/*  --------------------------------------------------------------------------
*   Copyright (c) 20042-2006 HIT Lab NZ.
*   The distribution policy is described in the file COPYING.txt furnished 
*    with this library.
*   -------------------------------------------------------------------------*/
/**
*  \file ar.h
*  \brief ARToolKit subroutines.
*
*  Core of the ARToolKit Library. This file provides image analysis and marker 
*  detection routines. Differents routines give access to camera and marker
*  configurations. Other routines manipulate marker info structures for 
*  deliver 3D transformation of markers (more precisely the position of the camera
*  in function of the marker coordinate system).
*	
*   \remark 
*
*   History :
*
*  \author Hirokazu Kato kato@sys.im.hiroshima-cu.ac.jp
*  \version 3.1
*  \date 01/12/07
**/
/*  --------------------------------------------------------------------------
*   History : 
*   Rev		Date		Who		Changes
*
*----------------------------------------------------------------------------*/

#ifndef AR_H
#define AR_H
#ifdef __cplusplus
extern "C" {
#endif

// ============================================================================
//	Public includes.
// ============================================================================

#include <stdio.h>
#ifndef __APPLE__
#include <malloc.h>
#else
#include <stdlib.h>
#endif

#include <AR/config.h>
#include <AR/param.h>

// ============================================================================
//	Public types and defines.
// ============================================================================

/** \def arMalloc(V,T,S)
* \brief allocation macro function
*
* allocate S elements of type T.
* \param V returned allocated area pointer
* \param T type of element
* \param S number of elements
*/
#define arMalloc(V,T,S)  \
{ if( ((V) = (T *)malloc( sizeof(T) * (S) )) == 0 ) \
{printf("malloc error!!\n"); exit(1);} }

/* overhead ARToolkit type*/
typedef char              ARInt8;
typedef short             ARInt16;
typedef int               ARInt32;
typedef unsigned char     ARUint8;
typedef unsigned short    ARUint16;
typedef unsigned int      ARUint32;

/** \typedef AR_PIXEL_FORMAT
	\brief ARToolKit pixel-format specifiers.
	
	ARToolKit functions can accept pixel data in a variety of formats.
	This enumerations provides a set of constants you can use to request
	data in a particular pixel format from an ARToolKit function that
	returns data to you, or to specify that data you are providing to an
	ARToolKit function is in a particular pixel format.
	
	AR_PIXEL_FORMAT_RGB
	Each pixel is represented by 24 bits. Eight bits per each Red, Green,
	and Blue component. This is the native 24 bit format for the Mac platform.
	
	AR_PIXEL_FORMAT_BGR
	Each pixel is represented by 24 bits. Eight bits per each Blue, Red, and
	Green component. This is the native 24 bit format for the Win32 platform.
	
	AR_PIXEL_FORMAT_RGBA
	Each pixel is represented by 32 bits. Eight bits per each Red, Green,
	Blue, and Alpha component.
	
	AR_PIXEL_FORMAT_BGRA
	Each pixel is represented by 32 bits. Eight bits per each Blue, Green,
	Red, and Alpha component. This is the native 32 bit format for the Win32
	platform.
	
	AR_PIXEL_FORMAT_ABGR
	Each pixel is represented by 32 bits. Eight bits per each Alpha, Blue,
	Green, and Red component. This is the native 32 bit format for the SGI
	platform.
	
	AR_PIXEL_FORMAT_ARGB
	Each pixel is represented by 32 bits. Eight bits per each Alpha, Red,
	Green, and Blue component. This is the native 32 bit format for the Mac
	platform.
	
	AR_PIXEL_FORMAT_MONO
	Each pixel is represented by 8 bits of luminance information.
	
