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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 204 | chris | 1 | #include <stdio.h> |
| 2 | #include <stdlib.h> |
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| 3 | #include <AR/ar.h> |
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| 4 | #include "paddle.h" |
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| 5 | |||
| 6 | static char *get_buff( char *buf, int n, FILE *fp ); |
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| 7 | |||
| 8 | static int get_marker( ARMarkerInfo *markerInfo, int *markerFlag, |
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| 9 | int marker_num, int id, |
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| 10 | ARMarkerInfo *prevInfo, int *pcount ); |
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| 11 | |||
| 12 | |||
| 13 | ARPaddleInfo *paddleInit( char *name ) |
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| 14 | { |
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| 15 | FILE *fp; |
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| 16 | ARPaddleInfo *paddleInfo; |
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| 17 | char buf[256], buf1[256]; |
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| 18 | |||
| 19 | if( (fp=fopen(name, "r")) == NULL ) return(0); |
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| 20 | |||
| 21 | arMalloc( paddleInfo, ARPaddleInfo, 1 ); |
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| 22 | |||
| 23 | get_buff(buf, 256, fp); |
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| 24 | if( sscanf(buf, "%s", paddleInfo->name) != 1 ) { |
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| 25 | fclose(fp); free(paddleInfo); return 0; |
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| 26 | } |
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| 27 | |||
| 28 | get_buff(buf, 256, fp); |
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| 29 | if( sscanf(buf, "%s", buf1) != 1 ) { |
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| 30 | fclose(fp); free(paddleInfo); return 0; |
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| 31 | } |
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| 32 | if( (paddleInfo->marker_id = arLoadPatt(buf1)) < 0 ) { |
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| 33 | fclose(fp); free(paddleInfo); return 0; |
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| 34 | } |
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| 35 | |||
| 36 | get_buff(buf, 256, fp); |
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| 37 | if( sscanf(buf, "%lf", &paddleInfo->width) != 1 ) { |
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| 38 | fclose(fp); free(paddleInfo); return 0; |
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| 39 | } |
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| 40 | |||
| 41 | paddleInfo->center[0] = 0.0; |
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| 42 | paddleInfo->center[1] = 0.0; |
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| 43 | paddleInfo->active = 0; |
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| 44 | paddleInfo->pcount = 0; |
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| 45 | paddleInfo->pcountL = 0; |
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| 46 | paddleInfo->pcountR = 0; |
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| 47 | |||
| 48 | fclose(fp); |
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| 49 | |||
| 50 | return paddleInfo; |
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| 51 | } |
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| 52 | |||
| 53 | static char *get_buff( char *buf, int n, FILE *fp ) |
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| 54 | { |
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| 55 | char *ret; |
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| 56 | |||
| 57 | for(;;) { |
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| 58 | ret = fgets( buf, n, fp ); |
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| 59 | if( ret == NULL ) return(NULL); |
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| 60 | if( buf[0] != '\n' && buf[0] != '#' ) return(ret); |
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| 61 | } |
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| 62 | } |
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| 63 | |||
| 64 | int paddleGetTrans( ARPaddleInfo *paddleInfo, ARMarkerInfo *markerInfo, int *markerFlag, int marker_num, ARParam *cparam ) |
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| 65 | { |
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| 66 | int id; |
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| 67 | |||
| 68 | id = get_marker( markerInfo, markerFlag, marker_num, paddleInfo->marker_id, |
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| 69 | &(paddleInfo->prevInfo), &(paddleInfo->pcount) ); |
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| 70 | |||
| 71 | if( id == -1 ) { paddleInfo->active = 0; return 0; } |
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| 72 | |||
| 73 | arGetTransMat(&markerInfo[id], |
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| 74 | paddleInfo->center, paddleInfo->width, paddleInfo->trans); |
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| 75 | markerFlag[id] = 1; |
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| 76 | |||
| 77 | paddleInfo->active = 1; |
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| 78 | |||
| 79 | return 0; |
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| 80 | } |
