Blame |
Last modification |
View Log
| RSS feed
/*******************************************************
*
* Author: Hirokazu Kato
*
* kato@sys.im.hiroshima-cu.ac.jp
*
* Revision: 3.1
* Date: 01/12/07
*
*******************************************************/
#include <stdlib.h>
#include <math.h>
#include <AR/ar.h>
#include <AR/matrix.h>
#define P_MAX 500
static double pos2d[P_MAX][2];
static double pos3d[P_MAX][3];
static double arGetTransMatSub( double rot[3][3], double ppos2d[][2],
double pos3d[][3], int num, double conv[3][4],
double *dist_factor, double cpara[3][4] );
double arGetTransMat( ARMarkerInfo *marker_info,
double center[2], double width, double conv[3][4] )
{
double rot[3][3];
double ppos2d[4][2];
double ppos3d[4][2];
int dir;
double err;
int i;
if( arGetInitRot( marker_info, arParam.mat, rot ) < 0 ) 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/2.0;
ppos3d[0][1] = center[1] + width/2.0;
ppos3d[1][0] = center[0] + width/2.0;
ppos3d[1][1] = center[1] + width/2.0;
ppos3d[2][0] = center[0] + width/2.0;
ppos3d[2][1] = center[1] - width/2.0;
ppos3d[3][0] = center[0] - width/2.0;
ppos3d[3][1] = center[1] - width/2.0;
for( i = 0; i < AR_GET_TRANS_MAT_MAX_LOOP_COUNT; i++ ) {
err = arGetTransMat3( rot, ppos2d, ppos3d, 4, conv,
arParam.dist_factor, arParam.mat );
if( err < AR_GET_TRANS_MAT_MAX_FIT_ERROR ) break;
}
return err;
}
double arGetTransMat2( double rot[3][3], double ppos2d[][2],
double ppos3d[][2], int num, double conv[3][4] )
{
return arGetTransMat3( rot, ppos2d, ppos3d, num, conv,
arParam.dist_factor, arParam.mat );
}
double arGetTransMat3( double rot[3][3], double ppos2d[][2],
double ppos3d[][2], int num, double conv[3][4],
double *dist_factor, double cpara[3][4] )
{
double off[3], pmax[3], pmin[3];
double 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]) / 2.0;
off[1] = -(pmax[1] + pmin[1]) / 2.0;
off[2] = -(pmax[2] + pmin[2]) / 2.0;
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,
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;
}
double arGetTransMat4( double rot[3][3], double ppos2d[][2],
double ppos3d[][3], int num, double conv[3][4] )
{
return arGetTransMat5( rot, ppos2d, ppos3d, num, conv,
arParam.dist_factor, arParam.mat );
}
double arGetTransMat5( double rot[3][3], double ppos2d[][2],
double ppos3d[][3], int num, double conv[3][4],
double *dist_factor, double cpara[3][4] )
{
double off[3], pmax[3], pmin[3];
double 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]) / 2.0;
off[1] = -(pmax[1] + pmin[1]) / 2.0;
off[2] = -(pmax[2] + pmin[2]) / 2.0;
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,
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;
}
static double arGetTransMatSub( double rot[3][3], double ppos2d[][2],
double pos3d[][3], int num, double conv[3][4],
double *dist_factor, double cpara[3][4] )
{
ARMat *mat_a, *mat_b, *mat_c, *mat_d, *mat_e, *mat_f;
double trans[3];
double wx, wy, wz;
double ret;
int i, j;
mat_a = arMatrixAlloc( num*2, 3 );
mat_b = arMatrixAlloc( 3, num*2 );
mat_c = arMatrixAlloc( num*2, 1 );
mat_d = arMatrixAlloc( 3, 3 );
mat_e = arMatrixAlloc( 3, 1 );
mat_f = arMatrixAlloc( 3, 1 );
if( arFittingMode == AR_FITTING_TO_INPUT ) {
for( i = 0; i < num; i++ ) {
arParamIdeal2Observ(dist_factor, 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] = cpara[0][0];
mat_a->m[j*6+1] = mat_b->m[num*2+j*2] = cpara[0][1];
mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = cpara[0][2] - pos2d[j][0];
mat_c->m[j*2+0] = wz * pos2d[j][0]
- cpara[0][0]*wx - cpara[0][1]*wy - cpara[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] = cpara[1][1];
mat_a->m[j*6+5] = mat_b->m[num*4+j*2+1] = cpara[1][2] - pos2d[j][1];
mat_c->m[j*2+1] = wz * pos2d[j][1]
- cpara[1][1]*wy - cpara[1][2]*wz;
}
arMatrixMul( mat_d, mat_b, mat_a );
arMatrixMul( mat_e, mat_b, mat_c );
arMatrixSelfInv( mat_d );
arMatrixMul( 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, cpara, pos3d, pos2d, num );
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] = cpara[0][0];
mat_a->m[j*6+1] = mat_b->m[num*2+j*2] = cpara[0][1];
mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = cpara[0][2] - pos2d[j][0];
mat_c->m[j*2+0] = wz * pos2d[j][0]
- cpara[0][0]*wx - cpara[0][1]*wy - cpara[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] = cpara[1][1];
mat_a->m[j*6+5] = mat_b->m[num*4+j*2+1] = cpara[1][2] - pos2d[j][1];
mat_c->m[j*2+1] = wz * pos2d[j][1]
- cpara[1][1]*wy - cpara[1][2]*wz;
}
arMatrixMul( mat_d, mat_b, mat_a );
arMatrixMul( mat_e, mat_b, mat_c );
arMatrixSelfInv( mat_d );
arMatrixMul( 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, cpara, pos3d, pos2d, num );
arMatrixFree( mat_a );
arMatrixFree( mat_b );
arMatrixFree( mat_c );
arMatrixFree( mat_d );
arMatrixFree( mat_e );
arMatrixFree( 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];
}
return ret;
}