public void pca(double[] i_v1, double[] i_v2, int i_number_of_point, NyARDoubleMatrix22 o_evec, double[] o_ev, double[] o_mean)
{
NyARMat input = this.__pca_input;// 次処理で初期化される。
// pcaの準備
input.realloc(i_number_of_point, 2);
double[][] input_array = input.getArray();
for (int i = 0; i < i_number_of_point; i++)
{
input_array[i][0] = i_v1[i];
input_array[i][1] = i_v2[i];
}
// 主成分分析
input.pca(this.__pca_evec, this.__pca_ev, this.__pca_mean);
double[] mean_array = this.__pca_mean.getArray();
double[][] evec_array = this.__pca_evec.getArray();
double[] ev_array = this.__pca_ev.getArray();
o_evec.m00 = evec_array[0][0];
o_evec.m01 = evec_array[0][1];
o_evec.m10 = evec_array[1][0];
o_evec.m11 = evec_array[1][1];
o_ev[0] = ev_array[0];
o_ev[1] = ev_array[1];
o_mean[0] = mean_array[0];
o_mean[1] = mean_array[1];
return;
}
public void pca(double[] i_v1,double[] i_v2,int i_number_of_point,NyARDoubleMatrix22 o_evec, double[] o_ev,double[] o_mean)
{
NyARMat input = this.__pca_input;// 次処理で初期化される。
// pcaの準備
input.realloc(i_number_of_point, 2);
double[][] input_array = input.getArray();
for (int i = 0; i < i_number_of_point; i++)
{
input_array[i][0] = i_v1[i];
input_array[i][1] = i_v2[i];
}
// 主成分分析
input.pca(this.__pca_evec, this.__pca_ev, this.__pca_mean);
double[] mean_array = this.__pca_mean.getArray();
double[][] evec_array = this.__pca_evec.getArray();
double[] ev_array = this.__pca_ev.getArray();
o_evec.m00 = evec_array[0][0];
o_evec.m01 = evec_array[0][1];
o_evec.m10 = evec_array[1][0];
o_evec.m11 = evec_array[1][1];
o_ev[0] = ev_array[0];
o_ev[1] = ev_array[1];
o_mean[0] = mean_array[0];
o_mean[1] = mean_array[1];
return;
}
/**
* 輪郭点集合からay+bx+c=0の直線式を計算します。
* @param i_st
* @param i_ed
* @param i_xcoord
* @param i_ycoord
* @param i_cood_num
* @param o_line
* @return
* @throws NyARException
*/
public bool coord2Line(int i_st, int i_ed, int[] i_xcoord, int[] i_ycoord, int i_cood_num, NyARLinear o_line)
{
//頂点を取得
int n, st, ed;
double w1;
//探索区間の決定
if (i_ed >= i_st)
{
//頂点[i]から頂点[i+1]までの輪郭が、1区間にあるとき
w1 = (double)(i_ed - i_st + 1) * 0.05 + 0.5;
//探索区間の決定
st = (int)(i_st + w1);
ed = (int)(i_ed - w1);
}
else
{
//頂点[i]から頂点[i+1]までの輪郭が、2区間に分かれているとき
w1 = (double)((i_ed + i_cood_num - i_st + 1) % i_cood_num) * 0.05 + 0.5;
//探索区間の決定
st = ((int)(i_st + w1)) % i_cood_num;
ed = ((int)(i_ed + i_cood_num - w1)) % i_cood_num;
}
//探索区間数を確認
if (st <= ed)
{
//探索区間は1区間
n = ed - st + 1;
this._dist_factor.observ2IdealBatch(i_xcoord, i_ycoord, st, n, this._xpos, this._ypos, 0);
}
else
{
//探索区間は2区間
n = ed + 1 + i_cood_num - st;