	AR_PIXEL_FORMAT_2vuy
	8-bit 4:2:2 Component Y'CbCr format. Each 16 bit pixel is represented
	by an unsigned eight bit luminance component and two unsigned eight bit
	chroma components. Each pair of pixels shares a common set of chroma
	values. The components are ordered in memory; Cb, Y0, Cr, Y1. The
	luminance components have a range of [16, 235], while the chroma value
	has a range of [16, 240]. This is consistent with the CCIR601 spec.
	This format is fairly prevalent on both Mac and Win32 platforms.
	'2vuy' is the Apple QuickTime four-character code for this pixel format.
	The equivalent Microsoft fourCC is 'UYVY'.
	
	AR_PIXEL_FORMAT_yuvs
	8-bit 4:2:2 Component Y'CbCr format. Identical to the AR_PIXEL_FORMAT_2vuy except
	each 16 bit word has been byte swapped. This results in a component
	ordering of; Y0, Cb, Y1, Cr.
	This is most prevalent yuv 4:2:2 format on both Mac and Win32 platforms.
	'yuvs' is the Apple QuickTime four-character code for this pixel format.
	The equivalent Microsoft fourCC is 'YUY2'.
 */
typedef int AR_PIXEL_FORMAT;

/** \struct ARMarkerInfo
* \brief main structure for detected marker.
*
* Store information after contour detection (in idea screen coordinate, after distorsion compensated).
* \remark lines are represented by 3 values a,b,c for ax+by+c=0
* \param area number of pixels in the labeled region
* \param id marker identitied number
* \param dir Direction that tells about the rotation about the marker (possible values are 0, 1, 2 or 3). This parameter makes it possible to tell about the line order of the detected marker (so which line is the first one) and so find the first vertex. This is important to compute the transformation matrix in arGetTransMat().
* \param cf confidence value (probability to be a marker)
* \param pos center of marker (in ideal screen coordinates)
* \param line line equations for four side of the marker (in ideal screen coordinates)
* \param vertex edge points of the marker (in ideal screen coordinates)
*/
typedef struct {
    int     area;
    int     id;
    int     dir;
    double  cf;
    double  pos[2];
    double  line[4][3];
    double  vertex[4][2];
} ARMarkerInfo;

/** \struct ARMarkerInfo2
* \brief internal structure use for marker detection.
* 
* Store information after contour detection (in observed screen coordinate, before distorsion correction).
* \param area number of pixels in the labeled region
* \param pos position of the center of the marker (in observed screen coordinates)
* \param coord_num numer of pixels in the contour.
* \param x_coord x coordinate of the pixels of contours (size limited by AR_CHAIN_MAX).
* \param y_coord y coordinate of the pixels of contours (size limited by AR_CHAIN_MAX).
* \param vertex position of the vertices of the marker. (in observed screen coordinates)
		 rem:the first vertex is stored again as the 5th entry in the array – for convenience of drawing a line-strip easier.
* 
*/
typedef struct {
    int     area;
    double  pos[2];
    int     coord_num;
    int     x_coord[AR_CHAIN_MAX];
    int     y_coord[AR_CHAIN_MAX];
    int     vertex[5];
} ARMarkerInfo2;

// ============================================================================
//	Public globals.
// ============================================================================

/** \var int arDebug
* \brief activate artoolkit debug mode
*
* control debug informations in ARToolKit.
* the possible values are:
* - 0: not in debug mode
* - 1: in debug mode
* by default: 0 
*/
extern int      arDebug;

/** \var ARUint8 *arImage
* \brief internal image
*
* internal image used. (access only for debugging ARToolKit)
* by default: NULL
*/
extern ARUint8  *arImage;

/** \var int arFittingMode
* \brief fitting display mode use by ARToolkit.
*
* Correction mode for the distorsion of the camera.
* You can enable a correction with a texture mapping.
* the possible values are:
* - AR_FITTING_TO_INPUT: input image
* - AR_FITTING_TO_IDEAL: compensated image
* by default: DEFAULT_FITTING_MODE in config.h
*/
extern int      arFittingMode;

