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/* ========================================================================
* 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 Daniel Wagner
*
* $Id: arGetTransMat.cxx 162 2006-04-19 21:28:10Z grabner $
* @file
* ======================================================================== */
#include <stdlib.h>
#include <math.h>
#include <ARToolKitPlus/Tracker.h>
#include <ARToolKitPlus/matrix.h>
namespace ARToolKitPlus {
AR_TEMPL_FUNC ARFloat
AR_TEMPL_TRACKER::arGetTransMat(ARMarkerInfo *marker_info, ARFloat center[2], ARFloat width, ARFloat conv[3][4])
{
ARFloat rot[3][3];
ARFloat ppos2d[4][2];
ARFloat ppos3d[4][2];
int dir;
ARFloat err;
int i;
PROFILE_BEGINSEC(profiler, GETTRANSMAT)
if( arGetInitRot( marker_info, arCamera->mat, rot ) < 0 )
{
PROFILE_ENDSEC(profiler, GETTRANSMAT)
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*(ARFloat)0.5;
ppos3d[0][1] = center[1] + width*(ARFloat)0.5;
ppos3d[1][0] = center[0] + width*(ARFloat)0.5;
ppos3d[1][1] = center[1] + width*(ARFloat)0.5;
ppos3d[2][0] = center[0] + width*(ARFloat)0.5;
ppos3d[2][1] = center[1] - width*(ARFloat)0.5;
ppos3d[3][0] = center[0] - width*(ARFloat)0.5;
ppos3d[3][1] = center[1] - width*(ARFloat)0.5;
for( i = 0; i < AR_GET_TRANS_MAT_MAX_LOOP_COUNT; i++ ) {
err = arGetTransMat3( rot, ppos2d, ppos3d, 4, conv, arCamera);
if( err < AR_GET_TRANS_MAT_MAX_FIT_ERROR ) break;
}
PROFILE_ENDSEC(profiler, GETTRANSMAT)
return err;
}
AR_TEMPL_FUNC ARFloat
AR_TEMPL_TRACKER::arGetTransMat2(ARFloat rot[3][3], ARFloat ppos2d[][2], ARFloat ppos3d[][2], int num, ARFloat conv[3][4])
{
return arGetTransMat3( rot, ppos2d, ppos3d, num, conv, arCamera);
}
AR_TEMPL_FUNC ARFloat
AR_TEMPL_TRACKER::arGetTransMat3(ARFloat rot[3][3], ARFloat ppos2d[][2],
ARFloat ppos3d[][2], int num, ARFloat conv[3][4],
Camera *pCam )
//ARFloat *dist_factor, ARFloat cpara[3][4] )
{
ARFloat off[3], pmax[3], pmin[3];
ARFloat ret;
int i;
PROFILE_BEGINSEC(profiler, GETTRANSMAT3)
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]) * (ARFloat)0.5;
off[1] = -(pmax[1] + pmin[1]) * (ARFloat)0.5;
off[2] = -(pmax[2] + pmin[2]) * (ARFloat)0.5;
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, pCam);
//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];
PROFILE_ENDSEC(profiler, GETTRANSMAT3)
return ret;
}
AR_TEMPL_FUNC ARFloat
AR_TEMPL_TRACKER::arGetTransMat4(ARFloat rot[3][3], ARFloat ppos2d[][2], ARFloat ppos3d[][3], int num, ARFloat conv[3][4])
{
return arGetTransMat5( rot, ppos2d, ppos3d, num, conv, arCamera);
// arParam.dist_factor, arParam.mat );
}
AR_TEMPL_FUNC ARFloat
AR_TEMPL_TRACKER::arGetTransMat5(ARFloat rot[3][3], ARFloat ppos2d[][2],
ARFloat ppos3d[][3], int num, ARFloat conv[3][4],
Camera *pCam)
//ARFloat *dist_factor, ARFloat cpara[3][4])
{
ARFloat off[3], pmax[3], pmin[3];
ARFloat 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]) * (ARFloat)0.5;
off[1] = -(pmax[1] + pmin[1]) * (ARFloat)0.5;
off[2] = -(pmax[2] + pmin[2]) * (ARFloat)0.5;
