WebSVN - AndroidProjects - Rev 203 - /NyARToolkitAndroid/src/jp/nyatla/nyartoolkit/core/NyARTransRot.java

package jp.nyatla.nyartoolkit.core;

import jp.nyatla.nyartoolkit.NyARException;

interface NyARTransRot
{
public double[] getArray();
/**
*
* @param trans
* @param vertex
* @param pos2d
* [n*2]配列
* @return
* @throws NyARException
*/
public double modifyMatrix(double trans[],double vertex[][], double pos2d[][]) throws NyARException;
public void initRot(NyARSquare marker_info,int i_direction) throws NyARException;
public void initRotByPrevResult(NyARTransMatResult i_prev_result);
}

/**
* NyARTransRot派生クラスで共通に使いそうな関数類をまとめたもの。
*
*/
abstract class NyARTransRot_OptimizeCommon implements NyARTransRot
{
protected final int number_of_vertex;
protected final double[] array=new double[9];
protected final NyARParam cparam;
public final void initRotByPrevResult(NyARTransMatResult i_prev_result)
{
double[][] prev_array=i_prev_result.getArray();
double[] pt;
final double[] L_rot=this.array;
pt=prev_array[0];
L_rot[0*3+0]=pt[0];
L_rot[0*3+1]=pt[1];
L_rot[0*3+2]=pt[2];
pt=prev_array[1];
L_rot[1*3+0]=pt[0];
L_rot[1*3+1]=pt[1];
L_rot[1*3+2]=pt[2];
pt=prev_array[2];
L_rot[2*3+0]=pt[0];
L_rot[2*3+1]=pt[1];
L_rot[2*3+2]=pt[2];
}
public final double[] getArray()
{
return this.array;
}
/**
* インスタンスを準備します。
* @param i_param
* nullを指定した場合、一部の関数が使用不能になります。
*/
public NyARTransRot_OptimizeCommon(NyARParam i_param,int i_number_of_vertex) throws NyARException
{
number_of_vertex=i_number_of_vertex;
cparam=i_param;
}

private final double[] wk_check_dir_world=new double[6];
private final double[] wk_check_dir_camera=new double[4];
private final NyARMat wk_check_dir_NyARMat=new NyARMat( 3, 3 );
/**
* static int check_dir( double dir[3], double st[2], double ed[2],double cpara[3][4] )
* Optimize:STEP[526->468]
* @param dir
* @param st
* @param ed
* @param cpara
*
* @throws NyARException
*/
protected final void check_dir( double dir[], double st[], double ed[],double cpara[]) throws NyARException
{
double h;
int i, j;

NyARMat mat_a = this.wk_check_dir_NyARMat;//ここ、事前に初期化できそう
double[][] a_array=mat_a.getArray();
for(j=0;j<3;j++){
for(i=0;i<3;i++){
a_array[j][i]=cpara[j*4+i];//m[j*3+i] = cpara[j][i];
}

}
// JartkException.trap("未チェックのパス");
mat_a.matrixSelfInv();
double[] world=wk_check_dir_world;//[2][3];
//<Optimize>
//world[0][0] = a_array[0][0]*st[0]*10.0+ a_array[0][1]*st[1]*10.0+ a_array[0][2]*10.0;//mat_a->m[0]*st[0]*10.0+ mat_a->m[1]*st[1]*10.0+ mat_a->m[2]*10.0;
//world[0][1] = a_array[1][0]*st[0]*10.0+ a_array[1][1]*st[1]*10.0+ a_array[1][2]*10.0;//mat_a->m[3]*st[0]*10.0+ mat_a->m[4]*st[1]*10.0+ mat_a->m[5]*10.0;
//world[0][2] = a_array[2][0]*st[0]*10.0+ a_array[2][1]*st[1]*10.0+ a_array[2][2]*10.0;//mat_a->m[6]*st[0]*10.0+ mat_a->m[7]*st[1]*10.0+ mat_a->m[8]*10.0;
//world[1][0] = world[0][0] + dir[0];
//world[1][1] = world[0][1] + dir[1];
//world[1][2] = world[0][2] + dir[2];
world[0] = a_array[0][0]*st[0]*10.0+ a_array[0][1]*st[1]*10.0+ a_array[0][2]*10.0;//mat_a->m[0]*st[0]*10.0+ mat_a->m[1]*st[1]*10.0+ mat_a->m[2]*10.0;
world[1] = a_array[1][0]*st[0]*10.0+ a_array[1][1]*st[1]*10.0+ a_array[1][2]*10.0;//mat_a->m[3]*st[0]*10.0+ mat_a->m[4]*st[1]*10.0+ mat_a->m[5]*10.0;
world[2] = a_array[2][0]*st[0]*10.0+ a_array[2][1]*st[1]*10.0+ a_array[2][2]*10.0;//mat_a->m[6]*st[0]*10.0+ mat_a->m[7]*st[1]*10.0+ mat_a->m[8]*10.0;
world[3] = world[0] + dir[0];
world[4] = world[1] + dir[1];
world[5] = world[2] + dir[2];
//</Optimize>

double[] camera=wk_check_dir_camera;//[2][2];
for( i = 0; i < 2; i++ ) {
h = cpara[2*4+0] * world[i*3+0]+ cpara[2*4+1] * world[i*3+1]+ cpara[2*4+2] * world[i*3+2];
if( h == 0.0 ){
throw new NyARException();
}
camera[i*2+0] = (cpara[0*4+0] * world[i*3+0]+ cpara[0*4+1] * world[i*3+1]+ cpara[0*4+2] * world[i*3+2]) / h;
camera[i*2+1] = (cpara[1*4+0] * world[i*3+0]+ cpara[1*4+1] * world[i*3+1]+ cpara[1*4+2] * world[i*3+2]) / h;
}
//<Optimize>
//v[0][0] = ed[0] - st[0];
//v[0][1] = ed[1] - st[1];
//v[1][0] = camera[1][0] - camera[0][0];
//v[1][1] = camera[1][1] - camera[0][1];
double v=(ed[0]-st[0])*(camera[2]-camera[0])+(ed[1]-st[1])*(camera[3]-camera[1]);
//</Optimize>
if(v<0) {//if( v[0][0]*v[1][0] + v[0][1]*v[1][1] < 0 ) {
dir[0] = -dir[0];
dir[1] = -dir[1];
dir[2] = -dir[2];
}
}
/*int check_rotation( double rot[2][3] )*/
protected final static void check_rotation( double rot[][] ) throws NyARException
{
double[] v1=new double[3], v2=new double[3], v3=new double[3];
double ca, cb, k1, k2, k3, k4;
double a, b, c, d;
double p1, q1, r1;
double p2, q2, r2;
double p3, q3, r3;
double p4, q4, r4;
double w;
double e1, e2, e3, e4;
int f;

