/**
* この関数は、回転行列を最適化します。
* ARToolKitのarGetRotに相当します。
*/
public double modifyMatrix(NyARRotMatrix_ARToolKit io_rot, NyARDoublePoint3d trans, NyARDoublePoint3d[] i_vertex3d, NyARDoublePoint2d[] i_vertex2d)
{
double factor;
double a2, b2, c2;
double h, x, y;
double err, minerr = 0;
int t1, t2, t3;
int best_idx = 0;
factor = 10.0 * Math.PI / 180.0;
double rot0, rot1, rot2;
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
double VX00, VX01, VX02, VX10, VX11, VX12, VX20, VX21, VX22, VX30, VX31, VX32;
VX00 = i_vertex3d[0].x;
VX01 = i_vertex3d[0].y;
VX02 = i_vertex3d[0].z;
VX10 = i_vertex3d[1].x;
VX11 = i_vertex3d[1].y;
VX12 = i_vertex3d[1].z;
VX20 = i_vertex3d[2].x;
VX21 = i_vertex3d[2].y;
VX22 = i_vertex3d[2].z;
VX30 = i_vertex3d[3].x;
VX31 = i_vertex3d[3].y;
VX32 = i_vertex3d[3].z;
double P2D00, P2D01, P2D10, P2D11, P2D20, P2D21, P2D30, P2D31;
P2D00 = i_vertex2d[0].x;
P2D01 = i_vertex2d[0].y;
P2D10 = i_vertex2d[1].x;
P2D11 = i_vertex2d[1].y;
P2D20 = i_vertex2d[2].x;
P2D21 = i_vertex2d[2].y;
P2D30 = i_vertex2d[3].x;
P2D31 = i_vertex2d[3].y;
NyARPerspectiveProjectionMatrix prjmat = this._projection_mat_ref;
double CP0 = prjmat.m00, CP1 = prjmat.m01, CP2 = prjmat.m02, CP4 = prjmat.m10, CP5 = prjmat.m11, CP6 = prjmat.m12, CP8 = prjmat.m20, CP9 = prjmat.m21, CP10 = prjmat.m22;
combo03 = CP0 * trans.x + CP1 * trans.y + CP2 * trans.z + prjmat.m03;
combo13 = CP4 * trans.x + CP5 * trans.y + CP6 * trans.z + prjmat.m13;
combo23 = CP8 * trans.x + CP9 * trans.y + CP10 * trans.z + prjmat.m23;
double CACA, SASA, SACA, CA, SA;
double CACACB, SACACB, SASACB, CASB, SASB;
double SACASC, SACACBSC, SACACBCC, SACACC;
double[][] double1D = this.__modifyMatrix_double1D;
double[] a_factor = double1D[1];
double[] sinb = double1D[2];
double[] cosb = double1D[3];
double[] b_factor = double1D[4];
double[] sinc = double1D[5];
double[] cosc = double1D[6];
double[] c_factor = double1D[7];
double w, w2;
double wsin, wcos;
NyARDoublePoint3d angle = io_rot.getAngle();
a2 = angle.x;
b2 = angle.y;
c2 = angle.z;
// 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;
rot1 = SACACBCC - SACACC + SASACB * wsin + CACA * wsin;
rot2 = -CASB * wcos - SASB * wsin;
combo00 = CP0 * rot0 + CP1 * rot1 + CP2 * rot2;
combo10 = CP4 * rot0 + CP5 * rot1 + CP6 * rot2;
combo20 = CP8 * rot0 + CP9 * rot1 + CP10 * rot2;
rot0 = -CACACB * wsin - SASA * wsin + SACACBCC - SACACC;
rot1 = -SACACBSC + SACASC + SASACB * wcos + CACA * wcos;
rot2 = CASB * wsin - SASB * wcos;
combo01 = CP0 * rot0 + CP1 * rot1 + CP2 * rot2;
combo11 = CP4 * rot0 + CP5 * rot1 + CP6 * rot2;
combo21 = CP8 * rot0 + CP9 * rot1 + CP10 * rot2;
//
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;
a2 = a_factor[t1];
b2 = b_factor[t2];
c2 = c_factor[t3];
best_idx = t1 + t2 * 3 + t3 * 9;
}
}
}
}
if (best_idx == (1 + 3 + 9))
{
factor *= 0.5;
}
}
io_rot.setAngle(a2, b2, c2);
/* printf("factor = %10.5f\n", factor*180.0/MD_PI); */
return(minerr / 4);
