diff options
Diffstat (limited to 'ARToolKitPlus/src/core/arGetCode.cxx')
| -rw-r--r-- | ARToolKitPlus/src/core/arGetCode.cxx | 887 |
1 files changed, 0 insertions, 887 deletions
diff --git a/ARToolKitPlus/src/core/arGetCode.cxx b/ARToolKitPlus/src/core/arGetCode.cxx deleted file mode 100644 index 3205e8e..0000000 --- a/ARToolKitPlus/src/core/arGetCode.cxx +++ /dev/null @@ -1,887 +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: arGetCode.cxx 162 2006-04-19 21:28:10Z grabner $
- * @file
- * ======================================================================== */
-
-
-#include <stdio.h>
-#include <math.h>
-
-#include <ARToolKitPlus/Tracker.h>
-#include <ARToolKitPlus/ar.h>
-#include <ARToolKitPlus/matrix.h>
-
-
-namespace ARToolKitPlus {
-
-
-static void get_cpara(ARFloat world[4][2], ARFloat vertex[4][2], ARFloat para[3][3]);
-static void put_zero(ARUint8 *p, int size);
-
-
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::arLoadPatt(char *filename)
-{
- FILE *fp;
- int patno;
- int h, i, j, l, m;
- int i1, i2, i3;
-
- if(pattern_num == -1 ) {
- for( i = 0; i < MAX_LOAD_PATTERNS; i++ ) patf[i] = 0;
- pattern_num = 0;
- }
-
- for( i = 0; i < MAX_LOAD_PATTERNS; i++ ) {
- if(patf[i] == 0) break;
- }
- if( i == MAX_LOAD_PATTERNS ) return -1;
- patno = i;
-
- if( (fp=fopen(filename, "r")) == NULL ) {
- printf("\"%s\" not found!!\n", filename);
- return(-1);
- }
-
- for( h=0; h<4; h++ ) {
- l = 0;
- for( i3 = 0; i3 < 3; i3++ ) {
- for( i2 = 0; i2 < PATTERN_HEIGHT; i2++ ) {
- for( i1 = 0; i1 < PATTERN_WIDTH; i1++ ) {
- if( fscanf(fp, "%d", &j) != 1 ) {
- printf("Pattern Data read error!!\n");
- return -1;
- }
- if(binaryMarkerThreshold!=-1)
- j = (j<binaryMarkerThreshold) ? 0 : 255;
- j = 255-j;
- pat[patno][h][(i2*PATTERN_WIDTH+i1)*3+i3] = j;
- if( i3 == 0 ) patBW[patno][h][i2*PATTERN_WIDTH+i1] = j;
- else patBW[patno][h][i2*PATTERN_WIDTH+i1] += j;
- if( i3 == 2 ) patBW[patno][h][i2*PATTERN_WIDTH+i1] /= 3;
- l += j;
- }
- }
- }
- l /= (PATTERN_HEIGHT*PATTERN_WIDTH*3);
-
- m = 0;
- for( i = 0; i < PATTERN_HEIGHT*PATTERN_WIDTH*3; i++ ) {
- pat[patno][h][i] -= l;
- m += (pat[patno][h][i]*pat[patno][h][i]);
- }
- patpow[patno][h] = (ARFloat)sqrt((ARFloat)m);
- if( patpow[patno][h] == 0.0 ) patpow[patno][h] = (ARFloat)0.0000001;
-
- m = 0;
- for( i = 0; i < PATTERN_HEIGHT*PATTERN_WIDTH; i++ ) {
- patBW[patno][h][i] -= l;
- m += (patBW[patno][h][i]*patBW[patno][h][i]);
- }
- patpowBW[patno][h] = (ARFloat)sqrt((ARFloat)m);
- if( patpowBW[patno][h] == 0.0 ) patpowBW[patno][h] = (ARFloat)0.0000001;
- }
- fclose(fp);
-
- patf[patno] = 1;
- pattern_num++;
-
-/*
- gen_evec();
-*/
-
- return( patno );
-}
-
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::arFreePatt( int patno )
-{
- if( patf[patno] == 0 ) return -1;
-
- patf[patno] = 0;
- pattern_num--;
-
- gen_evec();
-
- return 1;
-}
-
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::arActivatePatt( int patno )
-{
- if( patf[patno] == 0 ) return -1;
-
- patf[patno] = 1;
-
- return 1;
-}
-
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::arDeactivatePatt( int patno )
-{
- if( patf[patno] == 0 ) return -1;
-
- patf[patno] = 2;
-
- return 1;
-}
-
-
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::arGetCode(ARUint8 *image, int *x_coord, int *y_coord, int *vertex,
- int *code, int *dir, ARFloat *cf, int thresh)
-{
- ARUint8 ext_pat[PATTERN_HEIGHT][PATTERN_WIDTH][3];
-
- arGetPatt(image, x_coord, y_coord, vertex, ext_pat);
-
- if(autoThreshold.enable)
- {
- int x,y;
-
- for(y=0; y<PATTERN_HEIGHT; y++)
- for(x=0; x<PATTERN_WIDTH; x++)
- //autoThreshold.addValue(ext_pat[y][x][0], ext_pat[y][x][1], ext_pat[y][x][2]);
- autoThreshold.addValue(ext_pat[y][x][0], ext_pat[y][x][1], ext_pat[y][x][2], pixelFormat);
- }
-
-
-//#pragma message (">>> WARNING: compiling with marker content dumping. performance will be very low !!!")
