ar.h

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/*
 *  ar.h
 *  artoolkitX
 *
 *  This file is part of artoolkitX.
 *
 *  artoolkitX is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU Lesser General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  artoolkitX is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public License
 *  along with artoolkitX.  If not, see <http://www.gnu.org/licenses/>.
 *
 *  As a special exception, the copyright holders of this library give you
 *  permission to link this library with independent modules to produce an
 *  executable, regardless of the license terms of these independent modules, and to
 *  copy and distribute the resulting executable under terms of your choice,
 *  provided that you also meet, for each linked independent module, the terms and
 *  conditions of the license of that module. An independent module is a module
 *  which is neither derived from nor based on this library. If you modify this
 *  library, you may extend this exception to your version of the library, but you
 *  are not obligated to do so. If you do not wish to do so, delete this exception
 *  statement from your version.
 *
 *  Copyright 2018 Realmax, Inc.
 *  Copyright 2015-2016 Daqri, LLC.
 *  Copyright 2002-2015 ARToolworks, Inc.
 *
 *  Author(s): Hirokazu Kato, Philip Lamb
 *
 */
/*******************************************************
 *
 * Author: Hirokazu Kato
 *
 *         kato@sys.im.hiroshima-cu.ac.jp
 *
 * Revision: 4.01
 * Date: 2003/11/07
 *
 *******************************************************/
 
#ifndef AR_H
#define AR_H
 
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <string.h>
#include <ARX/AR/config.h>
#include <ARX/AR/arConfig.h>
#ifdef __ANDROID__
#  include <jni.h>
#  include <android/log.h>
#endif
#include <ARX/ARUtil/log.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
#define arMalloc(V,T,S)  \
{ if( ((V) = (T *)malloc( sizeof(T) * (S) )) == NULL ) \
{ARLOGe("Out of memory!!\n"); exit(1);} }
 
#define arMallocClear(V,T,S)  \
{ if( ((V) = (T *)calloc( (S), sizeof(T) )) == NULL ) \
{ARLOGe("Out of memory!!\n"); exit(1);} }
 
typedef char              ARInt8;
typedef short             ARInt16;
typedef int               ARInt32;
typedef unsigned char     ARUint8;
typedef unsigned short    ARUint16;
typedef unsigned int      ARUint32;
typedef float             ARfloat;
#ifdef ARDOUBLE_IS_FLOAT
typedef float             ARdouble;
#else
typedef double            ARdouble;
#endif
 
#ifndef TRUE
#  define TRUE 1
#endif
#ifndef FALSE
#  define FALSE 0
#endif
 
#ifdef __cplusplus
}
#endif
 
#include <ARX/AR/matrix.h>
#include <ARX/AR/icp.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#ifdef _WIN32
#  ifdef AR_STATIC
#    define AR_EXTERN
#  else
#    ifdef ARX_EXPORTS
#      define AR_EXTERN __declspec(dllexport)
#    else
#      define AR_EXTERN __declspec(dllimport)
#    endif
#  endif
#else
#  define AR_EXTERN
#endif
 
/* --------------------------------------------------*/
 
typedef struct {
    uint64_t sec;
    uint32_t usec;
} AR2VideoTimestampT;
 
typedef struct {
    ARUint8            *buff;           
    ARUint8           **bufPlanes;      
    unsigned int        bufPlaneCount;  
    ARUint8            *buffLuma;       
    int                 fillFlag;       
    AR2VideoTimestampT  time;           
} AR2VideoBufferT;
 
typedef enum {
    AR_LABELING_THRESH_MODE_MANUAL = 0,     
    AR_LABELING_THRESH_MODE_AUTO_MEDIAN,    
    AR_LABELING_THRESH_MODE_AUTO_OTSU,      
    AR_LABELING_THRESH_MODE_AUTO_ADAPTIVE,  
    AR_LABELING_THRESH_MODE_AUTO_BRACKETING 
} AR_LABELING_THRESH_MODE;
 
typedef struct {
    int             area;                   
    ARdouble        pos[2];                 
    int             coord_num;              
    int             x_coord[AR_CHAIN_MAX];  
    int             y_coord[AR_CHAIN_MAX];  
    int             vertex[5];              
} ARMarkerInfo2;
 
