arGetTransMat.c File Reference

#include <stdlib.h>
#include <math.h>
#include <AR/ar.h>
#include <AR/matrix.h>

Include dependency graph for lib/SRC/AR/arGetTransMat.c:

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]

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Define Documentation

#define P_MAX   500

Definition at line 17 of file lib/SRC/AR/arGetTransMat.c.

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Function Documentation

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 lib/SRC/AR/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 lib/SRC/AR/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 lib/SRC/AR/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 lib/SRC/AR/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 lib/SRC/AR/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 lib/SRC/AR/arGetTransMat.c.

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Variable Documentation

double pos2d[P_MAX][2] [static]

Definition at line 19 of file lib/SRC/AR/arGetTransMat.c.

double pos3d[P_MAX][3] [static]

Definition at line 20 of file lib/SRC/AR/arGetTransMat.c.