-// FILE* fp = fopen("dump.raw", "wb");
-// fwrite(ext_pat, PATTERN_HEIGHT*PATTERN_WIDTH*3, 1, fp);
-// fclose(fp);
-
- switch(markerMode)
- {
- case MARKER_TEMPLATE:
- pattern_match((ARUint8 *)ext_pat, code, dir, cf);
- break;
-
- case MARKER_ID_SIMPLE:
- bitfield_check_simple((ARUint8 *)ext_pat, code, dir, cf, thresh);
- break;
-
- case MARKER_ID_BCH:
- bitfield_check_BCH((ARUint8 *)ext_pat, code, dir, cf, thresh);
- break;
- }
-
- /*if(useBitFieldMarkers)
- {
- if(idMarkerMode==IDMARKER_SIMPLE)
- bitfield_check_simple((ARUint8 *)ext_pat, code, dir, cf, thresh);
- else
- bitfield_check_BCH((ARUint8 *)ext_pat, code, dir, cf, thresh);
- }
- else
- pattern_match((ARUint8 *)ext_pat, code, dir, cf);*/
-
- return(0);
-}
-
-//#if 1
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::arGetPatt(ARUint8 *image, int *x_coord, int *y_coord, int *vertex,
- ARUint8 ext_pat[PATTERN_HEIGHT][PATTERN_WIDTH][3])
-{
- ARUint32 ext_pat2[PATTERN_HEIGHT][PATTERN_WIDTH][3];
- ARFloat world[4][2];
- ARFloat local[4][2];
- ARFloat para[3][3];
- ARFloat d, xw, yw;
- int xc, yc;
- int xdiv, ydiv;
- int xdiv2, ydiv2;
- int lx1, lx2, ly1, ly2;
- int i, j;
- ARUint8 col8;
- // int k1, k2, k3; // unreferenced
-
- unsigned short* image16 = (unsigned short*)image;
-
- world[0][0] = 100.0;
- world[0][1] = 100.0;
- world[1][0] = 100.0 + 10.0;
- world[1][1] = 100.0;
- world[2][0] = 100.0 + 10.0;
- world[2][1] = 100.0 + 10.0;
- world[3][0] = 100.0;
- world[3][1] = 100.0 + 10.0;
- for( i = 0; i < 4; i++ ) {
- local[i][0] = (ARFloat)x_coord[vertex[i]];
- local[i][1] = (ARFloat)y_coord[vertex[i]];
- }
- get_cpara( world, local, para );
-
- lx1 = (int)((local[0][0] - local[1][0])*(local[0][0] - local[1][0])
- + (local[0][1] - local[1][1])*(local[0][1] - local[1][1]));
- lx2 = (int)((local[2][0] - local[3][0])*(local[2][0] - local[3][0])
- + (local[2][1] - local[3][1])*(local[2][1] - local[3][1]));
- ly1 = (int)((local[1][0] - local[2][0])*(local[1][0] - local[2][0])
- + (local[1][1] - local[2][1])*(local[1][1] - local[2][1]));
- ly2 = (int)((local[3][0] - local[0][0])*(local[3][0] - local[0][0])
- + (local[3][1] - local[0][1])*(local[3][1] - local[0][1]));
- if( lx2 > lx1 ) lx1 = lx2;
- if( ly2 > ly1 ) ly1 = ly2;
- xdiv2 = PATTERN_WIDTH;
- ydiv2 = PATTERN_HEIGHT;
- if( arImageProcMode == AR_IMAGE_PROC_IN_FULL ) {
- while( xdiv2*xdiv2 < lx1/4 ) xdiv2*=2;
- while( ydiv2*ydiv2 < ly1/4 ) ydiv2*=2;
- }
- else {
- while( xdiv2*xdiv2*4 < lx1/4 ) xdiv2*=2;
- while( ydiv2*ydiv2*4 < ly1/4 ) ydiv2*=2;
- }
- if( xdiv2 > PATTERN_SAMPLE_NUM ) xdiv2 = PATTERN_SAMPLE_NUM;
- if( ydiv2 > PATTERN_SAMPLE_NUM ) ydiv2 = PATTERN_SAMPLE_NUM;
-
- xdiv = xdiv2/PATTERN_WIDTH;
- ydiv = ydiv2/PATTERN_HEIGHT;
-/*
-printf("%3d(%f), %3d(%f)\n", xdiv2, sqrt(lx1), ydiv2, sqrt(ly1));
-*/
-
-
- // special case xdiv==1 and ydiv==1, so we can remove all divides and multiplies for indexing
- //
- if(xdiv==1 && ydiv==1)
- {
- ARFloat border = relBorderWidth * 10.0f;
- ARFloat xyFrom = 100.0f + border,
- xyTo = 110.0f - border,
- xyStep = xyTo-xyFrom;
- ARFloat steps[PATTERN_WIDTH];
-
- for( i = 0; i < xdiv2; i++ )
- steps[i] = xyFrom + xyStep * (ARFloat)(i+0.5f) / (ARFloat)xdiv2;
-
- for( j = 0; j < ydiv2; j++ ) {
- yw = steps[j];
- for( i = 0; i < xdiv2; i++ ) {
- xw = steps[i];
- d = para[2][0]*xw + para[2][1]*yw + para[2][2];
- if( d == 0 ) return(-1);
- xc = (int)((para[0][0]*xw + para[0][1]*yw + para[0][2])/d);
- yc = (int)((para[1][0]*xw + para[1][1]*yw + para[1][2])/d);
- //das hier sollte noch getestet werden...