typedef enum {
    AR_MARKER_INFO_CUTOFF_PHASE_NONE,                   
    AR_MARKER_INFO_CUTOFF_PHASE_PATTERN_EXTRACTION,     
    AR_MARKER_INFO_CUTOFF_PHASE_MATCH_GENERIC,          
    AR_MARKER_INFO_CUTOFF_PHASE_MATCH_CONTRAST,         
    AR_MARKER_INFO_CUTOFF_PHASE_MATCH_BARCODE_NOT_FOUND,
    AR_MARKER_INFO_CUTOFF_PHASE_MATCH_BARCODE_EDC_FAIL, 
    AR_MARKER_INFO_CUTOFF_PHASE_MATCH_CONFIDENCE,       
    AR_MARKER_INFO_CUTOFF_PHASE_POSE_ERROR,             
    AR_MARKER_INFO_CUTOFF_PHASE_POSE_ERROR_MULTI,       
    AR_MARKER_INFO_CUTOFF_PHASE_HEURISTIC_TROUBLESOME_MATRIX_CODES 
} AR_MARKER_INFO_CUTOFF_PHASE;
 
#define AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT 10
AR_EXTERN extern const char *arMarkerInfoCutoffPhaseDescriptions[AR_MARKER_INFO_CUTOFF_PHASE_DESCRIPTION_COUNT];
 
typedef struct {
    int             area;                   
    int             id;                     
    int             idPatt;                 
    int             idMatrix;               
    int             dir;                    
    int             dirPatt;                
    int             dirMatrix;              
    ARdouble        cf;                     
    ARdouble        cfPatt;                 
    ARdouble        cfMatrix;               
    ARdouble        pos[2];                 
    ARdouble        line[4][3];             
    ARdouble        vertex[4][2];           
    ARMarkerInfo2  *markerInfo2Ptr;         
    AR_MARKER_INFO_CUTOFF_PHASE cutoffPhase;
    int             errorCorrected;         
    uint64_t        globalID;               
} ARMarkerInfo;
 
typedef struct {
    ARMarkerInfo    marker;         
    int             count;          
} ARTrackingHistory;
 
typedef struct {
    AR_LABELING_LABEL_TYPE *labelImage;
#if !AR_DISABLE_LABELING_DEBUG_MODE
    ARUint8        *bwImage;
#endif
    int             label_num;
    int             area[AR_LABELING_WORK_SIZE];
    int             clip[AR_LABELING_WORK_SIZE][4];
    ARdouble        pos[AR_LABELING_WORK_SIZE][2];
    int             work[AR_LABELING_WORK_SIZE];
    int             work2[AR_LABELING_WORK_SIZE*7]; 
} ARLabelInfo;
 
/* --------------------------------------------------*/
 
typedef struct {
    int             patt_num;       
    int             patt_num_max;   
    int            *pattf;          
    int           **patt;           
    ARdouble       *pattpow;        
    int           **pattBW;         
    ARdouble       *pattpowBW;      
    //ARdouble        pattRatio;      ///< 
    int             pattSize;       
} ARPattHandle;
 
typedef struct {
    float   topLeftX;       
    float   topLeftY;       
    float   bottomRightX;   
    float   bottomRightY;   
} ARPattRectInfo;
 
/* --------------------------------------------------*/
 
#ifdef __cplusplus
}
#endif
 
#include <ARX/AR/param.h>
#include <ARX/AR/arImageProc.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define AR_MATRIX_CODE_TYPE_SIZE_MASK 0x000000ff  
#define AR_MATRIX_CODE_TYPE_ECC_NONE 0x00000000   
#define AR_MATRIX_CODE_TYPE_ECC_PARITY 0x00000100 
#define AR_MATRIX_CODE_TYPE_ECC_HAMMING 0x00000200 
#define AR_MATRIX_CODE_TYPE_ECC_BCH___3 0x00000300 
#define AR_MATRIX_CODE_TYPE_ECC_BCH___5 0x00000400 
#define AR_MATRIX_CODE_TYPE_ECC_BCH___7 0x00000500 
#define AR_MATRIX_CODE_TYPE_ECC_BCH___9 0x00000600 
#define AR_MATRIX_CODE_TYPE_ECC_BCH___11 0x00000700 
#define AR_MATRIX_CODE_TYPE_ECC_BCH___19 0x00000b00 
 
