ar.h File Reference

ARToolKit subroutines. More...

#include <stdio.h>
#include <malloc.h>
#include <AR/config.h>
#include <AR/config.h>

Include dependency graph for ar.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	ARMarkerInfo
	main structure for detected marker. More...
struct	ARMarkerInfo2
	internal structure use for marker detection. More...
struct	arPrevInfo
	structure for temporal continuity of tracking More...
Defines
#define	arMalloc(V, T, S)
	allocation macro function
Typedefs
typedef int	AR_PIXEL_FORMAT
	ARToolKit pixel-format specifiers.
typedef short	ARInt16
typedef int	ARInt32
typedef char	ARInt8
typedef unsigned short	ARUint16
typedef unsigned int	ARUint32
typedef unsigned char	ARUint8
Functions
int	arActivatePatt (int pat_no)
	activate a pattern on the recognition procedure.
int	arDeactivatePatt (int pat_no)
	desactivate a pattern on the recognition procedure.
int	arDetectMarker (ARUint8 dataPtr, int thresh, ARMarkerInfo marker_info, int marker_num)
	main function to detect the square markers in the video input frame.
ARMarkerInfo2 *	arDetectMarker2 (ARInt16 limage, int label_num, int label_ref, int warea, double wpos, int wclip, int area_max, int area_min, double factor, int marker_num)
	XXXBK.
int	arDetectMarkerLite (ARUint8 dataPtr, int thresh, ARMarkerInfo marker_info, int marker_num)
	main function to detect rapidly the square markers in the video input frame.
int	arFreePatt (int patt_no)
	remove a pattern from memory.
int	arGetAngle (double rot[3][3], double wa, double wb, double *wc)
	extract euler angle from a rotation matrix.
int	arGetCode (ARUint8 image, int x_coord, int y_coord, int vertex, int code, int dir, double *cf)
	XXXBK.
int	arGetContour (ARInt16 limage, int label_ref, int label, int clip[4], ARMarkerInfo2 *marker_info2)
	XXXBK.
void	arGetImgFeature (int num, int area, int clip, double *pos)
	XXXBK.
int	arGetInitRot (ARMarkerInfo *marker_info, double cpara[3][4], double rot[3][3])
	XXXBK.
int	arGetLine (int x_coord[], int y_coord[], int coord_num, int vertex[], double line[4][3], double v[4][2])
	estimate a line from a list of point.
ARMarkerInfo *	arGetMarkerInfo (ARUint8 image, ARMarkerInfo2 marker_info2, int *marker_num)
	information on
int	arGetNewMatrix (double a, double b, double c, double trans[3], double trans2[3][4], double cpara[3][4], double ret[3][4])
	XXXBK.
int	arGetPatt (ARUint8 image, int x_coord, int y_coord, int vertex, ARUint8 ext_pat[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3])
	Get a normalized pattern from a video image.
int	arGetRot (double a, double b, double c, double rot[3][3])
	create a rotation matrix with euler angle.
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 pos2d[][2], double pos3d[][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])
double	arGetTransMatCont (ARMarkerInfo *marker_info, double prev_conv[3][4], double center[2], double width, double conv[3][4])
	compute camera position in function of detected marker with an history function.
ARUint32	arGetVersion (char **versionStringRef)
	Get the ARToolKit version information in numberic and string format.
int	arInitCparam (ARParam *param)
	initialize camera parameters.
