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Diffstat (limited to 'ARToolKitPlus/src/librpp/librpp.cpp')
| -rw-r--r-- | ARToolKitPlus/src/librpp/librpp.cpp | 171 |
1 files changed, 0 insertions, 171 deletions
diff --git a/ARToolKitPlus/src/librpp/librpp.cpp b/ARToolKitPlus/src/librpp/librpp.cpp deleted file mode 100644 index 6081111..0000000 --- a/ARToolKitPlus/src/librpp/librpp.cpp +++ /dev/null @@ -1,171 +0,0 @@ -/* ========================================================================
- * PROJECT: ARToolKitPlus
- * ========================================================================
- *
- * The robust pose estimator algorithm has been provided by G. Schweighofer
- * and A. Pinz (Inst.of El.Measurement and Measurement Signal Processing,
- * Graz University of Technology). Details about the algorithm are given in
- * a Technical Report: TR-EMT-2005-01, available at:
- * http://www.emt.tu-graz.ac.at/publications/index.htm
- *
- * Ported from MATLAB to C by T.Pintaric (Vienna University of Technology).
- *
- * 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: librpp.cpp 162 2006-04-19 21:28:10Z grabner $
- * @file
- * ======================================================================== */
-
-
-#include "librpp.h"
-#include "rpp.h"
-#include "rpp_vecmat.h"
-using namespace rpp;
-
-#ifdef LIBRPP_DLL
-BOOL APIENTRY DllMain( HANDLE hModule,
- DWORD ul_reason_for_call,
- LPVOID lpReserved
- )
-{
- switch (ul_reason_for_call)
- {
- case DLL_PROCESS_ATTACH:
- case DLL_THREAD_ATTACH:
- case DLL_THREAD_DETACH:
- case DLL_PROCESS_DETACH:
- break;
- }
- return TRUE;
-}
-#endif //LIBRPP_DLL
-
-
-#ifndef _NO_LIBRPP_
-
-
-LIBRPP_API void robustPlanarPose(rpp_float &err,
- rpp_mat &R,
- rpp_vec &t,
- const rpp_float cc[2],
- const rpp_float fc[2],
- const rpp_vec *model,
- const rpp_vec *iprts,
- const unsigned int model_iprts_size,
- const rpp_mat R_init,
- const bool estimate_R_init,
- const rpp_float epsilon,
- const rpp_float tolerance,
- const unsigned int max_iterations)
-{
- vec3_array _model;
- vec3_array _iprts;
- _model.resize(model_iprts_size);
- _iprts.resize(model_iprts_size);
-
- mat33_t K, K_inv;
- mat33_eye(K);
- K.m[0][0] = (real_t)fc[0];
- K.m[1][1] = (real_t)fc[1];
- K.m[0][2] = (real_t)cc[0];
- K.m[1][2] = (real_t)cc[1];
-
- mat33_inv(K_inv, K);
-
- for(unsigned int i=0; i<model_iprts_size; i++)
- {
- vec3_t _v,_v2;
- vec3_assign(_v,(real_t)model[i][0],(real_t)model[i][1],(real_t)model[i][2]);
- _model[i] = _v;
- vec3_assign(_v,(real_t)iprts[i][0],(real_t)iprts[i][1],(real_t)iprts[i][2]);
- vec3_mult(_v2,K_inv,_v);
- _iprts[i] = _v2;
- }
-
- options_t options;
- options.max_iter = max_iterations;
- options.epsilon = (real_t)(epsilon == 0 ? DEFAULT_EPSILON : epsilon);
- options.tol = (real_t)(tolerance == 0 ? DEFAULT_TOL : tolerance);
- if(estimate_R_init)
- mat33_set_all_zeros(options.initR);
- else
- {
- mat33_assign(options.initR,
- (real_t)R_init[0][0], (real_t)R_init[0][1], (real_t)R_init[0][2],
- (real_t)R_init[1][0], (real_t)R_init[1][1], (real_t)R_init[1][2],
- (real_t)R_init[2][0], (real_t)R_init[2][1], (real_t)R_init[2][2]);
- }
-
- real_t _err;
- mat33_t _R;
- vec3_t _t;
-
- robust_pose(_err,_R,_t,_model,_iprts,options);
-
- for(int j=0; j<3; j++)
- {
- R[j][0] = (rpp_float)_R.m[j][0];
- R[j][1] = (rpp_float)_R.m[j][1];
- R[j][2] = (rpp_float)_R.m[j][2];
- t[j] = (rpp_float)_t.v[j];
- }
- err = (rpp_float)_err;
-}
-
-
-bool rppSupportAvailabe()
-{
- return true;
-}
-
-
-#else //_NO_LIBRPP_
-
-
-LIBRPP_API void robustPlanarPose(rpp_float &err,
- rpp_mat &R,
- rpp_vec &t,
- const rpp_float cc[2],
- const rpp_float fc[2],
- const rpp_vec *model,
- const rpp_vec *iprts,
- const unsigned int model_iprts_size,
- const rpp_mat R_init,
- const bool estimate_R_init,
- const rpp_float epsilon,
- const rpp_float tolerance,
- const unsigned int max_iterations)
-{
-}
-
-
-bool rppSupportAvailabe()
-{
- return false;
-}
-
-#endif //_NO_LIBRPP_
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