typedef enum {
    AR_MATRIX_CODE_3x3 = 0x03,                                                  
    AR_MATRIX_CODE_3x3_PARITY65 = 0x03 | AR_MATRIX_CODE_TYPE_ECC_PARITY,        
    AR_MATRIX_CODE_3x3_HAMMING63 = 0x03 | AR_MATRIX_CODE_TYPE_ECC_HAMMING,      
    AR_MATRIX_CODE_4x4 = 0x04,                                                  
    AR_MATRIX_CODE_4x4_BCH_13_9_3 = 0x04 | AR_MATRIX_CODE_TYPE_ECC_BCH___3,     
    AR_MATRIX_CODE_4x4_BCH_13_5_5 = 0x04 | AR_MATRIX_CODE_TYPE_ECC_BCH___5,     
    AR_MATRIX_CODE_5x5_BCH_22_12_5 = 0x05 | AR_MATRIX_CODE_TYPE_ECC_BCH___5,    
    AR_MATRIX_CODE_5x5_BCH_22_7_7 = 0x05 | AR_MATRIX_CODE_TYPE_ECC_BCH___7,     
    AR_MATRIX_CODE_5x5 = 0x05,                                                  
    AR_MATRIX_CODE_6x6 = 0x06,                                                  
    AR_MATRIX_CODE_GLOBAL_ID = 0x0e | AR_MATRIX_CODE_TYPE_ECC_BCH___19
} AR_MATRIX_CODE_TYPE;
 
typedef struct {
    int                arDebug;
    AR_PIXEL_FORMAT    arPixelFormat;
    int                arPixelSize;
    int                arLabelingMode;
    int                arLabelingThresh;
    int                arImageProcMode;                     
    int                arPatternDetectionMode;
    int                arMarkerExtractionMode;
    ARParamLT         *arParamLT;
    int                xsize;
    int                ysize;
    int                marker_num;
    ARMarkerInfo       markerInfo[AR_SQUARE_MAX];
    int                marker2_num;
    ARMarkerInfo2      markerInfo2[AR_SQUARE_MAX];
    int                history_num;
    ARTrackingHistory  history[AR_SQUARE_MAX];
    ARLabelInfo        labelInfo;
    ARPattHandle      *pattHandle;
    AR_LABELING_THRESH_MODE arLabelingThreshMode;
    int                arLabelingThreshAutoInterval;
    int                arLabelingThreshAutoIntervalTTL;
    int                arLabelingThreshAutoBracketOver;
    int                arLabelingThreshAutoBracketUnder;
    int                arLabelingThreshAutoAdaptiveKernelSize;
    int                arLabelingThreshAutoAdaptiveBias;
    ARImageProcInfo   *arImageProcInfo;
    ARdouble           pattRatio;                           
    AR_MATRIX_CODE_TYPE matrixCodeType;                     
    int                arCornerRefinementMode;
    ARdouble           areaMax;
    ARdouble           areaMin;
    ARdouble           squareFitThresh;
} ARHandle;
 
 
/* --------------------------------------------------*/
 
typedef struct {
    ICPHandleT          *icpHandle;
} AR3DHandle;
 
#define   AR_TRANS_MAT_IDENTITY            ICP_TRANS_MAT_IDENTITY
 
typedef struct {
    ICPStereoHandleT    *icpStereoHandle;
} AR3DStereoHandle;
 
 
/***********************************/
/*                                 */
/*    For square detection         */
/*                                 */
/***********************************/
 
AR_EXTERN ARHandle *arCreateHandle( ARParamLT *paramLT );
 
AR_EXTERN int arDeleteHandle( ARHandle *handle );
 
AR_EXTERN void arSetDebugMode(ARHandle *handle, int mode);
 
