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-rwxr-xr-xtags/Version Original/ARToolkit/lib/SRC/AR/arGetTransMat.c262
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diff --git a/tags/Version Original/ARToolkit/lib/SRC/AR/arGetTransMat.c b/tags/Version Original/ARToolkit/lib/SRC/AR/arGetTransMat.c
deleted file mode 100755
index c42f172..0000000
--- a/tags/Version Original/ARToolkit/lib/SRC/AR/arGetTransMat.c
+++ /dev/null
@@ -1,262 +0,0 @@
-/*******************************************************
- *
- * Author: Hirokazu Kato
- *
- * kato@sys.im.hiroshima-cu.ac.jp
- *
- * Revision: 3.1
- * Date: 01/12/07
- *
-*******************************************************/
-
-#include <stdlib.h>
-#include <math.h>
-#include <AR/ar.h>
-#include <AR/matrix.h>
-
-#define P_MAX 500
-
-static double pos2d[P_MAX][2];
-static double pos3d[P_MAX][3];
-
-static double arGetTransMatSub( double rot[3][3], double ppos2d[][2],
- double pos3d[][3], int num, double conv[3][4],
- double *dist_factor, double cpara[3][4] );
-
-double arGetTransMat( ARMarkerInfo *marker_info,
- double center[2], double width, double conv[3][4] )
-{
- double rot[3][3];
- double ppos2d[4][2];
- double ppos3d[4][2];
- int dir;
- double err;
- int i;
-
- if( arGetInitRot( marker_info, arParam.mat, rot ) < 0 ) return -1;
-
- dir = marker_info->dir;
- ppos2d[0][0] = marker_info->vertex[(4-dir)%4][0];
- ppos2d[0][1] = marker_info->vertex[(4-dir)%4][1];
- ppos2d[1][0] = marker_info->vertex[(5-dir)%4][0];
- ppos2d[1][1] = marker_info->vertex[(5-dir)%4][1];
- ppos2d[2][0] = marker_info->vertex[(6-dir)%4][0];
- ppos2d[2][1] = marker_info->vertex[(6-dir)%4][1];
- ppos2d[3][0] = marker_info->vertex[(7-dir)%4][0];
- ppos2d[3][1] = marker_info->vertex[(7-dir)%4][1];
- ppos3d[0][0] = center[0] - width/2.0;
- ppos3d[0][1] = center[1] + width/2.0;
- ppos3d[1][0] = center[0] + width/2.0;
- ppos3d[1][1] = center[1] + width/2.0;
- ppos3d[2][0] = center[0] + width/2.0;
- ppos3d[2][1] = center[1] - width/2.0;
- ppos3d[3][0] = center[0] - width/2.0;
- ppos3d[3][1] = center[1] - width/2.0;
-
- for( i = 0; i < AR_GET_TRANS_MAT_MAX_LOOP_COUNT; i++ ) {
- err = arGetTransMat3( rot, ppos2d, ppos3d, 4, conv,
- arParam.dist_factor, arParam.mat );
- if( err < AR_GET_TRANS_MAT_MAX_FIT_ERROR ) break;
- }
- return err;
-}
-
-double arGetTransMat2( double rot[3][3], double ppos2d[][2],
- double ppos3d[][2], int num, double conv[3][4] )
-{
- return arGetTransMat3( rot, ppos2d, ppos3d, num, conv,
- arParam.dist_factor, arParam.mat );
-}
-
-double arGetTransMat3( double rot[3][3], double ppos2d[][2],
- double ppos3d[][2], int num, double conv[3][4],
- double *dist_factor, double cpara[3][4] )
-{
- double off[3], pmax[3], pmin[3];
- double ret;
- int i;
-
- pmax[0]=pmax[1]=pmax[2] = -10000000000.0;
- pmin[0]=pmin[1]=pmin[2] = 10000000000.0;
- for( i = 0; i < num; i++ ) {
- if( ppos3d[i][0] > pmax[0] ) pmax[0] = ppos3d[i][0];
