = 0.0;
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468 for(int k = 0; k < row; k++ ){
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469 in=input.getRowArray(k);
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470 output.m[i][j]+=(in[i]*in[j]);//*out += *in1 * *in2;
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477 * static int QRM( ARMat *a, ARVec *dv )の代替関数
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480 * @throws NyARException
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482 private static void PCA_QRM(NyARMat a, NyARVec dv) throws NyARException
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484 double w, t, s, x, y, c;
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486 double[] dv_array=dv.getArray();
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489 if( dim != a.clm || dim < 2 ){
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490 throw new NyARException();
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492 if( dv.getClm() != dim ){
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493 throw new NyARException();
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496 NyARVec ev = new NyARVec( dim );
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497 double[] ev_array=ev.getArray();
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499 throw new NyARException();
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502 NyARVec.vecTridiagonalize(a,dv,ev,1);
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504 ev_array[0]=0.0;//ev->v[0] = 0.0;
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505 for(int h = dim-1; h > 0; h-- ) {
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507 while(j>0 && Math.abs(ev_array[j]) > PCA_EPS*(Math.abs(dv_array[j-1])+Math.abs(dv_array[j]))){// while(j>0 && fabs(ev->v[j]) > EPS*(fabs(dv->v[j-1])+fabs(dv->v[j]))) j--;
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516 if( iter > PCA_MAX_ITER ){
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519 w = (dv_array[h-1] - dv_array[h]) / 2;//w = (dv->v[h-1] - dv->v[h]) / 2;//ここ?
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520 t = ev_array[h] * ev_array[h];//t = ev->v[h] * ev->v[h];
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521 s = Math.sqrt(w*w+t);
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525 x=dv_array[j] - dv_array[h] + t/(w+s);//x = dv->v[j] - dv->v[h] + t/(w+s);
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526 y=ev_array[j+1];//y = ev->v[j+1];
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527 for(int k = j; k < h; k++ ){
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528 if( Math.abs(x) >= Math.abs(y)){
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529 if( Math.abs(x) > PCA_VZERO ) {
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531 c = 1 / Math.sqrt(t*t+1);
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539 s = 1.0 / Math.sqrt(t*t+1);
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542 w = dv_array[k] - dv_array[k+1];//w = dv->v[k] - dv->v[k+1];
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543 t = (w * s + 2 * c * ev_array[k+1]) * s;//t = (w * s + 2 * c * ev->v[k+1]) * s;
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544 dv_array[k]-=t;//dv->v[k] -= t;
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545 dv_array[k+1]+=t;//dv->v[k+1] += t;
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547 NyARException.trap("未チェックパス");{
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548 ev_array[k]=c * ev_array[k] - s * y;//ev->v[k] = c * ev->v[k] - s * y;
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551 ev_array[k+1]+=s * (c * w - 2 * s * ev_array[k+1]);//ev->v[k+1] += s * (c * w - 2 * s * ev->v[k+1]);
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553 for(int i = 0; i < dim; i++ ){
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554 x = a.m[k][i];//x = a->m[k*dim+i];
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555 y = a.m[k+1][i];//y = a->m[(k+1)*dim+i];
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556 a.m[k][i]=c * x - s * y;//a->m[k*dim+i] = c * x - s * y;
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557 a.m[k+1][i]=s * x + c * y;//a->m[(k+1)*dim+i] = s * x + c * y;
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560 NyARException.trap("未チェックパス");{
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561 x = ev_array[k+1];//x = ev->v[k+1];
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562 y =-s*ev_array[k+2];//y = -s * ev->v[k+2];
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563 ev_array[k+2]*=c;//ev->v[k+2] *= c;
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567 }while(Math.abs(ev_array[h]) > PCA_EPS*(Math.abs(dv_array[h-1])+Math.abs(dv_array[h])));
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570 for(int k = 0; k < dim-1; k++ ) {
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572 t=dv_array[h];//t = dv->v[h];
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573 for(int i = k+1; i < dim; i++ ){
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574 if(dv_array[i] > t ){//if( dv->v[i] > t ) {
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576 t=dv_array[h];//t = dv->v[h];
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579 dv_array[h]=dv_array[k];//dv->v[h] = dv->v[k];
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580 dv_array[k]=t;//dv->v[k] = t;
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581 v1=a.getRowArray(h);//v1 = &(a->m[h*dim]);
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582 v2=a.getRowArray(k);//v2 = &(a->m[k*dim]);
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583 for(int i = 0; i < dim; i++ ) {
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585 v1[i]=v2[i];//*v1 = *v2;
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591 * static int EV_create( ARMat *input, ARMat *u, ARMat *output, ARVec *ev )の代替関数
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596 * @throws NyARException
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598 private static void PCA_EV_create(NyARMat input, NyARMat u, NyARMat output, NyARVec ev) throws NyARException
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600 NyARException.trap("未チェックのパス");
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602 row = input.row;//row = input->row;
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603 clm = input.clm;//clm = input->clm;
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604 if( row <= 0 || clm <= 0 ){
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605 throw new NyARException();
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607 if( u.row != row || u.clm != row ){//if( u->row != row || u->clm != row ){
