static void draw_warp_line( double a, double b , double c )
{
ARdouble x, y;
ARdouble x0 = 0, y0 = 0;
ARdouble x1, y1;
int i;
glLineWidth( 1.0f );
glBegin(GL_LINE_STRIP);
if( a*a >= b*b ) {
for( i = -20; i <= ysize+20; i+=10 ) {
x = -(b*i + c)/a;
y = i;
arParamIdeal2Observ( dist_factor, x, y, &x1, &y1, dist_function_version );
if( i != -20 ) {
argDrawLineByObservedPos( x0, y0, x1, y1 );
}
x0 = x1;
y0 = y1;
}
}
else {
for( i = -20; i <= xsize+20; i+=10 ) {
x = i;
y = -(a*i + c)/b;
arParamIdeal2Observ( dist_factor, x, y, &x1, &y1, dist_function_version );
if( i != -20 ) {
argDrawLineByObservedPos( x0, y0, x1, y1 );
}
x0 = x1;
y0 = y1;
}
}
glEnd();
}
static void draw_warp_line( double a, double b , double c )
{
double x, y;
double x1, y1;
// double d; // unreferenced
int i;
glLineWidth( 1.0 );
glBegin(GL_LINE_STRIP);
if( a*a >= b*b ) {
for( i = -20; i <= ysize+20; i+=10 ) {
x = -(b*i + c)/a;
y = i;
arParamIdeal2Observ( dist_factor, x, y, &x1, &y1 );
glVertex2f( x1, ysize-1-y1 );
}
}
else {
for( i = -20; i <= xsize+20; i+=10 ) {
x = i;
y = -(a*i + c)/b;
arParamIdeal2Observ( dist_factor, x, y, &x1, &y1 );
glVertex2f( x1, ysize-1-y1 );
}
}
glEnd();
}
void lineSeg(double x1, double y1, double x2, double y2, ARGL_CONTEXT_SETTINGS_REF contextSettings, ARParam cparam, double zoom)
{
int enable;
float ox, oy;
double xx1, yy1, xx2, yy2;
if (!contextSettings) return;
arglDistortionCompensationGet(contextSettings, &enable);
if (arglDrawModeGet(contextSettings) == AR_DRAW_BY_TEXTURE_MAPPING && enable) {
xx1 = x1; yy1 = y1;
xx2 = x2; yy2 = y2;
} else {
arParamIdeal2Observ(cparam.dist_factor, x1, y1, &xx1, &yy1);
arParamIdeal2Observ(cparam.dist_factor, x2, y2, &xx2, &yy2);
}
xx1 *= zoom; yy1 *= zoom;
xx2 *= zoom; yy2 *= zoom;
ox = 0;
oy = cparam.ysize - 1;
glBegin(GL_LINES);
glVertex2f(ox + xx1, oy - yy1);
glVertex2f(ox + xx2, oy - yy2);
glEnd();
glFlush();
}
/*
* Class: net_towerdefender_image_MarkerInfo
* Method: artoolkit_detectmarkers
* Signature: ([B[D)I
*/
JNIEXPORT jint JNICALL Java_net_towerdefender_image_ARToolkit_artoolkit_1detectmarkers(
JNIEnv *env, jobject object, jbyteArray image, jobject transMatMonitor) {
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
double *matrixPtr;
int marker_num;
int j, k = -1;
Object* curObject;
/* grab a vide frame */
dataPtr = (*env)->GetByteArrayElements(env, image, JNI_FALSE);
if (count == 0)
arUtilTimerReset();
count++;
/* detect the markers in the video frame */
if (arDetectMarker(dataPtr, thresh, &marker_info, &marker_num) < 0) {
__android_log_write(ANDROID_LOG_ERROR, "AR native",
"arDetectMarker failed!!");
jclass exc = (*env)->FindClass(env,
"net/towerdefender/exceptions/ARException");
if (exc != NULL)
(*env)->ThrowNew(env, exc, "failed to detect marker");