ARInt16 *	arLabeling (ARUint8 image, int thresh, int label_num, int area, double pos, int clip, int label_ref)
	extract connected components from image.
void	arLabelingCleanup (void)
	clean up static data allocated by arLabeling.
int	arLoadPatt (const char *filename)
	load markers description from a file
double	arModifyMatrix (double rot[3][3], double trans[3], double cpara[3][4], double vertex[][3], double pos2d[][2], int num)
	XXXBK.
int	arSavePatt (ARUint8 image, ARMarkerInfo marker_info, char *filename)
	save a marker.
int	arsCheckMarkerPosition (ARMarkerInfo marker_infoL, ARMarkerInfo marker_infoR, double thresh)
int	arsCheckPosition (double pos2dL[2], double pos2dR[2], double thresh)
int	arsDetectMarker (ARUint8 dataPtr, int thresh, ARMarkerInfo marker_info, int marker_num, int LorR)
int	arsDetectMarkerLite (ARUint8 dataPtr, int thresh, ARMarkerInfo marker_info, int marker_num, int LorR)
void	arsGetImgFeature (int num, int area, int clip, double *pos, int LorR)
int	arsGetLine (int x_coord[], int y_coord[], int coord_num, int vertex[], double line[4][3], double v[4][2], int LorR)
ARMarkerInfo *	arsGetMarkerInfo (ARUint8 image, ARMarkerInfo2 marker_info2, int *marker_num, int LorR)
double	arsGetPosErr (double pos2dL[2], double pos2dR[2])
double	arsGetTransMat (ARMarkerInfo marker_infoL, ARMarkerInfo marker_infoR, double center[2], double width, double transL[3][4], double transR[3][4])
double	arsGetTransMat2 (double rot[3][3], double ppos2dL[][2], double ppos3dL[][3], int numL, double ppos2dR[][2], double ppos3dR[][3], int numR, double transL[3][4], double transR[3][4])
double	arsGetTransMatCont (ARMarkerInfo marker_infoL, ARMarkerInfo marker_infoR, double prev_conv[3][4], double center[2], double width, double transL[3][4], double transR[3][4])
int	arsInitCparam (ARSParam *sparam)
ARInt16 *	arsLabeling (ARUint8 image, int thresh, int label_num, int area, double pos, int clip, int label_ref, int LorR)
double	arsModifyMatrix (double rot[3][3], double trans[3], ARSParam *arsParam, double pos3dL[][3], double pos2dL[][2], int numL, double pos3dR[][3], double pos2dR[][2], int numR)
int	arUtilMat2QuatPos (double m[3][4], double q[4], double p[3])
	extract a quaternion/position of matrix.
int	arUtilMatInv (double s[3][4], double d[3][4])
	Inverse a non-square matrix.
int	arUtilMatMul (double s1[3][4], double s2[3][4], double d[3][4])
	Multiplication of two matrix.
int	arUtilQuatPos2Mat (double q[4], double p[3], double m[3][4])
	create a matrix with a quaternion/position.
void	arUtilSleep (int msec)
	sleep the actual thread.
double	arUtilTimer (void)
	get the time with the ARToolkit timer.
void	arUtilTimerReset (void)
	reset the internal timer of ARToolkit.
Variables
int	arDebug
	activate artoolkit debug mode
int	arFittingMode
	fitting display mode use by ARToolkit.
ARUint8 *	arImage
	internal image
ARUint8 *	arImageL
int	arImageProcMode
	define the image size mode for marker detection.
ARUint8 *	arImageR
int	arImXsize
	internal image size in width.
int	arImYsize
	internal image size in heigth
int	arMatchingPCAMode
	XXXBK.
ARParam	arParam
	internal intrinsic camera parameter
double	arsMatR2L [3][4]
ARSParam	arsParam
int	arTemplateMatchingMode
	XXXBK.