this._dist_factor.observ2IdealBatch(i_xcoord, i_ycoord, st, i_cood_num - st, this._xpos, this._ypos, 0);
this._dist_factor.observ2IdealBatch(i_xcoord, i_ycoord, 0, ed + 1, this._xpos, this._ypos, i_cood_num - st);
}
//要素数の確認
if (n < 2)
{
// nが2以下でmatrix.PCAを計算することはできないので、エラー
return(false);
}
//主成分分析する。
NyARDoubleMatrix22 evec = this.__getSquareLine_evec;
double[] mean = this.__getSquareLine_mean;
this._pca.pca(this._xpos, this._ypos, n, evec, this.__getSquareLine_ev, mean);
o_line.dy = evec.m01; // line[i][0] = evec->m[1];
o_line.dx = -evec.m00; // line[i][1] = -evec->m[0];
o_line.c = -(o_line.dy * mean[0] + o_line.dx * mean[1]); // line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]);
return(true);
}
private const double PCA_VZERO = 1e-16; // #define VZERO 1e-16
#endregion Fields
#region Methods
//override
public void pca(double[] i_v1, double[] i_v2, int i_number_of_point, NyARDoubleMatrix22 o_evec, double[] o_ev, double[] o_mean)
{
PCA_PCA(i_v1, i_v2, i_number_of_point, o_evec, o_ev, o_mean);
double sum = o_ev[0] + o_ev[1];
// For順変更禁止
o_ev[0] /= sum;// ev->v[i] /= sum;
o_ev[1] /= sum;// ev->v[i] /= sum;
return;
}
/**
* static int PCA( ARMat *input, ARMat *output, ARVec *ev )
*
* @param output
* @param o_ev
* @
*/
private void PCA_PCA(double[] i_v1, double[] i_v2, int i_number_of_data, NyARDoubleMatrix22 o_matrix, double[] o_ev, double[] o_mean)
{
// double[] mean_array=mean.getArray();
// mean.zeroClear();
//PCA_EXの処理
double sx = 0;
double sy = 0;
for (int i = 0; i < i_number_of_data; i++)
{
sx += i_v1[i];
sy += i_v2[i];
}
sx = sx / i_number_of_data;
sy = sy / i_number_of_data;
//PCA_CENTERとPCA_xt_by_xを一緒に処理
double srow = Math.Sqrt((double)i_number_of_data);
double w00, w11, w10;
w00 = w11 = w10 = 0.0;// *out = 0.0;
for (int i = 0; i < i_number_of_data; i++)
{
double x = (i_v1[i] - sx) / srow;
double y = (i_v2[i] - sy) / srow;
w00 += (x * x); // *out += *in1 * *in2;
w10 += (x * y); // *out += *in1 * *in2;
w11 += (y * y); // *out += *in1 * *in2;
}
o_matrix.m00 = w00;
o_matrix.m01 = o_matrix.m10 = w10;
o_matrix.m11 = w11;
//PCA_PCAの処理
PCA_QRM(o_matrix, o_ev);
// m2 = o_output.m;// m2 = output->m;
if (o_ev[0] < PCA_VZERO)
{ // if( ev->v[i] < VZERO ){
o_ev[0] = 0.0; // ev->v[i] = 0.0;
o_matrix.m00 = 0.0; // *(m2++) = 0.0;
o_matrix.m01 = 0.0; // *(m2++) = 0.0;
}
if (o_ev[1] < PCA_VZERO)
{ // if( ev->v[i] < VZERO ){
o_ev[1] = 0.0; // ev->v[i] = 0.0;
o_matrix.m10 = 0.0; // *(m2++) = 0.0;
o_matrix.m11 = 0.0; // *(m2++) = 0.0;
}
o_mean[0] = sx;
o_mean[1] = sy;
// }
return;
}
//override
public void pca(double[] i_v1, double[] i_v2, int i_number_of_point, NyARDoubleMatrix22 o_evec, double[] o_ev, double[] o_mean)
