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| Rev | Author | Line No. | Line |
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| 204 | chris | 1 | /******************************************************* |
| 2 | * |
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| 3 | * Author: Hirokazu Kato |
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| 4 | * |
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| 5 | * kato@sys.im.hiroshima-cu.ac.jp |
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| 6 | * |
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| 7 | * Revision: 3.1 |
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| 8 | * Date: 01/12/07 |
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| 9 | * |
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| 10 | *******************************************************/ |
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| 11 | #include <stdlib.h> |
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| 12 | #include <math.h> |
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| 13 | #include <AR/ar.h> |
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| 14 | #include <AR/matrix.h> |
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| 15 | |||
| 16 | #define MD_PI 3.14159265358979323846 |
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| 17 | |||
| 18 | double arModifyMatrix( double rot[3][3], double trans[3], double cpara[3][4], |
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| 19 | double vertex[][3], double pos2d[][2], int num ) |
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| 20 | { |
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| 21 | double factor; |
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| 22 | double a, b, c; |
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| 23 | double a1, b1, c1; |
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| 24 | double a2, b2, c2; |
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| 25 | double ma = 0.0, mb = 0.0, mc = 0.0; |
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| 26 | double combo[3][4]; |
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| 27 | double hx, hy, h, x, y; |
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| 28 | double err, minerr; |
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| 29 | int t1, t2, t3; |
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| 30 | int s1 = 0, s2 = 0, s3 = 0; |
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| 31 | int i, j; |
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| 32 | |||
| 33 | arGetAngle( rot, &a, &b, &c ); |
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| 34 | |||
| 35 | a2 = a; |
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| 36 | b2 = b; |
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| 37 | c2 = c; |
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| 38 | factor = 10.0*MD_PI/180.0; |
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| 39 | for( j = 0; j < 10; j++ ) { |
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| 40 | minerr = 1000000000.0; |
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| 41 | for(t1=-1;t1<=1;t1++) { |
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| 42 | for(t2=-1;t2<=1;t2++) { |
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| 43 | for(t3=-1;t3<=1;t3++) { |
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| 44 | a1 = a2 + factor*t1; |
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| 45 | b1 = b2 + factor*t2; |
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| 46 | c1 = c2 + factor*t3; |
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| 47 | arGetNewMatrix( a1, b1, c1, trans, NULL, cpara, combo ); |
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| 48 | |||
| 49 | err = 0.0; |
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| 50 | for( i = 0; i < num; i++ ) { |
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| 51 | hx = combo[0][0] * vertex[i][0] |
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| 52 | + combo[0][1] * vertex[i][1] |
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| 53 | + combo[0][2] * vertex[i][2] |
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| 54 | + combo[0][3]; |
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| 55 | hy = combo[1][0] * vertex[i][0] |
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| 56 | + combo[1][1] * vertex[i][1] |
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| 57 | + combo[1][2] * vertex[i][2] |
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| 58 | + combo[1][3]; |
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| 59 | h = combo[2][0] * vertex[i][0] |
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| 60 | + combo[2][1] * vertex[i][1] |
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| 61 | + combo[2][2] * vertex[i][2] |
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| 62 | + combo[2][3]; |
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| 63 | x = hx / h; |
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| 64 | y = hy / h; |
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| 65 | |||
| 66 | err += (pos2d[i][0] - x) * (pos2d[i][0] - x) |
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| 67 | + (pos2d[i][1] - y) * (pos2d[i][1] - y); |
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| 68 | } |
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| 69 | |||
| 70 | if( err < minerr ) { |
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| 71 | minerr = err; |
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| 72 | ma = a1; |
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| 73 | mb = b1; |
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| 74 | mc = c1; |
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| 75 | s1 = t1; s2 = t2; s3 = t3; |
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| 76 | } |
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| 77 | } |
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| 78 | } |
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| 79 | } |
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| 80 | |||
| 81 | if( s1 == 0 && s2 == 0 && s3 == 0 ) factor *= 0.5; |
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| 82 | a2 = ma; |
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| 83 | b2 = mb; |
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| 84 | c2 = mc; |
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| 85 | } |
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| 86 | |||
| 87 | arGetRot( ma, mb, mc, rot ); |
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| 88 | |||
| 89 | /* printf("factor = %10.5f\n", factor*180.0/MD_PI); */ |
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| 90 | |||
| 91 | return minerr/num; |
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| 92 | } |
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| 93 | |||
| 94 | double arsModifyMatrix( double rot[3][3], double trans[3], ARSParam *arsParam, |
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| 95 | double pos3dL[][3], double pos2dL[][2], int numL, |