- if( ppos3d[i][0] < pmin[0] ) pmin[0] = ppos3d[i][0];
- if( ppos3d[i][1] > pmax[1] ) pmax[1] = ppos3d[i][1];
- if( ppos3d[i][1] < pmin[1] ) pmin[1] = ppos3d[i][1];
-/*
- if( ppos3d[i][2] > pmax[2] ) pmax[2] = ppos3d[i][2];
- if( ppos3d[i][2] < pmin[2] ) pmin[2] = ppos3d[i][2];
-*/
- }
- off[0] = -(pmax[0] + pmin[0]) / 2.0;
- off[1] = -(pmax[1] + pmin[1]) / 2.0;
- off[2] = -(pmax[2] + pmin[2]) / 2.0;
- for( i = 0; i < num; i++ ) {
- pos3d[i][0] = ppos3d[i][0] + off[0];
- pos3d[i][1] = ppos3d[i][1] + off[1];
-/*
- pos3d[i][2] = ppos3d[i][2] + off[2];
-*/
- pos3d[i][2] = 0.0;
- }
-
- ret = arGetTransMatSub( rot, ppos2d, pos3d, num, conv,
- dist_factor, cpara );
-
- conv[0][3] = conv[0][0]*off[0] + conv[0][1]*off[1] + conv[0][2]*off[2] + conv[0][3];
- conv[1][3] = conv[1][0]*off[0] + conv[1][1]*off[1] + conv[1][2]*off[2] + conv[1][3];
- conv[2][3] = conv[2][0]*off[0] + conv[2][1]*off[1] + conv[2][2]*off[2] + conv[2][3];
-
- return ret;
-}
-
-double arGetTransMat4( double rot[3][3], double ppos2d[][2],
- double ppos3d[][3], int num, double conv[3][4] )
-{
- return arGetTransMat5( rot, ppos2d, ppos3d, num, conv,
- arParam.dist_factor, arParam.mat );
-}
-
-double arGetTransMat5( double rot[3][3], double ppos2d[][2],
- double ppos3d[][3], int num, double conv[3][4],
- double *dist_factor, double cpara[3][4] )
-{
- double off[3], pmax[3], pmin[3];
- double ret;
- int i;
-
- pmax[0]=pmax[1]=pmax[2] = -10000000000.0;
- pmin[0]=pmin[1]=pmin[2] = 10000000000.0;
- for( i = 0; i < num; i++ ) {
- if( ppos3d[i][0] > pmax[0] ) pmax[0] = ppos3d[i][0];
- if( ppos3d[i][0] < pmin[0] ) pmin[0] = ppos3d[i][0];
- if( ppos3d[i][1] > pmax[1] ) pmax[1] = ppos3d[i][1];
- if( ppos3d[i][1] < pmin[1] ) pmin[1] = ppos3d[i][1];
- if( ppos3d[i][2] > pmax[2] ) pmax[2] = ppos3d[i][2];
- if( ppos3d[i][2] < pmin[2] ) pmin[2] = ppos3d[i][2];
- }
- off[0] = -(pmax[0] + pmin[0]) / 2.0;
- off[1] = -(pmax[1] + pmin[1]) / 2.0;
- off[2] = -(pmax[2] + pmin[2]) / 2.0;
- for( i = 0; i < num; i++ ) {
- pos3d[i][0] = ppos3d[i][0] + off[0];
- pos3d[i][1] = ppos3d[i][1] + off[1];
- pos3d[i][2] = ppos3d[i][2] + off[2];
- }
-
- ret = arGetTransMatSub( rot, ppos2d, pos3d, num, conv,
- dist_factor, cpara );
-
- conv[0][3] = conv[0][0]*off[0] + conv[0][1]*off[1] + conv[0][2]*off[2] + conv[0][3];
- conv[1][3] = conv[1][0]*off[0] + conv[1][1]*off[1] + conv[1][2]*off[2] + conv[1][3];
- conv[2][3] = conv[2][0]*off[0] + conv[2][1]*off[1] + conv[2][2]*off[2] + conv[2][3];
-
- return ret;
-}
-
-static double arGetTransMatSub( double rot[3][3], double ppos2d[][2],
- double pos3d[][3], int num, double conv[3][4],
- double *dist_factor, double cpara[3][4] )
-{
- ARMat *mat_a, *mat_b, *mat_c, *mat_d, *mat_e, *mat_f;
- double trans[3];
- double wx, wy, wz;
- double ret;
- int i, j;
-
- mat_a = arMatrixAlloc( num*2, 3 );
- mat_b = arMatrixAlloc( 3, num*2 );
- mat_c = arMatrixAlloc( num*2, 1 );
- mat_d = arMatrixAlloc( 3, 3 );
- mat_e = arMatrixAlloc( 3, 1 );
