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# ar.h File Reference

ARToolKit subroutines. More...

`#include <stdio.h>`
`#include <malloc.h>`
`#include <AR/config.h>`
`#include <AR/param.h>`

## Data Structures
struct | ARMarkerInfo
| main structure for detected marker. More...
struct | ARMarkerInfo2
| internal structure use for marker detection. More...
struct | arPrevInfo
| structure for temporal continuity of tracking More...
## Defines
#define | arMalloc(V, T, S)
| allocation macro function
## Typedefs
typedef char | ARInt8
typedef short | ARInt16
typedef int | ARInt32
typedef unsigned char | ARUint8
typedef unsigned short | ARUint16
typedef unsigned int | ARUint32
typedef int | AR_PIXEL_FORMAT
| ARToolKit pixel-format specifiers.
## Functions
ARUint32 | arGetVersion (char **versionStringRef)
| Get the ARToolKit version information in numberic and string format.
int | arInitCparam (ARParam *param)
| initialize camera parameters.
int | arLoadPatt (const char *filename)
| load markers description from a file
int | arDetectMarker (ARUint8 *dataPtr, int thresh, ARMarkerInfo **marker_info, int *marker_num)
| main function to detect the square markers in the video input frame.
int | arDetectMarkerLite (ARUint8 *dataPtr, int thresh, ARMarkerInfo **marker_info, int *marker_num)
| main function to detect rapidly the square markers in the video input frame.
double | arGetTransMat (ARMarkerInfo *marker_info, double center[2], double width, double conv[3][4])
| compute camera position in function of detected markers.
double | arGetTransMatCont (ARMarkerInfo *marker_info, double prev_conv[3][4], double center[2], double width, double conv[3][4])
| compute camera position in function of detected marker with an history function.
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])
int | arFreePatt (int patt_no)
| remove a pattern from memory.
int | arActivatePatt (int pat_no)
| activate a pattern on the recognition procedure.
int | arDeactivatePatt (int pat_no)
| desactivate a pattern on the recognition procedure.
int | arSavePatt (ARUint8 *image, ARMarkerInfo *marker_info, char *filename)
| save a marker.
int | arUtilMatInv (double s[3][4], double d[3][4])
| Inverse a non-square matrix.
int | arUtilMatMul (double s1[3][4], double s2[3][4], double d[3][4])
| Multiplication of two matrix.
int | arUtilMat2QuatPos (double m[3][4], double q[4], double p[3])
| extract a quaternion/position of matrix.
int | arUtilQuatPos2Mat (double q[4], double p[3], double m[3][4])
| create a matrix with a quaternion/position.
double | arUtilTimer (void)
| get the time with the ARToolkit timer.
void | arUtilTimerReset (void)
| reset the internal timer of ARToolkit.
void | arUtilSleep (int msec)
| sleep the actual thread.
ARInt16 * | arLabeling (ARUint8 *image, int thresh, int *label_num, int **area, double **pos, int **clip, int **label_ref)
| extract connected components from image.
void | arLabelingCleanup (void)
| clean up static data allocated by arLabeling.
void | arGetImgFeature (int *num, int **area, int **clip, double **pos)
| 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)
| XXXBK.
ARMarkerInfo * | arGetMarkerInfo (ARUint8 *image, ARMarkerInfo2 *marker_info2, int *marker_num)
| information on
int | arGetCode (ARUint8 *image, int *x_coord, int *y_coord, int *vertex, int *code, int *dir, double *cf)
| 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])
| Get a normalized pattern from a video image.
int | arGetLine (int x_coord[], int y_coord[], int coord_num, int vertex[], double line[4][3], double v[4][2])
| estimate a line from a list of point.
int | arGetContour (ARInt16 *limage, int *label_ref, int label, int clip[4], ARMarkerInfo2 *marker_info2)
| XXXBK.
double | arModifyMatrix (double rot[3][3], double trans[3], double cpara[3][4], double vertex[][3], double pos2d[][2], int num)
| XXXBK.
int | arGetAngle (double rot[3][3], double *wa, double *wb, double *wc)
| extract euler angle from a rotation matrix.
int | arGetRot (double a, double b, double c, double rot[3][3])
| create a rotation matrix with euler angle.
int | arGetNewMatrix (double a, double b, double c, double trans[3], double trans2[3][4], double cpara[3][4], double ret[3][4])
| XXXBK.
int | arGetInitRot (ARMarkerInfo *marker_info, double cpara[3][4], double rot[3][3])
| XXXBK.
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)
## Variables
int | arDebug
| activate artoolkit debug mode
ARUint8 * | arImage
| internal image
int | arFittingMode
| fitting display mode use by ARToolkit.
int | arImageProcMode
| define the image size mode for marker detection.
ARParam | arParam
| internal intrinsic camera parameter
int | arImXsize
| internal image size in width.
int | arImYsize
| internal image size in heigth
int | arTemplateMatchingMode
| XXXBK.
int | arMatchingPCAMode
| XXXBK.
ARUint8 * | arImageL
ARUint8 * | arImageR
ARSParam | arsParam
double | arsMatR2L [3][4]

## Detailed Description

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).