v1[0] = rot[0][0];
v1[1] = rot[0][1];
v1[2] = rot[0][2];
v2[0] = rot[1][0];
v2[1] = rot[1][1];
v2[2] = rot[1][2];
v3[0] = v1[1]*v2[2] - v1[2]*v2[1];
v3[1] = v1[2]*v2[0] - v1[0]*v2[2];
v3[2] = v1[0]*v2[1] - v1[1]*v2[0];
w = Math.sqrt( v3[0]*v3[0]+v3[1]*v3[1]+v3[2]*v3[2] );
if( w == 0.0 ){
throw new NyARException();
}
v3[0] /= w;
v3[1] /= w;
v3[2] /= w;

cb = v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
if( cb < 0 ) cb *= -1.0;
ca = (Math.sqrt(cb+1.0) + Math.sqrt(1.0-cb)) * 0.5;

if( v3[1]*v1[0] - v1[1]*v3[0] != 0.0 ) {
f = 0;
}
else {
if( v3[2]*v1[0] - v1[2]*v3[0] != 0.0 ) {
w = v1[1]; v1[1] = v1[2]; v1[2] = w;
w = v3[1]; v3[1] = v3[2]; v3[2] = w;
f = 1;
}
else {
w = v1[0]; v1[0] = v1[2]; v1[2] = w;
w = v3[0]; v3[0] = v3[2]; v3[2] = w;
f = 2;
}
}
if( v3[1]*v1[0] - v1[1]*v3[0] == 0.0 ){
throw new NyARException();
}
k1 = (v1[1]*v3[2] - v3[1]*v1[2]) / (v3[1]*v1[0] - v1[1]*v3[0]);
k2 = (v3[1] * ca) / (v3[1]*v1[0] - v1[1]*v3[0]);
k3 = (v1[0]*v3[2] - v3[0]*v1[2]) / (v3[0]*v1[1] - v1[0]*v3[1]);
k4 = (v3[0] * ca) / (v3[0]*v1[1] - v1[0]*v3[1]);

a = k1*k1 + k3*k3 + 1;
b = k1*k2 + k3*k4;
c = k2*k2 + k4*k4 - 1;

d = b*b - a*c;
if( d < 0 ){
throw new NyARException();
}
r1 = (-b + Math.sqrt(d))/a;
p1 = k1*r1 + k2;
q1 = k3*r1 + k4;
r2 = (-b - Math.sqrt(d))/a;
p2 = k1*r2 + k2;
q2 = k3*r2 + k4;
if( f == 1 ) {
w = q1; q1 = r1; r1 = w;
w = q2; q2 = r2; r2 = w;
w = v1[1]; v1[1] = v1[2]; v1[2] = w;
w = v3[1]; v3[1] = v3[2]; v3[2] = w;
f = 0;
}
if( f == 2 ) {
w = p1; p1 = r1; r1 = w;
w = p2; p2 = r2; r2 = w;
w = v1[0]; v1[0] = v1[2]; v1[2] = w;
w = v3[0]; v3[0] = v3[2]; v3[2] = w;
f = 0;
}

if( v3[1]*v2[0] - v2[1]*v3[0] != 0.0 ) {
f = 0;
}else {
if( v3[2]*v2[0] - v2[2]*v3[0] != 0.0 ) {
w = v2[1]; v2[1] = v2[2]; v2[2] = w;
w = v3[1]; v3[1] = v3[2]; v3[2] = w;
f = 1;
}
else {
w = v2[0]; v2[0] = v2[2]; v2[2] = w;
w = v3[0]; v3[0] = v3[2]; v3[2] = w;
f = 2;
}
}
if( v3[1]*v2[0] - v2[1]*v3[0] == 0.0 ){
throw new NyARException();
}
k1 = (v2[1]*v3[2] - v3[1]*v2[2]) / (v3[1]*v2[0] - v2[1]*v3[0]);
k2 = (v3[1] * ca) / (v3[1]*v2[0] - v2[1]*v3[0]);
k3 = (v2[0]*v3[2] - v3[0]*v2[2]) / (v3[0]*v2[1] - v2[0]*v3[1]);
k4 = (v3[0] * ca) / (v3[0]*v2[1] - v2[0]*v3[1]);

a = k1*k1 + k3*k3 + 1;
b = k1*k2 + k3*k4;
c = k2*k2 + k4*k4 - 1;

d = b*b - a*c;
if( d < 0 ){
throw new NyARException();
}
r3 = (-b + Math.sqrt(d))/a;
p3 = k1*r3 + k2;
q3 = k3*r3 + k4;
r4 = (-b - Math.sqrt(d))/a;
p4 = k1*r4 + k2;
q4 = k3*r4 + k4;
if( f == 1 ) {
w = q3; q3 = r3; r3 = w;
w = q4; q4 = r4; r4 = w;
w = v2[1]; v2[1] = v2[2]; v2[2] = w;
w = v3[1]; v3[1] = v3[2]; v3[2] = w;
f = 0;
}
if( f == 2 ) {
w = p3; p3 = r3; r3 = w;
w = p4; p4 = r4; r4 = w;
w = v2[0]; v2[0] = v2[2]; v2[2] = w;
w = v3[0]; v3[0] = v3[2]; v3[2] = w;
f = 0;
}

e1 = p1*p3+q1*q3+r1*r3;
if( e1 < 0 ){
e1 = -e1;
}
e2 = p1*p4+q1*q4+r1*r4;
if( e2 < 0 ){
e2 = -e2;
}
e3 = p2*p3+q2*q3+r2*r3;
if( e3 < 0 ){
e3 = -e3;
}
e4 = p2*p4+q2*q4+r2*r4;
if( e4 < 0 ){
e4 = -e4;
}
if( e1 < e2 ) {
if( e1 < e3 ) {
if( e1 < e4 ) {
rot[0][0] = p1;
rot[0][1] = q1;
rot[0][2] = r1;
rot[1][0] = p3;
rot[1][1] = q3;
rot[1][2] = r3;
}
else {
rot[0][0] = p2;
rot[0][1] = q2;
rot[0][2] = r2;
rot[1][0] = p4;
rot[1][1] = q4;
rot[1][2] = r4;
}
}
else {
if( e3 < e4 ) {
rot[0][0] = p2;
rot[0][1] = q2;
rot[0][2] = r2;
rot[1][0] = p3;
rot[1][1] = q3;
rot[1][2] = r3;
}
else {
rot[0][0] = p2;
rot[0][1] = q2;
rot[0][2] = r2;
rot[1][0] = p4;
rot[1][1] = q4;
rot[1][2] = r4;
}
}
}
else {
if( e2 < e3 ) {
if( e2 < e4 ) {
rot[0][0] = p1;
rot[0][1] = q1;
rot[0][2] = r1;
rot[1][0] = p4;
rot[1][1] = q4;
rot[1][2] = r4;
}
else {
rot[0][0] = p2;
rot[0][1] = q2;
rot[0][2] = r2;
rot[1][0] = p4;
rot[1][1] = q4;
rot[1][2] = r4;
}
}
else {
if( e3 < e4 ) {
rot[0][0] = p2;
rot[0][1] = q2;
rot[0][2] = r2;
rot[1][0] = p3;
rot[1][1] = q3;
rot[1][2] = r3;
}
else {
rot[0][0] = p2;
rot[0][1] = q2;
rot[0][2] = r2;
rot[1][0] = p4;
rot[1][1] = q4;
rot[1][2] = r4;
}
}
}
}
/**
* パラメタa,b,cからrotを計算してインスタンスに保存する。
* rotを1次元配列に変更
* Optimize:2008.04.20:STEP[253→186]
* @param a
* @param b
* @param c
* @param o_rot
*/
protected final static void arGetRot( double a, double b, double c,double[] o_rot)
{
double sina, sinb, sinc;
double cosa, cosb, cosc;