- /*
- if( arImageProcMode == AR_IMAGE_PROC_IN_HALF ) {
- xc = ((xc+1)/2)*2;
- yc = ((yc+1)/2)*2;
- }*/
-
- if( xc >= 0 && xc < arImXsize && yc >= 0 && yc < arImYsize )
- {
- switch(pixelFormat)
- {
- case PIXEL_FORMAT_ABGR:
- ext_pat[j][i][0] = image[(yc*arImXsize+xc)*4+1];
- ext_pat[j][i][1] = image[(yc*arImXsize+xc)*4+2];
- ext_pat[j][i][2] = image[(yc*arImXsize+xc)*4+3];
- break;
-
- case PIXEL_FORMAT_BGRA:
- ext_pat[j][i][0] = image[(yc*arImXsize+xc)*4+0];
- ext_pat[j][i][1] = image[(yc*arImXsize+xc)*4+1];
- ext_pat[j][i][2] = image[(yc*arImXsize+xc)*4+2];
- break;
-
- case PIXEL_FORMAT_BGR:
- ext_pat[j][i][0] = image[(yc*arImXsize+xc)*3+0];
- ext_pat[j][i][1] = image[(yc*arImXsize+xc)*3+1];
- ext_pat[j][i][2] = image[(yc*arImXsize+xc)*3+2];
- break;
-
- case PIXEL_FORMAT_RGBA:
- ext_pat[j][i][0] = image[(yc*arImXsize+xc)*4+2];
- ext_pat[j][i][1] = image[(yc*arImXsize+xc)*4+1];
- ext_pat[j][i][2] = image[(yc*arImXsize+xc)*4+0];
-
- case PIXEL_FORMAT_RGB:
- ext_pat[j][i][0] = image[(yc*arImXsize+xc)*3+2];
- ext_pat[j][i][1] = image[(yc*arImXsize+xc)*3+1];
- ext_pat[j][i][2] = image[(yc*arImXsize+xc)*3+0];
- break;
-
- case PIXEL_FORMAT_RGB565:
- col8 = getLUM8_from_RGB565(image16+yc*arImXsize+xc);
- ext_pat[j][i][0] = col8;
- ext_pat[j][i][1] = col8;
- ext_pat[j][i][2] = col8;
- break;
-
- case PIXEL_FORMAT_LUM:
- col8 = image[(yc*arImXsize+xc)];
- ext_pat[j][i][0] = col8;
- ext_pat[j][i][1] = col8;
- ext_pat[j][i][2] = col8;
- break;
- }
- }
- }
- }
- }
- else
- // general case: xdiv!=1 or ydiv!=1
- //
- {
- ARFloat border = relBorderWidth * 10.0f;
- ARFloat xyFrom = 100.0f + border,
- xyTo = 110.0f - border,
- xyStep = xyTo-xyFrom;
- int jy,ix;
- ARUint8 col8;
-
- put_zero( (ARUint8 *)ext_pat2, PATTERN_HEIGHT*PATTERN_WIDTH*3*sizeof(ARUint32) );
-
- for( j = 0; j < ydiv2; j++ ) {
- //yw = (ARFloat)(102.5) + (ARFloat)(5.0) * (ARFloat)(j+0.5) / (ARFloat)ydiv2;
- yw = xyFrom + xyStep * (ARFloat)(j+0.5f) / (ARFloat)ydiv2;
- for( i = 0; i < xdiv2; i++ ) {
- //xw = (ARFloat)(102.5) + (ARFloat)(5.0) * (ARFloat)(i+0.5) / (ARFloat)xdiv2;
- xw = xyFrom + xyStep * (ARFloat)(i+0.5f) / (ARFloat)xdiv2;
- d = para[2][0]*xw + para[2][1]*yw + para[2][2];
- if( d == 0 ) return(-1);
- xc = (int)((para[0][0]*xw + para[0][1]*yw + para[0][2])/d);
- yc = (int)((para[1][0]*xw + para[1][1]*yw + para[1][2])/d);
- /*
- if( arImageProcMode == AR_IMAGE_PROC_IN_HALF ) {
- xc = ((xc+1)/2)*2;
- yc = ((yc+1)/2)*2;
- }*/
- if( xc >= 0 && xc < arImXsize && yc >= 0 && yc < arImYsize )
- {
- /*if(PIX_FORMAT==PIXEL_FORMAT_ABGR) {
- ext_pat2[j/ydiv][i/xdiv][0] += image[(yc*arImXsize+xc)*PIX_SIZE+1];
- ext_pat2[j/ydiv][i/xdiv][1] += image[(yc*arImXsize+xc)*PIX_SIZE+2];
- ext_pat2[j/ydiv][i/xdiv][2] += image[(yc*arImXsize+xc)*PIX_SIZE+3];
- }
- if(PIX_FORMAT==PIXEL_FORMAT_BGRA) {
- ext_pat2[j/ydiv][i/xdiv][0] += image[(yc*arImXsize+xc)*PIX_SIZE+0];
- ext_pat2[j/ydiv][i/xdiv][1] += image[(yc*arImXsize+xc)*PIX_SIZE+1];
- ext_pat2[j/ydiv][i/xdiv][2] += image[(yc*arImXsize+xc)*PIX_SIZE+2];
- }
