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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42 * This class calculates ARMatrix from square information and holds it.
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44 * 変換行列を計算して、結果を保持するクラス。
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47 public class NyARTransMat_O2 implements NyARTransMat{
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48 private final static int AR_FITTING_TO_IDEAL=0;//#define AR_FITTING_TO_IDEAL 0
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49 private final static int AR_FITTING_TO_INPUT=1;//#define AR_FITTING_TO_INPUT 1
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50 private final static int arFittingMode =AR_FITTING_TO_INPUT;
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52 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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53 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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54 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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55 private final static int NUMBER_OF_VERTEX=4;//処理対象の頂点数
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56 private final NyARTransRot transrot;
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57 private final double[] center={0.0,0.0};
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58 private final NyARParam param;
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59 private final NyARMat result_mat=new NyARMat(3,4);
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60 public NyARTransMat_O2(NyARParam i_param)throws NyARException
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63 transrot=new NyARTransRot_O3(i_param,NUMBER_OF_VERTEX);
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66 public void setCenter(double i_x,double i_y)
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71 public NyARMat getTransformationMatrix()
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76 private final double[][] wk_transMat_pos3d=new double[P_MAX][3];//pos3d[P_MAX][3];
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77 private final double[][] wk_transMat_ppos2d=new double[4][2];
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78 private final double[][] wk_transMat_ppos3d=new double[4][2];
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79 private final double[] wk_transMat_off=new double[3];
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80 private final double[][] wk_transMat_pos2d=new double[P_MAX][2];//pos2d[P_MAX][2];
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83 private final DoubleValue wk_arGetTransMatSub_a1=new DoubleValue();
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84 private final DoubleValue wk_arGetTransMatSub_a2=new DoubleValue();
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85 private final NyARMat wk_transMat_mat_a=new NyARMat(NUMBER_OF_VERTEX*2,3);
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86 private final NyARMat wk_transMat_mat_b=new NyARMat(3,NUMBER_OF_VERTEX*2);
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87 private final NyARMat wk_transMat_mat_d=new NyARMat( 3, 3 );
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88 private final double[] wk_transMat_mat_trans=new double[3];
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91 * double arGetTransMat( ARMarkerInfo *marker_info,double center[2], double width, double conv[3][4] )
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92 * 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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95 * 計算対象のNyARSquareオブジェクト
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96 * @param i_direction
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99 * @throws NyARException
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101 public double transMat( NyARSquare square,int i_direction, double width)throws NyARException
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103 double[][] ppos2d=wk_transMat_ppos2d;
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104 double[][] ppos3d=wk_transMat_ppos3d;
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105 double[] off=wk_transMat_off;
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106 double[][] pos3d=wk_transMat_pos3d;
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109 ppos2d[0][0] = square.sqvertex[(4-i_direction)%4][0];
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110 ppos2d[0][1] = square.sqvertex[(4-i_direction)%4][1];
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111 ppos2d[1][0] = square.sqvertex[(5-i_direction)%4][0];
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112 ppos2d[1][1] = square.sqvertex[(5-i_direction)%4][1];
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113 ppos2d[2][0] = square.sqvertex[(6-i_direction)%4][0];
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114 ppos2d[2][1] = square.sqvertex[(6-i_direction)%4][1];
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115 ppos2d[3][0] = square.sqvertex[(7-i_direction)%4][0];
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116 ppos2d[3][1] = square.sqvertex[(7-i_direction)%4][1];
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117 ppos3d[0][0] = center[0] - width/2.0;
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118 ppos3d[0][1] = center[1] + width/2.0;
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119 ppos3d[1][0] = center[0] + width/2.0;
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120 ppos3d[1][1] = center[1] + width/2.0;
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121 ppos3d[2][0] = center[0] + width/2.0;
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122 ppos3d[2][1] = center[1] - width/2.0;
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123 ppos3d[3][0] = center[0] - width/2.0;
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124 ppos3d[3][1] = center[1] - width/2.0;
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126 transrot.initRot(square,i_direction);
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128 //arGetTransMat3の前段処理(pos3dとoffを初期化)
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129 arGetTransMat3_initPos3d(ppos3d,pos3d,off);
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132 //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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133 double[][] pos2d=this.wk_transMat_pos2d;