/** \var int arImageProcMode
* \brief define the image size mode for marker detection.
*
* Video image size for marker detection. This control
* if all the image is analyzed 
* the possible values are :
* - AR_IMAGE_PROC_IN_FULL: full image uses.
* - AR_IMAGE_PROC_IN_HALF: half image uses.
* by default: DEFAULT_IMAGE_PROC_MODE in config.h
*/
extern int      arImageProcMode;

/** \var ARParam arParam
* \brief internal intrinsic camera parameter
*
* internal variable for camera intrinsic parameters
*/
extern ARParam  arParam;

/** \var int arImXsize
* \brief internal image size in width.
*
* internal image size in width (generally initialize in arInitCparam)
*/
/** \var int arImYsize
* \brief internal image size in heigth
*
* internal image size in heigth (generally initialize in arInitCparam)
*/
extern int      arImXsize, arImYsize;

/** \var int arTemplateMatchingMode
* \brief XXXBK
*
* XXXBK
* the possible values are :
* AR_TEMPLATE_MATCHING_COLOR: Color Template
* AR_TEMPLATE_MATCHING_BW: BW Template
* by default: DEFAULT_TEMPLATE_MATCHING_MODE in config.h
*/
extern int      arTemplateMatchingMode;

/** \var int arMatchingPCAMode
* \brief XXXBK
*
* XXXBK
* the possible values are :
* -AR_MATCHING_WITHOUT_PCA: without PCA
* -AR_MATCHING_WITH_PCA: with PCA
* by default: DEFAULT_MATCHING_PCA_MODE in config.h
*/
extern int      arMatchingPCAMode;

// ============================================================================
//	Public functions.
// ============================================================================

/*
   Initialization
*/

/**
 * \brief Get the ARToolKit version information in numberic and string format.
 *
 * As of version 2.72, ARToolKit now allows querying of the version number
 * of the toolkit available at runtime. It is highly recommended that
 * any calling program that depends on features in a certain
 * ARToolKit version, check at runtime that it is linked to a version
 * of ARToolKit that can supply those features. It is NOT sufficient
 * to check the ARToolKit SDK header versions, since with ARToolKit implemented
 * in dynamically-loaded libraries, there is no guarantee that the
 * version of ARToolKit installed on the machine at run-time will as
 * recent as the version of the ARToolKit SDK which the host
 * program was compiled against.
 * The version information is reported in binary-coded decimal format,
 * and optionally in an ASCII string. See the config.h header
 * for more discussion of the definition of major, minor, tiny and build
 * version numbers.
 * 
 * \param versionStringRef
 *	If non-NULL, the location pointed to will be filled
 *	with a pointer to a string containing the version information.
 *  Fields in the version string are separated by spaces. As of version
 *  2.72.0, there is only one field implemented, and this field
 *  contains the major, minor and tiny version numbers
 *	in dotted-decimal format. The string is guaranteed to contain
 *  at least this field in all future versions of the toolkit.
 *  Later versions of the toolkit may add other fields to this string
 *  to report other types of version information. The storage for the
 *  string is malloc'ed inside the function. The caller is responsible
 *  for free'ing the string.
 *
 * \return Returns the full version number of the ARToolKit in
 *	binary coded decimal (BCD) format.
 *  BCD format allows simple tests of version number in the caller
 *  e.g. if ((arGetVersion(NULL) >> 16) > 0x0272) printf("This release is later than 2.72\n");
 *	The major version number is encoded in the most-significant byte
 *  (bits 31-24), the minor version number in the second-most-significant
 *	byte (bits 23-16), the tiny version number in the third-most-significant
 *  byte (bits 15-8), and the build version number in the least-significant
 *	byte (bits 7-0).
 */
ARUint32 arGetVersion(char **versionStringRef);

/**
* \brief initialize camera parameters.
*
* set the camera parameters specified in the camera parameters structure 
* *param to static memory in the AR library. These camera parameters are  
* typically read from a data file at program startup. In the video-see through 
* AR applications, the default camera parameters are sufficient, no camera 
* calibration is needed.
* \param param the camera parameter structure
* \return always 0
*/
int arInitCparam( ARParam *param );

