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 )
{
int i, j, result;
#ifndef ARDOUBLE_IS_FLOAT
float pos0, pos1;
#endif
for( i = j = 0; i < marker2_num; i++ ) {
markerInfo[j].area = markerInfo2[i].area;
#ifdef ARDOUBLE_IS_FLOAT
if (arParamObserv2IdealLTf(arParamLTf, markerInfo2[i].pos[0], markerInfo2[i].pos[1],
&(markerInfo[j].pos[0]), &(markerInfo[j].pos[1]) ) < 0) continue;
#else
if (arParamObserv2IdealLTf(arParamLTf, (float)markerInfo2[i].pos[0], (float)markerInfo2[i].pos[1], &pos0, &pos1) < 0) continue;
markerInfo[j].pos[0] = (ARdouble)pos0;
markerInfo[j].pos[1] = (ARdouble)pos1;
#endif
//arParamObserv2Ideal( dist_factor, markerInfo2[i].pos[0], markerInfo2[i].pos[1],
// &(markerInfo[j].pos[0]), &(markerInfo[j].pos[1]), dist_function_version );
if( arGetLine(markerInfo2[i].x_coord, markerInfo2[i].y_coord, markerInfo2[i].coord_num,
markerInfo2[i].vertex, arParamLTf,
markerInfo[j].line, markerInfo[j].vertex) < 0 ) continue;
result = arPattGetIDGlobal( pattHandle, imageProcMode, pattDetectMode, image, xsize, ysize, pixelFormat, arParamLTf, markerInfo[j].vertex, pattRatio,
&markerInfo[j].idPatt, &markerInfo[j].dirPatt, &markerInfo[j].cfPatt,
&markerInfo[j].idMatrix, &markerInfo[j].dirMatrix, &markerInfo[j].cfMatrix,
matrixCodeType, &markerInfo[j].errorCorrected, &markerInfo[j].globalID );
if (result == 0) markerInfo[j].cutoffPhase = AR_MARKER_INFO_CUTOFF_PHASE_NONE;
else if (result == -1) markerInfo[j].cutoffPhase = AR_MARKER_INFO_CUTOFF_PHASE_MATCH_GENERIC;
else if (result == -2) markerInfo[j].cutoffPhase = AR_MARKER_INFO_CUTOFF_PHASE_MATCH_CONTRAST;
else if (result == -3) markerInfo[j].cutoffPhase = AR_MARKER_INFO_CUTOFF_PHASE_MATCH_BARCODE_NOT_FOUND;
else if (result == -4) markerInfo[j].cutoffPhase = AR_MARKER_INFO_CUTOFF_PHASE_MATCH_BARCODE_EDC_FAIL;
else if (result == -5) markerInfo[j].cutoffPhase = AR_MARKER_INFO_CUTOFF_PHASE_HEURISTIC_TROUBLESOME_MATRIX_CODES;
else if (result == -6) markerInfo[j].cutoffPhase = AR_MARKER_INFO_CUTOFF_PHASE_PATTERN_EXTRACTION;
// If not mixing template matching and matrix code detection, then copy id, dir and cf
// from values in appropriate type.
if (pattDetectMode == AR_TEMPLATE_MATCHING_COLOR || pattDetectMode == AR_TEMPLATE_MATCHING_MONO) {
markerInfo[j].id = markerInfo[j].idPatt;
markerInfo[j].dir = markerInfo[j].dirPatt;
markerInfo[j].cf = markerInfo[j].cfPatt;
} else if( pattDetectMode == AR_MATRIX_CODE_DETECTION ) {
markerInfo[j].id = markerInfo[j].idMatrix;
markerInfo[j].dir = markerInfo[j].dirMatrix;
markerInfo[j].cf = markerInfo[j].cfMatrix;
}
j++;
}
*marker_num = j;
return 0;
}
int ar2ScreenCoord2MarkerCoord( const ARParamLT *cparamLT, const float trans[3][4], const float sx, const float sy, float *mx, float *my )
{
float ix, iy;
float wtrans[3][4];
float c11, c12, c21, c22, b1, b2;
float m;
if( cparamLT == NULL ) {
c11 = trans[2][0] * sx - trans[0][0];
c12 = trans[2][1] * sx - trans[0][1];
c21 = trans[2][0] * sy - trans[1][0];
c22 = trans[2][1] * sy - trans[1][1];
b1 = trans[0][3] - trans[2][3] * sx;
b2 = trans[1][3] - trans[2][3] * sy;
}
else {
if( arParamObserv2IdealLTf( &cparamLT->paramLTf, sx, sy, &ix, &iy) < 0 ) return -1;
arUtilMatMuldff( cparamLT->param.mat, trans, wtrans );
c11 = wtrans[2][0] * ix - wtrans[0][0];
c12 = wtrans[2][1] * ix - wtrans[0][1];
c21 = wtrans[2][0] * iy - wtrans[1][0];
c22 = wtrans[2][1] * iy - wtrans[1][1];
b1 = wtrans[0][3] - wtrans[2][3] * ix;
b2 = wtrans[1][3] - wtrans[2][3] * iy;
}
m = c11 * c22 - c12 * c21;
if( m == 0.0F ) return -1;
*mx = (c22 * b1 - c12 * b2) / m;
*my = (c11 * b2 - c21 * b1) / m;
return 0;
}
int ar2MarkerCoord2ScreenCoord2(const ARParamLT *cparamLT, const float trans[3][4], const float mx, const float my, float *sx, float *sy)
{
float wtrans[3][4];
float hx, hy, h;
float ix, iy;
float ix1, iy1;
if (cparamLT != NULL)
{
arUtilMatMuldff(cparamLT->param.mat, trans, wtrans);
hx = wtrans[0][0] * mx
+ wtrans[0][1] * my
+ wtrans[0][3];
hy = wtrans[1][0] * mx
+ wtrans[1][1] * my
+ wtrans[1][3];
h = wtrans[2][0] * mx
+ wtrans[2][1] * my
+ wtrans[2][3];
ix = hx / h;
iy = hy / h;
}
else
{
hx = trans[0][0] * mx
+ trans[0][1] * my
+ trans[0][3];
hy = trans[1][0] * mx
+ trans[1][1] * my
+ trans[1][3];
h = trans[2][0] * mx
+ trans[2][1] * my
+ trans[2][3];
*sx = hx / h;
*sy = hy / h;
return 0;
}
if (arParamIdeal2ObservLTf(&cparamLT->paramLTf, ix, iy, sx, sy) < 0)
return -1;
if (arParamObserv2IdealLTf(&cparamLT->paramLTf, *sx, *sy, &ix1, &iy1) < 0)
return -1;
if ((ix - ix1) * (ix - ix1) + (iy - iy1) * (iy - iy1) > 1.0F)
return -1;
return 0;
}