}
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR native","detected %d markers",marker_num);
#endif
//lock the matrix
/*(*env)->MonitorEnter(env, transMatMonitor);
cur_marker_id = k;
argConvGlpara(patt_trans, gl_para);
(*env)->MonitorExit(env, transMatMonitor);*/
static jfieldID visibleField = NULL;
static jfieldID glMatrixField = NULL;
static jfieldID transMatField = NULL;
static jfieldID vertexField = NULL;
//static jfieldID dirField = NULL;
jclass arObjectClass = NULL;
jfloatArray glMatrixArrayObj = NULL;
jdoubleArray transMatArrayObj = NULL;
jdoubleArray vertexArrayObj = NULL;
//jint dirObj = NULL;
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","done detecting markers, going to iterate over markers now");
#endif
//iterate over objects:
list_iterator_start(&objects); /* starting an iteration "session" */
int itCount = 0;
while (list_iterator_hasnext(&objects)) { /* tell whether more values available */
curObject = (Object *) list_iterator_next(&objects); /* get the next value */
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR native","now handling object with id %d, in %d iteration",curObject->name, itCount);
#endif
itCount++;
// //get field ID'
if (visibleField == NULL) {
if (arObjectClass == NULL) {
if (curObject->objref != NULL)
arObjectClass = (*env)->GetObjectClass(env,
curObject->objref);
}
if (arObjectClass != NULL) {
visibleField = (*env)->GetFieldID(env, arObjectClass, "visible",
"Z"); //Z means boolean
}
}
if (glMatrixField == NULL) {
if (arObjectClass == NULL) {
if (curObject->objref != NULL)
arObjectClass = (*env)->GetObjectClass(env,
curObject->objref);
}
if (arObjectClass != NULL) {
glMatrixField = (*env)->GetFieldID(env, arObjectClass,
"glMatrix", "[F"); //[F means array of floats
}
}
if (transMatField == NULL) {
if (arObjectClass == NULL) {
if (curObject->objref != NULL)
arObjectClass = (*env)->GetObjectClass(env,
curObject->objref);
}
if (arObjectClass != NULL) {
transMatField = (*env)->GetFieldID(env, arObjectClass,
"transMat", "[D"); //[D means array of doubles
}
}
if (vertexField == NULL) {
if (arObjectClass == NULL) {
if (curObject->objref != NULL)
arObjectClass = (*env)->GetObjectClass(env,
curObject->objref);
}
if (arObjectClass != NULL) {
vertexField = (*env)->GetFieldID(env, arObjectClass, "vertexMat",
"[D"); //[F means array of floats
}
}
/*if (dirField == NULL) {
if (arObjectClass == NULL) {
if (curObject->objref != NULL)
arObjectClass = (*env)->GetObjectClass(env,
curObject->objref);
}
if (arObjectClass != NULL) {
dirField = (*env)->GetFieldID(env, arObjectClass, "dir",
"I"); //[F means array of floats
}
}
*/
if (visibleField == NULL || glMatrixField == NULL
|| transMatField == NULL /*|| dirField == NULL*/) {
//something went wrong..