- if(PIX_FORMAT==PIXEL_FORMAT_BGR) {
- ext_pat2[j/ydiv][i/xdiv][0] += image[(yc*arImXsize+xc)*PIX_SIZE+0];
- ext_pat2[j/ydiv][i/xdiv][1] += image[(yc*arImXsize+xc)*PIX_SIZE+1];
- ext_pat2[j/ydiv][i/xdiv][2] += image[(yc*arImXsize+xc)*PIX_SIZE+2];
- }
- if(PIX_FORMAT==PIXEL_FORMAT_RGBA) {
- ext_pat2[j/ydiv][i/xdiv][0] += image[(yc*arImXsize+xc)*PIX_SIZE+2];
- ext_pat2[j/ydiv][i/xdiv][1] += image[(yc*arImXsize+xc)*PIX_SIZE+1];
- ext_pat2[j/ydiv][i/xdiv][2] += image[(yc*arImXsize+xc)*PIX_SIZE+0];
- }
- if(PIX_FORMAT==PIXEL_FORMAT_RGB) {
- ext_pat2[j/ydiv][i/xdiv][0] += image[(yc*arImXsize+xc)*PIX_SIZE+2];
- ext_pat2[j/ydiv][i/xdiv][1] += image[(yc*arImXsize+xc)*PIX_SIZE+1];
- ext_pat2[j/ydiv][i/xdiv][2] += image[(yc*arImXsize+xc)*PIX_SIZE+0];
- }
- if(PIX_FORMAT==PIXEL_FORMAT_RGB565) {
- int jy=j/ydiv, ix=i/xdiv;
- //ARUint8 col = RGB565_to_LUM8_LUT[image16[yc*arImXsize+xc]];
- ARUint8 col = getLUM8_from_RGB565(image16+yc*arImXsize+xc);
- ext_pat2[jy][ix][0] += col;
- ext_pat2[jy][ix][1] += col;
- ext_pat2[jy][ix][2] += col;
- }
- if(PIX_FORMAT==PIXEL_FORMAT_LUM) {
- int jy=j/ydiv, ix=i/xdiv;
- ARUint8 col = image[(yc*arImXsize+xc)*PIX_SIZE];
- ext_pat2[jy][ix][0] += col;
- ext_pat2[jy][ix][1] += col;
- ext_pat2[jy][ix][2] += col;
- }*/
-
- switch(pixelFormat)
- {
- case PIXEL_FORMAT_ABGR:
- ext_pat2[j/ydiv][i/xdiv][0] += image[(yc*arImXsize+xc)*4+1];
- ext_pat2[j/ydiv][i/xdiv][1] += image[(yc*arImXsize+xc)*4+2];
- ext_pat2[j/ydiv][i/xdiv][2] += image[(yc*arImXsize+xc)*4+3];
- break;
-
- case PIXEL_FORMAT_BGRA:
- ext_pat2[j/ydiv][i/xdiv][0] += image[(yc*arImXsize+xc)*4+0];
- ext_pat2[j/ydiv][i/xdiv][1] += image[(yc*arImXsize+xc)*4+1];
- ext_pat2[j/ydiv][i/xdiv][2] += image[(yc*arImXsize+xc)*4+2];
- break;
-
- case PIXEL_FORMAT_BGR:
- ext_pat2[j/ydiv][i/xdiv][0] += image[(yc*arImXsize+xc)*3+0];
- ext_pat2[j/ydiv][i/xdiv][1] += image[(yc*arImXsize+xc)*3+1];
- ext_pat2[j/ydiv][i/xdiv][2] += image[(yc*arImXsize+xc)*3+2];
- break;
-
- case PIXEL_FORMAT_RGBA:
- ext_pat2[j/ydiv][i/xdiv][0] += image[(yc*arImXsize+xc)*4+2];
- ext_pat2[j/ydiv][i/xdiv][1] += image[(yc*arImXsize+xc)*4+1];
- ext_pat2[j/ydiv][i/xdiv][2] += image[(yc*arImXsize+xc)*4+0];
- break;
-
- case PIXEL_FORMAT_RGB:
- ext_pat2[j/ydiv][i/xdiv][0] += image[(yc*arImXsize+xc)*3+2];
- ext_pat2[j/ydiv][i/xdiv][1] += image[(yc*arImXsize+xc)*3+1];
- ext_pat2[j/ydiv][i/xdiv][2] += image[(yc*arImXsize+xc)*3+0];
- break;
-
- case PIXEL_FORMAT_RGB565:
- jy=j/ydiv; ix=i/xdiv;
- col8 = getLUM8_from_RGB565(image16+yc*arImXsize+xc);
- ext_pat2[jy][ix][0] += col8;
- ext_pat2[jy][ix][1] += col8;
- ext_pat2[jy][ix][2] += col8;
- break;
-
- case PIXEL_FORMAT_LUM:
- jy=j/ydiv; ix=i/xdiv;
- col8 = image[yc*arImXsize+xc];
- ext_pat2[jy][ix][0] += col8;
- ext_pat2[jy][ix][1] += col8;
- ext_pat2[jy][ix][2] += col8;
- break;
- }
- }
- }
- }
-
- for( j = 0; j < PATTERN_HEIGHT; j++ ) {
- for( i = 0; i < PATTERN_HEIGHT; i++ ) {
- ext_pat[j][i][0] = ext_pat2[j][i][0] / (xdiv*ydiv);
- ext_pat[j][i][1] = ext_pat2[j][i][1] / (xdiv*ydiv);