AR_EXTERN int arGetDebugMode(ARHandle *handle);
 
AR_EXTERN void arSetLabelingMode(ARHandle *handle, int mode);
 
AR_EXTERN int arGetLabelingMode(ARHandle *handle);
 
AR_EXTERN void arSetLabelingThresh(ARHandle *handle, int thresh);
 
AR_EXTERN int arGetLabelingThresh(ARHandle *handle);
 
AR_EXTERN void arSetLabelingThreshMode(ARHandle *handle, const AR_LABELING_THRESH_MODE mode);
 
AR_EXTERN AR_LABELING_THRESH_MODE arGetLabelingThreshMode(const ARHandle *handle);
 
AR_EXTERN void arSetLabelingThreshModeAutoInterval(ARHandle *handle, const int interval);
 
AR_EXTERN int arGetLabelingThreshModeAutoInterval(const ARHandle *handle);
 
AR_EXTERN void arSetLabelingThreshAutoAdaptiveKernelSize(ARHandle *handle, const int labelingThreshAutoAdaptiveKernelSize);
 
AR_EXTERN int arGetLabelingThreshAutoAdaptiveKernelSize(ARHandle *handle);
 
AR_EXTERN void arSetLabelingThreshAutoAdaptiveBias(ARHandle *handle, const int labelingThreshAutoAdaptiveBias);
 
AR_EXTERN int arGetLabelingThreshAutoAdaptiveBias(ARHandle *handle);
    
AR_EXTERN void arSetImageProcMode(ARHandle *handle, int mode);
 
AR_EXTERN int arGetImageProcMode(ARHandle *handle);
 
AR_EXTERN void arSetPatternDetectionMode(ARHandle *handle, int mode);
 
AR_EXTERN int arGetPatternDetectionMode(ARHandle *handle);
 
AR_EXTERN void arSetMatrixCodeType(ARHandle *handle, const AR_MATRIX_CODE_TYPE type);
 
AR_EXTERN AR_MATRIX_CODE_TYPE arGetMatrixCodeType(ARHandle *handle);
 
AR_EXTERN void arSetMarkerExtractionMode(ARHandle *handle, int mode);
 
AR_EXTERN int arGetMarkerExtractionMode(ARHandle *handle);
 
AR_EXTERN void arSetBorderSize(ARHandle *handle, const ARdouble borderSize);
 
AR_EXTERN ARdouble arGetBorderSize(ARHandle *handle);
 
AR_EXTERN void arSetPattRatio(ARHandle *handle, const ARdouble pattRatio);
 
AR_EXTERN ARdouble arGetPattRatio(ARHandle *handle);
 
AR_EXTERN void arSetPixelFormat(ARHandle *handle, AR_PIXEL_FORMAT pixFormat);
 
AR_EXTERN AR_PIXEL_FORMAT arGetPixelFormat(ARHandle *handle);
 
AR_EXTERN void arSetAreaMax(ARHandle *handle, const ARdouble areaMax);
    
AR_EXTERN ARdouble arGetAreaMax(ARHandle *handle);
 
AR_EXTERN void arSetAreaMin(ARHandle *handle, const ARdouble areaMin);
 
AR_EXTERN ARdouble arGetAreaMin(ARHandle *handle);
 
AR_EXTERN void arSetSquareFitThresh(ARHandle *handle, const ARdouble squareFitThresh);
 
AR_EXTERN ARdouble arGetSquareFitThresh(ARHandle *handle);
 
AR_EXTERN void arSetCornerRefinementMode(ARHandle *handle, int mode);
 
AR_EXTERN int arGetCornerRefinementMode(ARHandle *handle);
 
 
AR_EXTERN int arDetectMarker(ARHandle *arHandle, AR2VideoBufferT *frame);
 
AR_EXTERN int arGetMarkerNum( ARHandle *arHandle );
 
AR_EXTERN ARMarkerInfo  *arGetMarker( ARHandle *arHandle );
 