/**
* \brief load markers description from a file
*
* load the bitmap pattern specified in the file filename into the pattern
* matching array for later use by the marker detection routines.
* \param filename name of the file containing the pattern bitmap to be loaded
* \return the identity number of the pattern loaded or –1 if the pattern load failed.
*/
int arLoadPatt( const char *filename );

/*
   Detection
*/

/**
* \brief main function to detect the square markers in the video input frame.
*
* This function proceeds to thresholding, labeling, contour extraction and line corner estimation 
* (and maintains an history).
* It's one of the main function of the detection routine with arGetTransMat.
* \param dataPtr a pointer to the color image which is to be searched for square markers. 
*                The pixel format depend of your architecture. Generally ABGR, but the images 
*                are treated as a gray scale, so the order of BGR components does not matter. 
*                However the ordering of the alpha comp, A, is important.
* \param thresh  specifies the threshold value (between 0-255) to be used to convert
*                the input image into a binary image.
* \param marker_info a pointer to an array of ARMarkerInfo structures returned 
*                    which contain all the information about the detected squares in the image
* \param marker_num the number of detected markers in the image.
* \return 0 when the function completes normally, -1 otherwise
*/
int arDetectMarker( ARUint8 *dataPtr, int thresh,
                    ARMarkerInfo **marker_info, int *marker_num );

/**
* \brief main function to detect rapidly the square markers in the video input frame.
*
* this function is a simpler version of arDetectMarker that does not have the 
* same error correction functions and so runs a little faster, but is more error prone
* 
* \param dataPtr a pointer to the color image which is to be searched for square markers. 
*                The pixel format depend of your architecture. Generally ABGR, but the images 
*                are treated as a gray scale, so the order of BGR components does not matter. 
*                However the ordering of the alpha component, A, is important.
* \param thresh  specifies the threshold value (between 0-255) to be used to convert
*                the input image into a binary image.
* \param marker_info a pointer to an array of ARMarkerInfo structures returned 
*                    which contain all the information about the detected squares in the image
* \param marker_num the number of detected markers in the image.
* \return 0 when the function completes normally, -1 otherwise
*/
int arDetectMarkerLite( ARUint8 *dataPtr, int thresh,
                        ARMarkerInfo **marker_info, int *marker_num );

/**
* \brief 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.
* \param 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.
* \param 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. 
* \param width the size of the marker (in mm). 
* \param conv the transformation matrix from the marker coordinates to camera coordinate frame, 
*             that is the relative position of real camera to the real marker
* \return always 0. 
*/
double arGetTransMat( ARMarkerInfo *marker_info,
                      double center[2], double width, double conv[3][4] );

/**
* \brief compute camera position in function of detected marker with an history function.
*
* 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. Since
* this routine operate on previous values, the result are more stable (less jittering).
* 
* \param 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.
* \param prev_conv the previous transformation matrix obtain. 
* \param 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. 
* \param width the size of the marker (in mm). 
* \param conv the transformation matrix from the marker coordinates to camera coordinate frame, 
*             that is the relative position of real camera to the real marker
* \return always 0. 
*/
double arGetTransMatCont( ARMarkerInfo *marker_info, double prev_conv[3][4],
                          double center[2], double width, double conv[3][4] );

double arGetTransMat2( double rot[3][3], double pos2d[][2],
                       double pos3d[][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] );

/**
* \brief remove a pattern from memory.
*
* desactivate a pattern and remove from memory. post-condition
* of this function is unavailability of the pattern.
* \param patt_no number of pattern to free
* \return return 1 in success, -1 if error
*/
int arFreePatt( int patt_no );

/**
* \brief activate a pattern on the recognition procedure.
*
* Activate a pattern to be check during the template matching
* operation.
* \param patt_no number of pattern to activate
* \return return 1 in success, -1 if error
*/
int arActivatePatt( int pat_no );