sina = Math.sin(a);
cosa = Math.cos(a);
sinb = Math.sin(b);
cosb = Math.cos(b);
sinc = Math.sin(c);
cosc = Math.cos(c);
//Optimize
double CACA,SASA,SACA,SASB,CASB,SACACB;
CACA =cosa*cosa;
SASA =sina*sina;
SACA =sina*cosa;
SASB =sina*sinb;
CASB =cosa*sinb;
SACACB=SACA*cosb;

o_rot[0] = CACA*cosb*cosc+SASA*cosc+SACACB*sinc-SACA*sinc;
o_rot[1] = -CACA*cosb*sinc-SASA*sinc+SACACB*cosc-SACA*cosc;
o_rot[2] = CASB;
o_rot[3] = SACACB*cosc-SACA*cosc+SASA*cosb*sinc+CACA*sinc;
o_rot[4] = -SACACB*sinc+SACA*sinc+SASA*cosb*cosc+CACA*cosc;
o_rot[5] = SASB;
o_rot[6] = -CASB*cosc-SASB*sinc;
o_rot[7] = CASB*sinc-SASB*cosc;
o_rot[8] = cosb;
}
/**
* int arGetAngle( double rot[3][3], double *wa, double *wb, double *wc )
* Optimize:2008.04.20:STEP[481→433]
* @param rot
* 2次元配列を1次元化してあります。
* @param o_abc
* @return
*/
protected final int arGetAngle(double[] o_abc)
{
double a, b, c,tmp;
double sina, cosa, sinb, cosb, sinc, cosc;
double[] rot=array;
if( rot[8] > 1.0 ) {//<Optimize/>if( rot[2][2] > 1.0 ) {
rot[8] = 1.0;//<Optimize/>rot[2][2] = 1.0;
}else if( rot[8] < -1.0 ) {//<Optimize/>}else if( rot[2][2] < -1.0 ) {
rot[8] = -1.0;//<Optimize/>rot[2][2] = -1.0;
}
cosb = rot[8];//<Optimize/>cosb = rot[2][2];
b = Math.acos( cosb );
sinb = Math.sin( b );
if( b >= 0.000001 || b <= -0.000001) {
cosa = rot[2] / sinb;//<Optimize/>cosa = rot[0][2] / sinb;
sina = rot[5] / sinb;//<Optimize/>sina = rot[1][2] / sinb;
if( cosa > 1.0 ) {
/* printf("cos(alph) = %f\n", cosa); */
cosa = 1.0;
sina = 0.0;
}
if( cosa < -1.0 ) {
/* printf("cos(alph) = %f\n", cosa); */
cosa = -1.0;
sina = 0.0;
}
if( sina > 1.0 ) {
/* printf("sin(alph) = %f\n", sina); */
sina = 1.0;
cosa = 0.0;
}
if( sina < -1.0 ) {
/* printf("sin(alph) = %f\n", sina); */
sina = -1.0;
cosa = 0.0;
}
a = Math.acos( cosa );
if( sina < 0 ){
a = -a;
}
//<Optimize>
//sinc = (rot[2][1]*rot[0][2]-rot[2][0]*rot[1][2])/ (rot[0][2]*rot[0][2]+rot[1][2]*rot[1][2]);
//cosc = -(rot[0][2]*rot[2][0]+rot[1][2]*rot[2][1])/ (rot[0][2]*rot[0][2]+rot[1][2]*rot[1][2]);
tmp = (rot[2]*rot[2]+rot[5]*rot[5]);
sinc = (rot[7]*rot[2]-rot[6]*rot[5])/ tmp;
cosc = -(rot[2]*rot[6]+rot[5]*rot[7])/ tmp;
//</Optimize>

if( cosc > 1.0 ) {
/* printf("cos(r) = %f\n", cosc); */
cosc = 1.0;
sinc = 0.0;
}
if( cosc < -1.0 ) {
/* printf("cos(r) = %f\n", cosc); */
cosc = -1.0;
sinc = 0.0;
}
if( sinc > 1.0 ) {
/* printf("sin(r) = %f\n", sinc); */
sinc = 1.0;
cosc = 0.0;
}
if( sinc < -1.0 ) {
/* printf("sin(r) = %f\n", sinc); */
sinc = -1.0;
cosc = 0.0;
}
c = Math.acos( cosc );
if( sinc < 0 ){
c = -c;
}
}else {
a = b = 0.0;
cosa = cosb = 1.0;
sina = sinb = 0.0;
cosc = rot[0];//<Optimize/>cosc = rot[0][0];
sinc = rot[1];//<Optimize/>sinc = rot[1][0];
if( cosc > 1.0 ) {
/* printf("cos(r) = %f\n", cosc); */
cosc = 1.0;
sinc = 0.0;
}
if( cosc < -1.0 ) {
/* printf("cos(r) = %f\n", cosc); */
cosc = -1.0;
sinc = 0.0;
}
if( sinc > 1.0 ) {
/* printf("sin(r) = %f\n", sinc); */
sinc = 1.0;
cosc = 0.0;
}
if( sinc < -1.0 ) {
/* printf("sin(r) = %f\n", sinc); */
sinc = -1.0;
cosc = 0.0;
}
c = Math.acos( cosc );
if( sinc < 0 ){
c = -c;
}
}
o_abc[0]=a;//wa.value=a;//*wa = a;
o_abc[1]=b;//wb.value=b;//*wb = b;
o_abc[2]=c;//wc.value=c;//*wc = c;
return 0;
}
}