- mat_f = arMatrixAlloc( 3, 1 );
-
- if( arFittingMode == AR_FITTING_TO_INPUT ) {
- for( i = 0; i < num; i++ ) {
- arParamIdeal2Observ(dist_factor, ppos2d[i][0], ppos2d[i][1],
- &pos2d[i][0], &pos2d[i][1]);
- }
- }
- else {
- for( i = 0; i < num; i++ ) {
- pos2d[i][0] = ppos2d[i][0];
- pos2d[i][1] = ppos2d[i][1];
- }
- }
-
- for( j = 0; j < num; j++ ) {
- wx = rot[0][0] * pos3d[j][0]
- + rot[0][1] * pos3d[j][1]
- + rot[0][2] * pos3d[j][2];
- wy = rot[1][0] * pos3d[j][0]
- + rot[1][1] * pos3d[j][1]
- + rot[1][2] * pos3d[j][2];
- wz = rot[2][0] * pos3d[j][0]
- + rot[2][1] * pos3d[j][1]
- + rot[2][2] * pos3d[j][2];
- mat_a->m[j*6+0] = mat_b->m[num*0+j*2] = cpara[0][0];
- mat_a->m[j*6+1] = mat_b->m[num*2+j*2] = cpara[0][1];
- mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = cpara[0][2] - pos2d[j][0];
- mat_c->m[j*2+0] = wz * pos2d[j][0]
- - cpara[0][0]*wx - cpara[0][1]*wy - cpara[0][2]*wz;
- mat_a->m[j*6+3] = mat_b->m[num*0+j*2+1] = 0.0;
- mat_a->m[j*6+4] = mat_b->m[num*2+j*2+1] = cpara[1][1];
- mat_a->m[j*6+5] = mat_b->m[num*4+j*2+1] = cpara[1][2] - pos2d[j][1];
- mat_c->m[j*2+1] = wz * pos2d[j][1]
- - cpara[1][1]*wy - cpara[1][2]*wz;
- }
- arMatrixMul( mat_d, mat_b, mat_a );
- arMatrixMul( mat_e, mat_b, mat_c );
- arMatrixSelfInv( mat_d );
- arMatrixMul( mat_f, mat_d, mat_e );
- trans[0] = mat_f->m[0];
- trans[1] = mat_f->m[1];
- trans[2] = mat_f->m[2];
-
- ret = arModifyMatrix( rot, trans, cpara, pos3d, pos2d, num );
-
- for( j = 0; j < num; j++ ) {
- wx = rot[0][0] * pos3d[j][0]
- + rot[0][1] * pos3d[j][1]
- + rot[0][2] * pos3d[j][2];
- wy = rot[1][0] * pos3d[j][0]
- + rot[1][1] * pos3d[j][1]
- + rot[1][2] * pos3d[j][2];
- wz = rot[2][0] * pos3d[j][0]
- + rot[2][1] * pos3d[j][1]
- + rot[2][2] * pos3d[j][2];
- mat_a->m[j*6+0] = mat_b->m[num*0+j*2] = cpara[0][0];
- mat_a->m[j*6+1] = mat_b->m[num*2+j*2] = cpara[0][1];
- mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = cpara[0][2] - pos2d[j][0];
- mat_c->m[j*2+0] = wz * pos2d[j][0]
- - cpara[0][0]*wx - cpara[0][1]*wy - cpara[0][2]*wz;
- mat_a->m[j*6+3] = mat_b->m[num*0+j*2+1] = 0.0;
- mat_a->m[j*6+4] = mat_b->m[num*2+j*2+1] = cpara[1][1];
- mat_a->m[j*6+5] = mat_b->m[num*4+j*2+1] = cpara[1][2] - pos2d[j][1];
- mat_c->m[j*2+1] = wz * pos2d[j][1]
- - cpara[1][1]*wy - cpara[1][2]*wz;
- }
- arMatrixMul( mat_d, mat_b, mat_a );
- arMatrixMul( mat_e, mat_b, mat_c );
- arMatrixSelfInv( mat_d );
- arMatrixMul( mat_f, mat_d, mat_e );
- trans[0] = mat_f->m[0];
- trans[1] = mat_f->m[1];
- trans[2] = mat_f->m[2];
-
- ret = arModifyMatrix( rot, trans, cpara, pos3d, pos2d, num );
-
- arMatrixFree( mat_a );
- arMatrixFree( mat_b );
- arMatrixFree( mat_c );
- arMatrixFree( mat_d );
- arMatrixFree( mat_e );
- arMatrixFree( mat_f );
-
- for( j = 0; j < 3; j++ ) {
- for( i = 0; i < 3; i++ ) conv[j][i] = rot[j][i];
- conv[j][3] = trans[j];
- }
-
- return ret;
-}
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