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-rwxr-xr-xtags/Version Original/ARToolkit/lib/SRC/AR/arUtil.c314
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diff --git a/tags/Version Original/ARToolkit/lib/SRC/AR/arUtil.c b/tags/Version Original/ARToolkit/lib/SRC/AR/arUtil.c
deleted file mode 100755
index 0ce013f..0000000
--- a/tags/Version Original/ARToolkit/lib/SRC/AR/arUtil.c
+++ /dev/null
@@ -1,314 +0,0 @@
-/*******************************************************
- *
- * Author: Hirokazu Kato
- *
- * kato@sys.im.hiroshima-cu.ac.jp
- *
- * Revision: 3.1
- * Date: 01/12/07
- *
-*******************************************************/
-
-#include <stdio.h>
-#include <math.h>
-#include <string.h>
-#ifdef _WIN32
-#include <sys/timeb.h>
-#include <windows.h>
-#else
-#include <sys/time.h>
-#endif
-#include <AR/param.h>
-#include <AR/matrix.h>
-#include <AR/ar.h>
-
-
-int arDebug = 0;
-ARUint8* arImage = NULL;
-int arFittingMode = DEFAULT_FITTING_MODE;
-int arImageProcMode = DEFAULT_IMAGE_PROC_MODE;
-ARParam arParam;
-int arImXsize, arImYsize;
-int arTemplateMatchingMode = DEFAULT_TEMPLATE_MATCHING_MODE;
-int arMatchingPCAMode = DEFAULT_MATCHING_PCA_MODE;
-
-ARUint8* arImageL = NULL;
-ARUint8* arImageR = NULL;
-ARSParam arsParam;
-double arsMatR2L[3][4];
-
-ARUint32 arGetVersion(char **versionStringRef)
-{
- const char version[] = AR_HEADER_VERSION_STRING;
- char *s;
-
- if (versionStringRef) {
- arMalloc(s, char, sizeof(version));
- strncpy(s, version, sizeof(version));
- *versionStringRef = s;
- }
- // Represent full version number (major, minor, tiny, build) in
- // binary coded decimal. N.B: Integer division.
- return (0x10000000u * ((unsigned int)AR_HEADER_VERSION_MAJOR / 10u) +
- 0x01000000u * ((unsigned int)AR_HEADER_VERSION_MAJOR % 10u) +
- 0x00100000u * ((unsigned int)AR_HEADER_VERSION_MINOR / 10u) +
- 0x00010000u * ((unsigned int)AR_HEADER_VERSION_MINOR % 10u) +
- 0x00001000u * ((unsigned int)AR_HEADER_VERSION_TINY / 10u) +
- 0x00000100u * ((unsigned int)AR_HEADER_VERSION_TINY % 10u) +
- 0x00000010u * ((unsigned int)AR_HEADER_VERSION_BUILD / 10u) +
- 0x00000001u * ((unsigned int)AR_HEADER_VERSION_BUILD % 10u)
- );
-}
-
-static int arGetLine2(int x_coord[], int y_coord[], int coord_num,
- int vertex[], double line[4][3], double v[4][2], double *dist_factor);
-
-int arInitCparam( ARParam *param )
-{
- arImXsize = param->xsize;
- arImYsize = param->ysize;
- arParam = *param;
-
- return(0);
-}
-
-int arsInitCparam( ARSParam *sparam )
-{
- arImXsize = sparam->xsize;
- arImYsize = sparam->ysize;
- arsParam = *sparam;
-
- arUtilMatInv( arsParam.matL2R, arsMatR2L );
-
- return(0);
-}
-
-int arGetLine(int x_coord[], int y_coord[], int coord_num,
- int vertex[], double line[4][3], double v[4][2])
-{
- return arGetLine2( x_coord, y_coord, coord_num, vertex, line, v, arParam.dist_factor );
-}
-
-int arsGetLine(int x_coord[], int y_coord[], int coord_num,
- int vertex[], double line[4][3], double v[4][2], int LorR)
-{
- if( LorR )
- return arGetLine2( x_coord, y_coord, coord_num, vertex, line, v, arsParam.dist_factorL );
- else
- return arGetLine2( x_coord, y_coord, coord_num, vertex, line, v, arsParam.dist_factorR );
-}
-
-static int arGetLine2(int x_coord[], int y_coord[], int coord_num,
- int vertex[], double line[4][3], double v[4][2], double *dist_factor)
-{
- ARMat *input, *evec;
- ARVec *ev, *mean;
- double w1;
