param.h

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/*
 *  param.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 Daqri, LLC.
 *  Copyright 2003-2015 ARToolworks, Inc.
 *
 *  Author(s): Takeshi Mita, Shinsaku Hiura, Hirokazu Kato, Philip Lamb
 *
 */
/*******************************************************
 *
 * Author: Takeshi Mita, Shinsaku Hiura, Hirokazu Kato
 *
 *         tmita@inolab.sys.es.osaka-u.ac.jp
 *         shinsaku@sys.es.osaka-u.ac.jp
 *         kato@sys.im.hiroshima-cu.ac.jp
 *
 * Revision: 5.0
 * Date: 03/08/13
 *
 *******************************************************/
 
#ifndef AR_PARAM_H
#define AR_PARAM_H
 
#include <ARX/AR/ar.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define AR_DIST_FUNCTION_VERSION_DEFAULT 5
#define AR_DIST_FUNCTION_VERSION_MAX 5
#define AR_DIST_FACTOR_NUM_MAX 17
#define   AR_PARAM_LT_DEFAULT_OFFSET  15
 
typedef struct {
    int      xsize;                 
    int      ysize;                 
    ARdouble mat[3][4];             
    ARdouble dist_factor[AR_DIST_FACTOR_NUM_MAX]; 
    int      dist_function_version; 
} ARParam;
 
typedef struct {
    int dist_factor_num;
    int ARParam_size;
} arParamVersionInfo_t;
extern const arParamVersionInfo_t arParamVersionInfo[AR_DIST_FUNCTION_VERSION_MAX];
 
typedef struct {
    float   *i2o;       
    float   *o2i;       
    int      xsize;     
    int      ysize;     
    int      xOff;      
    int      yOff;      
} ARParamLTf;
    
//typedef struct {
//    short   *i2o;
//    short   *o2i;
//    int      xsize;
//    int      ysize;
//    int      xOff;
//    int      yOff;
//} ARParamLTi;
 
typedef struct {
    ARParam      param;         
    ARParamLTf   paramLTf;      
    //ARParamLTi   paramLTi;
} ARParamLT;
 
AR_EXTERN int    arParamDisp( const ARParam *param );
 
AR_EXTERN int    arParamClear( ARParam *param, int xsize, int ysize, int dist_function_version );
 
AR_EXTERN int    arParamDistFactorClear( ARdouble dist_factor[AR_DIST_FACTOR_NUM_MAX], int xsize, int ysize, int dist_function_version );
 
AR_EXTERN int    arParamClearWithFOVy(ARParam *param, int xsize, int ysize, ARdouble FOVy);
 
AR_EXTERN int    arParamChangeSize( ARParam *source, int xsize, int ysize, ARParam *newparam );
 
AR_EXTERN int    arParamDecomp( const ARParam *source, ARParam *icpara, ARdouble trans[3][4] );
 
AR_EXTERN int    arParamDecompMat( const ARdouble source[3][4], ARdouble cpara[3][4], ARdouble trans[3][4] );
 
#ifdef ARDOUBLE_IS_FLOAT
#define arParamDecompMatf arParamDecompMat
#else
AR_EXTERN int    arParamDecompMatf( const ARdouble source[3][4], float cpara[3][4], float trans[3][4] );
#endif
 
AR_EXTERN int    arParamIdeal2Observ( const ARdouble dist_factor[AR_DIST_FACTOR_NUM_MAX], const ARdouble ix, const ARdouble iy,
                            ARdouble *ox, ARdouble *oy, const int dist_function_version );
 
AR_EXTERN int    arParamObserv2Ideal( const ARdouble dist_factor[AR_DIST_FACTOR_NUM_MAX], const ARdouble ox, const ARdouble oy,
                            ARdouble *ix, ARdouble *iy, const int dist_function_version );
AR_EXTERN int    arParamSave( const char *filename, const int num, const ARParam *param, ...);
 
AR_EXTERN int    arParamLoad( const char *filename, int num, ARParam *param, ...);
 
AR_EXTERN int    arParamLoadFromBuffer( const void *buffer, size_t bufsize, ARParam *param);
    
AR_EXTERN int    arParamGetPerspectiveMat( ARdouble global[][3], ARdouble idealScreen[][2], int data_num, ARdouble mat[3][4] );
 
AR_EXTERN int    arParamSaveExt( const char *filename, ARdouble para[3][4] );
AR_EXTERN int    arParamLoadExt( const char *filename, ARdouble para[3][4] );
AR_EXTERN int    arParamLoadExtFromBuffer(const void *buffer, size_t bufsize, ARdouble para[3][4] );
AR_EXTERN int    arParamDispExt( ARdouble para[3][4]);
 
AR_EXTERN int arParamSaveOptical(const char *filename, const ARdouble fovy, const ARdouble aspect, const ARdouble m[16]);
AR_EXTERN int arParamLoadOptical(const char *filename, ARdouble *fovy_p, ARdouble *aspect_p, ARdouble m[16]);
AR_EXTERN int arParamLoadOpticalFromBuffer(const void *buffer, size_t bufsize, ARdouble *fovy_p, ARdouble *aspect_p, ARdouble m[16]);
AR_EXTERN int arParamDispOptical(const ARdouble fovy, const ARdouble aspect, const ARdouble m[16]);
 
AR_EXTERN int         arParamLTSave( char *filename, char *ext, ARParamLT *paramLT );
AR_EXTERN ARParamLT  *arParamLTLoad( char *filename, char *ext );
 
AR_EXTERN ARParamLT  *arParamLTCreate( ARParam *param, int offset );
 
AR_EXTERN int         arParamLTFree( ARParamLT **paramLT_p );
 
AR_EXTERN int         arParamIdeal2ObservLTf( const ARParamLTf *paramLTf, const float  ix, const float  iy, float  *ox, float  *oy);
 
    
AR_EXTERN int         arParamObserv2IdealLTf( const ARParamLTf *paramLTf, const float  ox, const float  oy, float  *ix, float  *iy);
 
//int         arParamIdeal2ObservLTi( const ARParamLTi *paramLTi, const int    ix, const int    iy, int    *ox, int    *oy);
 
//int         arParamObserv2IdealLTi( const ARParamLTi *paramLTi, const int    ox, const int    oy, int    *ix, int    *iy);
 
#ifdef __cplusplus
}
#endif
#endif