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Diffstat (limited to 'ARToolKitPlus/src/core/rppGetTransMat.cxx')
| -rw-r--r-- | ARToolKitPlus/src/core/rppGetTransMat.cxx | 118 |
1 files changed, 0 insertions, 118 deletions
diff --git a/ARToolKitPlus/src/core/rppGetTransMat.cxx b/ARToolKitPlus/src/core/rppGetTransMat.cxx deleted file mode 100644 index c37166f..0000000 --- a/ARToolKitPlus/src/core/rppGetTransMat.cxx +++ /dev/null @@ -1,118 +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 Thomas Pintaric
- *
- * $Id: rppGetTransMat.cxx 162 2006-04-19 21:28:10Z grabner $
- * @file
- * ======================================================================== */
-
-
-#include <stdlib.h>
-#include <math.h>
-
-#include <ARToolKitPlus/Tracker.h>
-#include <ARToolKitPlus/matrix.h>
-#include <ARToolKitPlus/extra/rpp.h>
-
-
-namespace ARToolKitPlus {
-
-AR_TEMPL_FUNC ARFloat
-AR_TEMPL_TRACKER::rppGetTransMat(ARMarkerInfo *marker_info, ARFloat center[2], ARFloat width, ARFloat conv[3][4])
-{
- const bool initial_estimate_with_arGetInitRot = false; // only for testing
-
- rpp_float err = 1e+20;
- rpp_mat R, R_init;
- rpp_vec t;
-
- if(initial_estimate_with_arGetInitRot )
- {
- ARFloat rot[3][3];
- if( arGetInitRot( marker_info, arCamera->mat, rot ) < 0 ) return -1;
- for(int i=0; i<3; i++)
- for(int j=0; j<3; j++)
- R_init[i][j] = (rpp_float)rot[i][j];
- }
-
- int dir = marker_info->dir;
- rpp_vec ppos2d[4];
- rpp_vec ppos3d[4];
- const unsigned int n_pts = 4;
- const rpp_float model_z = 0;
- const rpp_float iprts_z = 1;
-
- ppos2d[0][0] = marker_info->vertex[(4-dir)%4][0];
- ppos2d[0][1] = marker_info->vertex[(4-dir)%4][1];
- ppos2d[0][2] = iprts_z;
- ppos2d[1][0] = marker_info->vertex[(5-dir)%4][0];
- ppos2d[1][1] = marker_info->vertex[(5-dir)%4][1];
- ppos2d[1][2] = iprts_z;
- ppos2d[2][0] = marker_info->vertex[(6-dir)%4][0];
- ppos2d[2][1] = marker_info->vertex[(6-dir)%4][1];
- ppos2d[2][2] = iprts_z;
- ppos2d[3][0] = marker_info->vertex[(7-dir)%4][0];
- ppos2d[3][1] = marker_info->vertex[(7-dir)%4][1];
- ppos2d[3][2] = iprts_z;
-
- ppos3d[0][0] = center[0] - width*(ARFloat)0.5;
- ppos3d[0][1] = center[1] + width*(ARFloat)0.5;
- ppos3d[0][2] = model_z;
- ppos3d[1][0] = center[0] + width*(ARFloat)0.5;
- ppos3d[1][1] = center[1] + width*(ARFloat)0.5;
- ppos3d[1][2] = model_z;
- ppos3d[2][0] = center[0] + width*(ARFloat)0.5;
- ppos3d[2][1] = center[1] - width*(ARFloat)0.5;
- ppos3d[2][2] = model_z;
- ppos3d[3][0] = center[0] - width*(ARFloat)0.5;
- ppos3d[3][1] = center[1] - width*(ARFloat)0.5;
- ppos3d[3][2] = model_z;
-
- const rpp_float cc[2] = {arCamera->mat[0][2],arCamera->mat[1][2]};
- const rpp_float fc[2] = {arCamera->mat[0][0],arCamera->mat[1][1]};
-
- robustPlanarPose(err,R,t,cc,fc,ppos3d,ppos2d,n_pts,R_init, !initial_estimate_with_arGetInitRot,0,0,0);
-
- for(int i=0; i<3; i++)
- {
- conv[i][3] = (ARFloat)t[i];
- for(int j=0; j<3; j++)
- conv[i][j] = (ARFloat)R[i][j];
- }
-
- if(err > 1e+10) return(-1); // an actual error has occurred in robustPlanarPose()
- return(ARFloat(err)); // NOTE: err is a real number from the interval [0,1e+10]
-}
-
-} // namespace ARToolKitPlus
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