diff options
Diffstat (limited to 'ARToolKitPlus/src/core/arDetectMarker.cxx')
| -rw-r--r-- | ARToolKitPlus/src/core/arDetectMarker.cxx | 272 |
1 files changed, 0 insertions, 272 deletions
diff --git a/ARToolKitPlus/src/core/arDetectMarker.cxx b/ARToolKitPlus/src/core/arDetectMarker.cxx deleted file mode 100644 index 4ed76e8..0000000 --- a/ARToolKitPlus/src/core/arDetectMarker.cxx +++ /dev/null @@ -1,272 +0,0 @@ -/* ========================================================================
- * PROJECT: ARToolKitPlus
- * ========================================================================
- * 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/
- *
- * Copyright of the derived and new portions of this work
- * (C) 2006 Graz University of Technology
- *
- * This framework 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 2 of the License, or
- * (at your option) any later version.
- *
- * This framework 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 framework; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- * For further information please contact
- * Dieter Schmalstieg
- * <schmalstieg@icg.tu-graz.ac.at>
- * Graz University of Technology,
- * Institut for Computer Graphics and Vision,
- * Inffeldgasse 16a, 8010 Graz, Austria.
- * ========================================================================
- ** @author Daniel Wagner
- *
- * $Id: arDetectMarker.cxx 162 2006-04-19 21:28:10Z grabner $
- * @file
- * ======================================================================== */
-
-
-#include <ARToolKitPlus/Tracker.h>
-#include <stdio.h>
-
-
-namespace ARToolKitPlus {
-
-
-// marker detection using tracking history
-//
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::arDetectMarker(ARUint8 *dataPtr, int _thresh, ARMarkerInfo **marker_info, int *marker_num)
-{
- ARInt16 *limage=NULL;
- int label_num;
- int *area, *clip, *label_ref;
- ARFloat *pos;
- ARFloat rarea, rlen, rlenmin;
- ARFloat diff, diffmin;
- int cid, cdir;
- int i, j, k;
-
- autoThreshold.reset();
- checkImageBuffer();
-
-// FILE* fp = fopen("imgdump.raw", "wb");
-// fwrite(dataPtr, 1, 320*240*2, fp);
-// fclose(fp);
-
- *marker_num = 0;
-
- for(int numTries = 0;;)
- {
- limage = arLabeling(dataPtr, _thresh, &label_num, &area, &pos, &clip, &label_ref);
- if(limage)
- {
- marker_info2 = arDetectMarker2(limage, label_num, label_ref, area, pos, clip, AR_AREA_MAX, AR_AREA_MIN, 1.0, &wmarker_num);
- assert(wmarker_num <= MAX_IMAGE_PATTERNS);
- if(marker_info2)
- {
- wmarker_info = arGetMarkerInfo(dataPtr, marker_info2, &wmarker_num, _thresh);
- assert(wmarker_num <= MAX_IMAGE_PATTERNS);
- if(wmarker_info && wmarker_num>0)
- break;
- }
- }
-
- if(!autoThreshold.enable)
- break;
- else
- {
- _thresh = thresh = (rand() % 230) + 10;
- if(++numTries>autoThreshold.numRandomRetries)
- break;
- }
-
- }
-
- if(!limage || !marker_info2 || !wmarker_info)
- return -1;
-
- for( i = 0; i < prev_num; i++ ) {
- rlenmin = 10.0;
- cid = -1;
- for( j = 0; j < wmarker_num; j++ ) {
- rarea = (ARFloat)prev_info[i].marker.area / (ARFloat)wmarker_info[j].area;
- if( rarea < 0.7 || rarea > 1.43 ) continue;
- rlen = ( (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
- * (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
- + (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1])
- * (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1]) ) / wmarker_info[j].area;
- if( rlen < 0.5 && rlen < rlenmin ) {
- rlenmin = rlen;
- cid = j;
- }
- }
- if( cid >= 0 && wmarker_info[cid].cf < prev_info[i].marker.cf ) {
- wmarker_info[cid].cf = prev_info[i].marker.cf;
- wmarker_info[cid].id = prev_info[i].marker.id;
- diffmin = 10000.0 * 10000.0;
- cdir = -1;
- for( j = 0; j < 4; j++ ) {
- diff = 0;
- for( k = 0; k < 4; k++ ) {