{
PCA_PCA(i_v1, i_v2, i_number_of_point, o_evec, o_ev, o_mean);
double sum = o_ev[0] + o_ev[1];
// For順変更禁止
o_ev[0] /= sum; // ev->v[i] /= sum;
o_ev[1] /= sum; // ev->v[i] /= sum;
return;
}
public bool inverse(NyARDoubleMatrix22 i_src)
{
double a11,a12,a21,a22;
a11=i_src.m00;
a12=i_src.m01;
a21=i_src.m10;
a22=i_src.m11;
double det=a11*a22-a12*a21;
if(det==0){
return false;
}
det=1/det;
this.m00=a22*det;
this.m01=-a12*det;
this.m10=-a21*det;
this.m11=a11*det;
return true;
}
public bool inverse(NyARDoubleMatrix22 i_src)
{
double a11, a12, a21, a22;
a11 = i_src.m00;
a12 = i_src.m01;
a21 = i_src.m10;
a22 = i_src.m11;
double det = a11 * a22 - a12 * a21;
if (det == 0)
{
return(false);
}
det = 1 / det;
this.m00 = a22 * det;
this.m01 = -a12 * det;
this.m10 = -a21 * det;
this.m11 = a11 * det;
return(true);
}
private const double PCA_VZERO = 1e-16; // #define VZERO 1e-16
/**
* static int QRM( ARMat *a, ARVec *dv )の代替関数
*
* @param a
* @param dv
* @throws NyARException
*/
private static void PCA_QRM(NyARDoubleMatrix22 o_matrix, double[] dv)
{
double w, t, s, x, y, c;
double ev1;
double dv_x, dv_y;
double mat00, mat01, mat10, mat11;
// <this.vecTridiagonalize2d(i_mat, dv, ev);>
dv_x = o_matrix.m00;// this.m[dim - 2][dim - 2];// d.v[dim-2]=a.m[dim-2][dim-2];//d->v[dim-2]=a->m[(dim-2)*dim+(dim-2)];
ev1 = o_matrix.m01;// this.m[dim - 2][dim - 1];// e.v[dim-2+i_e_start]=a.m[dim-2][dim-1];//e->v[dim-2] = a->m[(dim-2)*dim+(dim-1)];
dv_y = o_matrix.m11;// this.m[dim - 1][dim - 1];// d.v[dim-1]=a_array[dim-1][dim-1];//d->v[dim-1] =a->m[(dim-1)*dim+(dim-1)];
// 単位行列にする。
mat00 = mat11 = 1;
mat01 = mat10 = 0;
// </this.vecTridiagonalize2d(i_mat, dv, ev);>
// int j = 1;
// // while(j>0 && fabs(ev->v[j])>EPS*(fabs(dv->v[j-1])+fabs(dv->v[j])))
// while (j > 0 && Math.abs(ev1) > PCA_EPS * (Math.abs(dv.x) + Math.abs(dv.y))) {
// j--;
// }
// if (j == 0) {
int iter = 0;
do
{
iter++;
if (iter > PCA_MAX_ITER)
{
break;
}
w = (dv_x - dv_y) / 2;// w = (dv->v[h-1] -dv->v[h]) / 2;//ここ？
t = ev1 * ev1;// t = ev->v[h] * ev->v[h];
s = Math.Sqrt(w * w + t);
if (w < 0)
{
s = -s;
}
x = dv_x - dv_y + t / (w + s);// x = dv->v[j] -dv->v[h] +t/(w+s);
y = ev1;// y = ev->v[j+1];
if (Math.Abs(x) >= Math.Abs(y))
{
if (Math.Abs(x) > PCA_VZERO)
{
t = -y / x;
c = 1 / Math.Sqrt(t * t + 1);
s = t * c;
}
else
{
c = 1.0;
s = 0.0;
}
}
else
{
t = -x / y;
s = 1.0 / Math.Sqrt(t * t + 1);
c = t * s;
}
w = dv_x - dv_y;// w = dv->v[k] -dv->v[k+1];
t = (w * s + 2 * c * ev1) * s;// t = (w * s +2 * c *ev->v[k+1]) *s;
dv_x -= t;// dv->v[k] -= t;