Remarks:

History :

Author:
  Hirokazu Kato kato@sys.im.hiroshima-cu.ac.jp

Version:
  3.1

Date:
  01/12/07

## Define Documentation

#define arMalloc | ( | V,
|  | T,
|  | S |  | ) |

| Value:
    { if( ((V) = (T *)malloc( sizeof(T) * (S) )) == 0 ) \
    {printf("malloc error!!\n"); exit(1);} }
  allocation macro function allocate S elements of type T. Parameters:
  | V | returned allocated area pointer
  | T | type of element
  | S | number of elements

## Typedef Documentation

AR_PIXEL_FORMAT

| 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'.

## Function Documentation

int arActivatePatt | ( | int | pat_no | ) |

  | activate a pattern on the recognition procedure. Activate a pattern to be check during the template matching operation. Parameters:
  | patt_no | number of pattern to activate
Returns: return 1 in success, -1 if error

int arDeactivatePatt | ( | int | pat_no | ) |

  | desactivate a pattern on the recognition procedure. Desactivate a pattern for not be check during the template matching operation. Parameters:
  | patt_no | number of pattern to desactivate
Returns: return 1 in success, -1 if error

int arDetectMarker | ( | ARUint8 * | dataPtr,
|  | int | thresh,
|  | ARMarkerInfo ** | marker_info,
|  | int * | marker_num
| ) |

  | 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. Parameters:
  | 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.
  | thresh | specifies the threshold value (between 0-255) to be used to convert the input image into a binary image.
  | marker_info | a pointer to an array of ARMarkerInfo structures returned which contain all the information about the detected squares in the image
  | marker_num | the number of detected markers in the image.
Returns: 0 when the function completes normally, -1 otherwise

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
| ) |

  | XXXBK. XXXBK Parameters:
  | limage | XXXBK
  | label_num | XXXBK
  | label_ref | XXXBK
  | warea | XXXBK
  | wpos | XXXBK
  | wclip | XXXBK
  | area_max | XXXBK
  | area_min | XXXBK
  | factor | XXXBK
  | marker_num | XXXBK
Returns: XXXBK XXXBK

int arDetectMarkerLite | ( | ARUint8 * | dataPtr,
|  | int | thresh,
|  | ARMarkerInfo ** | marker_info,
|  | int * | marker_num
| ) |

  | 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 Parameters:
  | 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.
  | thresh | specifies the threshold value (between 0-255) to be used to convert the input image into a binary image.
  | marker_info | a pointer to an array of ARMarkerInfo structures returned which contain all the information about the detected squares in the image
  | marker_num | the number of detected markers in the image.
Returns: 0 when the function completes normally, -1 otherwise

int arFreePatt | ( | int | patt_no | ) |

  | remove a pattern from memory. desactivate a pattern and remove from memory. post-condition of this function is unavailability of the pattern. Parameters:
  | patt_no | number of pattern to free
Returns: return 1 in success, -1 if error

int arGetAngle | ( | double | rot[3][3],
|  | double * | wa,
|  | double * | wb,
|  | double * | wc
| ) |

  | extract euler angle from a rotation matrix. Based on a matrix rotation representation, furnish the cprresponding euler angles. Parameters:
  | rot | the initial rotation matrix
  | wa | XXXBK:which element ?
  | wb | XXXBK:which element ?
  | wc | XXXBK:which element ?
Returns: XXXBK

int arGetCode | ( | ARUint8 * | image,
|  | int * | x_coord,
|  | int * | y_coord,
|  | int * | vertex,
|  | int * | code,
|  | int * | dir,
|  | double * | cf
| ) |

  | XXXBK. XXXBK Parameters:
  | image | XXXBK
  | x_coord | XXXBK
  | y_coord | XXXBK
  | vertex | XXXBK
  | code | XXXBK
  | dir | XXXBK
  | cf | XXXBK
Returns: XXXBK