- diff += (prev_info[i].marker.vertex[k][0] - wmarker_info[cid].vertex[(j+k)%4][0])
- * (prev_info[i].marker.vertex[k][0] - wmarker_info[cid].vertex[(j+k)%4][0])
- + (prev_info[i].marker.vertex[k][1] - wmarker_info[cid].vertex[(j+k)%4][1])
- * (prev_info[i].marker.vertex[k][1] - wmarker_info[cid].vertex[(j+k)%4][1]);
- }
- if( diff < diffmin ) {
- diffmin = diff;
- cdir = (prev_info[i].marker.dir - j + 4) % 4;
- }
- }
- wmarker_info[cid].dir = cdir;
- }
- }
-
- for( i = 0; i < wmarker_num; i++ ) {
- if( wmarker_info[i].cf < 0.5 ) wmarker_info[i].id = -1;
- }
-
-
-/*------------------------------------------------------------*/
-
- for( i = j = 0; i < prev_num; i++ ) {
- prev_info[i].count++;
- if( prev_info[i].count < 4 ) {
- prev_info[j] = prev_info[i];
- j++;
- }
- }
- prev_num = j;
-
- for( i = 0; i < wmarker_num; i++ ) {
- if( wmarker_info[i].id < 0 )
- continue;
-
- for( j = 0; j < prev_num; j++ ) {
- if( prev_info[j].marker.id == wmarker_info[i].id )
- break;
- }
- if(j<MAX_IMAGE_PATTERNS)
- {
- prev_info[j].marker = wmarker_info[i];
- prev_info[j].count = 1;
- if( j == prev_num )
- prev_num++;
- }
- }
-
- for( i = 0; i < prev_num; i++ ) {
- for( j = 0; j < wmarker_num; j++ ) {
- rarea = (ARFloat)prev_info[i].marker.area / (ARFloat)wmarker_info[j].area;
- if( rarea < 0.7 || rarea > 1.43 ) continue;
- rlen = ( (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
- * (wmarker_info[j].pos[0] - prev_info[i].marker.pos[0])
- + (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1])
- * (wmarker_info[j].pos[1] - prev_info[i].marker.pos[1]) ) / wmarker_info[j].area;
- if( rlen < 0.5 ) break;
- }
- if(j==wmarker_num && wmarker_num<MAX_IMAGE_PATTERNS) {
- wmarker_info[wmarker_num] = prev_info[i].marker;
- wmarker_num++;
- assert(wmarker_num <= MAX_IMAGE_PATTERNS);
- }
- }
-
-
- *marker_num = wmarker_num;
- *marker_info = wmarker_info;
-
- assert(*marker_num <= MAX_IMAGE_PATTERNS);
-
- if(autoThreshold.enable)
- thresh = autoThreshold.calc();
-
- return 0;
-}
-
-
-// marker detection without using tracking history
-//
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::arDetectMarkerLite(ARUint8 *dataPtr, int _thresh, ARMarkerInfo **marker_info, int *marker_num)
-{
- ARInt16 *limage = NULL;
- int label_num;
- int *area, *clip, *label_ref;
- ARFloat *pos;
- int i;
-
- autoThreshold.reset();
- checkImageBuffer();
-
- *marker_num = 0;
-
- for(int numTries = 0;;)
- {
- limage = arLabeling(dataPtr, _thresh, &label_num, &area, &pos, &clip, &label_ref);
- if(limage)
- {
- marker_info2 = arDetectMarker2(limage, label_num, label_ref, area, pos, clip, AR_AREA_MAX, AR_AREA_MIN, 1.0, &wmarker_num);
- if(marker_info2)
- {
- wmarker_info = arGetMarkerInfo(dataPtr, marker_info2, &wmarker_num, _thresh);
- if(wmarker_info && wmarker_num>0)
- break;
- }
- }
-
- if(!autoThreshold.enable)
- break;
- else
- {
- _thresh = thresh = (rand() % 230) + 10;
- if(++numTries>autoThreshold.numRandomRetries)
- break;
- }
-
- }
-
- if(!limage || !marker_info2 || !wmarker_info)
- return -1;
-
-
-/*
- limage = arLabeling(dataPtr, _thresh, &label_num, &area, &pos, &clip, &label_ref);
- if( limage == 0 ) return -1;
-
- marker_info2 = arDetectMarker2(limage, label_num, label_ref, area, pos, clip, AR_AREA_MAX, AR_AREA_MIN, 1.0, &wmarker_num);
- if( marker_info2 == 0 ) return -1;
-
- wmarker_info = arGetMarkerInfo(dataPtr, marker_info2, &wmarker_num, _thresh);
- if( wmarker_info == 0 ) return -1;
-*/
-
- for( i = 0; i < wmarker_num; i++ )
- if( wmarker_info[i].cf < 0.5 )
- wmarker_info[i].id = -1;
-
-
- *marker_num = wmarker_num;
- *marker_info = wmarker_info;
-
- if(autoThreshold.enable)
- thresh = autoThreshold.calc();
-
- return 0;
-}
-
-
-} // namespace ARToolKitPlus
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