Detailed Description

ARToolKit subroutines.

Core of the ARToolKit Library. This file provides image analysis and marker detection routines. Differents routines give access to camera and marker configurations. Other routines manipulate marker info structures for deliver 3D transformation of markers (more precisely the position of the camera in function of the marker coordinate system).

Remarks:

History :

Author:: Hirokazu Kato kato@sys.im.hiroshima-cu.ac.jp

Version:: 3.1

Date:: 01/12/07

Definition in file ar.h.

Define Documentation

#define arMalloc	(	V,
		T,
		S	)

Value:

{ if( ((V) = (T *)malloc( sizeof(T) * (S) )) == 0 ) \
{printf("malloc error!!\n"); exit(1);} }

allocation macro function

allocate S elements of type T.

Parameters:

	V	returned allocated area pointer
	T	type of element
	S	number of elements

Definition at line 62 of file ar.h.

Typedef Documentation

AR_PIXEL_FORMAT

ARToolKit pixel-format specifiers.

ARToolKit functions can accept pixel data in a variety of formats. This enumerations provides a set of constants you can use to request data in a particular pixel format from an ARToolKit function that returns data to you, or to specify that data you are providing to an ARToolKit function is in a particular pixel format.

AR_PIXEL_FORMAT_RGB Each pixel is represented by 24 bits. Eight bits per each Red, Green, and Blue component. This is the native 24 bit format for the Mac platform.

AR_PIXEL_FORMAT_BGR Each pixel is represented by 24 bits. Eight bits per each Blue, Red, and Green component. This is the native 24 bit format for the Win32 platform.

AR_PIXEL_FORMAT_RGBA Each pixel is represented by 32 bits. Eight bits per each Red, Green, Blue, and Alpha component.

AR_PIXEL_FORMAT_BGRA Each pixel is represented by 32 bits. Eight bits per each Blue, Green, Red, and Alpha component. This is the native 32 bit format for the Win32 platform.

AR_PIXEL_FORMAT_ABGR Each pixel is represented by 32 bits. Eight bits per each Alpha, Blue, Green, and Red component. This is the native 32 bit format for the SGI platform.

AR_PIXEL_FORMAT_ARGB Each pixel is represented by 32 bits. Eight bits per each Alpha, Red, Green, and Blue component. This is the native 32 bit format for the Mac platform.

AR_PIXEL_FORMAT_MONO Each pixel is represented by 8 bits of luminance information.

AR_PIXEL_FORMAT_2vuy 8-bit 4:2:2 Component Y'CbCr format. Each 16 bit pixel is represented by an unsigned eight bit luminance component and two unsigned eight bit chroma components. Each pair of pixels shares a common set of chroma values. The components are ordered in memory; Cb, Y0, Cr, Y1. The luminance components have a range of [16, 235], while the chroma value has a range of [16, 240]. This is consistent with the CCIR601 spec. This format is fairly prevalent on both Mac and Win32 platforms. '2vuy' is the Apple QuickTime four-character code for this pixel format. The equivalent Microsoft fourCC is 'UYVY'.

AR_PIXEL_FORMAT_yuvs 8-bit 4:2:2 Component Y'CbCr format. Identical to the AR_PIXEL_FORMAT_2vuy except each 16 bit word has been byte swapped. This results in a component ordering of; Y0, Cb, Y1, Cr. This is most prevalent yuv 4:2:2 format on both Mac and Win32 platforms. 'yuvs' is the Apple QuickTime four-character code for this pixel format. The equivalent Microsoft fourCC is 'YUY2'.

Definition at line 132 of file ar.h.

typedef short ARInt16

Definition at line 68 of file ar.h.

typedef int ARInt32

Definition at line 69 of file ar.h.

typedef char ARInt8

Definition at line 67 of file ar.h.

typedef unsigned short ARUint16

Definition at line 71 of file ar.h.

typedef unsigned int ARUint32

Definition at line 72 of file ar.h.

typedef unsigned char ARUint8

Definition at line 70 of file ar.h.

Function Documentation

int arActivatePatt ( int pat_no )

activate a pattern on the recognition procedure.

Activate a pattern to be check during the template matching operation.

Parameters:

patt_no

number of pattern to activate

Returns:: return 1 in success, -1 if error

Definition at line 126 of file arGetCode.c.

int arDeactivatePatt ( int pat_no )

desactivate a pattern on the recognition procedure.

Desactivate a pattern for not be check during the template matching operation.

Parameters:

patt_no

number of pattern to desactivate

Returns:: return 1 in success, -1 if error

Definition at line 135 of file arGetCode.c.

int arDetectMarker	(	ARUint8 *	dataPtr,
		int	thresh,
		ARMarkerInfo **	marker_info,
		int *	marker_num
	)

main function to detect the square markers in the video input frame.

This function proceeds to thresholding, labeling, contour extraction and line corner estimation (and maintains an history). It's one of the main function of the detection routine with arGetTransMat.

