/**
* icpGetDeltaS関数です。
* @param dU
* @param J_U_S
* @param n
* @return
* @throws NyARException
*/
public bool setJusArray(NyARIcpUtils.JusStack i_jus)
{
i_jus.makeJtJ(this.__matJtJ);
double[] JtU = i_jus.makeJtU(this.__JtU);
if (!this.__matJtJ.inverse())
{
return(false);
}
double[][] matJtJb = this.__matJtJ.getArray();
this.s0 = matJtJb[0][0] * JtU[0] + matJtJb[0][1] * JtU[1] + matJtJb[0][2] * JtU[2] + matJtJb[0][3] * JtU[3] + matJtJb[0][4] * JtU[4] + matJtJb[0][5] * JtU[5];
this.s1 = matJtJb[1][0] * JtU[0] + matJtJb[1][1] * JtU[1] + matJtJb[1][2] * JtU[2] + matJtJb[1][3] * JtU[3] + matJtJb[1][4] * JtU[4] + matJtJb[1][5] * JtU[5];
this.s2 = matJtJb[2][0] * JtU[0] + matJtJb[2][1] * JtU[1] + matJtJb[2][2] * JtU[2] + matJtJb[2][3] * JtU[3] + matJtJb[2][4] * JtU[4] + matJtJb[2][5] * JtU[5];
this.s3 = matJtJb[3][0] * JtU[0] + matJtJb[3][1] * JtU[1] + matJtJb[3][2] * JtU[2] + matJtJb[3][3] * JtU[3] + matJtJb[3][4] * JtU[4] + matJtJb[3][5] * JtU[5];
this.s4 = matJtJb[4][0] * JtU[0] + matJtJb[4][1] * JtU[1] + matJtJb[4][2] * JtU[2] + matJtJb[4][3] * JtU[3] + matJtJb[4][4] * JtU[4] + matJtJb[4][5] * JtU[5];
this.s5 = matJtJb[5][0] * JtU[0] + matJtJb[5][1] * JtU[1] + matJtJb[5][2] * JtU[2] + matJtJb[5][3] * JtU[3] + matJtJb[5][4] * JtU[4] + matJtJb[5][5] * JtU[5];
return(true);
}
public override bool icpPoint(NyARDoublePoint2d[] screenCoord,
NyARDoublePoint3d[] worldCoord, int num,
NyARDoubleMatrix44 initMatXw2Xc, NyARDoubleMatrix44 o_matxw2xc, NyARTransMatResultParam o_result_param)
{
Debug.Assert(num >= 4);
double err0 = 0, err1;
NyARIcpUtils.U u = this.__u;
NyARIcpUtils.DeltaS dS = this.__dS;
//ワークオブジェクトのリセット
if (this.__jus.getArraySize() < num)
{
this.__jus = new NyARIcpUtils.JusStack(num);
this.__E = new double[num];
this.__E2 = new double[num];
this.__du = NyARDoublePoint2d.createArray(num);
}
NyARIcpUtils.JusStack jus = this.__jus;
double[] E = this.__E;
double[] E2 = this.__E2;
NyARDoublePoint2d[] du = this.__du;
NyARDoubleMatrix44 matXw2U = this.__matXw2U;
int inlierNum = (int)(num * this.getInlierProbability()) - 1;
if (inlierNum < 3)
{
inlierNum = 3;
}
o_matxw2xc.setValue(initMatXw2Xc);
for (int i = 0;; i++)
{
matXw2U.mul(this._ref_matXc2U, o_matxw2xc);
for (int j = 0; j < num; j++)
{
if (!u.setXbyMatX2U(matXw2U, worldCoord[j]))
{
return(false);
}
double dx = screenCoord[j].x - u.x;
double dy = screenCoord[j].y - u.y;
du[j].x = dx;
du[j].y = dy;
E[j] = E2[j] = dx * dx + dy * dy;
}
Array.Sort(E2, 0, num);// qsort(E2, data->num, sizeof(ARdouble), compE);
double K2 = E2[inlierNum] * K2_FACTOR;
if (K2 < 16.0)
{
K2 = 16.0;
}
err1 = 0.0;
for (int j = 0; j < num; j++)
{
if (E2[j] > K2)
{
err1 += K2 / 6.0;
}
else
{
err1 += K2 / 6.0 * (1.0 - (1.0 - E2[j] / K2) * (1.0 - E2[j] / K2) * (1.0 - E2[j] / K2));
}
}
err1 /= num;
if (err1 < this.breakLoopErrorThresh)
{
break;
}
if (i > 0 && err1 < this.breakLoopErrorThresh2 && err1 / err0 > this.breakLoopErrorRatioThresh)
{
break;
}
if (i == this._maxLoop)
{
break;
}
err0 = err1;
jus.clear();
for (int j = 0; j < num; j++)
{
if (E[j] <= K2)
{
double W = (1.0 - E[j] / K2) * (1.0 - E[j] / K2);
if (!jus.push(this._ref_matXc2U, o_matxw2xc, worldCoord[j], du[j], W))
{
return(false);
}
}
}
if (jus.getLength() < 3)
{
return(false);
}
if (!dS.setJusArray(jus))
{
return(false);
}
dS.makeMat(o_matxw2xc);
}
if (o_result_param != null)
{
o_result_param.last_error = err1;
}
return(true);
}