tags/2.3.0/src/jp/nyatla/nyartoolkit/core/utils/NyARDoubleMatrixProcessor.java

   1 /* \r
   2  * PROJECT: NyARToolkit\r
   3  * --------------------------------------------------------------------------------\r
   4  * This work is based on the original ARToolKit developed by\r
   5  *   Hirokazu Kato\r
   6  *   Mark Billinghurst\r
   7  *   HITLab, University of Washington, Seattle\r
   8  * http://www.hitl.washington.edu/artoolkit/\r
   9  *\r
  10  * The NyARToolkit is Java version ARToolkit class library.\r
  11  * Copyright (C)2008-2009 R.Iizuka\r
  12  *\r
  13  * This program is free software; you can redistribute it and/or\r
  14  * modify it under the terms of the GNU General Public License\r
  15  * as published by the Free Software Foundation; either version 2\r
  16  * of the License, or (at your option) any later version.\r
  17  * \r
  18  * This program is distributed in the hope that it will be useful,\r
  19  * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  20  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
  21  * GNU General Public License for more details.\r
  22  * \r
  23  * You should have received a copy of the GNU General Public License\r
  24  * along with this framework; if not, write to the Free Software\r
  25  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA\r
  26  * \r
  27  * For further information please contact.\r
  28  *      http://nyatla.jp/nyatoolkit/\r
  29  *      <airmail(at)ebony.plala.or.jp>\r
  30  * \r
  31  */\r
  32 package jp.nyatla.nyartoolkit.core.utils;\r
  33 \r
  34 import jp.nyatla.nyartoolkit.NyARException;\r
  35 import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix22;\r
  36 import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix33;\r
  37 import jp.nyatla.nyartoolkit.core.types.matrix.NyARDoubleMatrix44;\r
  38 \r
  39 public class NyARDoubleMatrixProcessor\r
  40 {\r
  41         /**\r
  42          * i_srcの逆行列を計算して、thisへ格納します。\r
  43          * @param i_src\r
  44          * @return\r
  45          */\r
  46         public static boolean inverse(NyARDoubleMatrix22 i_src,NyARDoubleMatrix22 o_dest)\r
  47         {\r
  48                 final double a11,a12,a21,a22;\r
  49                 a11=i_src.m00;\r
  50                 a12=i_src.m01;\r
  51                 a21=i_src.m10;\r
  52                 a22=i_src.m11;\r
  53                 double det=a11*a22-a12*a21;\r
  54                 if(det==0){\r
  55                         return false;\r
  56                 }\r
  57                 det=1/det;\r
  58                 o_dest.m00=a22*det;\r
  59                 o_dest.m01=-a12*det;\r
  60                 o_dest.m10=a21*det;\r
  61                 o_dest.m11=-a11*det;\r
  62                 return true;\r
  63         }       \r
  64         public static boolean inverse(NyARDoubleMatrix33 i_src,NyARDoubleMatrix33 o_dest) throws NyARException\r
  65         {\r
  66                 /*i_srcの逆行列をthisへ格納するコードを書くこと。*/\r
  67                 NyARException.notImplement();\r
  68                 return false;\r
  69         }\r
  70         /**\r
  71          * i_srcの逆行列を計算して、結果をo_destへセットします。\r
  72          * @param i_src\r
  73          * @return\r
  74          */\r
  75         public static boolean inverse(NyARDoubleMatrix44 i_src,NyARDoubleMatrix44 o_dest)\r
  76         {\r
  77                 final double a11,a12,a13,a14,a21,a22,a23,a24,a31,a32,a33,a34,a41,a42,a43,a44;\r
  78                 final double b11,b12,b13,b14,b21,b22,b23,b24,b31,b32,b33,b34,b41,b42,b43,b44;   \r