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| 96 | double pos3dR[][3], double pos2dR[][2], int numR ) |
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| 97 | { |
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| 98 | double factor; |
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| 99 | double a, b, c; |
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| 100 | double a1, b1, c1; |
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| 101 | double a2, b2, c2; |
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| 102 | double ma = 0.0, mb = 0.0, mc = 0.0; |
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| 103 | double combo[3][4]; |
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| 104 | double hx, hy, h, x, y; |
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| 105 | double err, minerr; |
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| 106 | int t1, t2, t3; |
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| 107 | int s1 = 0, s2 = 0, s3 = 0; |
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| 108 | int i, j; |
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| 109 | |||
| 110 | arGetAngle( rot, &a, &b, &c ); |
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| 111 | |||
| 112 | a2 = a; |
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| 113 | b2 = b; |
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| 114 | c2 = c; |
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| 115 | factor = 10.0*MD_PI/180.0; |
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| 116 | for( j = 0; j < 10; j++ ) { |
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| 117 | minerr = 1000000000.0; |
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| 118 | for(t1=-1;t1<=1;t1++) { |
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| 119 | for(t2=-1;t2<=1;t2++) { |
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| 120 | for(t3=-1;t3<=1;t3++) { |
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| 121 | a1 = a2 + factor*t1; |
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| 122 | b1 = b2 + factor*t2; |
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| 123 | c1 = c2 + factor*t3; |
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| 124 | err = 0.0; |
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| 125 | |||
| 126 | arGetNewMatrix( a1, b1, c1, trans, NULL, arsParam->matL, combo ); |
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| 127 | for( i = 0; i < numL; i++ ) { |
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| 128 | hx = combo[0][0] * pos3dL[i][0] |
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| 129 | + combo[0][1] * pos3dL[i][1] |
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| 130 | + combo[0][2] * pos3dL[i][2] |
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| 131 | + combo[0][3]; |
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| 132 | hy = combo[1][0] * pos3dL[i][0] |
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| 133 | + combo[1][1] * pos3dL[i][1] |
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| 134 | + combo[1][2] * pos3dL[i][2] |
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| 135 | + combo[1][3]; |
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| 136 | h = combo[2][0] * pos3dL[i][0] |
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| 137 | + combo[2][1] * pos3dL[i][1] |
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| 138 | + combo[2][2] * pos3dL[i][2] |
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| 139 | + combo[2][3]; |
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| 140 | x = hx / h; |
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| 141 | y = hy / h; |
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| 142 | err += (pos2dL[i][0] - x) * (pos2dL[i][0] - x) |
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| 143 | + (pos2dL[i][1] - y) * (pos2dL[i][1] - y); |
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| 144 | } |
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| 145 | |||
| 146 | arGetNewMatrix( a1, b1, c1, trans, arsParam->matL2R, arsParam->matR, combo ); |
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| 147 | for( i = 0; i < numR; i++ ) { |
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| 148 | hx = combo[0][0] * pos3dR[i][0] |
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| 149 | + combo[0][1] * pos3dR[i][1] |
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| 150 | + combo[0][2] * pos3dR[i][2] |
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| 151 | + combo[0][3]; |
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| 152 | hy = combo[1][0] * pos3dR[i][0] |
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| 153 | + combo[1][1] * pos3dR[i][1] |
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| 154 | + combo[1][2] * pos3dR[i][2] |
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| 155 | + combo[1][3]; |
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| 156 | h = combo[2][0] * pos3dR[i][0] |
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| 157 | + combo[2][1] * pos3dR[i][1] |
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| 158 | + combo[2][2] * pos3dR[i][2] |
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| 159 | + combo[2][3]; |
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| 160 | x = hx / h; |
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| 161 | y = hy / h; |
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| 162 | |||
| 163 | err += (pos2dR[i][0] - x) * (pos2dR[i][0] - x) |
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| 164 | + (pos2dR[i][1] - y) * (pos2dR[i][1] - y); |
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| 165 | } |
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| 166 | |||
| 167 | if( err < minerr ) { |
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| 168 | minerr = err; |
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| 169 | ma = a1; |
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| 170 | mb = b1; |
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| 171 | mc = c1; |
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| 172 | s1 = t1; s2 = t2; s3 = t3; |
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| 173 | } |
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| 174 | } |
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| 175 | } |
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| 176 | } |
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| 177 | |||
| 178 | if( s1 == 0 && s2 == 0 && s3 == 0 ) factor *= 0.5; |
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| 179 | a2 = ma; |
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| 180 | b2 = mb; |
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| 181 | c2 = mc; |
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| 182 | } |
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| 183 | |||
| 184 | arGetRot( ma, mb, mc, rot ); |
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| 185 | |||
| 186 | return minerr / (numL+numR); |
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| 187 | } |