diff options
Diffstat (limited to 'ARToolKitPlus/src/core/arDetectMarker2.cxx')
| -rw-r--r-- | ARToolKitPlus/src/core/arDetectMarker2.cxx | 361 |
1 files changed, 0 insertions, 361 deletions
diff --git a/ARToolKitPlus/src/core/arDetectMarker2.cxx b/ARToolKitPlus/src/core/arDetectMarker2.cxx deleted file mode 100644 index 2726434..0000000 --- a/ARToolKitPlus/src/core/arDetectMarker2.cxx +++ /dev/null @@ -1,361 +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: arDetectMarker2.cxx 162 2006-04-19 21:28:10Z grabner $
- * @file
- * ======================================================================== */
-
-
-#include <ARToolKitPlus/Tracker.h>
-
-
-namespace ARToolKitPlus {
-
-static int get_vertex( int x_coord[], int y_coord[], int st, int ed,
- ARFloat thresh, int vertex[], int *vnum);
-
-
-AR_TEMPL_FUNC ARMarkerInfo2*
-AR_TEMPL_TRACKER::arDetectMarker2(ARInt16 *limage, int label_num, int *label_ref,
- int *warea, ARFloat *wpos, int *wclip,
- int area_max, int area_min, ARFloat factor, int *marker_num)
-{
- ARMarkerInfo2 *pm;
- int xsize, ysize;
- int marker_num2;
- int i, j, ret;
- ARFloat d;
-
- PROFILE_BEGINSEC(profiler, DETECTMARKER2)
-
- if( arImageProcMode == AR_IMAGE_PROC_IN_HALF ) {
- area_min /= 4;
- area_max /= 4;
- xsize = arImXsize / 2;
- ysize = arImYsize / 2;
- }
- else {
- xsize = arImXsize;
- ysize = arImYsize;
- }
- marker_num2 = 0;
- for(i=0; i<label_num; i++ ) {
- if( warea[i] < area_min || warea[i] > area_max ) continue;
- if( wclip[i*4+0] == 1 || wclip[i*4+1] == xsize-2 ) continue;
- if( wclip[i*4+2] == 1 || wclip[i*4+3] == ysize-2 ) continue;
-
- ret = arGetContour( limage, label_ref, i+1,
- &(wclip[i*4]), &(marker_infoTWO[marker_num2]));
- if( ret < 0 ) continue;
-
- ret = check_square( warea[i], &(marker_infoTWO[marker_num2]), factor );
- if( ret < 0 ) continue;
-
- marker_infoTWO[marker_num2].area = warea[i];
- marker_infoTWO[marker_num2].pos[0] = wpos[i*2+0];
- marker_infoTWO[marker_num2].pos[1] = wpos[i*2+1];
- marker_num2++;
- if(marker_num2==MAX_IMAGE_PATTERNS)
- break;
- }
-
- for( i=0; i < marker_num2; i++ ) {
- for( j=i+1; j < marker_num2; j++ ) {
- d = (marker_infoTWO[i].pos[0] - marker_infoTWO[j].pos[0])
- * (marker_infoTWO[i].pos[0] - marker_infoTWO[j].pos[0])
- + (marker_infoTWO[i].pos[1] - marker_infoTWO[j].pos[1])
- * (marker_infoTWO[i].pos[1] - marker_infoTWO[j].pos[1]);
- if( marker_infoTWO[i].area > marker_infoTWO[j].area ) {
- if( d < marker_infoTWO[i].area / 4 ) {
- marker_infoTWO[j].area = 0;
- }
- }
- else {
- if( d < marker_infoTWO[j].area / 4 ) {
- marker_infoTWO[i].area = 0;
- }
- }
- }
- }
- for( i=0; i < marker_num2; i++ ) {
- if( marker_infoTWO[i].area == 0.0 ) {
- for( j=i+1; j < marker_num2; j++ ) {
- marker_infoTWO[j-1] = marker_infoTWO[j];
- }
- marker_num2--;
- }
- }
-
- if( arImageProcMode == AR_IMAGE_PROC_IN_HALF ) {
- pm = &(marker_infoTWO[0]);
- for( i = 0; i < marker_num2; i++ ) {
- pm->area *= 4;
- pm->pos[0] *= 2.0;
- pm->pos[1] *= 2.0;
- for( j = 0; j< pm->coord_num; j++ ) {
- pm->x_coord[j] *= 2;