- ext_pat[j][i][2] = ext_pat2[j][i][2] / (xdiv*ydiv);
- }
- }
- }
-
- return(0);
-}
-//#else
-/*
-int arGetPatt( ARUint8 *image, int *x_coord, int *y_coord, int *vertex,
- ARUint8 ext_pat[PATTERN_HEIGHT][PATTERN_WIDTH][3] )
-{
- ARFloat world[4][2];
- ARFloat local[4][2];
- ARFloat para[3][3];
- ARFloat d, xw, yw;
- int xc, yc;
- int i, j;
- int k1, k2, k3;
-
- world[0][0] = 100.0;
- world[0][1] = 100.0;
- world[1][0] = 100.0 + 10.0;
- world[1][1] = 100.0;
- world[2][0] = 100.0 + 10.0;
- world[2][1] = 100.0 + 10.0;
- world[3][0] = 100.0;
- world[3][1] = 100.0 + 10.0;
- for( i = 0; i < 4; i++ ) {
- local[i][0] = x_coord[vertex[i]];
- local[i][1] = y_coord[vertex[i]];
- }
- get_cpara( world, local, para );
-
- put_zero( (ARUint8 *)ext_pat, PATTERN_HEIGHT*PATTERN_WIDTH*3 );
- for( j = 0; j < AR_PATT_SAMPLE_NUM; j++ ) {
- yw = 102.5 + 5.0 * (j+0.5) / (ARFloat)AR_PATT_SAMPLE_NUM;
- for( i = 0; i < AR_PATT_SAMPLE_NUM; i++ ) {
- xw = 102.5 + 5.0 * (i+0.5) / (ARFloat)AR_PATT_SAMPLE_NUM;
- d = para[2][0]*xw + para[2][1]*yw + para[2][2];
- if( d == 0 ) return(-1);
- xc = (int)((para[0][0]*xw + para[0][1]*yw + para[0][2])/d);
- yc = (int)((para[1][0]*xw + para[1][1]*yw + para[1][2])/d);
- if( arImageProcMode == AR_IMAGE_PROC_IN_HALF ) {
- xc = ((xc+1)/2)*2;
- yc = ((yc+1)/2)*2;
- }
- if( xc >= 0 && xc < arImXsize && yc >= 0 && yc < arImYsize ) {
-#ifdef AR_PIX_FORMAT_ABGR
- k1 = image[(yc*arImXsize+xc)*AR_PIX_SIZE+1];
- k1 = ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][0]
- + k1*(PATTERN_HEIGHT*PATTERN_WIDTH)/(AR_PATT_SAMPLE_NUM*AR_PATT_SAMPLE_NUM);
- ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][0] = (k1 > 255)? 255: k1;
- k2 = image[(yc*arImXsize+xc)*AR_PIX_SIZE+2];
- k2 = ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][1]
- + k2*(PATTERN_HEIGHT*PATTERN_WIDTH)/(AR_PATT_SAMPLE_NUM*AR_PATT_SAMPLE_NUM);
- ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][1] = (k2 > 255)? 255: k2;
- k3 = image[(yc*arImXsize+xc)*AR_PIX_SIZE+3];
- k3 = ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][2]
- + k3*(PATTERN_HEIGHT*PATTERN_WIDTH)/(AR_PATT_SAMPLE_NUM*AR_PATT_SAMPLE_NUM);
- ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][2] = (k3 > 255)? 255: k3;
-#endif
-#ifdef AR_PIX_FORMAT_BGRA
- k1 = image[(yc*arImXsize+xc)*AR_PIX_SIZE+0];
- k1 = ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][0]
- + k1*(PATTERN_HEIGHT*PATTERN_WIDTH)/(AR_PATT_SAMPLE_NUM*AR_PATT_SAMPLE_NUM);
- ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][0] = (k1 > 255)? 255: k1;
- k2 = image[(yc*arImXsize+xc)*AR_PIX_SIZE+1];
- k2 = ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][1]
- + k2*(PATTERN_HEIGHT*PATTERN_WIDTH)/(AR_PATT_SAMPLE_NUM*AR_PATT_SAMPLE_NUM);
- ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][1] = (k2 > 255)? 255: k2;
- k3 = image[(yc*arImXsize+xc)*AR_PIX_SIZE+2];
- k3 = ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][2]
- + k3*(PATTERN_HEIGHT*PATTERN_WIDTH)/(AR_PATT_SAMPLE_NUM*AR_PATT_SAMPLE_NUM);
- ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][2] = (k3 > 255)? 255: k3;
