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00030 #ifndef AR_H
00031 #define AR_H
00032 #ifdef __cplusplus
00033 extern "C" {
00034 #endif
00035
00036
00037
00038
00039
00040 #include <stdio.h>
00041 #ifndef __APPLE__
00042 #include <malloc.h>
00043 #else
00044 #include <stdlib.h>
00045 #endif
00046
00047 #include <AR/config.h>
00048 #include <AR/param.h>
00049
00050
00051
00052
00053
00062 #define arMalloc(V,T,S) \
00063 { if( ((V) = (T *)malloc( sizeof(T) * (S) )) == 0 ) \
00064 {printf("malloc error!!\n"); exit(1);} }
00065
00066
00067 typedef char ARInt8;
00068 typedef short ARInt16;
00069 typedef int ARInt32;
00070 typedef unsigned char ARUint8;
00071 typedef unsigned short ARUint16;
00072 typedef unsigned int ARUint32;
00073
00132 typedef int AR_PIXEL_FORMAT;
00133
00147 typedef struct {
00148 int area;
00149 int id;
00150 int dir;
00151 double cf;
00152 double pos[2];
00153 double line[4][3];
00154 double vertex[4][2];
00155 } ARMarkerInfo;
00156
00170 typedef struct {
00171 int area;
00172 double pos[2];
00173 int coord_num;
00174 int x_coord[AR_CHAIN_MAX];
00175 int y_coord[AR_CHAIN_MAX];
00176 int vertex[5];
00177 } ARMarkerInfo2;
00178
00179
00180
00181
00182
00192 extern int arDebug;
00193
00200 extern ARUint8 *arImage;
00201
00212 extern int arFittingMode;
00213
00224 extern int arImageProcMode;
00225
00231 extern ARParam arParam;
00232
00243 extern int arImXsize, arImYsize;
00244
00254 extern int arTemplateMatchingMode;
00255
00265 extern int arMatchingPCAMode;
00266
00267
00268
00269
00270
00271
00272
00273
00274
00316 ARUint32 arGetVersion(char **versionStringRef);
00317
00329 int arInitCparam( ARParam *param );
00330
00339 int arLoadPatt( const char *filename );
00340
00341
00342
00343
00344
00362 int arDetectMarker( ARUint8 *dataPtr, int thresh,
00363 ARMarkerInfo **marker_info, int *marker_num );
00364
00382 int arDetectMarkerLite( ARUint8 *dataPtr, int thresh,
00383 ARMarkerInfo **marker_info, int *marker_num );
00384
00402 double arGetTransMat( ARMarkerInfo *marker_info,
00403 double center[2], double width, double conv[3][4] );
00404
00425 double arGetTransMatCont( ARMarkerInfo *marker_info, double prev_conv[3][4],
00426 double center[2], double width, double conv[3][4] );
00427
00428 double arGetTransMat2( double rot[3][3], double pos2d[][2],
00429 double pos3d[][2], int num, double conv[3][4] );
00430 double arGetTransMat3( double rot[3][3], double ppos2d[][2],
00431 double ppos3d[][2], int num, double conv[3][4],
00432 double *dist_factor, double cpara[3][4] );
00433 double arGetTransMat4( double rot[3][3], double ppos2d[][2],
00434 double ppos3d[][3], int num, double conv[3][4] );
00435 double arGetTransMat5( double rot[3][3], double ppos2d[][2],
00436 double ppos3d[][3], int num, double conv[3][4],
00437 double *dist_factor, double cpara[3][4] );
00438
00447 int arFreePatt( int patt_no );
00448
00457 int arActivatePatt( int pat_no );
00458
00467 int arDeactivatePatt( int pat_no );
00468
00479 int arSavePatt( ARUint8 *image,
00480 ARMarkerInfo *marker_info, char *filename );
00481
00482
00483
00484
00485
00486
00497 int arUtilMatInv( double s[3][4], double d[3][4] );
00498
00510 int arUtilMatMul( double s1[3][4], double s2[3][4], double d[3][4] );
00511
00522 int arUtilMat2QuatPos( double m[3][4], double q[4], double p[3] );
00523
00533 int arUtilQuatPos2Mat( double q[4], double p[3], double m[3][4] );
00534
00541 double arUtilTimer(void);
00542
00549 void arUtilTimerReset(void);
00550
00557 void arUtilSleep( int msec );
00558
00559
00560
00561
00562
00577 ARInt16 *arLabeling( ARUint8 *image, int thresh,
00578 int *label_num, int **area, double **pos, int **clip,
00579 int **label_ref );
00580
