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Diffstat (limited to 'ARToolKitPlus/src/core/arUtil.cxx')
| -rw-r--r-- | ARToolKitPlus/src/core/arUtil.cxx | 185 |
1 files changed, 0 insertions, 185 deletions
diff --git a/ARToolKitPlus/src/core/arUtil.cxx b/ARToolKitPlus/src/core/arUtil.cxx deleted file mode 100644 index 1ec6eed..0000000 --- a/ARToolKitPlus/src/core/arUtil.cxx +++ /dev/null @@ -1,185 +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: arUtil.cxx 162 2006-04-19 21:28:10Z grabner $
- * @file
- * ======================================================================== */
-
-
-#include <stdio.h>
-#include <math.h>
-
-#ifdef _WIN32
-
-#ifndef _WIN32_WCE
-#include <sys/timeb.h>
-#endif
-
-#include <windows.h>
-#else
-#include <sys/time.h>
-#endif
-
-#include <ARToolKitPlus/Tracker.h>
-#include <ARToolKitPlus/param.h>
-#include <ARToolKitPlus/matrix.h>
-
-
-namespace ARToolKitPlus {
-
-
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::arInitCparam(Camera *pCam)
-{
- // if the camera parameters change, the undistortion LUT has to be rebuilt.
- // (this is done automatically in arParamObserv2Ideal_LUT or arParamIdeal2Observ_LUT)
- //
- if(undistO2ITable && (arImXsize!=pCam->xsize || arImYsize!=pCam->ysize))
- {
- artkp_Free(undistO2ITable);
- undistO2ITable = NULL;
- }
-
- arImXsize = pCam->xsize;
- arImYsize = pCam->ysize;
-
- return(0);
-}
-
-
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::arGetLine(int x_coord[], int y_coord[], int coord_num, int vertex[], ARFloat line[4][3], ARFloat v[4][2])
-{
- //return arGetLine2( x_coord, y_coord, coord_num, vertex, line, v, arParam.dist_factor );
- return arGetLine2( x_coord, y_coord, coord_num, vertex, line, v, arCamera );
-}
-
-
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::arGetLine2(int x_coord[], int y_coord[], int coord_num,
- int vertex[], ARFloat line[4][3], ARFloat v[4][2], Camera *pCam)
-{
- ARMat *input, *evec;
- ARVec *ev, *mean;
- ARFloat w1;
- int st, ed, n;
- int i, j;
-
- ev = Vector::alloc( 2 );
- mean = Vector::alloc( 2 );
- evec = Matrix::alloc( 2, 2 );
- for( i = 0; i < 4; i++ ) {
- w1 = (ARFloat)(vertex[i+1]-vertex[i]+1) * (ARFloat)0.05 + (ARFloat)0.5;
- st = (int)(vertex[i] + w1);
- ed = (int)(vertex[i+1] - w1);
- n = ed - st + 1;
- input = Matrix::alloc( n, 2 );
- for( j = 0; j < n; j++ ) {
- // does not work
- (this->*arParamObserv2Ideal_func)( pCam, (ARFloat)x_coord[st+j], (ARFloat)y_coord[st+j], &(input->m[j*2+0]), &(input->m[j*2+1]) );
- //
- }
- if( arMatrixPCA(input, evec, ev, mean) < 0 ) {
- Matrix::free( input );
- Matrix::free( evec );
- Vector::free( mean );
- Vector::free( ev );
- return(-1);
- }
- line[i][0] = evec->m[1];
- line[i][1] = -evec->m[0];
- line[i][2] = -(line[i][0]*mean->v[0] + line[i][1]*mean->v[1]);
- Matrix::free( input );
- }
- Matrix::free( evec );
- Vector::free( mean );
- Vector::free( ev );
-
- for( i = 0; i < 4; i++ ) {
- w1 = line[(i+3)%4][0] * line[i][1] - line[i][0] * line[(i+3)%4][1];
- if( w1 == 0.0 ) return(-1);
- v[i][0] = ( line[(i+3)%4][1] * line[i][2]
- - line[i][1] * line[(i+3)%4][2] ) / w1;
- v[i][1] = ( line[i][0] * line[(i+3)%4][2]
- - line[(i+3)%4][0] * line[i][2] ) / w1;
- }
-
- return(0);
-}
-
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::arUtilMatMul( ARFloat s1[3][4], ARFloat s2[3][4], ARFloat d[3][4] )
-{
- int i, j;
-
- for( j = 0; j < 3; j++ ) {
- for( i = 0; i < 4; i++) {
- d[j][i] = s1[j][0] * s2[0][i]
- + s1[j][1] * s2[1][i]
- + s1[j][2] * s2[2][i];
- }
- d[j][3] += s1[j][3];
- }
-
- return 0;
-}
-
-AR_TEMPL_FUNC int
-AR_TEMPL_TRACKER::arUtilMatInv(ARFloat s[3][4], ARFloat d[3][4])
-{
- ARMat *mat;
- int i, j;
-
- mat = Matrix::alloc( 4, 4 );
- for( j = 0; j < 3; j++ ) {
- for( i = 0; i < 4; i++ ) {
- mat->m[j*4+i] = s[j][i];
- }
- }
- mat->m[3*4+0] = 0; mat->m[3*4+1] = 0;
- mat->m[3*4+2] = 0; mat->m[3*4+3] = 1;
- Matrix::selfInv( mat );
- for( j = 0; j < 3; j++ ) {
- for( i = 0; i < 4; i++ ) {
- d[j][i] = mat->m[j*4+i];
- }
- }
- Matrix::free( mat );
-
- return 0;
-}
-
-
-} // namespace ARToolKitPlus
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