-#endif
-#ifdef AR_PIX_FORMAT_BGR
- k1 = image[(yc*arImXsize+xc)*AR_PIX_SIZE+0];
- k1 = ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][0]
- + k1*(PATTERN_HEIGHT*PATTERN_WIDTH)/(AR_PATT_SAMPLE_NUM*AR_PATT_SAMPLE_NUM);
- ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][0] = (k1 > 255)? 255: k1;
- k2 = image[(yc*arImXsize+xc)*AR_PIX_SIZE+1];
- k2 = ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][1]
- + k2*(PATTERN_HEIGHT*PATTERN_WIDTH)/(AR_PATT_SAMPLE_NUM*AR_PATT_SAMPLE_NUM);
- ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][1] = (k2 > 255)? 255: k2;
- k3 = image[(yc*arImXsize+xc)*AR_PIX_SIZE+2];
- k3 = ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][2]
- + k3*(PATTERN_HEIGHT*PATTERN_WIDTH)/(AR_PATT_SAMPLE_NUM*AR_PATT_SAMPLE_NUM);
- ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][2] = (k3 > 255)? 255: k3;
-#endif
-#ifdef AR_PIX_FORMAT_RGBA
- k1 = image[(yc*arImXsize+xc)*AR_PIX_SIZE+2];
- k1 = ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][0]
- + k1*(PATTERN_HEIGHT*PATTERN_WIDTH)/(AR_PATT_SAMPLE_NUM*AR_PATT_SAMPLE_NUM);
- ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][0] = (k1 > 255)? 255: k1;
- k2 = image[(yc*arImXsize+xc)*AR_PIX_SIZE+1];
- k2 = ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][1]
- + k2*(PATTERN_HEIGHT*PATTERN_WIDTH)/(AR_PATT_SAMPLE_NUM*AR_PATT_SAMPLE_NUM);
- ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][1] = (k2 > 255)? 255: k2;
- k3 = image[(yc*arImXsize+xc)*AR_PIX_SIZE+0];
- k3 = ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][2]
- + k3*(PATTERN_HEIGHT*PATTERN_WIDTH)/(AR_PATT_SAMPLE_NUM*AR_PATT_SAMPLE_NUM);
- ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][2] = (k3 > 255)? 255: k3;
-#endif
-#ifdef AR_PIX_FORMAT_RGB
- k1 = image[(yc*arImXsize+xc)*AR_PIX_SIZE+2];
- k1 = ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][0]
- + k1*(PATTERN_HEIGHT*PATTERN_WIDTH)/(AR_PATT_SAMPLE_NUM*AR_PATT_SAMPLE_NUM);
- ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][0] = (k1 > 255)? 255: k1;
- k2 = image[(yc*arImXsize+xc)*AR_PIX_SIZE+1];
- k2 = ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][1]
- + k2*(PATTERN_HEIGHT*PATTERN_WIDTH)/(AR_PATT_SAMPLE_NUM*AR_PATT_SAMPLE_NUM);
- ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][1] = (k2 > 255)? 255: k2;
- k3 = image[(yc*arImXsize+xc)*AR_PIX_SIZE+0];
- k3 = ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][2]
- + k3*(PATTERN_HEIGHT*PATTERN_WIDTH)/(AR_PATT_SAMPLE_NUM*AR_PATT_SAMPLE_NUM);
- ext_pat[j*PATTERN_HEIGHT/AR_PATT_SAMPLE_NUM][i*PATTERN_WIDTH/AR_PATT_SAMPLE_NUM][2] = (k3 > 255)? 255: k3;
-#endif
- }
- }
- }
-
- return(0);
-}
-//#endif
-*/
-
-
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::pattern_match( ARUint8 *data, int *code, int *dir, ARFloat *cf)
-{
- ARFloat invec[EVEC_MAX];
- int input[PATTERN_HEIGHT*PATTERN_WIDTH*3];
- int i, j, l;
- int k = 0; // fix VC7 compiler warning: uninitialized variable
- int ave, sum, res, res2;
- ARFloat datapow, sum2, min;
