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/*******************************************************
*
* 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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