/**
* \brief desactivate a pattern on the recognition procedure.
*
* Desactivate a pattern for not be check during the template matching
* operation.
* \param patt_no number of pattern to desactivate
* \return return 1 in success, -1 if error
*/
int arDeactivatePatt( int pat_no );

/**
* \brief save a marker.
*
* used in mk_patt to save a bitmap of the pattern of the currently detected marker.
* The saved image is a table of the normalized viewed pattern.
* \param image a pointer to the image containing the marker pattern to be trained.
* \param marker_info a pointer to the ARMarkerInfo structure of the pattern to be trained.
* \param filename The name of the file where the bitmap image is to be saved.
* \return 0 if the bitmap image is successfully saved, -1 otherwise. 
*/
int arSavePatt( ARUint8 *image,
                ARMarkerInfo *marker_info, char *filename );


/*
    Utility
*/

/**
* \brief Inverse a non-square matrix.
*
* Inverse a matrix in a non homogeneous format. The matrix
* need to be euclidian.
* \param s matrix input	
* \param d resulted inverse matrix.
* \return 0 if the inversion success, -1 otherwise
* \remark input matrix can be also output matrix
*/
int    arUtilMatInv( double s[3][4], double d[3][4] );

/**
* \brief Multiplication of two matrix.
*
* This procedure do a multiplication matrix between s1 and s2 and return
* the result in d : d=s1*s2. The precondition is the output matrix
* need to be different of input matrix. The precondition is euclidian matrix.
* \param s1 first matrix.
* \param s2 second matrix.
* \param d resulted multiplication matrix.
* \return 0 if the multiplication success, -1 otherwise
*/
int    arUtilMatMul( double s1[3][4], double s2[3][4], double d[3][4] );

/**
* \brief extract a quaternion/position of matrix.
*
* Extract a rotation (quaternion format) and a position (vector format) 
* from a transformation matrix. The precondition is an euclidian matrix.
* \param m source matrix
* \param q a rotation represented by a quaternion.
* \param p a translation represented by a vector.
* \return 0 if the extraction success, -1 otherwise (quaternion not normalize)
*/
int    arUtilMat2QuatPos( double m[3][4], double q[4], double p[3] );

/**
* \brief create a matrix with a quaternion/position.
*
* Create a transformation matrix from a quaternion rotation and a vector translation.
* \param q a rotation represented by a quaternion.
* \param p a translation represented by a vector.
* \param m destination matrix
* \return always 0
*/
int    arUtilQuatPos2Mat( double q[4], double p[3], double m[3][4] );

/**
* \brief get the time with the ARToolkit timer.
* 
* Give the time elapsed since the reset of the timer.
* \return elapsed time (in milliseconds)
*/
double arUtilTimer(void);

/**
* \brief reset the internal timer of ARToolkit.
*
* Reset the internal timer used by ARToolKit.
* timer measurement (with arUtilTimer()).
*/
void   arUtilTimerReset(void);

/**
* \brief sleep the actual thread.
*
* Sleep the actual thread.
* \param msec time to sleep (in millisecond)
*/
void   arUtilSleep( int msec );

/*
  Internal processing
*/

/**
* \brief extract connected components from image.
*
* Label the input image, i.e. extract connected components from the 
* input video image.
* \param image input image, as returned by arVideoGetImage()
* \param thresh lighting threshold
* \param label_num Ouput- number of detected components
* \param area On return, if label_num > 0, points to an array of ints, one for each detected component.
* \param pos On return, if label_num > 0, points to an array of doubles, one for each detected component.
* \param clip On return, if label_num > 0, points to an array of ints, one for each detected component.
* \param label_ref On return, if label_num > 0, points to an array of ints, one for each detected component.
* \return returns a pointer to the labeled output image, ready for passing onto the next stage of processing.
*/
ARInt16 *arLabeling( ARUint8 *image, int thresh,
                     int *label_num, int **area, double **pos, int **clip,
                     int **label_ref );