Parameters:

	dataPtr	a pointer to the color image which is to be searched for square markers. The pixel format depend of your architecture. Generally ABGR, but the images are treated as a gray scale, so the order of BGR components does not matter. However the ordering of the alpha comp, A, is important.
	thresh	specifies the threshold value (between 0-255) to be used to convert the input image into a binary image.
	marker_info	a pointer to an array of ARMarkerInfo structures returned which contain all the information about the detected squares in the image
	marker_num	the number of detected markers in the image.

Returns:: 0 when the function completes normally, -1 otherwise

Definition at line 58 of file arDetectMarker.c.

ARMarkerInfo2* arDetectMarker2	(	ARInt16 *	limage,
		int	label_num,
		int *	label_ref,
		int *	warea,
		double *	wpos,
		int *	wclip,
		int	area_max,
		int	area_min,
		double	factor,
		int *	marker_num
	)

XXXBK.

XXXBK

Parameters:

	limage	XXXBK
	label_num	XXXBK
	label_ref	XXXBK
	warea	XXXBK
	wpos	XXXBK
	wclip	XXXBK
	area_max	XXXBK
	area_min	XXXBK
	factor	XXXBK
	marker_num	XXXBK

Returns:: XXXBK XXXBK

Definition at line 21 of file arDetectMarker2.c.

int arDetectMarkerLite	(	ARUint8 *	dataPtr,
		int	thresh,
		ARMarkerInfo **	marker_info,
		int *	marker_num
	)

main function to detect rapidly the square markers in the video input frame.

this function is a simpler version of arDetectMarker that does not have the same error correction functions and so runs a little faster, but is more error prone

Parameters:

	dataPtr	a pointer to the color image which is to be searched for square markers. The pixel format depend of your architecture. Generally ABGR, but the images are treated as a gray scale, so the order of BGR components does not matter. However the ordering of the alpha component, A, is important.
	thresh	specifies the threshold value (between 0-255) to be used to convert the input image into a binary image.
	marker_info	a pointer to an array of ARMarkerInfo structures returned which contain all the information about the detected squares in the image
	marker_num	the number of detected markers in the image.

Returns:: 0 when the function completes normally, -1 otherwise

Definition at line 175 of file arDetectMarker.c.

int arFreePatt ( int patt_no )

remove a pattern from memory.

desactivate a pattern and remove from memory. post-condition of this function is unavailability of the pattern.

Parameters:

patt_no

number of pattern to free

Returns:: return 1 in success, -1 if error

Definition at line 114 of file arGetCode.c.

int arGetAngle	(	double	rot[3][3],
		double *	wa,
		double *	wb,
		double *	wc
	)

extract euler angle from a rotation matrix.

Based on a matrix rotation representation, furnish the cprresponding euler angles.

Parameters:

	rot	the initial rotation matrix
	wa	XXXBK:which element ?
	wb	XXXBK:which element ?
	wc	XXXBK:which element ?

Returns:: XXXBK

Definition at line 24 of file arGetTransMat3.c.

int arGetCode	(	ARUint8 *	image,
		int *	x_coord,
		int *	y_coord,
		int *	vertex,
		int *	code,
		int *	dir,
		double *	cf
	)

XXXBK.

XXXBK

Parameters:

	image	XXXBK
	x_coord	XXXBK
	y_coord	XXXBK
	vertex	XXXBK
	code	XXXBK
	dir	XXXBK
	cf	XXXBK

Returns:: XXXBK

Definition at line 144 of file arGetCode.c.

int arGetContour	(	ARInt16 *	limage,
		int *	label_ref,
		int	label,
		int	clip[4],
		ARMarkerInfo2 *	marker_info2
	)

XXXBK.

XXXBK

Parameters:

	limage	XXXBK
	label_ref	XXXBK
	label	XXXBK
	clip	XXXBK
	marker_info2	XXXBK

Returns:: XXXBK

Definition at line 106 of file arDetectMarker2.c.

void arGetImgFeature	(	int *	num,
		int **	area,
		int **	clip,
		double **	pos
	)

XXXBK.