int arGetContour | ( | ARInt16 * | limage,
|  | int * | label_ref,
|  | int | label,
|  | int | clip[4],
|  | ARMarkerInfo2 * | marker_info2
| ) |

  | XXXBK. XXXBK Parameters:
  | limage | XXXBK
  | label_ref | XXXBK
  | label | XXXBK
  | clip | XXXBK
  | marker_info2 | XXXBK
Returns: XXXBK

void arGetImgFeature | ( | int * | num,
|  | int ** | area,
|  | int ** | clip,
|  | double ** | pos
| ) |

  | XXXBK. XXXBK Parameters:
  | num | XXXBK
  | area | XXXBK
  | clip | XXXBK
  | pos | XXXBK

int arGetInitRot | ( | ARMarkerInfo * | marker_info,
|  | double | cpara[3][4],
|  | double | rot[3][3]
| ) |

  | XXXBK. XXXBK:initial of what ? Parameters:
  | marker_info | XXXBK
  | cpara | XXXBK
  | rot | XXXBK
Returns: XXXBK

int arGetLine | ( | int | x_coord[],
|  | int | y_coord[],
|  | int | coord_num,
|  | int | vertex[],
|  | double | line[4][3],
|  | double | v[4][2]
| ) |

  | estimate a line from a list of point. Compute a linear regression from a list of point. Parameters:
  | x_coord | X coordinate of points
  | y_coord | Y coordinate of points
  | coord_num | number of points
  | vertex | XXXBK
  | line | XXXBK
  | v | XXXBK
Returns: XXXBK

ARMarkerInfo* arGetMarkerInfo | ( | ARUint8 * | image,
|  | ARMarkerInfo2 * | marker_info2,
|  | int * | marker_num
| ) |

  | information on XXXBK Parameters:
  | image | XXXBK
  | marker_info2 | XXXBK
  | marker_num | XXXBK
Returns: XXXBK

int arGetNewMatrix | ( | double | a,
|  | double | b,
|  | double | c,
|  | double | trans[3],
|  | double | trans2[3][4],
|  | double | cpara[3][4],
|  | double | ret[3][4]
| ) |

  | XXXBK. XXXBK Parameters:
  | a | XXXBK
  | b | XXXBK
  | c | XXXBK
  | trans | XXXBK
  | trans2 | XXXBK
  | cpara | XXXBK
  | ret | XXXBK
Returns: 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]
| ) |

  | 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 Parameters:
  | image | video input image
  | x_coord | XXXBK
  | y_coord | XXXBK
  | vertex | XXXBK
  | ext_pat | detected pattern.
Returns: XXXBK

int arGetRot | ( | double | a,
|  | double | b,
|  | double | c,
|  | double | rot[3][3]
| ) |

  | create a rotation matrix with euler angle. Based on a euler description, furnish a rotation matrix. Parameters:
  | a | XXXBK:which element ?
  | b | XXXBK:which element ?
  | c | XXXBK:which element ?
  | rot | the resulted rotation matrix
Returns: XXXBK

double arGetTransMat | ( | ARMarkerInfo * | marker_info,
|  | double | center[2],
|  | double | width,
|  | double | conv[3][4]
| ) |

  | 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. Parameters:
  | 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.
  | 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.
  | width | the size of the marker (in mm).
  | conv | the transformation matrix from the marker coordinates to camera coordinate frame, that is the relative position of real camera to the real marker
Returns: always 0.

double arGetTransMatCont | ( | ARMarkerInfo * | marker_info,
|  | double | prev_conv[3][4],
|  | double | center[2],
|  | double | width,
|  | double | conv[3][4]
| ) |

  | 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). Parameters:
  | 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.
  | prev_conv | the previous transformation matrix obtain.
  | 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.
  | width | the size of the marker (in mm).
  | conv | the transformation matrix from the marker coordinates to camera coordinate frame, that is the relative position of real camera to the real marker
Returns: always 0.