/**
* NyARModifyMatrixの最適化バージョン1
* 配列の１次元化、計算ステップの圧縮等の最適化をしてみた。
*
*/
class NyARTransRot_O1 extends NyARTransRot_OptimizeCommon
{
public NyARTransRot_O1(NyARParam i_param,int i_number_of_vertex) throws NyARException
{
super(i_param,i_number_of_vertex);
}
/**
* int arGetInitRot( ARMarkerInfo *marker_info, double cpara[3][4], double rot[3][3] )
* Optimize:2008.04.20:STEP[716→698]
* @param marker_info
* @param i_direction
* @param i_param
* @throws NyARException
*/
public final void initRot(NyARSquare marker_info,int i_direction) throws NyARException
{
double cpara[]= cparam.get34Array();
double[][] wdir=new double[3][3];
double w, w1, w2, w3;
int dir;
int j;

dir = i_direction;

for( j = 0; j < 2; j++ ) {
w1 = marker_info.line[(4-dir+j)%4][0] * marker_info.line[(6-dir+j)%4][1]- marker_info.line[(6-dir+j)%4][0] * marker_info.line[(4-dir+j)%4][1];
w2 = marker_info.line[(4-dir+j)%4][1] * marker_info.line[(6-dir+j)%4][2]- marker_info.line[(6-dir+j)%4][1] * marker_info.line[(4-dir+j)%4][2];
w3 = marker_info.line[(4-dir+j)%4][2] * marker_info.line[(6-dir+j)%4][0]- marker_info.line[(6-dir+j)%4][2] * marker_info.line[(4-dir+j)%4][0];

wdir[j][0] = 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];
wdir[j][1] = -w1*cpara[0*4+0]*cpara[1*4+2]+ w3*cpara[0*4+0];
wdir[j][2] = w1*cpara[0*4+0]*cpara[1*4+1];
w = Math.sqrt( wdir[j][0]*wdir[j][0]+ wdir[j][1]*wdir[j][1]+ wdir[j][2]*wdir[j][2] );
wdir[j][0] /= w;
wdir[j][1] /= w;
wdir[j][2] /= w;
}

//以下3ケースは、計算エラーのときは例外が発生する。
check_dir(wdir[0], marker_info.sqvertex[(4-dir)%4],marker_info.sqvertex[(5-dir)%4], cpara);

check_dir(wdir[1], marker_info.sqvertex[(7-dir)%4],marker_info.sqvertex[(4-dir)%4], cpara);

check_rotation(wdir);

wdir[2][0] = wdir[0][1]*wdir[1][2] - wdir[0][2]*wdir[1][1];
wdir[2][1] = wdir[0][2]*wdir[1][0] - wdir[0][0]*wdir[1][2];
wdir[2][2] = wdir[0][0]*wdir[1][1] - wdir[0][1]*wdir[1][0];
w = Math.sqrt( wdir[2][0]*wdir[2][0]+ wdir[2][1]*wdir[2][1]+ wdir[2][2]*wdir[2][2] );
wdir[2][0] /= w;
wdir[2][1] /= w;
wdir[2][2] /= w;
/*
if( wdir[2][2] < 0 ) {
wdir[2][0] /= -w;
wdir[2][1] /= -w;
wdir[2][2] /= -w;
}
else {
wdir[2][0] /= w;
wdir[2][1] /= w;
wdir[2][2] /= w;
}
*/
//<Optimize>
//rot[0][0] = wdir[0][0];
//rot[1][0] = wdir[0][1];
//rot[2][0] = wdir[0][2];
//rot[0][1] = wdir[1][0];
//rot[1][1] = wdir[1][1];
//rot[2][1] = wdir[1][2];
//rot[0][2] = wdir[2][0];
//rot[1][2] = wdir[2][1];
//rot[2][2] = wdir[2][2];
double[] rot=this.array;
rot[0] = wdir[0][0];
rot[3] = wdir[0][1];
rot[6] = wdir[0][2];
rot[1] = wdir[1][0];
rot[4] = wdir[1][1];
rot[7] = wdir[1][2];
rot[2] = wdir[2][0];
rot[5] = wdir[2][1];
rot[8] = wdir[2][2];
//</Optimize>
}
private final double[] wk_arModifyMatrix_combo=new double[12];//[3][4];
private final double[] wk_arModifyMatrix_abc=new double[3];
private final double[] wk_arModifyMatrix_rot=new double[9];
/**
* Optimize:2008.04.20:STEP[456→-]
* @param rot
* [3x3]配列
* @param trans
* @param vertex
* @param pos2d
* @param num
* @return
*/
public final double modifyMatrix(double trans[],double vertex[][], double pos2d[][]) throws NyARException
{
int num=this.number_of_vertex;
double factor;
double a1, b1, c1;
double a2, b2, c2;
double ma = 0.0, mb = 0.0, mc = 0.0;
double hx, hy, h, x, y;
double err, minerr=0;
int t1, t2, t3;
int s1 = 0, s2 = 0, s3 = 0;
int i, j;
double[] combo=this.wk_arModifyMatrix_combo;//arGetNewMatrixで初期化されるので初期化不要//new double[3][4];
double[] abc=wk_arModifyMatrix_abc;
double[] rot=wk_arModifyMatrix_rot;

arGetAngle(abc);//arGetAngle( rot, &a, &b, &c );
a2 = abc[0];
b2 = abc[1];
c2 = abc[2];
factor = 10.0*Math.PI/180.0;
for( j = 0; j < 10; j++ ) {
minerr = 1000000000.0;
for(t1=-1;t1<=1;t1++) {
for(t2=-1;t2<=1;t2++) {
for(t3=-1;t3<=1;t3++) {
a1 = a2 + factor*t1;
b1 = b2 + factor*t2;
c1 = c2 + factor*t3;
arGetRot( a1, b1, c1,rot);
arGetNewMatrix(rot,trans, null, combo );
err = 0.0;
for( i = 0; i < num; i++ ) {
hx = combo[0] * vertex[i][0]+ combo[1] * vertex[i][1]+ combo[2] * vertex[i][2]+ combo[3];
hy = combo[4] * vertex[i][0]+ combo[5] * vertex[i][1]+ combo[6] * vertex[i][2]+ combo[7];
h = combo[8] * vertex[i][0]+ combo[9] * vertex[i][1]+ combo[10] * vertex[i][2]+ combo[11];
x = hx / h;
y = hy / h;
err += (pos2d[i][0] - x) * (pos2d[i][0] - x)+ (pos2d[i][1] - y) * (pos2d[i][1] - y);
}
if( err < minerr ) {
minerr = err;
ma = a1;
mb = b1;
mc = c1;
s1 = t1;
s2 = t2;
s3 = t3;
}
}
}
}
if( s1 == 0 && s2 == 0 && s3 == 0 ){
factor *= 0.5;
}
a2 = ma;
b2 = mb;
c2 = mc;
}
arGetRot(ma, mb, mc,this.array);
/* printf("factor = %10.5f\n", factor*180.0/MD_PI); */
return minerr/num;
}
private final double[] wk_cpara2_arGetNewMatrix=new double[12];//[3][4];
/**
* Optimize:2008.04.20:STEP[569->432]
* @param i_rot
* [9]
* @param trans
* @param trans2
* @param ret
* double[3x4]配列
* @return
*/
private final int arGetNewMatrix(double[] i_rot,double trans[], double trans2[][], double ret[]) throws NyARException
{
final double cpara[]=cparam.get34Array();
final double[] cpara2; //この関数で初期化される。
int j,j_idx;
// double[] cpara_pt;
//cparaの2次元配列→1次元に変換して計算
if( trans2 != null ) {
cpara2=wk_cpara2_arGetNewMatrix; //この関数で初期化される。