00587 void arLabelingCleanup(void);
00588
00589
00599 void arGetImgFeature( int *num, int **area, int **clip, double **pos );
00600
00617 ARMarkerInfo2 *arDetectMarker2( ARInt16 *limage,
00618 int label_num, int *label_ref,
00619 int *warea, double *wpos, int *wclip,
00620 int area_max, int area_min, double factor, int *marker_num );
00621
00631 ARMarkerInfo *arGetMarkerInfo( ARUint8 *image,
00632 ARMarkerInfo2 *marker_info2, int *marker_num );
00633
00647 int arGetCode( ARUint8 *image, int *x_coord, int *y_coord, int *vertex,
00648 int *code, int *dir, double *cf );
00649
00662 int arGetPatt( ARUint8 *image, int *x_coord, int *y_coord, int *vertex,
00663 ARUint8 ext_pat[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3] );
00664
00677 int arGetLine(int x_coord[], int y_coord[], int coord_num,
00678 int vertex[], double line[4][3], double v[4][2]);
00679
00691 int arGetContour( ARInt16 *limage, int *label_ref,
00692 int label, int clip[4], ARMarkerInfo2 *marker_info2 );
00693
00706 double arModifyMatrix( double rot[3][3], double trans[3], double cpara[3][4],
00707 double vertex[][3], double pos2d[][2], int num );
00708
00719 int arGetAngle( double rot[3][3], double *wa, double *wb, double *wc );
00720
00731 int arGetRot( double a, double b, double c, double rot[3][3] );
00732
00746 int arGetNewMatrix( double a, double b, double c,
00747 double trans[3], double trans2[3][4],
00748 double cpara[3][4], double ret[3][4] );
00749
00759 int arGetInitRot( ARMarkerInfo *marker_info, double cpara[3][4], double rot[3][3] );
00760
00766 typedef struct {
00767 ARMarkerInfo marker;
00768 int count;
00769 } arPrevInfo;
00770
00771
00772
00773
00774 extern ARUint8 *arImageL;
00775 extern ARUint8 *arImageR;
00776 extern ARSParam arsParam;
00777 extern double arsMatR2L[3][4];
00778
00779 int arsInitCparam ( ARSParam *sparam );
00780 void arsGetImgFeature ( int *num, int **area, int **clip, double **pos, int LorR );
00781 ARInt16 *arsLabeling ( ARUint8 *image, int thresh,
00782 int *label_num, int **area, double **pos, int **clip,
00783 int **label_ref, int LorR );
00784 int arsGetLine ( int x_coord[], int y_coord[], int coord_num,
00785 int vertex[], double line[4][3], double v[4][2], int LorR);
00786 ARMarkerInfo *arsGetMarkerInfo ( ARUint8 *image,
00787 ARMarkerInfo2 *marker_info2, int *marker_num, int LorR );
00788 int arsDetectMarker ( ARUint8 *dataPtr, int thresh,
00789 ARMarkerInfo **marker_info, int *marker_num, int LorR );
00790 int arsDetectMarkerLite( ARUint8 *dataPtr, int thresh,
00791 ARMarkerInfo **marker_info, int *marker_num, int LorR );
00792 double arsGetTransMat ( ARMarkerInfo *marker_infoL, ARMarkerInfo *marker_infoR,
00793 double center[2], double width,
00794 double transL[3][4], double transR[3][4] );
00795 double arsGetTransMatCont ( ARMarkerInfo *marker_infoL, ARMarkerInfo *marker_infoR,
00796 double prev_conv[3][4],
00797 double center[2], double width,
00798 double transL[3][4], double transR[3][4] );
00799 double arsGetTransMat2 ( double rot[3][3],
00800 double ppos2dL[][2], double ppos3dL[][3], int numL,
00801 double ppos2dR[][2], double ppos3dR[][3], int numR,
00802 double transL[3][4], double transR[3][4] );
00803 double arsGetPosErr( double pos2dL[2], double pos2dR[2] );
00804 int arsCheckPosition ( double pos2dL[2], double pos2dR[2], double thresh );
00805 int arsCheckMarkerPosition( ARMarkerInfo *marker_infoL, ARMarkerInfo *marker_infoR,
00806 double thresh );
00807
00808 double arsModifyMatrix( double rot[3][3], double trans[3], ARSParam *arsParam,
00809 double pos3dL[][3], double pos2dL[][2], int numL,
00810 double pos3dR[][3], double pos2dR[][2], int numR );
00811
00812 #ifdef __cplusplus
00813 }
00814 #endif
00815 #endif
