diff options
Diffstat (limited to 'tags/Version Original/ARToolkit/lib/SRC/AR/paramGet.c')
| -rwxr-xr-x | tags/Version Original/ARToolkit/lib/SRC/AR/paramGet.c | 138 |
1 files changed, 0 insertions, 138 deletions
diff --git a/tags/Version Original/ARToolkit/lib/SRC/AR/paramGet.c b/tags/Version Original/ARToolkit/lib/SRC/AR/paramGet.c deleted file mode 100755 index 3e28396..0000000 --- a/tags/Version Original/ARToolkit/lib/SRC/AR/paramGet.c +++ /dev/null @@ -1,138 +0,0 @@ -/******************************************************* - * - * Author: Takeshi Mita, Shinsaku Hiura, Hirokazu Kato - * - * tmita@inolab.sys.es.osaka-u.ac.jp - * shinsaku@sys.es.osaka-u.ac.jp - * kato@sys.im.hiroshima-cu.ac.jp - * - * Revision: 3.1 - * Date: 99/07/16 - * -*******************************************************/ - -#include <stdio.h> -#include <math.h> -#include <AR/matrix.h> -#include <AR/param.h> - -#define AR_PARAM_CDMIN 12 - -int arParamGet( double global[][3], double screen[][2], int num, - double mat[3][4] ) -{ - ARMat *mat_a, *mat_at, *mat_r, mat_cpara; - ARMat *mat_wm1, *mat_wm2; - double *pa1, *pa2, *pr; /* working pointer */ - int i; /* working variables */ - - if(num < AR_PARAM_NMIN) return( -1 ); - if(num > AR_PARAM_NMAX) return( -1 ); - - mat_a = arMatrixAlloc( 2*num, AR_PARAM_CDMIN-1 ); - if( mat_a == NULL ) { - return -1; - } - mat_at = arMatrixAlloc( AR_PARAM_CDMIN-1, 2*num ); - if( mat_at == NULL ) { - arMatrixFree( mat_a ); - return -1; - } - mat_r = arMatrixAlloc( 2*num, 1 ); - if( mat_r == NULL ) { - arMatrixFree( mat_a ); - arMatrixFree( mat_at ); - return -1; - } - mat_wm1 = arMatrixAlloc( AR_PARAM_CDMIN-1, AR_PARAM_CDMIN-1 ); - if( mat_wm1 == NULL ) { - arMatrixFree( mat_a ); - arMatrixFree( mat_at ); - arMatrixFree( mat_r ); - return -1; - } - mat_wm2 = arMatrixAlloc( AR_PARAM_CDMIN-1, 2*num ); - if( mat_wm2 == NULL ) { - arMatrixFree( mat_a ); - arMatrixFree( mat_at ); - arMatrixFree( mat_r ); - arMatrixFree( mat_wm1 ); - return -1; - } - - /* Initializing array */ - pa1 = mat_a->m; - for(i = 0; i < 2 * num * (AR_PARAM_CDMIN-1); i++) *pa1++ = 0.0; - - /* Calculate A,R matrix */ - for(i = 0, pr = mat_r->m; i < num; i++) { - pa1 = &(mat_a->m[ (2*i) * (AR_PARAM_CDMIN-1) ]); - pa2 = &(mat_a->m[ (2*i+1) * (AR_PARAM_CDMIN-1) + 4]); - *pa1++ = global[i][0]; *pa1++ = global[i][1]; - *pa1++ = global[i][2]; *pa1++ = 1.0; - *pa2++ = global[i][0]; *pa2++ = global[i][1]; - *pa2++ = global[i][2]; *pa2++ = 1.0; - pa1 += 4; - *pa1++ = -global[i][0] * screen[i][0]; - *pa1++ = -global[i][1] * screen[i][0]; - *pa1 = -global[i][2] * screen[i][0]; - *pa2++ = -global[i][0] * screen[i][1]; - *pa2++ = -global[i][1] * screen[i][1]; - *pa2 = -global[i][2] * screen[i][1]; - - *pr++ = screen[i][0] * AR_PARAM_C34; - *pr++ = screen[i][1] * AR_PARAM_C34; - } - - if( arMatrixTrans( mat_at, mat_a ) < 0 ) { - arMatrixFree( mat_a ); - arMatrixFree( mat_at ); - arMatrixFree( mat_r ); - arMatrixFree( mat_wm1 ); - arMatrixFree( mat_wm2 ); - return -1; - } - if( arMatrixMul( mat_wm1, mat_at, mat_a ) < 0 ) { - arMatrixFree( mat_a ); - arMatrixFree( mat_at ); - arMatrixFree( mat_r ); - arMatrixFree( mat_wm1 ); - arMatrixFree( mat_wm2 ); - return -1; - } - if( arMatrixSelfInv( mat_wm1 ) < 0 ) { - arMatrixFree( mat_a ); - arMatrixFree( mat_at ); - arMatrixFree( mat_r ); - arMatrixFree( mat_wm1 ); - arMatrixFree( mat_wm2 ); - return -1; - } - if( arMatrixMul( mat_wm2, mat_wm1, mat_at ) < 0 ) { - arMatrixFree( mat_a ); - arMatrixFree( mat_at ); - arMatrixFree( mat_r ); - arMatrixFree( mat_wm1 ); - arMatrixFree( mat_wm2 ); - return -1; - } - mat_cpara.row = AR_PARAM_CDMIN-1; - mat_cpara.clm = 1; - mat_cpara.m = &(mat[0][0]); - if( arMatrixMul( &mat_cpara, mat_wm2, mat_r ) < 0 ) { - arMatrixFree( mat_a ); - arMatrixFree( mat_at ); - arMatrixFree( mat_r ); - arMatrixFree( mat_wm1 ); - arMatrixFree( mat_wm2 ); - return -1; - } - mat[2][3] = AR_PARAM_C34; - - arMatrixFree( mat_a ); - arMatrixFree( mat_at ); - arMatrixFree( mat_r ); - arMatrixFree( mat_wm1 ); - arMatrixFree( mat_wm2 ); - return 0; -} |