- pm->y_coord[j] *= 2;
- }
- pm++;
- }
- }
-
- PROFILE_ENDSEC(profiler, DETECTMARKER2)
-
- *marker_num = marker_num2;
- return( &(marker_infoTWO[0]) );
-}
-
-
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::arGetContour(ARInt16 *limage, int *label_ref, int label, int clip[4], ARMarkerInfo2 *marker_infoTWO)
-{
- static const int xdir[8] = { 0, 1, 1, 1, 0,-1,-1,-1};
- static const int ydir[8] = {-1,-1, 0, 1, 1, 1, 0,-1};
- //static int wx[AR_CHAIN_MAX];
- //static int wy[AR_CHAIN_MAX];
- ARInt16 *p1;
- int xsize, ysize;
- int sx, sy, dir;
- int dmax, d, v1 = 0;
- int i, j;
-
- if( arImageProcMode == AR_IMAGE_PROC_IN_HALF ) {
- xsize = arImXsize / 2;
- ysize = arImYsize / 2;
- }
- else {
- xsize = arImXsize;
- ysize = arImYsize;
- }
- j = clip[2];
- p1 = &(limage[j*xsize+clip[0]]);
- for( i = clip[0]; i <= clip[1]; i++, p1++ ) {
- if( *p1 > 0 && label_ref[(*p1)-1] == label ) {
- sx = i; sy = j; break;
- }
- }
- if( i > clip[1] ) {
- printf("??? 1\n"); return(-1);
- }
-
- marker_infoTWO->coord_num = 1;
- marker_infoTWO->x_coord[0] = sx;
- marker_infoTWO->y_coord[0] = sy;
- dir = 5;
- for(;;) {
- p1 = &(limage[marker_infoTWO->y_coord[marker_infoTWO->coord_num-1] * xsize
- + marker_infoTWO->x_coord[marker_infoTWO->coord_num-1]]);
- dir = (dir+5)%8;
- for(i=0;i<8;i++) {
- if( p1[ydir[dir]*xsize+xdir[dir]] > 0 ) break;
- dir = (dir+1)%8;
- }
- if( i == 8 ) {
- printf("??? 2\n"); return(-1);
- }
- marker_infoTWO->x_coord[marker_infoTWO->coord_num]
- = marker_infoTWO->x_coord[marker_infoTWO->coord_num-1] + xdir[dir];
- marker_infoTWO->y_coord[marker_infoTWO->coord_num]
- = marker_infoTWO->y_coord[marker_infoTWO->coord_num-1] + ydir[dir];
- if( marker_infoTWO->x_coord[marker_infoTWO->coord_num] == sx
- && marker_infoTWO->y_coord[marker_infoTWO->coord_num] == sy ) break;
- marker_infoTWO->coord_num++;
- if( marker_infoTWO->coord_num == AR_CHAIN_MAX-1 ) {
- printf("??? 3\n"); return(-1);
- }
- }
-
- dmax = 0;
- for(i=1;i<marker_infoTWO->coord_num;i++) {
- d = (marker_infoTWO->x_coord[i]-sx)*(marker_infoTWO->x_coord[i]-sx)
- + (marker_infoTWO->y_coord[i]-sy)*(marker_infoTWO->y_coord[i]-sy);
- if( d > dmax ) {
- dmax = d;
- v1 = i;
- }
- }
-
- for(i=0;i<v1;i++) {
- arGetContour_wx[i] = marker_infoTWO->x_coord[i];
- arGetContour_wy[i] = marker_infoTWO->y_coord[i];
- }
- for(i=v1;i<marker_infoTWO->coord_num;i++) {
- marker_infoTWO->x_coord[i-v1] = marker_infoTWO->x_coord[i];
- marker_infoTWO->y_coord[i-v1] = marker_infoTWO->y_coord[i];
- }
- for(i=0;i<v1;i++) {
- marker_infoTWO->x_coord[i-v1+marker_infoTWO->coord_num] = arGetContour_wx[i];
- marker_infoTWO->y_coord[i-v1+marker_infoTWO->coord_num] = arGetContour_wy[i];
- }
- marker_infoTWO->x_coord[marker_infoTWO->coord_num] = marker_infoTWO->x_coord[0];
- marker_infoTWO->y_coord[marker_infoTWO->coord_num] = marker_infoTWO->y_coord[0];
- marker_infoTWO->coord_num++;
-
- return 0;
-}
-
-
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::check_square(int area, ARMarkerInfo2 *marker_infoTWO, ARFloat factor)
-{
- int sx, sy;
- int dmax, d, v1;