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","error: either visibleField or glMatrixField or transMatField null");
#endif
continue;
}
// check for object visibility
k = -1;
for (j = 0; j < marker_num; j++) {
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR native","marker with id: %d", marker_info[j].id);
#endif
if (curObject->id == marker_info[j].id) {
if (k == -1) {
k = j;
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR native","detected object %d with marker %d and object marker %d",curObject->name,k,curObject->id);
#endif
} else if (marker_info[k].cf < marker_info[j].cf) {
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR native","detected better object %d with marker %d and object marker %d",curObject->name,k,curObject->id);
#endif
k = j;
}
}
}
if (k == -1) {
//object not visible
curObject->contF = 0;
(*env)->SetBooleanField(env, curObject->objref, visibleField,
JNI_FALSE);
#ifdef DEBUG_LOGGING
__android_log_print(ANDROID_LOG_INFO,"AR native","object %d not visible, with marker ID %d",curObject->name,curObject->id);
#endif
continue;
}
//object visible
//lock the object
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","locking object");
#endif
(*env)->MonitorEnter(env, curObject->objref);
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","done locking object...obtaining arrays");
#endif
//access the arrays of the current object
glMatrixArrayObj = (*env)->GetObjectField(env, curObject->objref,
glMatrixField);
transMatArrayObj = (*env)->GetObjectField(env, curObject->objref,
transMatField);
vertexArrayObj = (*env)->GetObjectField(env, curObject->objref,
vertexField);
/*dirObj = (*env)->GetObjectField(env, curObject->objref,
dirField);*/
if (transMatArrayObj == NULL || glMatrixArrayObj == NULL || vertexArrayObj == NULL /*|| dirObj == NULL*/) {
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","failed to fetch the matrix arrays objects");
#endif
continue; //something went wrong
}
float *glMatrix = (*env)->GetFloatArrayElements(env, glMatrixArrayObj,
JNI_FALSE);
if (glMatrix == NULL) {
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","failed to fetch the matrix arrays");
#endif
continue; //something went wrong
}
double *vertexMatrix = (*env)->GetDoubleArrayElements(env, vertexArrayObj,
JNI_FALSE);
if (vertexMatrix == NULL) {
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","failed to fetch the vertex arrays");
#endif
continue; //something went wrong
}
double* transMat = (*env)->GetDoubleArrayElements(env, transMatArrayObj,
JNI_FALSE);
if (transMat == NULL) {
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","failed to fetch the matrix arrays");
#endif
continue; //something went wrong
}
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","calculating trans mat now");
#endif
/*int* dirPtr = (*env)->GetIntArrayElements(env, dirObj,
JNI_FALSE);
if (dirPtr == NULL) {
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","failed to fetch the matrix arrays");
#endif
continue; //something went wrong
}
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","calculating trans mat now");
#endif
*/
// get the transformation between the marker and the real camera
if (curObject->contF == 0) {
arGetTransMat(&marker_info[k], curObject->marker_center,
curObject->marker_width, transMat);
} else {
arGetTransMatCont(&marker_info[k], transMat,