for( j = 0; j < 3; j++ ) {
// Optimize(使わないから最適化してない)
NyARException.trap("未チェックのパス");
cpara2[j*4+0] = cpara[j*4+0] * trans2[0][0]+ cpara[j*4+1] * trans2[1][0]+ cpara[j*4+2] * trans2[2][0];
cpara2[j*4+1] = cpara[j*4+0] * trans2[0][1]+ cpara[j*4+1] * trans2[1][1]+ cpara[j*4+2] * trans2[2][1];
cpara2[j*4+2] = cpara[j*4+0] * trans2[0][2]+ cpara[j*4+1] * trans2[1][2]+ cpara[j*4+2] * trans2[2][2];
cpara2[j*4+3] = cpara[j*4+0] * trans2[0][3]+ cpara[j*4+1] * trans2[1][3]+ cpara[j*4+2] * trans2[2][3];
}
}else{
cpara2=cpara;//cparaの値をそのまま使う
}
for( j = 0; j < 3; j++ ) {
//cpara2_pt=cpara2[j];
j_idx=j*4;
//<Optimize>
//ret[j][0] = cpara2_pt[0] * rot[0][0]+ cpara2_pt[1] * rot[1][0]+ cpara2_pt[2] * rot[2][0];
//ret[j][1] = cpara2_pt[0] * rot[0][1]+ cpara2_pt[1] * rot[1][1]+ cpara2_pt[2] * rot[2][1];
//ret[j][2] = cpara2_pt[0] * rot[0][2]+ cpara2_pt[1] * rot[1][2]+ cpara2_pt[2] * rot[2][2];
//ret[j][3] = cpara2_pt[0] * trans[0]+ cpara2_pt[1] * trans[1]+ cpara2_pt[2] * trans[2]+ cpara2_pt[3];
ret[j_idx+0] = cpara2[j_idx+0] * i_rot[0]+ cpara2[j_idx+1] * i_rot[3]+ cpara2[j_idx+2] * i_rot[6];
ret[j_idx+1] = cpara2[j_idx+0] * i_rot[1]+ cpara2[j_idx+1] * i_rot[4]+ cpara2[j_idx+2] * i_rot[7];
ret[j_idx+2] = cpara2[j_idx+0] * i_rot[2]+ cpara2[j_idx+1] * i_rot[5]+ cpara2[j_idx+2] * i_rot[8];
ret[j_idx+3] = cpara2[j_idx+0] * trans[0]+ cpara2[j_idx+1] * trans[1]+ cpara2[j_idx+2] * trans[2]+ cpara2[j_idx+3];
//</Optimize>
}
return(0);
}
}

/**
* NyARModifyMatrixの最適化バージョン2
* 計算手順の変更、構造変更など含む最適化をしたもの
*
*/
class NyARTransRot_O2 extends NyARTransRot_OptimizeCommon
{
public NyARTransRot_O2(NyARParam i_param,int i_number_of_vertex) throws NyARException
{
super(i_param,i_number_of_vertex);
}

//private double CACA,SASA,SACA,CA,SA;
private double CACA,SASA,SACA,CA,SA;
final public void arGetRotA( double a)
{
double sina,cosa;
sina = Math.sin(a);
cosa = Math.cos(a);
//Optimize
CACA=cosa*cosa;
SASA=sina*sina;
SACA=sina*cosa;
CA=cosa;
SA=sina;
}
private double CACACB,SACACB,SASACB,CASB,SASB;
final public void arGetRotB(double b,double[] o_rot)
{
double sinb,cosb;
sinb = Math.sin(b);
cosb = Math.cos(b);
CACACB=CACA*cosb;
SACACB=SACA*cosb;
SASACB=SASA*cosb;
CASB=CA*sinb;
SASB=SA*sinb;
o_rot[2] = CASB;
o_rot[5] = SASB;
o_rot[8] = cosb;
}
/**
* 分割arGetRot
* @param c
*/
public final void arGetRotC(double c,double[] o_rot)
{
double sinc,cosc;
sinc = Math.sin(c);
cosc = Math.cos(c);
double SACASC,SACACBSC,SACACBCC,SACACC;
SACASC=SACA*sinc;
SACACC=SACA*cosc;
SACACBSC=SACACB*sinc;
SACACBCC=SACACB*cosc;
o_rot[0] = CACACB*cosc+SASA*cosc+SACACBSC-SACASC;
o_rot[1] = -CACACB*sinc-SASA*sinc+SACACBCC-SACACC;
o_rot[3] = SACACBCC-SACACC+SASACB*sinc+CACA*sinc;
o_rot[4] = -SACACBSC+SACASC+SASACB*cosc+CACA*cosc;
o_rot[6] = -CASB*cosc-SASB*sinc;
o_rot[7] = CASB*sinc-SASB*cosc;
}
private final double[][] wk_initRot_wdir=new double[3][3];
/**
* int arGetInitRot( ARMarkerInfo *marker_info, double cpara[3][4], double rot[3][3] )
* Optimize:2008.04.20:STEP[716→698]
* @param marker_info
* @param i_direction
* @param i_param
* @throws NyARException
*/
public void initRot(NyARSquare marker_info,int i_direction) throws NyARException
{
double cpara[]= cparam.get34Array();
double[][] wdir=wk_initRot_wdir;//この関数で初期化される
double w, w1, w2, w3;
int dir;
int j;

dir = i_direction;

for( j = 0; j < 2; j++ ) {
w1 = marker_info.line[(4-dir+j)%4][0] * marker_info.line[(6-dir+j)%4][1]- marker_info.line[(6-dir+j)%4][0] * marker_info.line[(4-dir+j)%4][1];
w2 = marker_info.line[(4-dir+j)%4][1] * marker_info.line[(6-dir+j)%4][2]- marker_info.line[(6-dir+j)%4][1] * marker_info.line[(4-dir+j)%4][2];
w3 = marker_info.line[(4-dir+j)%4][2] * marker_info.line[(6-dir+j)%4][0]- marker_info.line[(6-dir+j)%4][2] * marker_info.line[(4-dir+j)%4][0];

wdir[j][0] = 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];
wdir[j][1] = -w1*cpara[0*4+0]*cpara[1*4+2]+ w3*cpara[0*4+0];
wdir[j][2] = w1*cpara[0*4+0]*cpara[1*4+1];
w = Math.sqrt( wdir[j][0]*wdir[j][0]+ wdir[j][1]*wdir[j][1]+ wdir[j][2]*wdir[j][2] );
wdir[j][0] /= w;
wdir[j][1] /= w;
wdir[j][2] /= w;
}