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134 DoubleValue a1=this.wk_arGetTransMatSub_a1;
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135 DoubleValue a2=this.wk_arGetTransMatSub_a2;
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136 if(arFittingMode == AR_FITTING_TO_INPUT ){
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137 for(int i = 0; i < NUMBER_OF_VERTEX; i++ ) {
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138 param.ideal2Observ(ppos2d[i][0], ppos2d[i][1],a1,a2);//arParamIdeal2Observ(dist_factor, ppos2d[i][0], ppos2d[i][1],&pos2d[i][0], &pos2d[i][1]);
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139 pos2d[i][0]=a1.value;
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140 pos2d[i][1]=a2.value;
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143 for(int i = 0; i < NUMBER_OF_VERTEX; i++ ){
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144 pos2d[i][0] = ppos2d[i][0];
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145 pos2d[i][1] = ppos2d[i][1];
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149 //変換マトリクスdとbの準備(arGetTransMatSubの一部)
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150 final double cpara[]=param.get34Array();
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151 final NyARMat mat_a =this.wk_transMat_mat_a;
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152 final double[][] a_array=mat_a.getArray();
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154 final NyARMat mat_b =this.wk_transMat_mat_b;
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155 final double[][] b_array=mat_b.getArray();
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158 for(int i = 0; i < NUMBER_OF_VERTEX; i++ ) {
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161 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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162 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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163 a_array[x2 ][2]=b_array[2][x2]=cpara[0*4+2]-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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164 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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165 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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166 a_array[x2+1][2]=b_array[2][x2+1]=cpara[1*4+2] - 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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168 final NyARMat mat_d =this.wk_transMat_mat_d;
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169 mat_d.matrixMul(mat_b,mat_a);
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170 mat_d.matrixSelfInv();
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173 double[] rot=transrot.getArray();
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174 double[][] conv=result_mat.getArray();
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175 double[] trans=this.wk_transMat_mat_trans;
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176 for(int i=0;i<AR_GET_TRANS_MAT_MAX_LOOP_COUNT; i++ ){
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178 err = arGetTransMatSub(pos2d, pos3d,mat_b,mat_d,trans);
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179 conv[0][0] = rot[0*3+0];
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180 conv[0][1] = rot[0*3+1];
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181 conv[0][2] = rot[0*3+2];
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182 conv[1][0] = rot[1*3+0];
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183 conv[1][1] = rot[1*3+1];
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184 conv[1][2] = rot[1*3+2];
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185 conv[2][0] = rot[2*3+0];
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186 conv[2][1] = rot[2*3+1];
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187 conv[2][2] = rot[2*3+2];
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188 conv[0][3] = rot[0*3+0]*off[0] + rot[0*3+1]*off[1] + rot[0*3+2]*off[2] + trans[0];
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189 conv[1][3] = rot[1*3+0]*off[0] + rot[1*3+1]*off[1] + rot[1*3+2]*off[2] + trans[1];
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190 conv[2][3] = rot[2*3+0]*off[0] + rot[2*3+1]*off[1] + rot[2*3+2]*off[2] + trans[2];
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192 //</arGetTransMat3>
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193 if( err < AR_GET_TRANS_MAT_MAX_FIT_ERROR ){
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199 private final double[] wk_arGetTransMat3_initPos3d_pmax=new double[3];
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200 private final double[] wk_arGetTransMat3_initPos3d_pmin=new double[3];
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202 * 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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203 * 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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210 * @throws NyARException
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212 private final void arGetTransMat3_initPos3d(double i_ppos3d[][],double[][] o_pos3d,double[] o_off)throws NyARException
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214 final double[] pmax=wk_arGetTransMat3_initPos3d_pmax;//new double[3];
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215 final double[] pmin=wk_arGetTransMat3_initPos3d_pmin;//new double[3];//double off[3], pmax[3], pmin[3];
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217 pmax[0]=pmax[1]=pmax[2] = -10000000000.0;
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218 pmin[0]=pmin[1]=pmin[2] = 10000000000.0;
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219 for(i = 0; i < NUMBER_OF_VERTEX; i++ ) {
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220 if( i_ppos3d[i][0] > pmax[0] ){
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221 pmax[0] = i_ppos3d[i][0];
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223 if( i_ppos3d[i][0] < pmin[0] ){
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224 pmin[0] = i_ppos3d[i][0];
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226 if( i_ppos3d[i][1] > pmax[1] ){
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227 pmax[1] = i_ppos3d[i][1];
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229 if( i_ppos3d[i][1] < pmin[1] ){
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230 pmin[1] = i_ppos3d[i][1];