curObject->marker_center, curObject->marker_width,
transMat);
}
curObject->contF = 1;
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","calculating OpenGL trans mat now");
#endif
argConvGlpara(transMat, glMatrix);
int vertexId = 0;
double inx,iny,outx,outy;
for (vertexId = 0 ; vertexId < 8 ; vertexId+=2)
{
inx = ((double *)marker_info[k].vertex)[vertexId];
iny = ((double *)marker_info[k].vertex)[vertexId+1];
arParamIdeal2Observ ( arParam.dist_factor, inx,iny,&outx,&outy);
vertexMatrix[vertexId] = outx;
vertexMatrix[vertexId+1] = outy;
}
//*dirPtr = marker_info[k].dir;
//argConvGlpara(patt_trans, gl_para);
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","releasing arrays");
#endif
(*env)->ReleaseFloatArrayElements(env, glMatrixArrayObj, glMatrix, 0);
(*env)->ReleaseDoubleArrayElements(env, transMatArrayObj, transMat, 0);
(*env)->ReleaseDoubleArrayElements(env, vertexArrayObj, vertexMatrix, 0);
//(*env)->ReleaseDoubleArrayElements(env, dirObj, dirPtr, 0);
(*env)->SetBooleanField(env, curObject->objref, visibleField, JNI_TRUE);
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","releasing lock");
#endif
//release the lock on the object
(*env)->MonitorExit(env, curObject->objref);
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","done releasing lock");
#endif
}
list_iterator_stop(&objects); /* starting the iteration "session" */
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","releasing image array");
#endif
(*env)->ReleaseByteArrayElements(env, image, dataPtr, 0);
#ifdef DEBUG_LOGGING
__android_log_write(ANDROID_LOG_INFO,"AR native","releasing image array");
#endif
return marker_num;
}
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] )
{
ARMat *mat_a, *mat_b, *mat_c, *mat_d, *mat_e, *mat_f;
double trans[3];
double wx, wy, wz;
double ret;
int i, j;
mat_a = arMatrixAlloc( num*2, 3 );
mat_b = arMatrixAlloc( 3, num*2 );
mat_c = arMatrixAlloc( num*2, 1 );
mat_d = arMatrixAlloc( 3, 3 );
mat_e = arMatrixAlloc( 3, 1 );
mat_f = arMatrixAlloc( 3, 1 );
if( arFittingMode == AR_FITTING_TO_INPUT ) {
for( i = 0; i < num; i++ ) {
arParamIdeal2Observ(dist_factor, ppos2d[i][0], ppos2d[i][1],
&pos2d[i][0], &pos2d[i][1]);
}
}
else {
for( i = 0; i < num; i++ ) {
pos2d[i][0] = ppos2d[i][0];
pos2d[i][1] = ppos2d[i][1];
}
}
for( j = 0; j < num; j++ ) {
wx = rot[0][0] * pos3d[j][0]
+ rot[0][1] * pos3d[j][1]
+ rot[0][2] * pos3d[j][2];
wy = rot[1][0] * pos3d[j][0]
+ rot[1][1] * pos3d[j][1]
+ rot[1][2] * pos3d[j][2];
wz = rot[2][0] * pos3d[j][0]
+ rot[2][1] * pos3d[j][1]
+ rot[2][2] * pos3d[j][2];
mat_a->m[j*6+0] = mat_b->m[num*0+j*2] = cpara[0][0];
mat_a->m[j*6+1] = mat_b->m[num*2+j*2] = cpara[0][1];
mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = cpara[0][2] - pos2d[j][0];
mat_c->m[j*2+0] = wz * pos2d[j][0]
- cpara[0][0]*wx - cpara[0][1]*wy - cpara[0][2]*wz;
mat_a->m[j*6+3] = mat_b->m[num*0+j*2+1] = 0.0;
mat_a->m[j*6+4] = mat_b->m[num*2+j*2+1] = cpara[1][1];
mat_a->m[j*6+5] = mat_b->m[num*4+j*2+1] = cpara[1][2] - pos2d[j][1];
mat_c->m[j*2+1] = wz * pos2d[j][1]
- cpara[1][1]*wy - cpara[1][2]*wz;
}
arMatrixMul( mat_d, mat_b, mat_a );
arMatrixMul( mat_e, mat_b, mat_c );
arMatrixSelfInv( mat_d );
arMatrixMul( mat_f, mat_d, mat_e );
trans[0] = mat_f->m[0];
trans[1] = mat_f->m[1];
trans[2] = mat_f->m[2];
ret = arModifyMatrix( rot, trans, cpara, pos3d, pos2d, num );