- int st, ed, n;
- int i, j;
-
- ev = arVecAlloc( 2 );
- mean = arVecAlloc( 2 );
- evec = arMatrixAlloc( 2, 2 );
- for( i = 0; i < 4; i++ ) {
- w1 = (double)(vertex[i+1]-vertex[i]+1) * 0.05 + 0.5;
- st = (int)(vertex[i] + w1);
- ed = (int)(vertex[i+1] - w1);
- n = ed - st + 1;
- input = arMatrixAlloc( n, 2 );
- for( j = 0; j < n; j++ ) {
- arParamObserv2Ideal( dist_factor, x_coord[st+j], y_coord[st+j],
- &(input->m[j*2+0]), &(input->m[j*2+1]) );
- }
- if( arMatrixPCA(input, evec, ev, mean) < 0 ) {
- arMatrixFree( input );
- arMatrixFree( evec );
- arVecFree( mean );
- arVecFree( 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]);
- arMatrixFree( input );
- }
- arMatrixFree( evec );
- arVecFree( mean );
- arVecFree( 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);
-}
-
-int arUtilMatMul( double s1[3][4], double s2[3][4], double 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;
-}
-
-int arUtilMatInv( double s[3][4], double d[3][4] )
-{
- ARMat *mat;
- int i, j;
-
- mat = arMatrixAlloc( 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;
- arMatrixSelfInv( mat );
- for( j = 0; j < 3; j++ ) {
- for( i = 0; i < 4; i++ ) {
- d[j][i] = mat->m[j*4+i];
- }
- }
- arMatrixFree( mat );
-
- return 0;
-}
-
-int arUtilMat2QuatPos( double m[3][4], double q[4], double p[3] )
-{
- double w;
-
- w = m[0][0] + m[1][1] + m[2][2] + 1;
- if( w < 0.0 ) return -1;
-
- w = sqrt( w );
- q[0] = (m[1][2] - m[2][1]) / (w*2.0);
- q[1] = (m[2][0] - m[0][2]) / (w*2.0);
- q[2] = (m[0][1] - m[1][0]) / (w*2.0);
- q[3] = w / 2.0;
-
- p[0] = m[0][3];
- p[1] = m[1][3];
- p[2] = m[2][3];
-
- return 0;
-}
-
-int arUtilQuatPos2Mat( double q[4], double p[3], double m[3][4] )
-{
- double x2, y2, z2;
- double xx, xy, xz;
- double yy, yz, zz;
- double wx, wy, wz;
-
- x2 = q[0] * 2.0;
- y2 = q[1] * 2.0;
- z2 = q[2] * 2.0;
- xx = q[0] * x2;
- xy = q[0] * y2;
- xz = q[0] * z2;
- yy = q[1] * y2;
- yz = q[1] * z2;
- zz = q[2] * z2;
- wx = q[3] * x2;
- wy = q[3] * y2;
- wz = q[3] * z2;
-
- m[0][0] = 1.0 - (yy + zz);
- m[1][1] = 1.0 - (xx + zz);
- m[2][2] = 1.0 - (xx + yy);
- m[1][0] = xy - wz;
- m[0][1] = xy + wz;
- m[2][0] = xz + wy;
- m[0][2] = xz - wy;
- m[2][1] = yz - wx;
- m[1][2] = yz + wx;
-
- m[0][3] = p[0];
- m[1][3] = p[1];
- m[2][3] = p[2];
-
- return 0;
-}
-
-
-static int ss, sms;
-
-double arUtilTimer(void)
-{
-#ifdef _WIN32
- struct _timeb sys_time;
- double tt;
- int s1, s2;
-
- _ftime(&sys_time);
- s1 = sys_time.time - ss;
- s2 = sys_time.millitm - sms;
-#else
- struct timeval time;
- double tt;
- int s1, s2;
-
-#if defined(__linux) || defined(__APPLE__)
- gettimeofday( &time, NULL );
-#else
- gettimeofday( &time );
-#endif
- s1 = time.tv_sec - ss;
- s2 = time.tv_usec/1000 - sms;
-#endif
-
- tt = (double)s1 + (double)s2 / 1000.0;
-
- return( tt );
-}
-
-void arUtilTimerReset(void)
-{
-#ifdef _WIN32
- struct _timeb sys_time;
-
- _ftime(&sys_time);
- ss = sys_time.time;
- sms = sys_time.millitm;
-#else
- struct timeval time;
-
-#if defined(__linux) || defined(__APPLE__)
- gettimeofday( &time, NULL );
-#else
- gettimeofday( &time );
-#endif
- ss = time.tv_sec;
- sms = time.tv_usec / 1000;
-#endif
-}
-
-void arUtilSleep( int msec )
-{
-#ifndef _WIN32
- struct timespec req;
-
- req.tv_sec = 0;
- req.tv_nsec = msec* 1000;
- nanosleep( &req, NULL );
-#else
- Sleep(msec);
-#endif
- return;
-}
-
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