/**
 * \brief clean up static data allocated by arLabeling.
 *
 * In debug mode, arLabeling may allocate and use static storage.
 * This function deallocates this storage.
 */
 void arLabelingCleanup(void);


/**
* \brief  XXXBK
*
*  XXXBK
* \param num XXXBK
* \param area XXXBK
* \param clip XXXBK
* \param pos XXXBK
*/
void arGetImgFeature( int *num, int **area, int **clip, double **pos );

/**
* \brief   XXXBK
*
*   XXXBK
* \param limage  XXXBK
* \param label_num  XXXBK
* \param label_ref  XXXBK
* \param warea  XXXBK
* \param wpos  XXXBK
* \param wclip  XXXBK
* \param area_max  XXXBK
* \param area_min  XXXBK
* \param factor  XXXBK
* \param marker_num  XXXBK
* \return XXXBK  XXXBK
*/
ARMarkerInfo2 *arDetectMarker2( ARInt16 *limage,
                                int label_num, int *label_ref,
                                int *warea, double *wpos, int *wclip,
                                int area_max, int area_min, double factor, int *marker_num );

/**
* \brief information on 
*
*  XXXBK
* \param image XXXBK
* \param marker_info2 XXXBK
* \param marker_num XXXBK
* \return XXXBK
*/
ARMarkerInfo *arGetMarkerInfo( ARUint8 *image,
                               ARMarkerInfo2 *marker_info2, int *marker_num );

/**
* \brief  XXXBK
*
*  XXXBK
* \param image XXXBK
* \param x_coord XXXBK
* \param y_coord XXXBK
* \param vertex XXXBK
* \param code XXXBK
* \param dir XXXBK
* \param cf XXXBK
* \return XXXBK
*/
int arGetCode( ARUint8 *image, int *x_coord, int *y_coord, int *vertex,
               int *code, int *dir, double *cf );

/**
* \brief Get a normalized pattern from a video image.
*
* This function returns a normalized pattern from a video image. The
* format is a table with AR_PATT_SIZE_X by AR_PATT_SIZE_Y
* \param image video input image
* \param x_coord XXXBK
* \param y_coord XXXBK
* \param vertex XXXBK
* \param ext_pat detected pattern.
* \return  XXXBK
*/
int arGetPatt( ARUint8 *image, int *x_coord, int *y_coord, int *vertex,
               ARUint8 ext_pat[AR_PATT_SIZE_Y][AR_PATT_SIZE_X][3] );

/**
* \brief estimate a line from a list of point.
*
* Compute a linear regression from a list of point.
* \param x_coord X coordinate of points
* \param y_coord Y coordinate of points
* \param coord_num number of points
* \param vertex XXXBK 
* \param line XXXBK 
* \param v XXXBK
* \return  XXXBK
*/
int arGetLine(int x_coord[], int y_coord[], int coord_num,
              int vertex[], double line[4][3], double v[4][2]);

/**
* \brief  XXXBK
*
*  XXXBK
* \param limage XXXBK
* \param label_ref XXXBK
* \param label XXXBK
* \param clip XXXBK
* \param marker_info2 XXXBK
* \return  XXXBK
*/
int arGetContour( ARInt16 *limage, int *label_ref,
                  int label, int clip[4], ARMarkerInfo2 *marker_info2 );

/**
* \brief  XXXBK
*
*  XXXBK
* \param rot XXXBK
* \param trans XXXBK
* \param cpara XXXBK
* \param vertex XXXBK
* \param pos2d XXXBK
* \param num XXXBK
* \return XXXBK
*/
double arModifyMatrix( double rot[3][3], double trans[3], double cpara[3][4],
                             double vertex[][3], double pos2d[][2], int num );

/**
* \brief extract euler angle from a rotation matrix.
*
* Based on a matrix rotation representation, furnish the cprresponding euler angles.
* \param rot the initial rotation matrix
* \param wa XXXBK:which element ?
* \param wb XXXBK:which element ?
* \param wc XXXBK:which element ?
* \return XXXBK
*/
int arGetAngle( double rot[3][3], double *wa, double *wb, double *wc );

