#include <stdlib.h>#include <math.h>#include <AR/ar.h>#include <AR/matrix.h>
Go to the source code of this file.
Defines | |
| #define | P_MAX 500 |
Functions | |
| double | arGetTransMat (ARMarkerInfo *marker_info, double center[2], double width, double conv[3][4]) |
| compute camera position in function of detected markers. | |
| double | arGetTransMat2 (double rot[3][3], double ppos2d[][2], double ppos3d[][2], int num, double conv[3][4]) |
| 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 | arGetTransMat4 (double rot[3][3], double ppos2d[][2], double ppos3d[][3], int num, double conv[3][4]) |
| 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]) |
| 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]) |
Variables | |
| static double | pos2d [P_MAX][2] |
| static double | pos3d [P_MAX][3] |
| #define P_MAX 500 |
Definition at line 17 of file arGetTransMat.c.
| double arGetTransMat | ( | ARMarkerInfo * | marker_info, | |
| double | center[2], | |||
| double | width, | |||
| double | conv[3][4] | |||
| ) |
compute camera position in function of detected markers.
calculate the transformation between a detected marker and the real camera, i.e. the position and orientation of the camera relative to the tracking mark.
| marker_info | the structure containing the parameters for the marker for which the camera position and orientation is to be found relative to. This structure is found using arDetectMarker. | |
| center | the physical center of the marker. arGetTransMat assumes that the marker is in x-y plane, and z axis is pointing downwards from marker plane. So vertex positions can be represented in 2D coordinates by ignoring the z axis information. The marker vertices are specified in order of clockwise. | |
| width | the size of the marker (in mm). | |
| conv | the transformation matrix from the marker coordinates to camera coordinate frame, that is the relative position of real camera to the real marker |
Definition at line 26 of file arGetTransMat.c.
| double arGetTransMat2 | ( | double | rot[3][3], | |
| double | ppos2d[][2], | |||
| double | ppos3d[][2], | |||
| int | num, | |||
| double | conv[3][4] | |||
| ) |
Definition at line 64 of file arGetTransMat.c.
| 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] | |||
| ) |
Definition at line 71 of file arGetTransMat.c.
| double arGetTransMat4 | ( | double | rot[3][3], | |
| double | ppos2d[][2], | |||
| double | ppos3d[][3], | |||
| int | num, | |||
| double | conv[3][4] | |||
| ) |
Definition at line 113 of file arGetTransMat.c.
| 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] | |||
| ) |
Definition at line 120 of file arGetTransMat.c.
| 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] | |||
| ) | [static] |
Definition at line 157 of file arGetTransMat.c.
double pos2d[P_MAX][2] [static] |
Definition at line 19 of file arGetTransMat.c.
double pos3d[P_MAX][3] [static] |
Definition at line 20 of file arGetTransMat.c.