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 edition ARToolKit class library.
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11 * Copyright (C)2008-2009 Ryo 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 Lesser General Public License
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15 * as published by the Free Software Foundation; either version 3
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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 Lesser General Public License for more details
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23 * You should have received a copy of the GNU Lesser General Public
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24 * License along with this program. If not, see <http://www.gnu.org/licenses/>.
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26 * For further information please contact.
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27 * http://nyatla.jp/nyatoolkit/
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28 * <airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>
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31 package jp.nyatla.nyartoolkit.core.transmat.rotmatrix;
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33 import jp.nyatla.nyartoolkit.NyARException;
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34 import jp.nyatla.nyartoolkit.core.NyARMat;
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35 import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint2d;
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36 import jp.nyatla.nyartoolkit.core.types.NyARLinear;
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37 import jp.nyatla.nyartoolkit.core.param.*;
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39 public class NyARRotVector
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51 private NyARPerspectiveProjectionMatrix _projection_mat_ref;
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53 private double[][] _inv_cpara_array_ref;
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55 public NyARRotVector(NyARPerspectiveProjectionMatrix i_cmat) throws NyARException
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57 NyARMat mat_a = new NyARMat(3, 3);
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58 double[][] a_array = mat_a.getArray();
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60 a_array[0][0] =i_cmat.m00;
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61 a_array[0][1] =i_cmat.m01;
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62 a_array[0][2] =i_cmat.m02;
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63 a_array[1][0] =i_cmat.m10;
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64 a_array[1][1] =i_cmat.m11;
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65 a_array[1][2] =i_cmat.m12;
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66 a_array[2][0] =i_cmat.m20;
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67 a_array[2][1] =i_cmat.m21;
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68 a_array[2][2] =i_cmat.m22;
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70 mat_a.matrixSelfInv();
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71 this._projection_mat_ref = i_cmat;
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72 this._inv_cpara_array_ref = mat_a.getArray();
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73 //GCない言語のときは、ここで配列の所有権委譲してね!
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77 * 2直線に直交するベクトルを計算する・・・だと思う。
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81 public void exteriorProductFromLinear(NyARLinear i_linear1, NyARLinear i_linear2)
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84 final NyARPerspectiveProjectionMatrix cmat= this._projection_mat_ref;
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85 final double w1 = i_linear1.run * i_linear2.rise - i_linear2.run * i_linear1.rise;
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86 final double w2 = i_linear1.rise * i_linear2.intercept - i_linear2.rise * i_linear1.intercept;
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87 final double w3 = i_linear1.intercept * i_linear2.run - i_linear2.intercept * i_linear1.run;
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89 final double m0 = w1 * (cmat.m01 * cmat.m12 - cmat.m02 * cmat.m11) + w2 * cmat.m11 - w3 * cmat.m01;//w1 * (cpara[0 * 4 + 1] * cpara[1 * 4 + 2] - cpara[0 * 4 + 2] * cpara[1 * 4 + 1]) + w2 * cpara[1 * 4 + 1] - w3 * cpara[0 * 4 + 1];
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90 final double m1 = -w1 * cmat.m00 * cmat.m12 + w3 * cmat.m00;//-w1 * cpara[0 * 4 + 0] * cpara[1 * 4 + 2] + w3 * cpara[0 * 4 + 0];
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91 final double m2 = w1 * cmat.m00 * cmat.m11;//w1 * cpara[0 * 4 + 0] * cpara[1 * 4 + 1];
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92 final double w = Math.sqrt(m0 * m0 + m1 * m1 + m2 * m2);
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100 * static int check_dir( double dir[3], double st[2], double ed[2],double cpara[3][4] ) Optimize:STEP[526->468]
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101 * ベクトルの開始/終了座標を指定して、ベクトルの方向を調整する。
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102 * @param i_start_vertex
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103 * @param i_end_vertex
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106 public void checkVectorByVertex(final NyARDoublePoint2d i_start_vertex, final NyARDoublePoint2d i_end_vertex) throws NyARException