  79                 double t1,t2,t3,t4,t5,t6;\r
  80                 a11=i_src.m00;a12=i_src.m01;a13=i_src.m02;a14=i_src.m03;\r
  81                 a21=i_src.m10;a22=i_src.m11;a23=i_src.m12;a24=i_src.m13;\r
  82                 a31=i_src.m20;a32=i_src.m21;a33=i_src.m22;a34=i_src.m23;\r
  83                 a41=i_src.m30;a42=i_src.m31;a43=i_src.m32;a44=i_src.m33;\r
  84                 \r
  85                 t1=a33*a44-a34*a43;\r
  86                 t2=a34*a42-a32*a44;\r
  87                 t3=a32*a43-a33*a42;\r
  88                 t4=a34*a41-a31*a44;\r
  89                 t5=a31*a43-a33*a41;\r
  90                 t6=a31*a42-a32*a41;\r
  91                 \r
  92                 b11=a22*t1+a23*t2+a24*t3;\r
  93                 b21=-(a23*t4+a24*t5+a21*t1);\r
  94                 b31=a24*t6-a21*t2+a22*t4;\r
  95                 b41=-(a21*t3-a22*t5+a23*t6);\r
  96                 \r
  97                 t1=a43*a14-a44*a13;\r
  98                 t2=a44*a12-a42*a14;\r
  99                 t3=a42*a13-a43*a12;\r
 100                 t4=a44*a11-a41*a14;\r
 101                 t5=a41*a13-a43*a11;\r
 102                 t6=a41*a12-a42*a11;\r
 103 \r
 104                 b12=-(a32*t1+a33*t2+a34*t3);\r
 105                 b22=a33*t4+a34*t5+a31*t1;\r
 106                 b32=-(a34*t6-a31*t2+a32*t4);\r
 107                 b42=a31*t3-a32*t5+a33*t6;\r
 108                 \r
 109                 t1=a13*a24-a14*a23;\r
 110                 t2=a14*a22-a12*a24;\r
 111                 t3=a12*a23-a13*a22;\r
 112                 t4=a14*a21-a11*a24;\r
 113                 t5=a11*a23-a13*a21;\r
 114                 t6=a11*a22-a12*a21;\r
 115 \r
 116                 b13=a42*t1+a43*t2+a44*t3;\r
 117                 b23=-(a43*t4+a44*t5+a41*t1);\r
 118                 b33=a44*t6-a41*t2+a42*t4;\r
 119                 b43=-(a41*t3-a42*t5+a43*t6);\r
 120 \r
 121                 t1=a23*a34-a24*a33;\r
 122                 t2=a24*a32-a22*a34;\r
 123                 t3=a22*a33-a23*a32;\r
 124                 t4=a24*a31-a21*a34;             \r
 125                 t5=a21*a33-a23*a31;\r
 126                 t6=a21*a32-a22*a31;\r
 127 \r
 128                 b14=-(a12*t1+a13*t2+a14*t3);\r
 129                 b24=a13*t4+a14*t5+a11*t1;\r
 130                 b34=-(a14*t6-a11*t2+a12*t4);\r
 131                 b44=a11*t3-a12*t5+a13*t6;\r
 132                 \r
 133                 double det_1=(a11*b11+a21*b12+a31*b13+a41*b14);\r
 134                 if(det_1==0){\r
 135                         return false;\r
 136                 }\r
 137                 det_1=1/det_1;\r
 138 \r
 139                 o_dest.m00=b11*det_1;\r
 140                 o_dest.m01=b12*det_1;\r
 141                 o_dest.m02=b13*det_1;\r
 142                 o_dest.m03=b14*det_1;\r
 143                 \r
 144                 o_dest.m10=b21*det_1;\r
 145                 o_dest.m11=b22*det_1;\r
 146                 o_dest.m12=b23*det_1;\r
 147                 o_dest.m13=b24*det_1;\r
 148                 \r
 149                 o_dest.m20=b31*det_1;\r
 150                 o_dest.m21=b32*det_1;\r
 151                 o_dest.m22=b33*det_1;\r
 152                 o_dest.m23=b34*det_1;\r
 153                 \r
 154                 o_dest.m30=b41*det_1;\r
 155                 o_dest.m31=b42*det_1;\r
 156                 o_dest.m32=b43*det_1;\r
 157                 o_dest.m33=b44*det_1;\r
 158                 \r
 159                 return true;\r
 160         }\r
 161 }\r