//以下3ケースは、計算エラーのときは例外が発生する。
check_dir(wdir[0], marker_info.sqvertex[(4-dir)%4],marker_info.sqvertex[(5-dir)%4], cpara);

check_dir(wdir[1], marker_info.sqvertex[(7-dir)%4],marker_info.sqvertex[(4-dir)%4], cpara);

check_rotation(wdir);

wdir[2][0] = wdir[0][1]*wdir[1][2] - wdir[0][2]*wdir[1][1];
wdir[2][1] = wdir[0][2]*wdir[1][0] - wdir[0][0]*wdir[1][2];
wdir[2][2] = wdir[0][0]*wdir[1][1] - wdir[0][1]*wdir[1][0];
w = Math.sqrt( wdir[2][0]*wdir[2][0]+ wdir[2][1]*wdir[2][1]+ wdir[2][2]*wdir[2][2] );
wdir[2][0] /= w;
wdir[2][1] /= w;
wdir[2][2] /= w;
//<Optimize>
//rot[0][0] = wdir[0][0];
//rot[1][0] = wdir[0][1];
//rot[2][0] = wdir[0][2];
//rot[0][1] = wdir[1][0];
//rot[1][1] = wdir[1][1];
//rot[2][1] = wdir[1][2];
//rot[0][2] = wdir[2][0];
//rot[1][2] = wdir[2][1];
//rot[2][2] = wdir[2][2];
double[] rot=this.array;
rot[0] = wdir[0][0];
rot[3] = wdir[0][1];
rot[6] = wdir[0][2];
rot[1] = wdir[1][0];
rot[4] = wdir[1][1];
rot[7] = wdir[1][2];
rot[2] = wdir[2][0];
rot[5] = wdir[2][1];
rot[8] = wdir[2][2];
//</Optimize>
}
private final double[] wk_arModifyMatrix_combo=new double[12];//[3][4];
private final double[] wk_arModifyMatrix_abc=new double[3];
private final double[] wk_arModifyMatrix_rot=new double[9];
/**
* arGetRot計算を階層化したModifyMatrix
* @param nyrot
* @param trans
* @param vertex
* @param pos2d
* @param num
* @return
* @throws NyARException
*/
public double modifyMatrix(double trans[],double vertex[][], double pos2d[][]) throws NyARException
{
int num=this.number_of_vertex;
double factor;
double a1, b1, c1;
double a2, b2, c2;
double ma = 0.0, mb = 0.0, mc = 0.0;
double hx, hy, h, x, y;
double err, minerr=0;
int t1, t2, t3;
int s1 = 0, s2 = 0, s3 = 0;
int i, j;
final double[] combo=this.wk_arModifyMatrix_combo;//arGetNewMatrixで初期化されるので初期化不要//new double[3][4];
final double[] abc=wk_arModifyMatrix_abc;
double[] rot=wk_arModifyMatrix_rot;

arGetAngle(abc);//arGetAngle( rot, &a, &b, &c );
a2 = abc[0];
b2 = abc[1];
c2 = abc[2];
factor = 10.0*Math.PI/180.0;

nyatla_arGetNewMatrix_row3(trans,combo);//comboの3行目を先に計算
for( j = 0; j < 10; j++ ) {
minerr = 1000000000.0;
for(t1=-1;t1<=1;t1++) {
a1 = a2 + factor*t1;
arGetRotA(a1);
for(t2=-1;t2<=1;t2++) {
b1 = b2 + factor*t2;
arGetRotB(b1,rot);
for(t3=-1;t3<=1;t3++) {
c1 = c2 + factor*t3;
arGetRotC(c1,rot);
//comboの0-2行目を計算
nyatla_arGetNewMatrix_row012(rot,trans,combo);//第二パラメタは常にnull//arGetNewMatrix(trans, null, combo );
err = 0.0;
for( i = 0; i < num; i++ ) {
hx = combo[0] * vertex[i][0]+ combo[1] * vertex[i][1]+ combo[2] * vertex[i][2]+ combo[3];
hy = combo[4] * vertex[i][0]+ combo[5] * vertex[i][1]+ combo[6] * vertex[i][2]+ combo[7];
h = combo[8] * vertex[i][0]+ combo[9] * vertex[i][1]+ combo[10] * vertex[i][2]+ combo[11];
x = hx / h;
y = hy / h;
err += (pos2d[i][0] - x) * (pos2d[i][0] - x)+ (pos2d[i][1] - y) * (pos2d[i][1] - y);
}
if( err < minerr ) {
minerr = err;
ma = a1;
mb = b1;
mc = c1;
s1 = t1;
s2 = t2;
s3 = t3;
}
}
}
}
if( s1 == 0 && s2 == 0 && s3 == 0 ){
factor *= 0.5;
}
a2 = ma;
b2 = mb;
c2 = mc;
}
arGetRot(ma,mb,mc,this.array);
/* printf("factor = %10.5f\n", factor*180.0/MD_PI); */
return minerr/num;
}
/**
* arGetNewMatrixの0-2行目を初期化する関数
* Optimize:2008.04.20:STEP[569->144]
* @param i_rot
* @param trans
* @param trans2
* @param ret
* double[3x4]配列
* @return
*/
private final void nyatla_arGetNewMatrix_row012(double i_rot[],double trans[],double ret[]) throws NyARException
{
int j;
double c0,c1,c2;
final double cpara2[]=cparam.get34Array();
for( j = 0; j < 3; j++ ) {
//cpara2_pt=cpara2[j];
c0=cpara2[j*4+0];
c1=cpara2[j*4+1];
c2=cpara2[j*4+2];
ret[j*4+0] = c0 * i_rot[0]+ c1 * i_rot[3]+ c2 * i_rot[6];
ret[j*4+1] = c0 * i_rot[1]+ c1 * i_rot[4]+ c2 * i_rot[7];
ret[j*4+2] = c0 * i_rot[2]+ c1 * i_rot[5]+ c2 * i_rot[8];
//</Optimize>
}
return;
}
/**
* arGetNewMatrixの3行目を初期化する関数
* @param trans
* @param ret
* @throws NyARException
*/
private final void nyatla_arGetNewMatrix_row3(double trans[],double ret[]) throws NyARException
{
final double cpara2[]=cparam.get34Array();
int j,j_idx;
for( j = 0; j < 3; j++ ) {
j_idx=j*4;
ret[j_idx+3] = cpara2[j_idx+0] * trans[0]+ cpara2[j_idx+1] * trans[1]+ cpara2[j_idx+2] * trans[2]+ cpara2[j_idx+3];
}
return;
}
}