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109 final double[][] inv_cpara = this._inv_cpara_array_ref;
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110 //final double[] world = __checkVectorByVertex_world;// [2][3];
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111 final double world0 = inv_cpara[0][0] * i_start_vertex.x * 10.0 + inv_cpara[0][1] * i_start_vertex.y * 10.0 + inv_cpara[0][2] * 10.0;// mat_a->m[0]*st[0]*10.0+
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112 final double world1 = inv_cpara[1][0] * i_start_vertex.x * 10.0 + inv_cpara[1][1] * i_start_vertex.y * 10.0 + inv_cpara[1][2] * 10.0;// mat_a->m[3]*st[0]*10.0+
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113 final double world2 = inv_cpara[2][0] * i_start_vertex.x * 10.0 + inv_cpara[2][1] * i_start_vertex.y * 10.0 + inv_cpara[2][2] * 10.0;// mat_a->m[6]*st[0]*10.0+
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114 final double world3 = world0 + this.v1;
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115 final double world4 = world1 + this.v2;
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116 final double world5 = world2 + this.v3;
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119 //final double[] camera = __checkVectorByVertex_camera;// [2][2];
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120 final NyARPerspectiveProjectionMatrix cmat= this._projection_mat_ref;
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121 //h = cpara[2 * 4 + 0] * world0 + cpara[2 * 4 + 1] * world1 + cpara[2 * 4 + 2] * world2;
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122 h = cmat.m20 * world0 + cmat.m21 * world1 + cmat.m22 * world2;
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124 throw new NyARException();
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126 //final double camera0 = (cpara[0 * 4 + 0] * world0 + cpara[0 * 4 + 1] * world1 + cpara[0 * 4 + 2] * world2) / h;
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127 //final double camera1 = (cpara[1 * 4 + 0] * world0 + cpara[1 * 4 + 1] * world1 + cpara[1 * 4 + 2] * world2) / h;
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128 final double camera0 = (cmat.m00 * world0 + cmat.m01 * world1 + cmat.m02 * world2) / h;
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129 final double camera1 = (cmat.m10 * world0 + cmat.m11 * world1 + cmat.m12 * world2) / h;
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131 //h = cpara[2 * 4 + 0] * world3 + cpara[2 * 4 + 1] * world4 + cpara[2 * 4 + 2] * world5;
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132 h = cmat.m20 * world3 + cmat.m21 * world4 + cmat.m22 * world5;
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134 throw new NyARException();
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136 //final double camera2 = (cpara[0 * 4 + 0] * world3 + cpara[0 * 4 + 1] * world4 + cpara[0 * 4 + 2] * world5) / h;
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137 //final double camera3 = (cpara[1 * 4 + 0] * world3 + cpara[1 * 4 + 1] * world4 + cpara[1 * 4 + 2] * world5) / h;
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138 final double camera2 = (cmat.m00 * world3 + cmat.m01 * world4 + cmat.m02 * world5) / h;
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139 final double camera3 = (cmat.m10 * world3 + cmat.m11 * world4 + cmat.m12 * world5) / h;
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141 final double v = (i_end_vertex.x - i_start_vertex.x) * (camera2 - camera0) + (i_end_vertex.y - i_start_vertex.y) * (camera3 - camera1);
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143 this.v1 = -this.v1;
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144 this.v2 = -this.v2;
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145 this.v3 = -this.v3;
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149 * int check_rotation( double rot[2][3] )
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152 * @throws NyARException
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155 public final static void checkRotation(NyARRotVector io_vec1, NyARRotVector io_vec2) throws NyARException
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160 double vec10 = io_vec1.v1;
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161 double vec11 = io_vec1.v2;
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162 double vec12 = io_vec1.v3;
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163 double vec20 = io_vec2.v1;
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164 double vec21 = io_vec2.v2;
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165 double vec22 = io_vec2.v3;
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167 double vec30 = vec11 * vec22 - vec12 * vec21;
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168 double vec31 = vec12 * vec20 - vec10 * vec22;
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169 double vec32 = vec10 * vec21 - vec11 * vec20;
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170 w = Math.sqrt(vec30 * vec30 + vec31 * vec31 + vec32 * vec32);
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172 throw new NyARException();
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178 double cb = vec10 * vec20 + vec11 * vec21 + vec12 * vec22;
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180 cb=-cb;//cb *= -1.0;
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182 final double ca = (Math.sqrt(cb + 1.0) + Math.sqrt(1.0 - cb)) * 0.5;