ARUint32 arGetVersion | ( | char ** | versionStringRef | ) |

  | 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. Parameters:
  | 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.
Returns: 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).

int arInitCparam | ( | ARParam * | param | ) |

  | 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. Parameters:
  | param | the camera parameter structure
Returns: always 0

ARInt16* arLabeling | ( | ARUint8 * | image,
|  | int | thresh,
|  | int * | label_num,
|  | int ** | area,
|  | double ** | pos,
|  | int ** | clip,
|  | int ** | label_ref
| ) |

  | extract connected components from image. Label the input image, i.e. extract connected components from the input video image. Parameters:
  | image | input image, as returned by arVideoGetImage()
  | thresh | lighting threshold
  | label_num | Ouput- number of detected components
  | area | On return, if label_num > 0, points to an array of ints, one for each detected component.
  | pos | On return, if label_num > 0, points to an array of doubles, one for each detected component.
  | clip | On return, if label_num > 0, points to an array of ints, one for each detected component.
  | label_ref | On return, if label_num > 0, points to an array of ints, one for each detected component.
Returns: returns a pointer to the labeled output image, ready for passing onto the next stage of processing.

void arLabelingCleanup | ( | void |  | ) |

| clean up static data allocated by arLabeling. In debug mode, arLabeling may allocate and use static storage. This function deallocates this storage.

int arLoadPatt | ( | const char * | filename | ) |

  | 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. Parameters:
  | filename | name of the file containing the pattern bitmap to be loaded
Returns: the identity number of the pattern loaded or –1 if the pattern load failed.

double arModifyMatrix | ( | double | rot[3][3],
|  | double | trans[3],
|  | double | cpara[3][4],
|  | double | vertex[][3],
|  | double | pos2d[][2],
|  | int | num
| ) |

  | XXXBK. XXXBK Parameters:
  | rot | XXXBK
  | trans | XXXBK
  | cpara | XXXBK
  | vertex | XXXBK
  | pos2d | XXXBK
  | num | XXXBK
Returns: XXXBK

int arSavePatt | ( | ARUint8 * | image,
|  | ARMarkerInfo * | marker_info,
|  | char * | filename
| ) |

  | 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. Parameters:
  | image | a pointer to the image containing the marker pattern to be trained.
  | marker_info | a pointer to the ARMarkerInfo structure of the pattern to be trained.
  | filename | The name of the file where the bitmap image is to be saved.
Returns: 0 if the bitmap image is successfully saved, -1 otherwise.

int arUtilMat2QuatPos | ( | double | m[3][4],
|  | double | q[4],
|  | double | p[3]
| ) |

  | 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. Parameters:
  | m | source matrix
  | q | a rotation represented by a quaternion.
  | p | a translation represented by a vector.
Returns: 0 if the extraction success, -1 otherwise (quaternion not normalize)

int arUtilMatInv | ( | double | s[3][4],
|  | double | d[3][4]
| ) |

  | Inverse a non-square matrix. Inverse a matrix in a non homogeneous format. The matrix need to be euclidian. Parameters:
  | s | matrix input
  | d | resulted inverse matrix.
Returns: 0 if the inversion success, -1 otherwise Remarks: input matrix can be also output matrix

int arUtilMatMul | ( | double | s1[3][4],
|  | double | s2[3][4],
|  | double | d[3][4]
| ) |

  | 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. Parameters:
  | s1 | first matrix.
  | s2 | second matrix.
  | d | resulted multiplication matrix.
Returns: 0 if the multiplication success, -1 otherwise

int arUtilQuatPos2Mat | ( | double | q[4],
|  | double | p[3],
|  | double | m[3][4]
| ) |

  | create a matrix with a quaternion/position. Create a transformation matrix from a quaternion rotation and a vector translation. Parameters:
  | q | a rotation represented by a quaternion.
  | p | a translation represented by a vector.
  | m | destination matrix
Returns: always 0

void arUtilSleep | ( | int | msec | ) |

  | sleep the actual thread. Sleep the actual thread. Parameters:
  | msec | time to sleep (in millisecond)

double arUtilTimer | ( | void |  | ) |

| get the time with the ARToolkit timer. Give the time elapsed since the reset of the timer. Returns: elapsed time (in milliseconds)

void arUtilTimerReset | ( | void |  | ) |

| reset the internal timer of ARToolkit. Reset the internal timer used by ARToolKit. timer measurement (with arUtilTimer()).

## Variable Documentation

int arDebug

| 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

int arFittingMode

| 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

ARUint8 * arImage

| internal image internal image used. (access only for debugging ARToolKit) by default: NULL

int arImageProcMode

| 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

int arImXsize

| internal image size in width. internal image size in width (generally initialize in arInitCparam)

int arImYsize

| internal image size in heigth internal image size in heigth (generally initialize in arInitCparam)

int arMatchingPCAMode

| 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

ARParam arParam

| internal intrinsic camera parameter internal variable for camera intrinsic parameters

int arTemplateMatchingMode

| 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

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