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608 throw new NyARException();
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610 if( output.row != row || output.clm != clm ){//if( output->row != row || output->clm != clm ){
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611 throw new NyARException();
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613 if( ev.getClm()!= row ){//if( ev->clm != row ){
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614 throw new NyARException();
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617 double[] m1,ev_array;
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620 m =output.getArray();//m = output->m;
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621 in=input.getArray();
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623 ev_array=ev.getArray();
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624 for(i = 0; i < row; i++ ) {
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625 NyARException.trap("未チェックのパス");
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626 if( ev_array[i]<PCA_VZERO ){//if( ev->v[i] < VZERO ){
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629 NyARException.trap("未チェックのパス");
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630 work = 1 / Math.sqrt(Math.abs(ev_array[i]));//work = 1 / sqrt(fabs(ev->v[i]));
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631 for(int j = 0; j < clm; j++ ) {
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633 m1=u.getRowArray(i);//m1 = &(u->m[i*row]);
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634 // m2=input.getPointer(j);//m2 = &(input->m[j]);
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635 for(int k = 0; k < row; k++ ) {
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636 sum+=m1[k]+in[k][j];//sum += *m1 * *m2;
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637 // m1.incPtr(); //m1++;
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638 // m2.addPtr(clm);//m2 += clm;
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640 m1[j]=sum * work;//*(m++) = sum * work;
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641 // {//*(m++) = sum * work;
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642 // m.set(sum * work);
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646 for( ; i < row; i++ ) {
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647 NyARException.trap("未チェックのパス");
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648 ev_array[i]=0.0;//ev->v[i] = 0.0;
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649 for(int j = 0; j < clm; j++ ){
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651 // m.set(0.0);//*(m++) = 0.0;
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656 /*static int PCA( ARMat *input, ARMat *output, ARVec *ev )*/
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657 private static void PCA_PCA(NyARMat input, NyARMat output, NyARVec ev) throws NyARException
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661 double[] ev_array=ev.getArray();
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663 row =input.row;//row = input->row;
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664 clm =input.clm;//clm = input->clm;
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665 min =(clm < row)? clm: row;
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666 if( row < 2 || clm < 2 ){
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667 throw new NyARException();
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669 if( output.clm != input.clm){//if( output->clm != input->clm ){
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670 throw new NyARException();
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672 if( output.row!= min ){//if( output->row != min ){
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673 throw new NyARException();
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675 if( ev.getClm() != min ){//if( ev->clm != min ){
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676 throw new NyARException();
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678 u =new NyARMat( min, min );
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681 NyARException.trap("未チェックのパス");
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682 PCA_x_by_xt( input, u );//if(x_by_xt( input, u ) < 0 ) {
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684 PCA_xt_by_x( input, u );//if(xt_by_x( input, u ) < 0 ) {
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690 NyARException.trap("未チェックのパス");{
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691 PCA_EV_create( input, u, output, ev );
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694 m1=u.m;//m1 = u->m;
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695 m2=output.m;//m2 = output->m;
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697 for(i = 0; i < min; i++){
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698 if( ev_array[i] < PCA_VZERO){//if( ev->v[i] < VZERO ){
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701 for(int j = 0; j < min; j++ ){
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702 m2[i][j]=m1[i][j];//*(m2++) = *(m1++);
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705 for( ; i < min; i++){//for( ; i < min; i++){
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706 //コードを見た限りあってそうだからコメントアウト(2008/03/26)NyARException.trap("未チェックのパス");
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707 ev_array[i]=0.0;//ev->v[i] = 0.0;
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708 for(int j = 0; j < min; j++ ){
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709 m2[i][j]=0.0;//*(m2++) = 0.0;
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715 /*int arMatrixPCA( ARMat *input, ARMat *evec, ARVec *ev, ARVec *mean );*/
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716 public static void matrixPCA(NyARMat input, NyARMat evec, NyARVec ev, NyARVec mean) throws NyARException
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723 row=input.row;//row = input->row;
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724 clm=input.clm;//clm = input->clm;
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725 check = (row < clm)? row: clm;
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726 if( row < 2 || clm < 2 ){
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727 throw new NyARException();
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729 if( evec.clm != input.clm || evec.row != check ){//if( evec->clm != input->clm || evec->row != check ){
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730 throw new NyARException();
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732 if( ev.getClm() != check ){//if( ev->clm != check ){
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733 throw new NyARException();