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184 if (vec31 * vec10 - vec11 * vec30 != 0.0) {
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187 if (vec32 * vec10 - vec12 * vec30 != 0.0) {
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188 w = vec11;vec11 = vec12;vec12 = w;
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189 w = vec31;vec31 = vec32;vec32 = w;
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192 w = vec10;vec10 = vec12;vec12 = w;
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193 w = vec30;vec30 = vec32;vec32 = w;
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197 if (vec31 * vec10 - vec11 * vec30 == 0.0) {
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198 throw new NyARException();
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201 double k1,k2,k3,k4;
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206 double p4, q4, r4;
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209 k1 = (vec11 * vec32 - vec31 * vec12) / (vec31 * vec10 - vec11 * vec30);
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210 k2 = (vec31 * ca) / (vec31 * vec10 - vec11 * vec30);
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211 k3 = (vec10 * vec32 - vec30 * vec12) / (vec30 * vec11 - vec10 * vec31);
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212 k4 = (vec30 * ca) / (vec30 * vec11 - vec10 * vec31);
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214 a = k1 * k1 + k3 * k3 + 1;
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215 b = k1 * k2 + k3 * k4;
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216 c = k2 * k2 + k4 * k4 - 1;
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220 throw new NyARException();
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222 r1 = (-b + Math.sqrt(d)) / a;
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225 r2 = (-b - Math.sqrt(d)) / a;
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229 w = q1;q1 = r1;r1 = w;
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230 w = q2;q2 = r2;r2 = w;
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231 w = vec11;vec11 = vec12;vec12 = w;
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232 w = vec31;vec31 = vec32;vec32 = w;
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236 w = p1;p1 = r1;r1 = w;
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237 w = p2;p2 = r2;r2 = w;
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238 w = vec10;vec10 = vec12;vec12 = w;
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239 w = vec30;vec30 = vec32;vec32 = w;
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243 if (vec31 * vec20 - vec21 * vec30 != 0.0) {
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246 if (vec32 * vec20 - vec22 * vec30 != 0.0) {
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247 w = vec21;vec21 = vec22;vec22 = w;
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248 w = vec31;vec31 = vec32;vec32 = w;
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251 w = vec20;vec20 = vec22;vec22 = w;
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252 w = vec30;vec30 = vec32;vec32 = w;
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256 if (vec31 * vec20 - vec21 * vec30 == 0.0) {
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257 throw new NyARException();
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259 k1 = (vec21 * vec32 - vec31 * vec22) / (vec31 * vec20 - vec21 * vec30);
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260 k2 = (vec31 * ca) / (vec31 * vec20 - vec21 * vec30);
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261 k3 = (vec20 * vec32 - vec30 * vec22) / (vec30 * vec21 - vec20 * vec31);
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262 k4 = (vec30 * ca) / (vec30 * vec21 - vec20 * vec31);
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264 a = k1 * k1 + k3 * k3 + 1;
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265 b = k1 * k2 + k3 * k4;
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266 c = k2 * k2 + k4 * k4 - 1;
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270 throw new NyARException();
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272 r3 = (-b + Math.sqrt(d)) / a;
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275 r4 = (-b - Math.sqrt(d)) / a;
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279 w = q3;q3 = r3;r3 = w;
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280 w = q4;q4 = r4;r4 = w;
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281 w = vec21;vec21 = vec22;vec22 = w;
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282 w = vec31;vec31 = vec32;vec32 = w;
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286 w = p3;p3 = r3;r3 = w;
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287 w = p4;p4 = r4;r4 = w;
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288 w = vec20;vec20 = vec22;vec22 = w;
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289 w = vec30;vec30 = vec32;vec32 = w;
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293 double e1 = p1 * p3 + q1 * q3 + r1 * r3;
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297 double e2 = p1 * p4 + q1 * q4 + r1 * r4;
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301 double e3 = p2 * p3 + q2 * q3 + r2 * r3;
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305 double e4 = p2 * p4 + q2 * q4 + r2 * r4;
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