/* ------------------------------ */
 
AR_EXTERN int            arLabeling( ARUint8 *imageLuma, int xsize, int ysize,
                           int debugMode, int labelingMode, int labelingThresh, int imageProcMode,
                           ARLabelInfo *labelInfo, ARUint8 *image_thresh );
AR_EXTERN int            arDetectMarker2( int xsize, int ysize, ARLabelInfo *labelInfo, int imageProcMode,
                                int areaMax, int areaMin, ARdouble squareFitThresh,
                                ARMarkerInfo2 *markerInfo2, int *marker2_num );
AR_EXTERN int            arGetMarkerInfo( ARUint8 *image, int xsize, int ysize, int pixelFormat,
                                ARMarkerInfo2 *markerInfo2, int marker2_num,
                                ARPattHandle *pattHandle, int imageProcMode, int pattDetectMode, ARParamLTf *arParamLTf, ARdouble pattRatio,
                                ARMarkerInfo *markerInfo, int *marker_num,
                                const AR_MATRIX_CODE_TYPE matrixCodeType );
 
AR_EXTERN int            arGetContour( AR_LABELING_LABEL_TYPE *lImage, int xsize, int ysize, int *label_ref, int label,
                             int clip[4], ARMarkerInfo2 *marker_info2 );
AR_EXTERN int            arGetLine( int x_coord[], int y_coord[], int coord_num, int vertex[], ARParamLTf *paramLTf,
                          ARdouble line[4][3], ARdouble v[4][2] );
 
 
/***********************************/
/*                                 */
/*    For pattern identification   */
/*                                 */
/***********************************/
 
AR_EXTERN ARPattHandle *arPattCreateHandle(void);
 
AR_EXTERN ARPattHandle *arPattCreateHandle2(const int pattSize, const int patternCountMax);
 
AR_EXTERN int arPattDeleteHandle(ARPattHandle *pattHandle);
 
AR_EXTERN int arPattLoad( ARPattHandle *pattHandle, const char *filename );
 
AR_EXTERN int arPattLoadFromBuffer(ARPattHandle *pattHandle, const char *buffer);
 
AR_EXTERN int arPattSave( ARUint8 *image, int xsize, int ysize, int pixelFormat, ARParamLTf *paramLTf,
                int imageProcMode, ARMarkerInfo *marker_info, ARdouble pattRatio, int pattSize, const char *filename );
 
AR_EXTERN int arPattFree( ARPattHandle *pattHandle, int patno );
 
AR_EXTERN int arPattActivate( ARPattHandle *pattHandle, int patno );
 
AR_EXTERN int arPattDeactivate(ARPattHandle *pattHandle, int patno);
 
AR_EXTERN int arPattAttach(ARHandle *arHandle, ARPattHandle *pattHandle);
 
AR_EXTERN int arPattDetach(ARHandle *arHandle);
 
//int arPattGetPattRatio( ARPattHandle *pattHandle, float *ratio );
//int arPattSetPattRatio( ARPattHandle *pattHandle, float  ratio );
 
/* ------------------------------ */
 
#if !AR_DISABLE_NON_CORE_FNS
AR_EXTERN int            arPattGetID( ARPattHandle *pattHandle, int imageProcMode, int pattDetectMode,
                            ARUint8 *image, int xsize, int ysize, AR_PIXEL_FORMAT pixelFormat,
                            int *x_coord, int *y_coord, int *vertex, ARdouble pattRatio,
                            int *code, int *dir, ARdouble *cf, const AR_MATRIX_CODE_TYPE matrixCodeType );
AR_EXTERN int            arPattGetImage( int imageProcMode, int pattDetectMode, int patt_size, int sample_size,
                              ARUint8 *image, int xsize, int ysize, AR_PIXEL_FORMAT pixelFormat,
                              int *x_coord, int *y_coord, int *vertex, ARdouble pattRatio,
                              ARUint8 *ext_patt );
 
AR_EXTERN int            arPattGetID2( ARPattHandle *pattHandle, int imageProcMode, int pattDetectMode,
                             ARUint8 *image, int xsize, int ysize, AR_PIXEL_FORMAT pixelFormat, ARParamLTf *arParamLTf, ARdouble vertex[4][2], ARdouble pattRatio,
                             int *codePatt, int *dirPatt, ARdouble *cfPatt, int *codeMatrix, int *dirMatrix, ARdouble *cfMatrix,
                             const AR_MATRIX_CODE_TYPE matrixCodeType );
#endif // !AR_DISABLE_NON_CORE_FNS
 