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735 if( mean.getClm() != input.clm){//if( mean->clm != input->clm ){
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736 throw new NyARException();
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739 work =input.matrixAllocDup();//arMatrixAllocDup( input );work = arMatrixAllocDup( input );
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741 srow = Math.sqrt((double)row);
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742 PCA_EX( work, mean );
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744 PCA_CENTER(work,mean);
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747 for(int i=0; i<row; i++){
\r
748 for(int j=0;j<clm;j++){
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749 work.m[i][j]/=srow;//work->m[i] /= srow;
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753 PCA_PCA( work, evec, ev );
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756 double[] ev_array=ev.getArray();
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757 for(int i = 0; i < ev.getClm(); i++ ){//for(int i = 0; i < ev->clm; i++ ){
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758 sum+=ev_array[i];//sum += ev->v[i];
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760 for(int i = 0; i < ev.getClm(); i++ ){//for(int i = 0; i < ev->clm; i++ ){
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761 ev_array[i]/=sum;//ev->v[i] /= sum;
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765 /*int arMatrixPCA2( ARMat *input, ARMat *evec, ARVec *ev );*/
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766 public static void arMatrixPCA2( NyARMat input, NyARMat evec, NyARVec ev) throws NyARException
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768 NyARException.trap("未チェックのパス");
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770 // double srow; // unreferenced
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775 row=input.row;//row = input->row;
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776 clm=input.clm;//clm = input->clm;
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777 check = (row < clm)? row: clm;
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778 if( row < 2 || clm < 2 ){
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779 throw new NyARException();
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781 if( evec.getClm()!= input.clm|| evec.row!=check){//if( evec->clm != input->clm || evec->row != check ){
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782 throw new NyARException();
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784 if( ev.getClm() != check ){//if( ev->clm != check ){
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785 throw new NyARException();
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788 NyARException.trap("未チェックのパス");
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789 work =input.matrixAllocDup();
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791 NyARException.trap("未チェックパス");
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792 PCA_PCA( work, evec, ev );//rval = PCA( work, evec, ev );
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794 double[] ev_array=ev.getArray();
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795 for(int i = 0; i < ev.getClm(); i++ ){//for( i = 0; i < ev->clm; i++ ){
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796 NyARException.trap("未チェックパス");
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797 sum+=ev_array[i];//sum += ev->v[i];
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799 for(int i = 0; i < ev.getClm(); i++ ){//for(int i = 0; i < ev->clm; i++ ){
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800 NyARException.trap("未チェックパス");
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801 ev_array[i]/=sum;//ev->v[i] /= sum;
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805 public static NyARMat matrixAllocMul(NyARMat a, NyARMat b) throws NyARException
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807 NyARException.trap("未チェックのパス");
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808 NyARMat dest=new NyARMat(a.row, b.clm);
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809 NyARException.trap("未チェックのパス");
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810 matrixMul(dest, a, b);
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813 /*static double mdet(double *ap, int dimen, int rowa)*/
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814 private static double Det_mdet(double[][] ap, int dimen, int rowa) throws NyARException
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816 NyARException.trap("動作未チェック/配列化未チェック");
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822 for(int k = 0; k < dimen - 1; k++) {
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824 for(int i = k + 1; i < dimen; i++){
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825 // if (Math.abs(arMatrixDet_MATRIX_get(ap, i, k, rowa)) > Math.abs(arMatrixDet_MATRIX_get(ap, mmax, k, rowa))){
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826 if (Math.abs(ap[i][k]) > Math.abs(ap[mmax][k])){
\r
831 for (int j = k; j < dimen; j++) {
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832 work = ap[k][j];//work = MATRIX(ap, k, j, rowa);
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833 ap[k][j]=ap[mmax][j];//MATRIX(ap, k, j, rowa) = MATRIX(ap, mmax, j, rowa);
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834 ap[mmax][j]=work;//MATRIX(ap, mmax, j, rowa) = work;
\r
838 for(int i = k + 1; i < dimen; i++) {
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839 work = ap[i][k]/ ap[k][k];//work = arMatrixDet_MATRIX_get(ap, i, k, rowa) / arMatrixDet_MATRIX_get(ap, k, k, rowa);
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840 for (int j = k + 1; j < dimen; j++){
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841 //MATRIX(ap, i, j, rowa) -= work * MATRIX(ap, k, j, rowa);
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842 ap[i][j]-=work * ap[k][j];
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846 for(int i = 0; i < dimen; i++){
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847 det=ap[i][i];//det *= MATRIX(ap, i, i, rowa);
\r
849 for(int i = 0; i < is; i++){
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854 /*double arMatrixDet(ARMat *m);*/
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855 public static double arMatrixDet(NyARMat m) throws NyARException
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857 NyARException.trap("動作未チェック/配列化未チェック");
\r
858 if(m.row != m.clm){
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861 return Det_mdet(m.getArray(), m.row, m.clm);//return mdet(m->m, m->row, m->row);
\r