dv_y += t;// dv->v[k+1] += t;
ev1 += s * (c * w - 2 * s * ev1);// ev->v[k+1]+= s * (c* w- 2* s *ev->v[k+1]);
x = mat00;// x = a->m[k*dim+i];
y = mat10;// y = a->m[(k+1)*dim+i];
mat00 = c * x - s * y;// a->m[k*dim+i] = c * x - s* y;
mat10 = s * x + c * y;// a->m[(k+1)*dim+i] = s* x + c * y;
x = mat01;// x = a->m[k*dim+i];
y = mat11;// y = a->m[(k+1)*dim+i];
mat01 = c * x - s * y;// a->m[k*dim+i] = c * x - s* y;
mat11 = s * x + c * y;// a->m[(k+1)*dim+i] = s* x + c * y;
} while (Math.Abs(ev1) > PCA_EPS * (Math.Abs(dv_x) + Math.Abs(dv_y)));
// }
t = dv_x;// t = dv->v[h];
if (dv_y > t)
{// if( dv->v[i] > t ) {
t = dv_y;// t = dv->v[h];
dv_y = dv_x;// dv->v[h] = dv->v[k];
dv_x = t;// dv->v[k] = t;
// 行の入れ替え
o_matrix.m00 = mat10;
o_matrix.m01 = mat11;
o_matrix.m10 = mat00;
o_matrix.m11 = mat01;
}
else
{
// 行の入れ替えはなし
o_matrix.m00 = mat00;
o_matrix.m01 = mat01;
o_matrix.m10 = mat10;
o_matrix.m11 = mat11;
}
dv[0] = dv_x;
dv[1] = dv_y;
return;
}
/**
* static int PCA( ARMat *input, ARMat *output, ARVec *ev )
*
* @param output
* @param o_ev
* @throws NyARException
*/
private void PCA_PCA(double[] i_v1,double[] i_v2,int i_number_of_data,NyARDoubleMatrix22 o_matrix, double[] o_ev,double[] o_mean)
{
// double[] mean_array=mean.getArray();
// mean.zeroClear();
//PCA_EXの処理
double sx = 0;
double sy = 0;
for (int i = 0; i < i_number_of_data; i++)
{
sx += i_v1[i];
sy += i_v2[i];
}
sx = sx / i_number_of_data;
sy = sy / i_number_of_data;
//PCA_CENTERとPCA_xt_by_xを一緒に処理
double srow = Math.Sqrt((double)i_number_of_data);
double w00, w11, w10;
w00 = w11 = w10 = 0.0;// *out = 0.0;
for (int i = 0; i < i_number_of_data; i++)
{
double x = (i_v1[i] - sx) / srow;
double y = (i_v2[i] - sy) / srow;
w00 += (x * x);// *out += *in1 * *in2;
w10 += (x * y);// *out += *in1 * *in2;
w11 += (y * y);// *out += *in1 * *in2;
}
o_matrix.m00 = w00;
o_matrix.m01 = o_matrix.m10 = w10;
o_matrix.m11 = w11;
//PCA_PCAの処理
PCA_QRM(o_matrix, o_ev);
// m2 = o_output.m;// m2 = output->m;
if (o_ev[0] < PCA_VZERO)
{// if( ev->v[i] < VZERO ){
o_ev[0] = 0.0;// ev->v[i] = 0.0;
o_matrix.m00 = 0.0;// *(m2++) = 0.0;
o_matrix.m01 = 0.0;// *(m2++) = 0.0;
}
if (o_ev[1] < PCA_VZERO)
{// if( ev->v[i] < VZERO ){
o_ev[1] = 0.0;// ev->v[i] = 0.0;
o_matrix.m10 = 0.0;// *(m2++) = 0.0;
o_matrix.m11 = 0.0;// *(m2++) = 0.0;
}
o_mean[0] = sx;
o_mean[1] = sy;
// }
return;
}
private const double PCA_VZERO = 1e-16; // #define VZERO 1e-16
/**
* static int QRM( ARMat *a, ARVec *dv )の代替関数
*
* @param a
* @param dv
* @
*/
private static void PCA_QRM(NyARDoubleMatrix22 o_matrix, double[] dv)
{
double w, t, s, x, y, c;
double ev1;