AR_EXTERN int arPattGetIDGlobal( ARPattHandle *pattHandle, int imageProcMode, int pattDetectMode,
              ARUint8 *image, int xsize, int ysize, AR_PIXEL_FORMAT pixelFormat, ARParamLTf *arParamLTf, ARdouble vertex[4][2], ARdouble pattRatio,
              int *codePatt, int *dirPatt, ARdouble *cfPatt, int *codeMatrix, int *dirMatrix, ARdouble *cfMatrix,
              const AR_MATRIX_CODE_TYPE matrixCodeType, int *errorCorrected, uint64_t *codeGlobalID_p );
 
AR_EXTERN int            arPattGetImage2( int imageProcMode, int pattDetectMode, int patt_size, int sample_size,
                                ARUint8 *image, int xsize, int ysize, AR_PIXEL_FORMAT pixelFormat, ARParamLTf *arParamLTf,
                                ARdouble vertex[4][2], ARdouble pattRatio, ARUint8 *ext_patt );
 
AR_EXTERN int            arPattGetImage3( ARHandle *arHandle, int markerNo, ARUint8 *image, ARPattRectInfo *rect, int xsize, int ysize,
                                int overSampleScale, ARUint8 *outImage );
 
 
/***********************************/
/*                                 */
/*    For 3D calculation           */
/*                                 */
/***********************************/
 
AR_EXTERN AR3DHandle    *ar3DCreateHandle(const ARParam *arParam);
 
AR_EXTERN AR3DHandle    *ar3DCreateHandle2(const ARdouble cpara[3][4]);
 
AR_EXTERN int            ar3DDeleteHandle( AR3DHandle **handle );
 
AR_EXTERN int            ar3DChangeCpara( AR3DHandle *handle, const ARdouble cpara[3][4] );
 
AR_EXTERN int            ar3DChangeMaxLoopCount( AR3DHandle *handle, int maxLoopCount );
 
AR_EXTERN int            ar3DChangeLoopBreakThresh( AR3DHandle *handle, ARdouble loopBreakThresh );
 
AR_EXTERN int            ar3DChangeLoopBreakThreshRatio( AR3DHandle *handle, ARdouble loopBreakThreshRatio );
 
AR_EXTERN ARdouble         arGetTransMatSquare( AR3DHandle *handle, ARMarkerInfo *marker_info,
                                    ARdouble width, ARdouble conv[3][4] );
 
AR_EXTERN ARdouble         arGetTransMatSquareCont( AR3DHandle *handle, ARMarkerInfo *marker_info,
                                        ARdouble initConv[3][4],
                                        ARdouble width, ARdouble conv[3][4] );
 
AR_EXTERN ARdouble         arGetTransMat( AR3DHandle *handle, ARdouble initConv[3][4],
                              ARdouble pos2d[][2], ARdouble pos3d[][3], int num,
                              ARdouble conv[3][4] );
 
AR_EXTERN ARdouble         arGetTransMatRobust( AR3DHandle *handle, ARdouble initConv[3][4],
                                    ARdouble pos2d[][2], ARdouble pos3d[][3], int num,
                                    ARdouble conv[3][4] );
 
 
/***********************************/
/*                                 */
/*    For 3D calculation by Stereo */
/*                                 */
/***********************************/
 
