/*
* PROJECT: NyARToolkit
* --------------------------------------------------------------------------------
* This work is based on the original ARToolKit developed by
* Hirokazu Kato
* Mark Billinghurst
* HITLab, University of Washington, Seattle
* http://www.hitl.washington.edu/artoolkit/
*
* The NyARToolkit is Java edition ARToolKit class library.
* Copyright (C)2008-2009 Ryo Iizuka
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* For further information please contact.
* http://nyatla.jp/nyatoolkit/
* <airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>
*
*/
package jp.nyatla.nyartoolkit.core.transmat.optimize.artoolkit;
import jp.nyatla.nyartoolkit.NyARException;
import jp.nyatla.nyartoolkit.core.param.*;
import jp.nyatla.nyartoolkit.core.transmat.rotmatrix.*;
import jp.nyatla.nyartoolkit.core.transmat.solver.INyARTransportVectorSolver;
import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint2d;
import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint3d;
/**
* このクラスは、高速化したARToolKit由来の姿勢行列最適化処理を実装します。
* さらに高速化した{@link NyARRotMatrixOptimize_O2}を使用してください。
*/
public class NyARRotMatrixOptimize implements INyARRotMatrixOptimize
{
private final NyARPerspectiveProjectionMatrix _projection_mat_ref;
/**
* コンストラクタです。
* 射影変換オブジェクトの参照値を設定して、インスタンスを生成します。
* @param i_projection_mat_ref
* 射影変換オブジェクトの参照値。
*/
public NyARRotMatrixOptimize(NyARPerspectiveProjectionMatrix i_projection_mat_ref)
{
this._projection_mat_ref=i_projection_mat_ref;
return;
}
private final double[][] __modifyMatrix_double1D = new double[8][3];
/**
* 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) 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;
NyARDoublePoint3d d_pt;
d_pt = i_vertex3d[0];
VX00 = d_pt.x;
VX01 = d_pt.y;
VX02 = d_pt.z;
d_pt = i_vertex3d[1];
VX10 = d_pt.x;
VX11 = d_pt.y;
VX12 = d_pt.z;
d_pt = i_vertex3d[2];
VX20 = d_pt.x;
VX21 = d_pt.y;
VX22 = d_pt.z;
d_pt = i_vertex3d[3];
VX30 = d_pt.x;
VX31 = d_pt.y;
VX32 = d_pt.z;
final double P2D00, P2D01, P2D10, P2D11, P2D20, P2D21, P2D30, P2D31;
NyARDoublePoint2d d_pt2;
d_pt2 = i_vertex2d[0];
P2D00 = d_pt2.x;
P2D01 = d_pt2.y;
d_pt2 = i_vertex2d[1];
P2D10 = d_pt2.x;
P2D11 = d_pt2.y;
d_pt2 = i_vertex2d[2];
P2D20 = d_pt2.x;
P2D21 = d_pt2.y;
d_pt2 = i_vertex2d[3];
P2D30 = d_pt2.x;
P2D31 = d_pt2.y;
final NyARPerspectiveProjectionMatrix prjmat = this._projection_mat_ref;
final double CP0, CP1, CP2, CP4, CP5, CP6, CP8, CP9, CP10;
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;
final double[][] double1D = this.__modifyMatrix_double1D;
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;
//現在の角度を確保
final NyARDoublePoint3d angle = io_rot.refAngle();
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;
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;
}
io_rot.setAngle(ma, mb, mc);
/* printf("factor = %10.5f\n", factor*180.0/MD_PI); */
return minerr / 4;
}
}