XXXBK

Parameters:

	num	XXXBK
	area	XXXBK
	clip	XXXBK
	pos	XXXBK

Definition at line 67 of file arLabeling.c.

int arGetInitRot	(	ARMarkerInfo *	marker_info,
		double	cpara[3][4],
		double	rot[3][3]
	)

XXXBK.

XXXBK:initial of what ?

Parameters:

	marker_info	XXXBK
	cpara	XXXBK
	rot	XXXBK

Returns:: XXXBK

Definition at line 212 of file arGetTransMat3.c.

int arGetLine	(	int	x_coord[],
		int	y_coord[],
		int	coord_num,
		int	vertex[],
		double	line[4][3],
		double	v[4][2]
	)

estimate a line from a list of point.

Compute a linear regression from a list of point.

Parameters:

	x_coord	X coordinate of points
	y_coord	Y coordinate of points
	coord_num	number of points
	vertex	XXXBK
	line	XXXBK
	v	XXXBK

Returns:: XXXBK

Definition at line 86 of file arUtil.c.

ARMarkerInfo* arGetMarkerInfo	(	ARUint8 *	image,
		ARMarkerInfo2 *	marker_info2,
		int *	marker_num
	)

information on

XXXBK

Parameters:

	image	XXXBK
	marker_info2	XXXBK
	marker_num	XXXBK

Returns:: XXXBK

Definition at line 17 of file arGetMarkerInfo.c.

int arGetNewMatrix	(	double	a,
		double	b,
		double	c,
		double	trans[3],
		double	trans2[3][4],
		double	cpara[3][4],
		double	ret[3][4]
	)

XXXBK.

XXXBK

Parameters:

	a	XXXBK
	b	XXXBK
	c	XXXBK
	trans	XXXBK
	trans2	XXXBK
	cpara	XXXBK
	ret	XXXBK

Returns:: XXXBK

Definition at line 170 of file arGetTransMat3.c.

int arGetPatt	(	ARUint8 *	image,
		int *	x_coord,
		int *	y_coord,
		int *	vertex,
		ARUint8	ext_pat[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3]
	)

Get a normalized pattern from a video image.

This function returns a normalized pattern from a video image. The format is a table with AR_PATT_SIZE_X by AR_PATT_SIZE_Y

Parameters:

	image	video input image
	x_coord	XXXBK
	y_coord	XXXBK
	vertex	XXXBK
	ext_pat	detected pattern.

Returns:: XXXBK

Definition at line 183 of file arGetCode.c.

int arGetRot	(	double	a,
		double	b,
		double	c,
		double	rot[3][3]
	)

create a rotation matrix with euler angle.

Based on a euler description, furnish a rotation matrix.

Parameters:

	a	XXXBK:which element ?
	b	XXXBK:which element ?
	c	XXXBK:which element ?
	rot	the resulted rotation matrix

Returns:: XXXBK

Definition at line 138 of file arGetTransMat3.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.

Parameters:

	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

Returns:: always 0.

Definition at line 26 of file arGetTransMat.c.

double arGetTransMat2	(	double	rot[3][3],
		double	pos2d[][2],
		double	pos3d[][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.

double arGetTransMatCont	(	ARMarkerInfo *	marker_info,
		double	prev_conv[3][4],
		double	center[2],
		double	width,
		double	conv[3][4]
	)

compute camera position in function of detected marker with an history function.

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. Since this routine operate on previous values, the result are more stable (less jittering).

Parameters:

	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.
	prev_conv	the previous transformation matrix obtain.
	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

Returns:: always 0.

Definition at line 16 of file arGetTransMatCont.c.

ARUint32 arGetVersion ( char ** versionStringRef )

Get the ARToolKit version information in numberic and string format.

As of version 2.72, ARToolKit now allows querying of the version number of the toolkit available at runtime. It is highly recommended that any calling program that depends on features in a certain ARToolKit version, check at runtime that it is linked to a version of ARToolKit that can supply those features. It is NOT sufficient to check the ARToolKit SDK header versions, since with ARToolKit implemented in dynamically-loaded libraries, there is no guarantee that the version of ARToolKit installed on the machine at run-time will as recent as the version of the ARToolKit SDK which the host program was compiled against. The version information is reported in binary-coded decimal format, and optionally in an ASCII string. See the config.h header for more discussion of the definition of major, minor, tiny and build version numbers.