AR_EXTERN AR3DStereoHandle    *ar3DStereoCreateHandle(const ARParam *arParamL, const ARParam *arParamR, const ARdouble transL[3][4], const ARdouble transR[3][4]);
AR_EXTERN AR3DStereoHandle    *ar3DStereoCreateHandle2(const ARdouble cparaL[3][4], const ARdouble cparaR[3][4], const ARdouble transL[3][4], const ARdouble transR[3][4]);
AR_EXTERN int                  ar3DStereoDeleteHandle( AR3DStereoHandle **handle );
AR_EXTERN int                  ar3DStereoChangeMaxLoopCount( AR3DStereoHandle *handle, int maxLoopCount );
AR_EXTERN int                  ar3DStereoChangeLoopBreakThresh( AR3DStereoHandle *handle, ARdouble loopBreakThresh );
AR_EXTERN int                  ar3DStereoChangeLoopBreakThreshRatio( AR3DStereoHandle *handle, ARdouble loopBreakThreshRatio );
AR_EXTERN int                  ar3DStereoChangeCpara( AR3DStereoHandle *handle, ARdouble cparaL[3][4], ARdouble cparaR[3][4] );
AR_EXTERN int                  ar3DStereoChangeTransMat( AR3DStereoHandle *handle, ARdouble transL[3][4], ARdouble transR[3][4] );
 
AR_EXTERN ARdouble             arGetTransMatSquareStereo( AR3DStereoHandle *handle,
                                                ARMarkerInfo *marker_infoL, ARMarkerInfo *marker_infoR,
                                                ARdouble width, ARdouble conv[3][4] );
AR_EXTERN ARdouble             arGetTransMatSquareContStereo( AR3DStereoHandle *handle,
                                                    ARMarkerInfo *marker_infoL, ARMarkerInfo *marker_infoR,
                                                    ARdouble prev_conv[3][4],
                                                    ARdouble width, ARdouble conv[3][4] );
AR_EXTERN ARdouble             arGetTransMatStereo( AR3DStereoHandle *handle, ARdouble initConv[3][4],
                                          ARdouble pos2dL[][2], ARdouble pos3dL[][3], int numL,
                                          ARdouble pos2dR[][2], ARdouble pos3dR[][3], int numR,
                                          ARdouble conv[3][4] );
AR_EXTERN ARdouble             arGetTransMatStereoRobust( AR3DStereoHandle *handle, ARdouble initConv[3][4],
                                                ARdouble pos2dL[][2], ARdouble pos3dL[][3], int numL,
                                                ARdouble pos2dR[][2], ARdouble pos3dR[][3], int numR,
                                                ARdouble conv[3][4] );
 
AR_EXTERN ARdouble             arGetStereoMatchingErrorSquare( AR3DStereoHandle *handle,
                                                     ARMarkerInfo *marker_infoL,
                                                     ARMarkerInfo *marker_infoR );
AR_EXTERN ARdouble             arGetStereoMatchingError( AR3DStereoHandle *handle,
                                               ARdouble pos2dL[2], ARdouble pos2dR[2] );
AR_EXTERN int                  arGetStereoMatching( AR3DStereoHandle *handle,
                                          ARdouble pos2dL[2], ARdouble pos2dR[2], ARdouble pos3d[3] );
 
 
 
/***********************************/
/*                                 */
/*    Utility                      */
/*                                 */
/***********************************/
 
AR_EXTERN ARUint32 arGetVersion(char **versionStringRef);
 
AR_EXTERN int            arUtilMatInv( const ARdouble s[3][4], ARdouble d[3][4] );
AR_EXTERN int            arUtilMatMul( const ARdouble s1[3][4], const ARdouble s2[3][4], ARdouble d[3][4] );
 
#ifdef ARDOUBLE_IS_FLOAT
#define arUtilMatInvf arUtilMatInv
#define arUtilMatMulf arUtilMatMul
#define arUtilMatMuldff arUtilMatMul
#else
AR_EXTERN int            arUtilMatInvf( const float s[3][4], float d[3][4] );
AR_EXTERN int            arUtilMatMulf( const float s1[3][4], const float s2[3][4], float d[3][4] );
AR_EXTERN int            arUtilMatMuldff( const ARdouble s1[3][4], const float s2[3][4], float d[3][4] );
#endif
AR_EXTERN int            arUtilMat2QuatPos( const ARdouble m[3][4], ARdouble q[4], ARdouble p[3] );
AR_EXTERN int            arUtilQuatPos2Mat( const ARdouble q[4], const ARdouble p[3], ARdouble m[3][4] );
AR_EXTERN int            arUtilQuatNorm(ARdouble q[4]);
 