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| 81 | |||
| 82 | static int get_marker( ARMarkerInfo *markerInfo, int *markerFlag, int marker_num, int id, |
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| 83 | ARMarkerInfo *prevInfo, int *pcount ) |
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| 84 | { |
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| 85 | double rlen, rlenmin, rarea, diff, diffmin; |
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| 86 | int cid, cdir; |
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| 87 | int i, j; |
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| 88 | |||
| 89 | cid = -1; |
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| 90 | for( i = 0; i < marker_num; i++ ) { |
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| 91 | if( markerInfo[i].id == id && markerFlag[i] == 0 ) { |
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| 92 | if( cid == -1 ) cid = i; |
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| 93 | else { |
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| 94 | if( markerInfo[cid].cf < markerInfo[i].cf ) cid = i; |
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| 95 | } |
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| 96 | } |
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| 97 | } |
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| 98 | if( cid == -1 ) { |
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| 99 | if( *pcount == 0 ) return -1; |
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| 100 | |||
| 101 | rlenmin = 10.0; |
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| 102 | for( i = 0; i < marker_num; i++ ) { |
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| 103 | if( markerFlag[i] ) continue; |
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| 104 | rarea = (double)prevInfo->area / (double)markerInfo[i].area; |
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| 105 | if( rarea < 0.7 || rarea > 1.43 ) continue; |
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| 106 | rlen = ( (markerInfo[i].pos[0] - prevInfo->pos[0]) |
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| 107 | * (markerInfo[i].pos[0] - prevInfo->pos[0]) |
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| 108 | + (markerInfo[i].pos[1] - prevInfo->pos[1]) |
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| 109 | * (markerInfo[i].pos[1] - prevInfo->pos[1]) ) / markerInfo[i].area; |
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| 110 | if( rlen < 0.5 && rlen < rlenmin ) { |
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| 111 | rlenmin = rlen; |
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| 112 | cid = i; |
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| 113 | } |
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| 114 | } |
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| 115 | if( cid >= 0 && markerInfo[cid].cf < prevInfo->cf ) { |
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| 116 | markerInfo[cid].cf = prevInfo->cf; |
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| 117 | markerInfo[cid].id = prevInfo->id; |
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| 118 | diffmin = 10000.0 * 10000.0; |
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| 119 | cdir = -1; |
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| 120 | for( i = 0; i < 4; i++ ) { |
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| 121 | diff = 0.0; |
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| 122 | for( j = 0; j < 4; j++ ) { |
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| 123 | diff += (prevInfo->vertex[j][0] - markerInfo[cid].vertex[(i+j)%4][0]) |
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| 124 | * (prevInfo->vertex[j][0] - markerInfo[cid].vertex[(i+j)%4][0]) |
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| 125 | + (prevInfo->vertex[j][1] - markerInfo[cid].vertex[(i+j)%4][1]) |
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| 126 | * (prevInfo->vertex[j][1] - markerInfo[cid].vertex[(i+j)%4][1]); |
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| 127 | } |
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| 128 | if( diff < diffmin ) { |
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| 129 | diffmin = diff; |
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| 130 | cdir = (prevInfo->dir - i + 4) % 4; |
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| 131 | } |
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| 132 | } |
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| 133 | markerInfo[cid].dir = cdir; |
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| 134 | |||
| 135 | *prevInfo = markerInfo[cid]; |
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| 136 | *pcount = 1; |
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| 137 | } |
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| 138 | else { |
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| 139 | *pcount = 0; |
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| 140 | return -1; |
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| 141 | } |
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| 142 | } |
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| 143 | else { |
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| 144 | *prevInfo = markerInfo[cid]; |
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| 145 | *pcount = 1; |
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| 146 | } |
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| 147 | |||
| 148 | return cid; |
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| 149 | } |