double dv_x, dv_y;
double mat00, mat01, mat10, mat11;
// <this.vecTridiagonalize2d(i_mat, dv, ev);>
dv_x = o_matrix.m00; // this.m[dim - 2][dim - 2];// d.v[dim-2]=a.m[dim-2][dim-2];//d->v[dim-2]=a->m[(dim-2)*dim+(dim-2)];
ev1 = o_matrix.m01; // this.m[dim - 2][dim - 1];// e.v[dim-2+i_e_start]=a.m[dim-2][dim-1];//e->v[dim-2] = a->m[(dim-2)*dim+(dim-1)];
dv_y = o_matrix.m11; // this.m[dim - 1][dim - 1];// d.v[dim-1]=a_array[dim-1][dim-1];//d->v[dim-1] =a->m[(dim-1)*dim+(dim-1)];
// 単位行列にする。
mat00 = mat11 = 1;
mat01 = mat10 = 0;
// </this.vecTridiagonalize2d(i_mat, dv, ev);>
// int j = 1;
// // while(j>0 && fabs(ev->v[j])>EPS*(fabs(dv->v[j-1])+fabs(dv->v[j])))
// while (j > 0 && Math.abs(ev1) > PCA_EPS * (Math.abs(dv.x) + Math.abs(dv.y))) {
// j--;
// }
// if (j == 0) {
int iter = 0;
do
{
iter++;
if (iter > PCA_MAX_ITER)
{
break;
}
w = (dv_x - dv_y) / 2; // w = (dv->v[h-1] -dv->v[h]) / 2;//ここ？
t = ev1 * ev1; // t = ev->v[h] * ev->v[h];
s = Math.Sqrt(w * w + t);
if (w < 0)
{
s = -s;
}
x = dv_x - dv_y + t / (w + s); // x = dv->v[j] -dv->v[h] +t/(w+s);
y = ev1; // y = ev->v[j+1];
if (Math.Abs(x) >= Math.Abs(y))
{
if (Math.Abs(x) > PCA_VZERO)
{
t = -y / x;
c = 1 / Math.Sqrt(t * t + 1);
s = t * c;
}
else
{
c = 1.0;
s = 0.0;
}
}
else
{
t = -x / y;
s = 1.0 / Math.Sqrt(t * t + 1);
c = t * s;
}
w = dv_x - dv_y; // w = dv->v[k] -dv->v[k+1];
t = (w * s + 2 * c * ev1) * s; // t = (w * s +2 * c *ev->v[k+1]) *s;
dv_x -= t; // dv->v[k] -= t;
dv_y += t; // dv->v[k+1] += t;
ev1 += s * (c * w - 2 * s * ev1); // ev->v[k+1]+= s * (c* w- 2* s *ev->v[k+1]);
x = mat00; // x = a->m[k*dim+i];
y = mat10; // y = a->m[(k+1)*dim+i];
mat00 = c * x - s * y; // a->m[k*dim+i] = c * x - s* y;
mat10 = s * x + c * y; // a->m[(k+1)*dim+i] = s* x + c * y;
x = mat01; // x = a->m[k*dim+i];
y = mat11; // y = a->m[(k+1)*dim+i];
mat01 = c * x - s * y; // a->m[k*dim+i] = c * x - s* y;
mat11 = s * x + c * y; // a->m[(k+1)*dim+i] = s* x + c * y;
} while (Math.Abs(ev1) > PCA_EPS * (Math.Abs(dv_x) + Math.Abs(dv_y)));
// }
t = dv_x; // t = dv->v[h];
if (dv_y > t)
{ // if( dv->v[i] > t ) {
t = dv_y; // t = dv->v[h];
dv_y = dv_x; // dv->v[h] = dv->v[k];
dv_x = t; // dv->v[k] = t;
// 行の入れ替え
o_matrix.m00 = mat10;
o_matrix.m01 = mat11;
o_matrix.m10 = mat00;
o_matrix.m11 = mat01;
}
else
{
// 行の入れ替えはなし
o_matrix.m00 = mat00;
o_matrix.m01 = mat01;
o_matrix.m10 = mat10;
o_matrix.m11 = mat11;
}
dv[0] = dv_x;
dv[1] = dv_y;
return;
}
public virtual bool getParam(NyARIntPoint2d[] i_vertex, double[] o_param)
{
double ltx = this._local_x;
double lty = this._local_y;
double rbx = ltx + this._width;