- ARFloat max = 0.0; // fix VC7 compiler warning: uninitialized variable
-
- // uncomment to dump the unprojected content of the marker that artoolkit found in the image
-/* if(FILE* fp = fopen("dump.raw", "wb"))
- {
- fwrite(data, 1, PATTERN_HEIGHT*PATTERN_WIDTH*3, fp);
- fclose(fp);
- }*/
-
- sum = ave = 0;
- for(i=0;i<PATTERN_HEIGHT*PATTERN_WIDTH*3;i++) {
- ave += (255-data[i]);
- }
- ave /= (PATTERN_HEIGHT*PATTERN_WIDTH*3);
-
- if( arTemplateMatchingMode == AR_TEMPLATE_MATCHING_COLOR ) {
- for(i=0;i<PATTERN_HEIGHT*PATTERN_WIDTH*3;i++) {
- input[i] = (255-data[i]) - ave;
- sum += input[i]*input[i];
- }
- }
- else {
- for(i=0;i<PATTERN_HEIGHT*PATTERN_WIDTH;i++) {
- input[i] = ((255-data[i*3+0]) + (255-data[i*3+1]) + (255-data[i*3+02]))/3 - ave;
- sum += input[i]*input[i];
- }
- }
-
- datapow = (ARFloat)sqrt( (ARFloat)sum );
- if( datapow == 0.0 ) {
- *code = 0;
- *dir = 0;
- *cf = -1.0;
- return -1;
- }
-
- res = res2 = -1;
- if( arTemplateMatchingMode == AR_TEMPLATE_MATCHING_COLOR ) {
- if( arMatchingPCAMode == AR_MATCHING_WITH_PCA && evecf ) {
-
- for( i = 0; i < evec_dim; i++ ) {
- invec[i] = 0.0;
- for( j = 0; j < PATTERN_HEIGHT*PATTERN_WIDTH*3; j++ ) {
- invec[i] += evec[i][j] * input[j];
- }
- invec[i] /= datapow;
- }
-
- min = 10000.0;
- k = -1;
- for( l = 0; l < pattern_num; l++ ) {
- k++;
- while( patf[k] == 0 ) k++;
- if( patf[k] == 2 ) continue;
-#ifdef ARTK_DEBUG
- printf("%3d: ", k);
-#endif
- for( j = 0; j < 4; j++ ) {
- sum2 = 0;
- for(i = 0; i < evec_dim; i++ ) {
- sum2 += (invec[i] - epat[k][j][i]) * (invec[i] - epat[k][j][i]);
- }
-#ifdef ARTK_DEBUG
- printf("%10.7f ", sum2);
-#endif
- if( sum2 < min ) { min = sum2; res = j; res2 = k; }
- }
-#ifdef ARTK_DEBUG
- printf("\n");
-#endif
- }
- sum = 0;
- for(i=0;i<PATTERN_HEIGHT*PATTERN_WIDTH*3;i++) sum += input[i]*pat[res2][res][i];
- max = sum / patpow[res2][res] / datapow;
- }
- else {
- k = -1;
- max = 0.0;
- for( l = 0; l < pattern_num; l++ ) {
- k++;
- while( patf[k] == 0 ) k++;
- if( patf[k] == 2 ) continue;
- for( j = 0; j < 4; j++ ) {
- sum = 0;
- for(i=0;i<PATTERN_HEIGHT*PATTERN_WIDTH*3;i++) sum += input[i]*pat[k][j][i];
- sum2 = sum / patpow[k][j] / datapow;
- if( sum2 > max ) { max = sum2; res = j; res2 = k; }
- }
- }
- }
- }
- else {
- for( l = 0; l < pattern_num; l++ ) {
- k++;
- while( patf[k] == 0 ) k++;
- if( patf[k] == 2 ) continue;
- for( j = 0; j < 4; j++ ) {
- sum = 0;
- for(i=0;i<PATTERN_HEIGHT*PATTERN_WIDTH;i++) sum += input[i]*patBW[k][j][i];
- sum2 = sum / patpowBW[k][j] / datapow;
- if( sum2 > max ) { max = sum2; res = j; res2 = k; }
- }
- }
- }
-
- *code = res2;
- *dir = res;
- *cf = max;
-
-#ifdef ARTK_DEBUG
- printf("%d %d %f\n", res2, res, max);
-#endif
-
- return 0;
-}
-
-
-AR_TEMPL_FUNC void
-AR_TEMPL_TRACKER::gen_evec(void)
-{
- int i, j, k, ii, jj;
- ARMat *input, *wevec;
- ARVec *wev;
- ARFloat sum, sum2;
- int dim;
-
- if( pattern_num < 4 ) {
- evecf = 0;
- evecBWf = 0;
- return;
- }
-
-#ifdef ARTK_DEBUG
- printf("------------------------------------------\n");