- int vertex[10], vnum;
- int wv1[10], wvnum1, wv2[10], wvnum2, v2;
- ARFloat thresh;
- int i;
-
-
- dmax = 0;
- v1 = 0;
- sx = marker_infoTWO->x_coord[0];
- sy = marker_infoTWO->y_coord[0];
- for(i=1;i<marker_infoTWO->coord_num-1;i++) {
- d = (marker_infoTWO->x_coord[i]-sx)*(marker_infoTWO->x_coord[i]-sx)
- + (marker_infoTWO->y_coord[i]-sy)*(marker_infoTWO->y_coord[i]-sy);
- if( d > dmax ) {
- dmax = d;
- v1 = i;
- }
- }
-
- thresh = (ARFloat)(area/0.75) * (ARFloat)0.01 * factor;
- vnum = 1;
- vertex[0] = 0;
- wvnum1 = 0;
- wvnum2 = 0;
- if( get_vertex(marker_infoTWO->x_coord, marker_infoTWO->y_coord, 0, v1,
- thresh, wv1, &wvnum1) < 0 ) {
- return(-1);
- }
- if( get_vertex(marker_infoTWO->x_coord, marker_infoTWO->y_coord,
- v1, marker_infoTWO->coord_num-1, thresh, wv2, &wvnum2) < 0 ) {
- return(-1);
- }
-
- if( wvnum1 == 1 && wvnum2 == 1 ) {
- vertex[1] = wv1[0];
- vertex[2] = v1;
- vertex[3] = wv2[0];
- }
- else if( wvnum1 > 1 && wvnum2 == 0 ) {
- v2 = v1 / 2;
- wvnum1 = wvnum2 = 0;
- if( get_vertex(marker_infoTWO->x_coord, marker_infoTWO->y_coord,
- 0, v2, thresh, wv1, &wvnum1) < 0 ) {
- return(-1);
- }
- if( get_vertex(marker_infoTWO->x_coord, marker_infoTWO->y_coord,
- v2, v1, thresh, wv2, &wvnum2) < 0 ) {
- return(-1);
- }
- if( wvnum1 == 1 && wvnum2 == 1 ) {
- vertex[1] = wv1[0];
- vertex[2] = wv2[0];
- vertex[3] = v1;
- }
- else {
- return(-1);
- }
- }
- else if( wvnum1 == 0 && wvnum2 > 1 ) {
- v2 = (v1 + marker_infoTWO->coord_num-1) / 2;
- wvnum1 = wvnum2 = 0;
- if( get_vertex(marker_infoTWO->x_coord, marker_infoTWO->y_coord,
- v1, v2, thresh, wv1, &wvnum1) < 0 ) {
- return(-1);
- }
- if( get_vertex(marker_infoTWO->x_coord, marker_infoTWO->y_coord,
- v2, marker_infoTWO->coord_num-1, thresh, wv2, &wvnum2) < 0 ) {
- return(-1);
- }
- if( wvnum1 == 1 && wvnum2 == 1 ) {
- vertex[1] = v1;
- vertex[2] = wv1[0];
- vertex[3] = wv2[0];
- }
- else {
- return(-1);
- }
- }
- else {
- return(-1);
- }
-
- marker_infoTWO->vertex[0] = vertex[0];
- marker_infoTWO->vertex[1] = vertex[1];
- marker_infoTWO->vertex[2] = vertex[2];
- marker_infoTWO->vertex[3] = vertex[3];
- marker_infoTWO->vertex[4] = marker_infoTWO->coord_num-1;
-
- return(0);
-}
-
-static int
-get_vertex( int x_coord[], int y_coord[], int st, int ed, ARFloat thresh, int vertex[], int *vnum)
-{
- ARFloat d, dmax;
- ARFloat a, b, c;
- int i, v1 = 0;
-
- a = (ARFloat)(y_coord[ed] - y_coord[st]);
- b = (ARFloat)(x_coord[st] - x_coord[ed]);
- c = (ARFloat)(x_coord[ed]*y_coord[st] - y_coord[ed]*x_coord[st]);
- dmax = 0;
- for(i=st+1;i<ed;i++) {
- d = a*x_coord[i] + b*y_coord[i] + c;
- if( d*d > dmax ) {
- dmax = d*d;
- v1 = i;
- }
- }
- if( dmax/(a*a+b*b) > thresh ) {
- if( get_vertex(x_coord, y_coord, st, v1, thresh, vertex, vnum) < 0 )
- return(-1);
-
- if( (*vnum) > 5 ) return(-1);
- vertex[(*vnum)] = v1;
- (*vnum)++;
-
- if( get_vertex(x_coord, y_coord, v1, ed, thresh, vertex, vnum) < 0 )
- return(-1);
- }
-
- return(0);
-}
-
-
-} // namespace ARToolKitPlus
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