}
/**
* この関数は、回転行列を最適化します。
* ARToolKitのarGetRotに相当します。
*/
public double modifyMatrix(NyARRotMatrix_ARToolKit io_rot, NyARDoublePoint3d trans, NyARDoublePoint3d[] i_vertex3d, NyARDoublePoint2d[] i_vertex2d)
{
double factor;
double a2, b2, c2;
double h, x, y;
double err, minerr = 0;
int t1, t2, t3;
int best_idx = 0;
factor = 10.0 * Math.PI / 180.0;
double rot0, rot1, rot2;
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
double VX00, VX01, VX02, VX10, VX11, VX12, VX20, VX21, VX22, VX30, VX31, VX32;
VX00 = i_vertex3d[0].x;
VX01 = i_vertex3d[0].y;
VX02 = i_vertex3d[0].z;
VX10 = i_vertex3d[1].x;
VX11 = i_vertex3d[1].y;
VX12 = i_vertex3d[1].z;
VX20 = i_vertex3d[2].x;
VX21 = i_vertex3d[2].y;
VX22 = i_vertex3d[2].z;
VX30 = i_vertex3d[3].x;
VX31 = i_vertex3d[3].y;
VX32 = i_vertex3d[3].z;
double P2D00, P2D01, P2D10, P2D11, P2D20, P2D21, P2D30, P2D31;
P2D00 = i_vertex2d[0].x;
P2D01 = i_vertex2d[0].y;
P2D10 = i_vertex2d[1].x;
P2D11 = i_vertex2d[1].y;
P2D20 = i_vertex2d[2].x;
P2D21 = i_vertex2d[2].y;
P2D30 = i_vertex2d[3].x;
P2D31 = i_vertex2d[3].y;
NyARPerspectiveProjectionMatrix prjmat = this._projection_mat_ref;
double CP0 = prjmat.m00, CP1 = prjmat.m01, CP2 = prjmat.m02, CP4 = prjmat.m10, CP5 = prjmat.m11, CP6 = prjmat.m12, CP8 = prjmat.m20, CP9 = prjmat.m21, CP10 = prjmat.m22;
combo03 = CP0 * trans.x + CP1 * trans.y + CP2 * trans.z + prjmat.m03;
combo13 = CP4 * trans.x + CP5 * trans.y + CP6 * trans.z + prjmat.m13;
combo23 = CP8 * trans.x + CP9 * trans.y + CP10 * trans.z + prjmat.m23;
double CACA, SASA, SACA, CA, SA;
double CACACB, SACACB, SASACB, CASB, SASB;
double SACASC, SACACBSC, SACACBCC, SACACC;
double[][] double1D = this.__modifyMatrix_double1D;
double[] a_factor = double1D[1];
double[] sinb = double1D[2];
double[] cosb = double1D[3];
double[] b_factor = double1D[4];
double[] sinc = double1D[5];
double[] cosc = double1D[6];
double[] c_factor = double1D[7];
double w, w2;
double wsin, wcos;
NyARDoublePoint3d angle = io_rot.getAngle();
a2 = angle.x;
b2 = angle.y;
c2 = angle.z;
// 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;
rot1 = SACACBCC - SACACC + SASACB * wsin + CACA * wsin;
rot2 = -CASB * wcos - SASB * wsin;
combo00 = CP0 * rot0 + CP1 * rot1 + CP2 * rot2;
combo10 = CP4 * rot0 + CP5 * rot1 + CP6 * rot2;
combo20 = CP8 * rot0 + CP9 * rot1 + CP10 * rot2;
rot0 = -CACACB * wsin - SASA * wsin + SACACBCC - SACACC;
rot1 = -SACACBSC + SACASC + SASACB * wcos + CACA * wcos;
rot2 = CASB * wsin - SASB * wcos;
combo01 = CP0 * rot0 + CP1 * rot1 + CP2 * rot2;
combo11 = CP4 * rot0 + CP5 * rot1 + CP6 * rot2;
combo21 = CP8 * rot0 + CP9 * rot1 + CP10 * rot2;
//
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;
a2 = a_factor[t1];
b2 = b_factor[t2];
c2 = c_factor[t3];
best_idx = t1 + t2 * 3 + t3 * 9;
}
}
}
}
if (best_idx == (1 + 3 + 9))
{
factor *= 0.5;
}
}
io_rot.setAngle(a2, b2, c2);
/* printf("factor = %10.5f\n", factor*180.0/MD_PI); */
return minerr / 4;
}