Parameters:

versionStringRef

If non-NULL, the location pointed to will be filled with a pointer to a string containing the version information. Fields in the version string are separated by spaces. As of version 2.72.0, there is only one field implemented, and this field contains the major, minor and tiny version numbers in dotted-decimal format. The string is guaranteed to contain at least this field in all future versions of the toolkit. Later versions of the toolkit may add other fields to this string to report other types of version information. The storage for the string is malloc'ed inside the function. The caller is responsible for free'ing the string.

Returns:: Returns the full version number of the ARToolKit in binary coded decimal (BCD) format. BCD format allows simple tests of version number in the caller e.g. if ((arGetVersion(NULL) >> 16) > 0x0272) printf("This release is later than 2.72\n"); The major version number is encoded in the most-significant byte (bits 31-24), the minor version number in the second-most-significant byte (bits 23-16), the tiny version number in the third-most-significant byte (bits 15-8), and the build version number in the least-significant byte (bits 7-0).

Definition at line 40 of file arUtil.c.

int arInitCparam ( ARParam * param )

initialize camera parameters.

set the camera parameters specified in the camera parameters structure *param to static memory in the AR library. These camera parameters are typically read from a data file at program startup. In the video-see through AR applications, the default camera parameters are sufficient, no camera calibration is needed.

Parameters:

param

the camera parameter structure

Returns:: always 0

Definition at line 66 of file arUtil.c.

ARInt16* arLabeling	(	ARUint8 *	image,
		int	thresh,
		int *	label_num,
		int **	area,
		double **	pos,
		int **	clip,
		int **	label_ref
	)

extract connected components from image.

Label the input image, i.e. extract connected components from the input video image.

Parameters:

	image	input image, as returned by arVideoGetImage()
	thresh	lighting threshold
	label_num	Ouput- number of detected components
	area	On return, if label_num > 0, points to an array of ints, one for each detected component.
	pos	On return, if label_num > 0, points to an array of doubles, one for each detected component.
	clip	On return, if label_num > 0, points to an array of ints, one for each detected component.
	label_ref	On return, if label_num > 0, points to an array of ints, one for each detected component.

Returns:: returns a pointer to the labeled output image, ready for passing onto the next stage of processing.

Definition at line 77 of file arLabeling.c.

void arLabelingCleanup ( void )

clean up static data allocated by arLabeling.

In debug mode, arLabeling may allocate and use static storage. This function deallocates this storage.

Definition at line 776 of file arLabeling.c.

int arLoadPatt ( const char * filename )

load markers description from a file

load the bitmap pattern specified in the file filename into the pattern matching array for later use by the marker detection routines.

Parameters:

filename

name of the file containing the pattern bitmap to be loaded

Returns:: the identity number of the pattern loaded or �1 if the pattern load failed.

Definition at line 43 of file arGetCode.c.

double arModifyMatrix	(	double	rot[3][3],
		double	trans[3],
		double	cpara[3][4],
		double	vertex[][3],
		double	pos2d[][2],
		int	num
	)

XXXBK.

XXXBK

Parameters:

	rot	XXXBK
	trans	XXXBK
	cpara	XXXBK
	vertex	XXXBK
	pos2d	XXXBK
	num	XXXBK

Returns:: XXXBK

Definition at line 18 of file arGetTransMat2.c.

int arSavePatt	(	ARUint8 *	image,
		ARMarkerInfo *	marker_info,
		char *	filename
	)

save a marker.

used in mk_patt to save a bitmap of the pattern of the currently detected marker. The saved image is a table of the normalized viewed pattern.

Parameters:

	image	a pointer to the image containing the marker pattern to be trained.
	marker_info	a pointer to the ARMarkerInfo structure of the pattern to be trained.
	filename	The name of the file where the bitmap image is to be saved.

Returns:: 0 if the bitmap image is successfully saved, -1 otherwise.

