private double optimize(NyARRotMatrix_ARToolKit io_rotmat, NyARDoublePoint3d io_transvec, INyARTransportVectorSolver i_solver, NyARDoublePoint3d[] i_offset_3d, NyARDoublePoint2d[] i_2d_vertex)
{
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
double err = -1;
//System.out.println("START");
// ループを抜けるタイミングをARToolKitと合わせるために変なことしてます。
for (int i = 0; ; i++)
{
// <arGetTransMat3>
err = this._mat_optimize.modifyMatrix(io_rotmat, io_transvec, i_offset_3d, i_2d_vertex);
io_rotmat.getPoint3dBatch(i_offset_3d, vertex_3d, 4);
i_solver.solveTransportVector(vertex_3d, io_transvec);
err = this._mat_optimize.modifyMatrix(io_rotmat, io_transvec, i_offset_3d, i_2d_vertex);
//System.out.println("E:"+err*4);
// //</arGetTransMat3>
if (err < AR_GET_TRANS_MAT_MAX_FIT_ERROR || i == AR_GET_TRANS_MAT_MAX_LOOP_COUNT - 1)
{
break;
}
io_rotmat.getPoint3dBatch(i_offset_3d, vertex_3d, 4);
i_solver.solveTransportVector(vertex_3d, io_transvec);
}
//System.out.println("END");
return(err);
}
private double optimize(NyARRotMatrix_ARToolKit io_rotmat, NyARDoublePoint3d io_transvec, INyARTransportVectorSolver i_solver, NyARDoublePoint3d[] i_offset_3d, NyARDoublePoint2d[] i_2d_vertex)
{
NyARDoublePoint3d[] vertex_3d = this.__transMat_vertex_3d;
double err = -1;
//System.out.println("START");
// ループを抜けるタイミングをARToolKitと合わせるために変なことしてます。
for (int i = 0; ; i++)
{
// <arGetTransMat3>
err = this._mat_optimize.modifyMatrix(io_rotmat, io_transvec, i_offset_3d, i_2d_vertex);
io_rotmat.getPoint3dBatch(i_offset_3d, vertex_3d, 4);
i_solver.solveTransportVector(vertex_3d, io_transvec);
err = this._mat_optimize.modifyMatrix(io_rotmat, io_transvec, i_offset_3d, i_2d_vertex);
//System.out.println("E:"+err*4);
// //</arGetTransMat3>
if (err < AR_GET_TRANS_MAT_MAX_FIT_ERROR || i == AR_GET_TRANS_MAT_MAX_LOOP_COUNT - 1)
{
break;
}
io_rotmat.getPoint3dBatch(i_offset_3d, vertex_3d, 4);
i_solver.solveTransportVector(vertex_3d, io_transvec);
}
//System.out.println("END");
return err;
}