double rby = lty + this._height;
double x1, x2, x3, x4;
double y1, y2, y3, y4;
x1 = i_vertex[0].x;
x2 = i_vertex[1].x;
x3 = i_vertex[2].x;
x4 = i_vertex[3].x;
y1 = i_vertex[0].y;
y2 = i_vertex[1].y;
y3 = i_vertex[2].y;
y4 = i_vertex[3].y;
NyARDoubleMatrix44 mat_x = new NyARDoubleMatrix44();
mat_x.m00 = ltx; mat_x.m01 = lty; mat_x.m02 = -ltx * x1; mat_x.m03 = -lty * x1;
mat_x.m10 = rbx; mat_x.m11 = lty; mat_x.m12 = -rbx * x2; mat_x.m13 = -lty * x2;
mat_x.m20 = rbx; mat_x.m21 = rby; mat_x.m22 = -rbx * x3; mat_x.m23 = -rby * x3;
mat_x.m30 = ltx; mat_x.m31 = rby; mat_x.m32 = -ltx * x4; mat_x.m33 = -rby * x4;
mat_x.inverse(mat_x);
NyARDoubleMatrix44 mat_y = new NyARDoubleMatrix44();
mat_y.m00 = ltx; mat_y.m01 = lty; mat_y.m02 = -ltx * y1; mat_y.m03 = -lty * y1;
mat_y.m10 = rbx; mat_y.m11 = lty; mat_y.m12 = -rbx * y2; mat_y.m13 = -lty * y2;
mat_y.m20 = rbx; mat_y.m21 = rby; mat_y.m22 = -rbx * y3; mat_y.m23 = -rby * y3;
mat_y.m30 = ltx; mat_y.m31 = rby; mat_y.m32 = -ltx * y4; mat_y.m33 = -rby * y4;
mat_y.inverse(mat_y);
double a = mat_x.m20 * x1 + mat_x.m21 * x2 + mat_x.m22 * x3 + mat_x.m23 * x4;
double b = mat_x.m20 + mat_x.m21 + mat_x.m22 + mat_x.m23;
double d = mat_x.m30 * x1 + mat_x.m31 * x2 + mat_x.m32 * x3 + mat_x.m33 * x4;
double f = mat_x.m30 + mat_x.m31 + mat_x.m32 + mat_x.m33;
double g = mat_y.m20 * y1 + mat_y.m21 * y2 + mat_y.m22 * y3 + mat_y.m23 * y4;
double h = mat_y.m20 + mat_y.m21 + mat_y.m22 + mat_y.m23;
double i = mat_y.m30 * y1 + mat_y.m31 * y2 + mat_y.m32 * y3 + mat_y.m33 * y4;
double j = mat_y.m30 + mat_y.m31 + mat_y.m32 + mat_y.m33;
NyARDoubleMatrix22 tm = new NyARDoubleMatrix22();
tm.m00 = b;
tm.m01 = -h;
tm.m10 = f;
tm.m11 = -j;
tm.inverse(tm);
double A, B, C, D, E, F, G, H;
C = tm.m00 * (a - g) + tm.m01 * (d - i); //C
F = tm.m10 * (a - g) + tm.m11 * (d - i); //F
G = a - C * b;
H = d - C * f;
A = (mat_x.m00 * x1 + mat_x.m01 * x2 + mat_x.m02 * x3 + mat_x.m03 * x4) - C * (mat_x.m00 + mat_x.m01 + mat_x.m02 + mat_x.m03);
B = (mat_x.m10 * x1 + mat_x.m11 * x2 + mat_x.m12 * x3 + mat_x.m13 * x4) - C * (mat_x.m10 + mat_x.m11 + mat_x.m12 + mat_x.m13);
D = (mat_y.m00 * y1 + mat_y.m01 * y2 + mat_y.m02 * y3 + mat_y.m03 * y4) - F * (mat_y.m00 + mat_y.m01 + mat_y.m02 + mat_y.m03);
E = (mat_y.m10 * y1 + mat_y.m11 * y2 + mat_y.m12 * y3 + mat_y.m13 * y4) - F * (mat_y.m10 + mat_y.m11 + mat_y.m12 + mat_y.m13);
o_param[0] = A;
o_param[1] = B;
o_param[2] = C;
o_param[3] = D;
o_param[4] = E;
o_param[5] = F;
o_param[6] = G;
o_param[7] = H;
return true;
}
public virtual bool getParam(NyARIntPoint2d[] i_vertex, double[] o_param)
{