AR_EXTERN int            arUtilReplaceExt( char *filename, int n, char *ext );
AR_EXTERN int            arUtilRemoveExt ( char *filename );
AR_EXTERN int            arUtilDivideExt ( const char *filename, char *s1, char *s2 );
 
AR_EXTERN int            arUtilGetSquareCenter( ARdouble vertex[4][2], ARdouble *x, ARdouble *y );
 
AR_EXTERN int            arUtilSortLabel( int mask[], int m, int n,
                                ARdouble pos[][2], int area[], int label_num,
                                int l1, int x1, int y1,
                                int l2, int x2, int y2,
                                int label[] );
 
AR_EXTERN int            arUtilGetPixelSize( const AR_PIXEL_FORMAT arPixelFormat );
 
AR_EXTERN const char *arUtilGetPixelFormatName(const AR_PIXEL_FORMAT arPixelFormat);
 
/*
    @brief Get the filename portion of a full pathname.
    @details
        Given a full or partial pathname passed in string path,
        returns a pointer to the first char of the filename
        portion of path.
 */
AR_EXTERN const char *arUtilGetFileNameFromPath(const char *path);
 
 
AR_EXTERN char *arUtilGetFileBasenameFromPath(const char *path, const int convertToLowercase);
 
AR_EXTERN char *arUtilGetFileExtensionFromPath(const char *path, const int convertToLowercase);
 
    /*
     @brief Get the directory portion of a full pathname.
     @details
        Given a full or partial pathname passed in string path,
        returns a string with the directory name portion of path.
        The string is placed into the buffer of size n pointed to by dir.
        If the string and its terminating null byte cannot be accomodated by the
        buffer, NULL is returned, otherwise dir is returned.
        The string is terminated by the directory separator if addSeparator != 0.
 */
AR_EXTERN char *arUtilGetDirectoryNameFromPath(char *dir, const char *path, const size_t n, const int addSeparator);
 
AR_EXTERN char *arUtilGetFileURI(const char *path);
 
typedef enum {
    AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR_BEST = 0,
    AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR_USE_CWD,
    AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR_USE_SUPPLIED_PATH,
    AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR_USE_EXECUTABLE_DIR,
    AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR_USE_BUNDLE_RESOURCES_DIR,
    AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR_USE_USER_ROOT,
    AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR_USE_APP_CACHE_DIR,
    AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR_USE_APP_DATA_DIR,
    AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR_USE_TMP_DIR
} AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR;
 
#ifdef ANDROID
char *arUtilGetResourcesDirectoryPath(AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR behavior, jobject instanceOfAndroidContext);
#else
AR_EXTERN char *arUtilGetResourcesDirectoryPath(AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR behavior);
#endif
 
#ifdef ANDROID
char *arUtilGetAndCreateResourcesDirectoryPath(AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR behavior, jobject instanceOfAndroidContext);
#else
AR_EXTERN char *arUtilGetAndCreateResourcesDirectoryPath(AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR behavior);
#endif
 
#ifndef _WINRT
#ifdef ANDROID
int arUtilChangeToResourcesDirectory(AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR behavior, const char *path, jobject instanceOfAndroidContext);
#else
AR_EXTERN int arUtilChangeToResourcesDirectory(AR_UTIL_RESOURCES_DIRECTORY_BEHAVIOR behavior, const char *path);
#endif
#endif // !_WINRT
 
#ifdef __ANDROID__
#  define ARPRINT(...)  __android_log_print(ANDROID_LOG_INFO, "artoolkitx", __VA_ARGS__)
#  define ARPRINTE(...) __android_log_print(ANDROID_LOG_ERROR, "artoolkitx", __VA_ARGS__)
#else
#  define ARPRINT(...)  printf(__VA_ARGS__)
#  define ARPRINTE(...) fprintf(stderr, __VA_ARGS__)
#endif
 
AR_EXTERN void arUtilPrintTransMat(const ARdouble trans[3][4]);
 
AR_EXTERN void arUtilPrintMtx16(const ARdouble mtx16[16]);
 
#ifdef __cplusplus
}
#endif //#ifdef __cplusplus
 
#endif //#ifndef AR_H