/**
* NyARModifyMatrixの最適化バージョン3
* O3版の演算テーブル版
* 計算速度のみを追求する
*
*/
class NyARTransRot_O3 extends NyARTransRot_OptimizeCommon
{
public NyARTransRot_O3(NyARParam i_param,int i_number_of_vertex) throws NyARException
{
super(i_param,i_number_of_vertex);
if(i_number_of_vertex!=4){
//4以外の頂点数は処理しない
throw new NyARException();
}
}

//private double CACA,SASA,SACA,CA,SA;
private final double[][] wk_initRot_wdir=new double[3][3];
/**
* int arGetInitRot( ARMarkerInfo *marker_info, double cpara[3][4], double rot[3][3] )
* Optimize:2008.04.20:STEP[716→698]
* @param marker_info
* @param i_direction
* @param i_param
* @throws NyARException
*/
public void initRot(NyARSquare marker_info,int i_direction) throws NyARException
{
double cpara[]= cparam.get34Array();
double[][] wdir=wk_initRot_wdir;//この関数で初期化される
double w, w1, w2, w3;
int dir;
int j;

dir = i_direction;

for( j = 0; j < 2; j++ ) {
w1 = marker_info.line[(4-dir+j)%4][0] * marker_info.line[(6-dir+j)%4][1]- marker_info.line[(6-dir+j)%4][0] * marker_info.line[(4-dir+j)%4][1];
w2 = marker_info.line[(4-dir+j)%4][1] * marker_info.line[(6-dir+j)%4][2]- marker_info.line[(6-dir+j)%4][1] * marker_info.line[(4-dir+j)%4][2];
w3 = marker_info.line[(4-dir+j)%4][2] * marker_info.line[(6-dir+j)%4][0]- marker_info.line[(6-dir+j)%4][2] * marker_info.line[(4-dir+j)%4][0];

wdir[j][0] = 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];
wdir[j][1] = -w1*cpara[0*4+0]*cpara[1*4+2]+ w3*cpara[0*4+0];
wdir[j][2] = w1*cpara[0*4+0]*cpara[1*4+1];
w = Math.sqrt( wdir[j][0]*wdir[j][0]+ wdir[j][1]*wdir[j][1]+ wdir[j][2]*wdir[j][2] );
wdir[j][0] /= w;
wdir[j][1] /= w;
wdir[j][2] /= w;
}

//以下3ケースは、計算エラーのときは例外が発生する。
check_dir(wdir[0], marker_info.sqvertex[(4-dir)%4],marker_info.sqvertex[(5-dir)%4], cpara);

check_dir(wdir[1], marker_info.sqvertex[(7-dir)%4],marker_info.sqvertex[(4-dir)%4], cpara);

check_rotation(wdir);

wdir[2][0] = wdir[0][1]*wdir[1][2] - wdir[0][2]*wdir[1][1];
wdir[2][1] = wdir[0][2]*wdir[1][0] - wdir[0][0]*wdir[1][2];
wdir[2][2] = wdir[0][0]*wdir[1][1] - wdir[0][1]*wdir[1][0];
w = Math.sqrt( wdir[2][0]*wdir[2][0]+ wdir[2][1]*wdir[2][1]+ wdir[2][2]*wdir[2][2] );
wdir[2][0] /= w;
wdir[2][1] /= w;
wdir[2][2] /= w;
double[] rot=this.array;
rot[0] = wdir[0][0];
rot[3] = wdir[0][1];
rot[6] = wdir[0][2];
rot[1] = wdir[1][0];
rot[4] = wdir[1][1];
rot[7] = wdir[1][2];
rot[2] = wdir[2][0];
rot[5] = wdir[2][1];
rot[8] = wdir[2][2];
//</Optimize>
}
private final double[][] wk_arModifyMatrix_double1D=new double[8][3];
/**
* arGetRot計算を階層化したModifyMatrix
* 896
* @param nyrot
* @param trans
* @param vertex
* [m][3]
* @param pos2d
* [n][2]
* @return
* @throws NyARException
*/
public double modifyMatrix(double trans[],double vertex[][], double pos2d[][]) throws NyARException
{
double factor;
double a2, b2, c2;
double ma = 0.0, mb = 0.0, mc = 0.0;
double h, x, y;
double err, minerr=0;
int t1, t2, t3;
int s1 = 0, s2 = 0, s3 = 0;

factor = 10.0*Math.PI/180.0;
double rot0,rot1,rot3,rot4,rot6,rot7;
double combo00,combo01,combo02,combo03,combo10,combo11,combo12,combo13,combo20,combo21,combo22,combo23;
double combo02_2,combo02_5,combo02_8,combo02_11;
double combo22_2,combo22_5,combo22_8,combo22_11;
double combo12_2,combo12_5,combo12_8,combo12_11;
//vertex展開
final double VX00,VX01,VX02,VX10,VX11,VX12,VX20,VX21,VX22,VX30,VX31,VX32;
double[] d_pt;
d_pt=vertex[0];VX00=d_pt[0];VX01=d_pt[1];VX02=d_pt[2];
d_pt=vertex[1];VX10=d_pt[0];VX11=d_pt[1];VX12=d_pt[2];
d_pt=vertex[2];VX20=d_pt[0];VX21=d_pt[1];VX22=d_pt[2];
d_pt=vertex[3];VX30=d_pt[0];VX31=d_pt[1];VX32=d_pt[2];
final double P2D00,P2D01,P2D10,P2D11,P2D20,P2D21,P2D30,P2D31;
d_pt=pos2d[0];P2D00=d_pt[0];P2D01=d_pt[1];
d_pt=pos2d[1];P2D10=d_pt[0];P2D11=d_pt[1];
d_pt=pos2d[2];P2D20=d_pt[0];P2D21=d_pt[1];
d_pt=pos2d[3];P2D30=d_pt[0];P2D31=d_pt[1];
final double cpara[]=cparam.get34Array();
final double CP0,CP1,CP2,CP3,CP4,CP5,CP6,CP7,CP8,CP9,CP10;
CP0=cpara[0];CP1=cpara[1];CP2=cpara[2];CP3=cpara[3];
CP4=cpara[4];CP5=cpara[5];CP6=cpara[6];CP7=cpara[7];
CP8=cpara[8];CP9=cpara[9];CP10=cpara[10];
combo03 = CP0 * trans[0]+ CP1 * trans[1]+ CP2 * trans[2]+ CP3;
combo13 = CP4 * trans[0]+ CP5 * trans[1]+ CP6 * trans[2]+ CP7;
combo23 = CP8 * trans[0]+ CP9 * trans[1]+ CP10 * trans[2]+ cpara[11];
double CACA,SASA,SACA,CA,SA;
double CACACB,SACACB,SASACB,CASB,SASB;
double SACASC,SACACBSC,SACACBCC,SACACC;
final double[][] double1D=this.wk_arModifyMatrix_double1D;