-#endif
-
- dim = (pattern_num*4 < PATTERN_HEIGHT*PATTERN_WIDTH*3)? pattern_num*4: PATTERN_HEIGHT*PATTERN_WIDTH*3;
- input = Matrix::alloc( pattern_num*4, PATTERN_HEIGHT*PATTERN_WIDTH*3 );
- wevec = Matrix::alloc( dim, PATTERN_HEIGHT*PATTERN_WIDTH*3 );
- wev = Vector::alloc( dim );
-
- for( j = jj = 0; jj < MAX_LOAD_PATTERNS; jj++ ) {
- if( patf[jj] == 0 ) continue;
- for( k = 0; k < 4; k++ ) {
- for( i = 0; i < PATTERN_HEIGHT*PATTERN_WIDTH*3; i++ ) {
- input->m[(j*4+k)*PATTERN_HEIGHT*PATTERN_WIDTH*3+i] = pat[j][k][i] / patpow[j][k];
- }
- }
- j++;
- }
-
- if( arMatrixPCA2(input, wevec, wev) < 0 ) {
- Matrix::free( input );
- Matrix::free( wevec );
- Vector::free( wev );
- evecf = 0;
- evecBWf = 0;
- return;
- }
-
- sum = 0.0;
- for( i = 0; i < dim; i++ ) {
- sum += wev->v[i];
-#ifdef ARTK_DEBUG
- printf("%2d(%10.7f): \n", i+1, sum);
-#endif
- if( sum > 0.90 ) break;
- if( i == EVEC_MAX-1 ) break;
- }
- evec_dim = i+1;
-
- for( j = 0; j < evec_dim; j++ ) {
- for( i = 0; i < PATTERN_HEIGHT*PATTERN_WIDTH*3; i++ ) {
- evec[j][i] = wevec->m[j*PATTERN_HEIGHT*PATTERN_WIDTH*3+i];
- }
- }
-
- for( i = 0; i < MAX_LOAD_PATTERNS; i++ ) {
- if(patf[i] == 0) continue;
- for( j = 0; j < 4; j++ ) {
-#ifdef ARTK_DEBUG
- printf("%2d[%d]: ", i+1, j+1);
-#endif
- sum2 = 0.0;
- for( k = 0; k < evec_dim; k++ ) {
- sum = 0.0;
- for(ii=0;ii<PATTERN_HEIGHT*PATTERN_WIDTH*3;ii++) {
- sum += evec[k][ii] * pat[i][j][ii] / patpow[i][j];
- }
-#ifdef ARTK_DEBUG
- printf("%10.7f ", sum);
-#endif
- epat[i][j][k] = sum;
- sum2 += sum*sum;
- }
-#ifdef ARTK_DEBUG
- printf(":: %10.7f\n", sqrt(sum2));
-#endif
- }
- }
-
- Matrix::free( input );
- Matrix::free( wevec );
- Vector::free( wev );
-
- evecf = 1;
- evecBWf = 0;
-
- return;
-}
-
-
-static void
-get_cpara( ARFloat world[4][2], ARFloat vertex[4][2], ARFloat para[3][3] )
-{
- ARMat *a, *b, *c;
- int i;
-
- a = Matrix::alloc( 8, 8 );
- b = Matrix::alloc( 8, 1 );
- c = Matrix::alloc( 8, 1 );
- for( i = 0; i < 4; i++ ) {
- a->m[i*16+0] = world[i][0];
- a->m[i*16+1] = world[i][1];
- a->m[i*16+2] = 1.0;
- a->m[i*16+3] = 0.0;
- a->m[i*16+4] = 0.0;
- a->m[i*16+5] = 0.0;
- a->m[i*16+6] = -world[i][0] * vertex[i][0];
- a->m[i*16+7] = -world[i][1] * vertex[i][0];
- a->m[i*16+8] = 0.0;
- a->m[i*16+9] = 0.0;
- a->m[i*16+10] = 0.0;
- a->m[i*16+11] = world[i][0];
- a->m[i*16+12] = world[i][1];
- a->m[i*16+13] = 1.0;
- a->m[i*16+14] = -world[i][0] * vertex[i][1];
- a->m[i*16+15] = -world[i][1] * vertex[i][1];
- b->m[i*2+0] = vertex[i][0];
- b->m[i*2+1] = vertex[i][1];
- }
- Matrix::selfInv( a );
- Matrix::mul( c, a, b );
- for( i = 0; i < 2; i++ ) {
- para[i][0] = c->m[i*3+0];
- para[i][1] = c->m[i*3+1];
- para[i][2] = c->m[i*3+2];
- }
- para[2][0] = c->m[2*3+0];
- para[2][1] = c->m[2*3+1];
- para[2][2] = 1.0;
- Matrix::free( a );
- Matrix::free( b );
- Matrix::free( c );
-}
-
-
-/*
-static void put_zero( ARUint8 *p, int size )
-{
- while( (size--) > 0 ) *(p++) = 0;
-}
-*/
-
-} // namespace ARToolKitPlus
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