Definition at line 14 of file arDetectMarker.c.

int arsCheckMarkerPosition	(	ARMarkerInfo *	marker_infoL,
		ARMarkerInfo *	marker_infoR,
		double	thresh
	)

int arsCheckPosition	(	double	pos2dL[2],
		double	pos2dR[2],
		double	thresh
	)

int arsDetectMarker	(	ARUint8 *	dataPtr,
		int	thresh,
		ARMarkerInfo **	marker_info,
		int *	marker_num,
		int	LorR
	)

Definition at line 209 of file arDetectMarker.c.

int arsDetectMarkerLite	(	ARUint8 *	dataPtr,
		int	thresh,
		ARMarkerInfo **	marker_info,
		int *	marker_num,
		int	LorR
	)

Definition at line 291 of file arDetectMarker.c.

void arsGetImgFeature	(	int *	num,
		int **	area,
		int **	clip,
		double **	pos,
		int	LorR
	)

Definition at line 90 of file arLabeling.c.

int arsGetLine	(	int	x_coord[],
		int	y_coord[],
		int	coord_num,
		int	vertex[],
		double	line[4][3],
		double	v[4][2],
		int	LorR
	)

Definition at line 92 of file arUtil.c.

ARMarkerInfo* arsGetMarkerInfo	(	ARUint8 *	image,
		ARMarkerInfo2 *	marker_info2,
		int *	marker_num,
		int	LorR
	)

Definition at line 48 of file arGetMarkerInfo.c.

double arsGetPosErr	(	double	pos2dL[2],
		double	pos2dR[2]
	)

double arsGetTransMat	(	ARMarkerInfo *	marker_infoL,
		ARMarkerInfo *	marker_infoR,
		double	center[2],
		double	width,
		double	transL[3][4],
		double	transR[3][4]
	)

double arsGetTransMat2	(	double	rot[3][3],
		double	ppos2dL[][2],
		double	ppos3dL[][3],
		int	numL,
		double	ppos2dR[][2],
		double	ppos3dR[][3],
		int	numR,
		double	transL[3][4],
		double	transR[3][4]
	)

double arsGetTransMatCont	(	ARMarkerInfo *	marker_infoL,
		ARMarkerInfo *	marker_infoR,
		double	prev_conv[3][4],
		double	center[2],
		double	width,
		double	transL[3][4],
		double	transR[3][4]
	)

int arsInitCparam ( ARSParam * sparam )

Definition at line 75 of file arUtil.c.

ARInt16* arsLabeling	(	ARUint8 *	image,
		int	thresh,
		int *	label_num,
		int **	area,
		double **	pos,
		int **	clip,
		int **	label_ref,
		int	LorR
	)

Definition at line 107 of file arLabeling.c.

double arsModifyMatrix	(	double	rot[3][3],
		double	trans[3],
		ARSParam *	arsParam,
		double	pos3dL[][3],
		double	pos2dL[][2],
		int	numL,
		double	pos3dR[][3],
		double	pos2dR[][2],
		int	numR
	)

Definition at line 94 of file arGetTransMat2.c.

int arUtilMat2QuatPos	(	double	m[3][4],
		double	q[4],
		double	p[3]
	)

extract a quaternion/position of matrix.

Extract a rotation (quaternion format) and a position (vector format) from a transformation matrix. The precondition is an euclidian matrix.

Parameters:

	m	source matrix
	q	a rotation represented by a quaternion.
	p	a translation represented by a vector.

Returns:: 0 if the extraction success, -1 otherwise (quaternion not normalize)

Definition at line 191 of file arUtil.c.

int arUtilMatInv	(	double	s[3][4],
		double	d[3][4]
	)

Inverse a non-square matrix.

Inverse a matrix in a non homogeneous format. The matrix need to be euclidian.

Parameters:

	s	matrix input
	d	resulted inverse matrix.

Returns:: 0 if the inversion success, -1 otherwise

Remarks:: input matrix can be also output matrix

Definition at line 167 of file arUtil.c.

int arUtilMatMul	(	double	s1[3][4],
		double	s2[3][4],
		double	d[3][4]
	)

Multiplication of two matrix.