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233 o_off[0] = -(pmax[0] + pmin[0]) / 2.0;
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234 o_off[1] = -(pmax[1] + pmin[1]) / 2.0;
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235 o_off[2] = -(pmax[2] + pmin[2]) / 2.0;
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238 double[] o_pos3d_pt;
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239 double[] i_pos_pd_pt;
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240 for(i = 0; i < NUMBER_OF_VERTEX; i++ ) {
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241 o_pos3d_pt =o_pos3d[i];
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242 i_pos_pd_pt=i_ppos3d[i];
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243 o_pos3d_pt[0] = i_pos_pd_pt[0] + o_off[0];
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244 o_pos3d_pt[1] = i_pos_pd_pt[1] + o_off[1];
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245 o_pos3d_pt[2] = 0.0;
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249 private final NyARMat wk_arGetTransMatSub_mat_c=new NyARMat(NUMBER_OF_VERTEX*2,1);
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250 private final NyARMat wk_arGetTransMatSub_mat_e=new NyARMat( 3, 1 );
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251 private final NyARMat wk_arGetTransMatSub_mat_f=new NyARMat( 3, 1 );
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254 * 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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255 * Optimize:2008.04.20:STEP[1033→1004]
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263 * @throws NyARException
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265 private final double arGetTransMatSub(double i_ppos2d[][],double i_pos3d[][],NyARMat i_mat_b,NyARMat i_mat_d,double[] o_trans) throws NyARException
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267 double cpara[]=param.get34Array();
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268 NyARMat mat_c,mat_e,mat_f;//ARMat *mat_a, *mat_b, *mat_c, *mat_d, *mat_e, *mat_f;
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274 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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275 double[][] c_array=mat_c.getArray();
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276 double[] rot=transrot.getArray();
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277 double[] i_pos3d_pt;
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279 for( i = 0; i < NUMBER_OF_VERTEX; i++ ) {
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281 i_pos3d_pt=i_pos3d[i];
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282 wx = rot[0] * i_pos3d_pt[0]+ rot[1] * i_pos3d_pt[1]+ rot[2] * i_pos3d_pt[2];
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283 wy = rot[3] * i_pos3d_pt[0]+ rot[4] * i_pos3d_pt[1]+ rot[5] * i_pos3d_pt[2];
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284 wz = rot[6] * i_pos3d_pt[0]+ rot[7] * i_pos3d_pt[1]+ rot[8] * i_pos3d_pt[2];
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285 c_array[x2][0] =wz * i_ppos2d[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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286 c_array[x2+1][0]=wz * i_ppos2d[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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288 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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289 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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290 double[][] f_array=mat_f.getArray();
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292 mat_e.matrixMul(i_mat_b, mat_c );
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293 mat_f.matrixMul(i_mat_d, mat_e );
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295 // double[] trans=wk_arGetTransMatSub_trans;//double trans[3];
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296 o_trans[0] = f_array[0][0];//trans[0] = mat_f->m[0];
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297 o_trans[1] = f_array[1][0];
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298 o_trans[2] = f_array[2][0];//trans[2] = mat_f->m[2];
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299 ret =transrot.modifyMatrix(o_trans, i_pos3d, i_ppos2d);
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300 for( i = 0; i < NUMBER_OF_VERTEX; i++ ) {
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302 i_pos3d_pt=i_pos3d[i];
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303 wx = rot[0] * i_pos3d_pt[0]+ rot[1] * i_pos3d_pt[1]+ rot[2] * i_pos3d_pt[2];
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304 wy = rot[3] * i_pos3d_pt[0]+ rot[4] * i_pos3d_pt[1]+ rot[5] * i_pos3d_pt[2];
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305 wz = rot[6] * i_pos3d_pt[0]+ rot[7] * i_pos3d_pt[1]+ rot[8] * i_pos3d_pt[2];
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306 c_array[x2][0] =wz * i_ppos2d[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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307 c_array[x2+1][0]=wz * i_ppos2d[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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310 mat_e.matrixMul(i_mat_b, mat_c );
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311 mat_f.matrixMul(i_mat_d, mat_e );
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312 o_trans[0] = f_array[0][0];//trans[0] = mat_f->m[0];
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313 o_trans[1] = f_array[1][0];
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314 o_trans[2] = f_array[2][0];//trans[2] = mat_f->m[2];
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315 ret = transrot.modifyMatrix(o_trans, i_pos3d, i_ppos2d);
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317 // double[][] conv=result_mat.getArray();
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318 // for( i = 2; i >=0; i-- ) {//<Optimize/>for( j = 0; j < 3; j++ ) {
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320 // //for( i = 0; i < 3; i++ ){
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321 // // conv[j][i] = rot[j][i];
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323 // conv[i][0] = rot[i*3+0];
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324 // conv[i][1] = rot[i*3+1];
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325 // conv[i][2] = rot[i*3+2];
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327 // conv[i][3] = trans[i];
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