for( j = 0; j < num; j++ ) {
wx = rot[0][0] * pos3d[j][0]
+ rot[0][1] * pos3d[j][1]
+ rot[0][2] * pos3d[j][2];
wy = rot[1][0] * pos3d[j][0]
+ rot[1][1] * pos3d[j][1]
+ rot[1][2] * pos3d[j][2];
wz = rot[2][0] * pos3d[j][0]
+ rot[2][1] * pos3d[j][1]
+ rot[2][2] * pos3d[j][2];
mat_a->m[j*6+0] = mat_b->m[num*0+j*2] = cpara[0][0];
mat_a->m[j*6+1] = mat_b->m[num*2+j*2] = cpara[0][1];
mat_a->m[j*6+2] = mat_b->m[num*4+j*2] = cpara[0][2] - pos2d[j][0];
mat_c->m[j*2+0] = wz * pos2d[j][0]
- cpara[0][0]*wx - cpara[0][1]*wy - cpara[0][2]*wz;
mat_a->m[j*6+3] = mat_b->m[num*0+j*2+1] = 0.0;
mat_a->m[j*6+4] = mat_b->m[num*2+j*2+1] = cpara[1][1];
mat_a->m[j*6+5] = mat_b->m[num*4+j*2+1] = cpara[1][2] - pos2d[j][1];
mat_c->m[j*2+1] = wz * pos2d[j][1]
- cpara[1][1]*wy - cpara[1][2]*wz;
}
arMatrixMul( mat_d, mat_b, mat_a );
arMatrixMul( mat_e, mat_b, mat_c );
arMatrixSelfInv( mat_d );
arMatrixMul( mat_f, mat_d, mat_e );
trans[0] = mat_f->m[0];
trans[1] = mat_f->m[1];
trans[2] = mat_f->m[2];
ret = arModifyMatrix( rot, trans, cpara, pos3d, pos2d, num );
arMatrixFree( mat_a );
arMatrixFree( mat_b );
arMatrixFree( mat_c );
arMatrixFree( mat_d );
arMatrixFree( mat_e );
arMatrixFree( mat_f );
for( j = 0; j < 3; j++ ) {
for( i = 0; i < 3; i++ ) conv[j][i] = rot[j][i];
conv[j][3] = trans[j];
}
return ret;
}
static void calib(void)
{
ARParam param;
CvMat *objectPoints;
CvMat *imagePoints;
CvMat *pointCounts;
CvMat *intrinsics;
CvMat *distortionCoeff;
CvMat *rotationVectors;
CvMat *translationVectors;
CvMat *rotationVector;
CvMat *rotationMatrix;
float intr[3][4];
float dist[4];
ARdouble trans[3][4];
ARdouble cx, cy, cz, hx, hy, h, sx, sy, ox, oy, err;
int i, j, k, l;
objectPoints = cvCreateMat(capturedImageNum * chessboardCornerNumX * chessboardCornerNumY, 3, CV_32FC1);
imagePoints = cvCreateMat(capturedImageNum * chessboardCornerNumX * chessboardCornerNumY, 2, CV_32FC1);
pointCounts = cvCreateMat(capturedImageNum, 1, CV_32SC1);
intrinsics = cvCreateMat(3, 3, CV_32FC1);
distortionCoeff = cvCreateMat(1, 4, CV_32FC1);
rotationVectors = cvCreateMat(capturedImageNum, 3, CV_32FC1);
translationVectors = cvCreateMat(capturedImageNum, 3, CV_32FC1);
rotationVector = cvCreateMat(1, 3, CV_32FC1);
rotationMatrix = cvCreateMat(3, 3, CV_32FC1);
l = 0;
for (k = 0; k < capturedImageNum; k++)
{
for (i = 0; i < chessboardCornerNumX; i++)
{
for (j = 0; j < chessboardCornerNumY; j++)
{
((float*)(objectPoints->data.ptr + objectPoints->step * l))[0] = patternWidth * i;
((float*)(objectPoints->data.ptr + objectPoints->step * l))[1] = patternWidth * j;
((float*)(objectPoints->data.ptr + objectPoints->step * l))[2] = 0.0f;
((float*)(imagePoints->data.ptr + imagePoints->step * l))[0] = cornerSet[l].x;
((float*)(imagePoints->data.ptr + imagePoints->step * l))[1] = cornerSet[l].y;
l++;
}
}
((int*)(pointCounts->data.ptr))[k] = chessboardCornerNumX * chessboardCornerNumY;
}
cvCalibrateCamera2(objectPoints, imagePoints, pointCounts, cvSize(xsize, ysize),
intrinsics, distortionCoeff, rotationVectors, translationVectors, 0);
for (j = 0; j < 3; j++)
{
for (i = 0; i < 3; i++)
{
intr[j][i] = ((float*)(intrinsics->data.ptr + intrinsics->step * j))[i];
}
intr[j][3] = 0.0f;
}
for (i = 0; i < 4; i++)
{
dist[i] = ((float*)(distortionCoeff->data.ptr))[i];
}
convParam(intr, dist, xsize, ysize, ¶m); // COVHI10434 ignored.