This procedure do a multiplication matrix between s1 and s2 and return the result in d : d=s1*s2. The precondition is the output matrix need to be different of input matrix. The precondition is euclidian matrix.

Parameters:

	s1	first matrix.
	s2	second matrix.
	d	resulted multiplication matrix.

Returns:: 0 if the multiplication success, -1 otherwise

Definition at line 151 of file arUtil.c.

int arUtilQuatPos2Mat	(	double	q[4],
		double	p[3],
		double	m[3][4]
	)

create a matrix with a quaternion/position.

Create a transformation matrix from a quaternion rotation and a vector translation.

Parameters:

	q	a rotation represented by a quaternion.
	p	a translation represented by a vector.
	m	destination matrix

Returns:: always 0

Definition at line 211 of file arUtil.c.

void arUtilSleep ( int msec )

sleep the actual thread.

Sleep the actual thread.

Parameters:

msec

time to sleep (in millisecond)

Definition at line 301 of file arUtil.c.

double arUtilTimer ( void )

get the time with the ARToolkit timer.

Give the time elapsed since the reset of the timer.

Returns:: elapsed time (in milliseconds)

Definition at line 251 of file arUtil.c.

void arUtilTimerReset ( void )

reset the internal timer of ARToolkit.

Reset the internal timer used by ARToolKit. timer measurement (with arUtilTimer()).

Definition at line 280 of file arUtil.c.

Variable Documentation

int arDebug

activate artoolkit debug mode

control debug informations in ARToolKit. the possible values are:

0: not in debug mode
1: in debug mode by default: 0

Definition at line 26 of file arUtil.c.

int arFittingMode

fitting display mode use by ARToolkit.

Correction mode for the distorsion of the camera. You can enable a correction with a texture mapping. the possible values are:

AR_FITTING_TO_INPUT: input image
AR_FITTING_TO_IDEAL: compensated image by default: DEFAULT_FITTING_MODE in config.h

Definition at line 28 of file arUtil.c.

ARUint8 * arImage

internal image

internal image used. (access only for debugging ARToolKit) by default: NULL

Definition at line 27 of file arUtil.c.

ARUint8* arImageL

Definition at line 35 of file arUtil.c.

int arImageProcMode

define the image size mode for marker detection.

Video image size for marker detection. This control if all the image is analyzed the possible values are :

AR_IMAGE_PROC_IN_FULL: full image uses.
AR_IMAGE_PROC_IN_HALF: half image uses. by default: DEFAULT_IMAGE_PROC_MODE in config.h

Definition at line 29 of file arUtil.c.

ARUint8* arImageR

Definition at line 36 of file arUtil.c.

int arImXsize

internal image size in width.

internal image size in width (generally initialize in arInitCparam)

Definition at line 31 of file arUtil.c.

int arImYsize

internal image size in heigth

internal image size in heigth (generally initialize in arInitCparam)

Definition at line 31 of file arUtil.c.

int arMatchingPCAMode

XXXBK.

XXXBK the possible values are : -AR_MATCHING_WITHOUT_PCA: without PCA -AR_MATCHING_WITH_PCA: with PCA by default: DEFAULT_MATCHING_PCA_MODE in config.h

Definition at line 33 of file arUtil.c.

ARParam arParam

internal intrinsic camera parameter

internal variable for camera intrinsic parameters

Definition at line 30 of file arUtil.c.

double arsMatR2L[3][4]

Definition at line 38 of file arUtil.c.

ARSParam arsParam

Definition at line 37 of file arUtil.c.

int arTemplateMatchingMode

XXXBK.

XXXBK the possible values are : AR_TEMPLATE_MATCHING_COLOR: Color Template AR_TEMPLATE_MATCHING_BW: BW Template by default: DEFAULT_TEMPLATE_MATCHING_MODE in config.h

Definition at line 32 of file arUtil.c.

ar.h File Reference

Classes

Defines

Typedefs

Functions

Variables

Detailed Description

Define Documentation

Typedef Documentation

Function Documentation

Variable Documentation