/**
* \brief create a rotation matrix with euler angle.
*
* Based on a euler description, furnish a rotation matrix.
* \param a XXXBK:which element ?
* \param b XXXBK:which element ?
* \param c XXXBK:which element ?
* \param rot the resulted rotation matrix
* \return XXXBK
*/
int arGetRot( double a, double b, double c, double rot[3][3] );

/**
* \brief XXXBK
*
* XXXBK
* \param a XXXBK
* \param b XXXBK
* \param c XXXBK
* \param trans XXXBK
* \param trans2 XXXBK
* \param cpara XXXBK
* \param ret XXXBK
* \return XXXBK
*/
int arGetNewMatrix( double a, double b, double c,
                    double trans[3], double trans2[3][4],
                    double cpara[3][4], double ret[3][4] );

/**
* \brief XXXBK
*
* XXXBK:initial of what ?
* \param marker_info XXXBK
* \param cpara XXXBK
* \param rot XXXBK
* \return XXXBK
*/
int arGetInitRot( ARMarkerInfo *marker_info, double cpara[3][4], double rot[3][3] );

/** \struct arPrevInfo
* \brief structure for temporal continuity of tracking
*
* History structure for arDetectMarkerLite and arGetTransMatCont
*/
typedef struct {
    ARMarkerInfo  marker;
    int     count;
} arPrevInfo;


/*------------------------------------*/

extern ARUint8  *arImageL;
extern ARUint8  *arImageR;
extern ARSParam arsParam;
extern double   arsMatR2L[3][4];

int           arsInitCparam      ( ARSParam *sparam );
void          arsGetImgFeature   ( int *num, int **area, int **clip, double **pos, int LorR );
ARInt16      *arsLabeling        ( ARUint8 *image, int thresh,
                                   int *label_num, int **area, double **pos, int **clip,
                                   int **label_ref, int LorR );
int           arsGetLine         ( int x_coord[], int y_coord[], int coord_num,
                                   int vertex[], double line[4][3], double v[4][2], int LorR);
ARMarkerInfo *arsGetMarkerInfo   ( ARUint8 *image,
                                   ARMarkerInfo2 *marker_info2, int *marker_num, int LorR );
int           arsDetectMarker    ( ARUint8 *dataPtr, int thresh,
                                   ARMarkerInfo **marker_info, int *marker_num, int LorR );
int           arsDetectMarkerLite( ARUint8 *dataPtr, int thresh,
                                   ARMarkerInfo **marker_info, int *marker_num, int LorR );
double        arsGetTransMat     ( ARMarkerInfo *marker_infoL, ARMarkerInfo *marker_infoR,
                                   double center[2], double width,
                                   double transL[3][4], double transR[3][4] );
double        arsGetTransMatCont ( ARMarkerInfo *marker_infoL, ARMarkerInfo *marker_infoR,
                                   double prev_conv[3][4],
                                   double center[2], double width,
                                   double transL[3][4], double transR[3][4] );
double        arsGetTransMat2    ( double rot[3][3],
                                   double ppos2dL[][2], double ppos3dL[][3], int numL,
                                   double ppos2dR[][2], double ppos3dR[][3], int numR,
                                   double transL[3][4], double transR[3][4] );
double        arsGetPosErr( double pos2dL[2], double pos2dR[2] );
int           arsCheckPosition   ( double pos2dL[2], double pos2dR[2], double thresh );
int           arsCheckMarkerPosition( ARMarkerInfo *marker_infoL, ARMarkerInfo *marker_infoR,
                                      double thresh );

double arsModifyMatrix( double rot[3][3], double trans[3], ARSParam *arsParam,
                        double pos3dL[][3], double pos2dL[][2], int numL,
                        double pos3dR[][3], double pos2dR[][2], int numR );

#ifdef __cplusplus
}
#endif
#endif