double ltx = this._local_x;
double lty = this._local_y;
double rbx = ltx + this._width;
double rby = lty + this._height;
double x1, x2, x3, x4;
double y1, y2, y3, y4;
x1 = i_vertex[0].x;
x2 = i_vertex[1].x;
x3 = i_vertex[2].x;
x4 = i_vertex[3].x;
y1 = i_vertex[0].y;
y2 = i_vertex[1].y;
y3 = i_vertex[2].y;
y4 = i_vertex[3].y;
NyARDoubleMatrix44 mat_x = new NyARDoubleMatrix44();
mat_x.m00 = ltx; mat_x.m01 = lty; mat_x.m02 = -ltx * x1; mat_x.m03 = -lty * x1;
mat_x.m10 = rbx; mat_x.m11 = lty; mat_x.m12 = -rbx * x2; mat_x.m13 = -lty * x2;
mat_x.m20 = rbx; mat_x.m21 = rby; mat_x.m22 = -rbx * x3; mat_x.m23 = -rby * x3;
mat_x.m30 = ltx; mat_x.m31 = rby; mat_x.m32 = -ltx * x4; mat_x.m33 = -rby * x4;
mat_x.inverse(mat_x);
NyARDoubleMatrix44 mat_y = new NyARDoubleMatrix44();
mat_y.m00 = ltx; mat_y.m01 = lty; mat_y.m02 = -ltx * y1; mat_y.m03 = -lty * y1;
mat_y.m10 = rbx; mat_y.m11 = lty; mat_y.m12 = -rbx * y2; mat_y.m13 = -lty * y2;
mat_y.m20 = rbx; mat_y.m21 = rby; mat_y.m22 = -rbx * y3; mat_y.m23 = -rby * y3;
mat_y.m30 = ltx; mat_y.m31 = rby; mat_y.m32 = -ltx * y4; mat_y.m33 = -rby * y4;
mat_y.inverse(mat_y);
double a = mat_x.m20 * x1 + mat_x.m21 * x2 + mat_x.m22 * x3 + mat_x.m23 * x4;
double b = mat_x.m20 + mat_x.m21 + mat_x.m22 + mat_x.m23;
double d = mat_x.m30 * x1 + mat_x.m31 * x2 + mat_x.m32 * x3 + mat_x.m33 * x4;
double f = mat_x.m30 + mat_x.m31 + mat_x.m32 + mat_x.m33;
double g = mat_y.m20 * y1 + mat_y.m21 * y2 + mat_y.m22 * y3 + mat_y.m23 * y4;
double h = mat_y.m20 + mat_y.m21 + mat_y.m22 + mat_y.m23;
double i = mat_y.m30 * y1 + mat_y.m31 * y2 + mat_y.m32 * y3 + mat_y.m33 * y4;
double j = mat_y.m30 + mat_y.m31 + mat_y.m32 + mat_y.m33;
NyARDoubleMatrix22 tm = new NyARDoubleMatrix22();
tm.m00 = b;
tm.m01 = -h;
tm.m10 = f;
tm.m11 = -j;
tm.inverse(tm);
double A, B, C, D, E, F, G, H;
C = tm.m00 * (a - g) + tm.m01 * (d - i); //C
F = tm.m10 * (a - g) + tm.m11 * (d - i); //F
G = a - C * b;
H = d - C * f;
A = (mat_x.m00 * x1 + mat_x.m01 * x2 + mat_x.m02 * x3 + mat_x.m03 * x4) - C * (mat_x.m00 + mat_x.m01 + mat_x.m02 + mat_x.m03);
B = (mat_x.m10 * x1 + mat_x.m11 * x2 + mat_x.m12 * x3 + mat_x.m13 * x4) - C * (mat_x.m10 + mat_x.m11 + mat_x.m12 + mat_x.m13);
D = (mat_y.m00 * y1 + mat_y.m01 * y2 + mat_y.m02 * y3 + mat_y.m03 * y4) - F * (mat_y.m00 + mat_y.m01 + mat_y.m02 + mat_y.m03);
E = (mat_y.m10 * y1 + mat_y.m11 * y2 + mat_y.m12 * y3 + mat_y.m13 * y4) - F * (mat_y.m10 + mat_y.m11 + mat_y.m12 + mat_y.m13);
o_param[0] = A;
o_param[1] = B;
o_param[2] = C;
o_param[3] = D;
o_param[4] = E;
o_param[5] = F;
o_param[6] = G;
o_param[7] = H;
return(true);
}
