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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 Thomas Pintaric
*
* $Id: rppMultiGetTransMat.cxx 162 2006-04-19 21:28:10Z grabner $
* @file
* ======================================================================== */
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <map>
#include <deque>
#include <ARToolKitPlus/Tracker.h>
#include <ARToolKitPlus/matrix.h>
#include <ARToolKitPlus/extra/rpp.h>
namespace ARToolKitPlus {
AR_TEMPL_FUNC ARFloat
AR_TEMPL_TRACKER::rppMultiGetTransMat(ARMarkerInfo *marker_info, int marker_num, ARMultiMarkerInfoT *config)
{
rpp_float err = 1e+20;
rpp_mat R, R_init;
rpp_vec t;
std::map<int, int> marker_id_freq;
for(int i=0; i<marker_num; i++)
{
const int m_patt_id = marker_info[i].id;
if(m_patt_id >= 0)
{
std::map<int, int>::iterator iter = marker_id_freq.find(m_patt_id);
if(iter == marker_id_freq.end()) marker_id_freq.insert(std::make_pair<int,int>(m_patt_id,1));
else ((*iter).second)++;
}
}
std::deque<std::pair<int,int> > config_patt_id;
for(int j=0; j<config->marker_num; j++)
config_patt_id.push_back(std::make_pair<int,int>(j, config->marker[j].patt_id));
std::map<int, int> m2c_idx;
for(int m=0; m<marker_num; m++)
{
const int m_patt_id = marker_info[m].id;
bool ignore_marker = (m_patt_id < 0);
std::map<int, int>::iterator m_iter = marker_id_freq.find(m_patt_id);
if(m_iter != marker_id_freq.end()) ignore_marker |= ((*m_iter).second > 1);
if(!ignore_marker)
{
std::deque<std::pair<int,int> >::iterator c_iter = config_patt_id.begin();
if(c_iter != config_patt_id.end()) do
{
const int patt_id = (*c_iter).second;
if(marker_info[m].id == patt_id)
{
m2c_idx.insert(std::make_pair<int,int>(m,(*c_iter).first));
config_patt_id.erase(c_iter);
c_iter = config_patt_id.end();
continue;
}
else
{
c_iter++;
}
}
while(c_iter != config_patt_id.end());
}
}
// ----------------------------------------------------------------------
const unsigned int n_markers = (unsigned int) m2c_idx.size();
const unsigned int n_pts = 4*n_markers;
if(n_markers == 0) return(-1);
rpp_vec *ppos2d = NULL, *ppos3d = NULL;
arMalloc( ppos2d, rpp_vec, n_pts);
arMalloc( ppos3d, rpp_vec, n_pts);
memset(ppos2d,0,sizeof(rpp_vec)*n_pts);
memset(ppos3d,0,sizeof(rpp_vec)*n_pts);
const rpp_float iprts_z = 1;
int p=0;
for(std::map<int, int>::iterator iter = m2c_idx.begin();
iter != m2c_idx.end(); iter++)
{
const int m = (*iter).first;
const int c = (*iter).second;
const int dir = marker_info[m].dir;
const int v_idx[4] = {(4-dir)%4, (5-dir)%4, (6-dir)%4, (7-dir)%4};
for(int i=0; i<4; i++)
for(int j=0; j<3; j++)
{
ppos2d[p+i][j] = (rpp_float) (j==2 ? iprts_z : marker_info[m].vertex[v_idx[i]][j]);
ppos3d[p+i][j] = (rpp_float) config->marker[c].pos3d[i][j];
}
p += 4;
}
const rpp_float cc[2] = {arCamera->mat[0][2],arCamera->mat[1][2]};
const rpp_float fc[2] = {arCamera->mat[0][0],arCamera->mat[1][1]};
robustPlanarPose(err,R,t,cc,fc,ppos3d,ppos2d,n_pts,R_init,true,0,0,0);
for(int k=0; k<3; k++)
{
config->trans[k][3] = (ARFloat)t[k];
for(int j=0; j<3; j++)
config->trans[k][j] = (ARFloat)R[k][j];
}
if(ppos2d != NULL) free(ppos2d);
if(ppos3d != NULL) free(ppos3d);
if(err > 1e+10) return(-1); // an actual error has occurred in robustPlanarPose()
return(ARFloat(err)); // NOTE: err is a real number from the interval [0,1e+10]
}
} // namespace ARToolKitPlus
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