arParamDisp(¶m);
l = 0;
for (k = 0; k < capturedImageNum; k++)
{
for (i = 0; i < 3; i++)
{
((float*)(rotationVector->data.ptr))[i] = ((float*)(rotationVectors->data.ptr + rotationVectors->step * k))[i];
}
cvRodrigues2(rotationVector, rotationMatrix);
for (j = 0; j < 3; j++)
{
for (i = 0; i < 3; i++)
{
trans[j][i] = ((float*)(rotationMatrix->data.ptr + rotationMatrix->step * j))[i];
}
trans[j][3] = ((float*)(translationVectors->data.ptr + translationVectors->step * k))[j];
}
// arParamDispExt(trans);
err = 0.0;
for (i = 0; i < chessboardCornerNumX; i++)
{
for (j = 0; j < chessboardCornerNumY; j++)
{
cx = trans[0][0] * patternWidth * i + trans[0][1] * patternWidth * j + trans[0][3];
cy = trans[1][0] * patternWidth * i + trans[1][1] * patternWidth * j + trans[1][3];
cz = trans[2][0] * patternWidth * i + trans[2][1] * patternWidth * j + trans[2][3];
hx = param.mat[0][0] * cx + param.mat[0][1] * cy + param.mat[0][2] * cz + param.mat[0][3];
hy = param.mat[1][0] * cx + param.mat[1][1] * cy + param.mat[1][2] * cz + param.mat[1][3];
h = param.mat[2][0] * cx + param.mat[2][1] * cy + param.mat[2][2] * cz + param.mat[2][3];
if (h == 0.0)
continue;
sx = hx / h;
sy = hy / h;
arParamIdeal2Observ(param.dist_factor, sx, sy, &ox, &oy, param.dist_function_version);
sx = ((float*)(imagePoints->data.ptr + imagePoints->step * l))[0];
sy = ((float*)(imagePoints->data.ptr + imagePoints->step * l))[1];
err += (ox - sx) * (ox - sx) + (oy - sy) * (oy - sy);
l++;
}
}
err = sqrt(err / (chessboardCornerNumX * chessboardCornerNumY));
ARLOG("Err[%2d]: %f[pixel]\n", k + 1, err);
}
saveParam(¶m);
cvReleaseMat(&objectPoints);
cvReleaseMat(&imagePoints);
cvReleaseMat(&pointCounts);
cvReleaseMat(&intrinsics);
cvReleaseMat(&distortionCoeff);
cvReleaseMat(&rotationVectors);
cvReleaseMat(&translationVectors);
cvReleaseMat(&rotationVector);
cvReleaseMat(&rotationMatrix);
}
void findMarkers(ARUint8* dataPtr)
{
ARMarkerInfo *marker_info;
int marker_num;
int j, k;
int thresh = 100;
// detect the markers in the video frame
int rv = arDetectMarker(dataPtr, thresh, &marker_info, &marker_num);
if (rv < 0) {
fprintf(stderr,"arDetectMarker failed\n");
exit(0);
}
fprintf(stderr,"%d markers_found \n", marker_num);
/*
// check for object visibility
k = -1;
if ( patt_id == marker_info[j].id ) {
if( k == -1 ) k = j;
else if( marker_info[k].cf < marker_info[j].cf ) k = j;
}
}
*/
for ( k = 0; k < marker_num; k++ ) {
if (1) {
double ox,oy;
arParamIdeal2Observ(cparam.dist_factor , marker_info[k].pos[0], marker_info[k].pos[1], &ox, &oy);
printf("%d,\t", frame_ind);
//printf("%g,\t%d,\t%g,\t%g,\t%g,\t%g,\t%g,\t",
printf("%d,\t%g,\t%g,\t%g,\t%g,\t",
marker_info[k].id,
marker_info[k].cf,
(float)marker_info[k].area/(float)(xsize*ysize),
// marker_info[k].pos[0]/(float)xsize, marker_info[k].pos[1]/(float)(ysize),
// ox, oy,
marker_info[k].pos[0], marker_info[k].pos[1]
// marker_info[k].vertex[0][0]/(float)xsize, marker_info[k].vertex[0][1]/(float)(ysize));
// marker_info[k].vertex[0][0], marker_info[k].vertex[0][1]
);
}
/// print rotation matrix
if (1) {
double patt_trans[3][4];
//fprintf("%f,\t%f,\t", patt_center[0], patt_center[1]);
double patt_width = 80.0;
double patt_center[2] = {0.0, 0.0};
/* get the transformation between the marker and the real camera */
arGetTransMat(&marker_info[k], patt_center, patt_width, patt_trans);
/// what is patt_center, it seems to be zeros
//fprintf("%f,\t%f,\t", patt_center[0], patt_center[1]);
int i;
for (j = 0; j < 3; j++) {
for (i = 0; i < 4; i++) {
printf("%f,\t", patt_trans[j][i]);
}
printf("\t");
}
}
printf("\n");
}
}