final double[] abc =double1D[0];
final double[] a_factor=double1D[1];
final double[] sinb =double1D[2];
final double[] cosb =double1D[3];
final double[] b_factor=double1D[4];
final double[] sinc =double1D[5];
final double[] cosc =double1D[6];
final double[] c_factor=double1D[7];
double w,w2;
double wsin,wcos;

arGetAngle(abc);//arGetAngle( rot, &a, &b, &c );
a2 = abc[0];
b2 = abc[1];
c2 = abc[2];

//comboの3行目を先に計算
for(int i = 0; i < 10; i++ ) {
minerr = 1000000000.0;
//sin-cosテーブルを計算(これが外に出せるとは…。)
for(int j=0;j<3;j++){
w2=factor*(j-1);
w= a2 + w2;
a_factor[j]=w;
w= b2 + w2;
b_factor[j]=w;
sinb[j]=Math.sin(w);
cosb[j]=Math.cos(w);
w= c2 + w2;
c_factor[j]=w;
sinc[j]=Math.sin(w);
cosc[j]=Math.cos(w);
}
//
for(t1=0;t1<3;t1++) {
SA = Math.sin(a_factor[t1]);
CA = Math.cos(a_factor[t1]);
//Optimize
CACA=CA*CA;
SASA=SA*SA;
SACA=SA*CA;
for(t2=0;t2<3;t2++) {
wsin=sinb[t2];
wcos=cosb[t2];
CACACB=CACA*wcos;
SACACB=SACA*wcos;
SASACB=SASA*wcos;
CASB=CA*wsin;
SASB=SA*wsin;
//comboの計算1
combo02 = CP0 * CASB+ CP1 * SASB+ CP2 * wcos;
combo12 = CP4 * CASB+ CP5 * SASB+ CP6 * wcos;
combo22 = CP8 * CASB+ CP9 * SASB+ CP10 * wcos;

combo02_2 =combo02 * VX02 + combo03;
combo02_5 =combo02 * VX12 + combo03;
combo02_8 =combo02 * VX22 + combo03;
combo02_11=combo02 * VX32 + combo03;
combo12_2 =combo12 * VX02 + combo13;
combo12_5 =combo12 * VX12 + combo13;
combo12_8 =combo12 * VX22 + combo13;
combo12_11=combo12 * VX32 + combo13;
combo22_2 =combo22 * VX02 + combo23;
combo22_5 =combo22 * VX12 + combo23;
combo22_8 =combo22 * VX22 + combo23;
combo22_11=combo22 * VX32 + combo23;
for(t3=0;t3<3;t3++){
wsin=sinc[t3];
wcos=cosc[t3];
SACASC=SACA*wsin;
SACACC=SACA*wcos;
SACACBSC=SACACB*wsin;
SACACBCC=SACACB*wcos;

rot0 = CACACB*wcos+SASA*wcos+SACACBSC-SACASC;
rot3 = SACACBCC-SACACC+SASACB*wsin+CACA*wsin;
rot6 = -CASB*wcos-SASB*wsin;

combo00 = CP0 * rot0+ CP1 * rot3+ CP2 * rot6;
combo10 = CP4 * rot0+ CP5 * rot3+ CP6 * rot6;
combo20 = CP8 * rot0+ CP9 * rot3+ CP10 * rot6;

rot1 = -CACACB*wsin-SASA*wsin+SACACBCC-SACACC;
rot4 = -SACACBSC+SACASC+SASACB*wcos+CACA*wcos;
rot7 = CASB*wsin-SASB*wcos;
combo01 = CP0 * rot1+ CP1 * rot4+ CP2 * rot7;
combo11 = CP4 * rot1+ CP5 * rot4+ CP6 * rot7;
combo21 = CP8 * rot1+ CP9 * rot4+ CP10 * rot7;
//
err = 0.0;
h = combo20 * VX00+ combo21 * VX01+ combo22_2;
x = P2D00 - (combo00 * VX00+ combo01 * VX01+ combo02_2) / h;
y = P2D01 - (combo10 * VX00+ combo11 * VX01+ combo12_2) / h;
err += x*x+y*y;
h = combo20 * VX10+ combo21 * VX11+ combo22_5;
x = P2D10 - (combo00 * VX10+ combo01 * VX11+ combo02_5) / h;
y = P2D11 - (combo10 * VX10+ combo11 * VX11+ combo12_5) / h;
err += x*x+y*y;
h = combo20 * VX20+ combo21 * VX21+ combo22_8;
x = P2D20 - (combo00 * VX20+ combo01 * VX21+ combo02_8) / h;
y = P2D21 - (combo10 * VX20+ combo11 * VX21+ combo12_8) / h;
err += x*x+y*y;
h = combo20 * VX30+ combo21 * VX31+ combo22_11;
x = P2D30 - (combo00 * VX30+ combo01 * VX31+ combo02_11) / h;
y = P2D31 - (combo10 * VX30+ combo11 * VX31+ combo12_11) / h;
err += x*x+y*y;
if( err < minerr ) {
minerr = err;
ma = a_factor[t1];
mb = b_factor[t2];
mc = c_factor[t3];
s1 = t1-1;
s2 = t2-1;
s3 = t3-1;
}
}
}
}
if( s1 == 0 && s2 == 0 && s3 == 0 ){
factor *= 0.5;
}
a2 = ma;
b2 = mb;
c2 = mc;
}
arGetRot(ma,mb,mc,this.array);
/* printf("factor = %10.5f\n", factor*180.0/MD_PI); */
return minerr/4;
}
}

Subversion Repositories AndroidProjects

(root)/NyARToolkitAndroid/src/jp/nyatla/nyartoolkit/core/NyARTransRot.java - Rev 203