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, pCam);
//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;
}
AR_TEMPL_FUNC ARFloat
AR_TEMPL_TRACKER::arGetTransMatSub(ARFloat rot[3][3], ARFloat ppos2d[][2],
ARFloat pos3d[][3], int num, ARFloat conv[3][4],
Camera *pCam )
//ARFloat *dist_factor, ARFloat cpara[3][4] )
{
ARMat *mat_a, *mat_b, *mat_c, *mat_d, *mat_e, *mat_f;
ARFloat trans[3];
ARFloat wx, wy, wz;
ARFloat ret;
int i, j;
PROFILE_BEGINSEC(profiler, GETTRANSMATSUB)
mat_a = Matrix::alloc( num*2, 3 );
mat_b = Matrix::alloc( 3, num*2 );
mat_c = Matrix::alloc( num*2, 1 );
mat_d = Matrix::alloc( 3, 3 );
mat_e = Matrix::alloc( 3, 1 );
mat_f = Matrix::alloc( 3, 1 );
if( arFittingMode == AR_FITTING_TO_INPUT ) {
for( i = 0; i < num; i++ ) {
arParamIdeal2Observ_std(pCam, 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] = pCam->mat[0][0];
mat_a->m[j*6+1] = mat_b->m[num*2+j*2] = pCam->mat[0][1];
mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = pCam->mat[0][2] - pos2d[j][0];
mat_c->m[j*2+0] = wz * pos2d[j][0]
- pCam->mat[0][0]*wx - pCam->mat[0][1]*wy - pCam->mat[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] = pCam->mat[1][1];
mat_a->m[j*6+5] = mat_b->m[num*4+j*2+1] = pCam->mat[1][2] - pos2d[j][1];
mat_c->m[j*2+1] = wz * pos2d[j][1]
- pCam->mat[1][1]*wy - pCam->mat[1][2]*wz;
}
Matrix::mul( mat_d, mat_b, mat_a );
Matrix::mul( mat_e, mat_b, mat_c );
Matrix::selfInv( mat_d );
Matrix::mul( mat_f, mat_d, mat_e );
trans[0] = mat_f->m[0];
trans[1] = mat_f->m[1];
trans[2] = mat_f->m[2];
/*trans[0] = 3.96559f;
trans[1] = 27.0546f;
trans[2] = 274.627f;*/
{
ARFloat a,b,c;
arGetAngle( rot, &a, &b, &c );
//trans[0] = -13.5f;
//trans[1] = 45.7f;
//trans[2] = 303.0f;
//arGetRot( -90.5f*3.1415f/180.0f, 120.3f*3.1415f/180.0f, 31.2f*3.1415f/180.0f, rot );
ret = arModifyMatrix( rot, trans, pCam->mat, pos3d, pos2d, num );
arGetAngle( rot, &a, &b, &c );
a=a;
}
// double begin
//
/*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] = pCam->mat[0][0];
mat_a->m[j*6+1] = mat_b->m[num*2+j*2] = pCam->mat[0][1];
mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = pCam->mat[0][2] - pos2d[j][0];
mat_c->m[j*2+0] = wz * pos2d[j][0]
- pCam->mat[0][0]*wx - pCam->mat[0][1]*wy - pCam->mat[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] = pCam->mat[1][1];
mat_a->m[j*6+5] = mat_b->m[num*4+j*2+1] = pCam->mat[1][2] - pos2d[j][1];
mat_c->m[j*2+1] = wz * pos2d[j][1]
- pCam->mat[1][1]*wy - pCam->mat[1][2]*wz;
}
Matrix::mul( mat_d, mat_b, mat_a );
Matrix::mul( mat_e, mat_b, mat_c );
Matrix::selfInv( mat_d );
Matrix::mul( 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, pCam->mat, pos3d, pos2d, num );*/
//
// double end
Matrix::free( mat_a );
Matrix::free( mat_b );
Matrix::free( mat_c );
Matrix::free( mat_d );
Matrix::free( mat_e );
Matrix::free( 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];
}
PROFILE_ENDSEC(profiler, GETTRANSMATSUB)
return ret;
}
} // namespace ARToolKitPlus
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