marker.h

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#ifndef _Aruco_Marker_H
#define _Aruco_Marker_H
#include <vector>
#include <iostream>
#include <opencv/cv.h>
#include "cameraparameters.h"
using namespace std;
namespace aruco {
class Marker: public std::vector<cv::Point2f>
{
public:
    //id of  the marker
    int id;
    //size of the markers sides in meters
    float ssize;
    //matrices of rotation and translation respect to the camera
    cv::Mat Rvec,Tvec;

    Marker();
    Marker(const Marker &M);
    ~Marker() {}
    bool isValid()const{return id!=-1 && size()==4;}

    void draw(cv::Mat &in, cv::Scalar color, int lineWidth=1,bool writeId=true);

    void calculateExtrinsics(float markerSize,const CameraParameters &CP)throw(cv::Exception);
    void calculateExtrinsics(float markerSize,cv::Mat  CameraMatrix,cv::Mat Distorsion=cv::Mat())throw(cv::Exception);
    
    void glGetModelViewMatrix(  double modelview_matrix[16])throw(cv::Exception);

    friend bool operator<(const Marker &M1,const Marker&M2)
    {
        return M1.id<M2.id;
    }
    friend ostream & operator<<(ostream &str,const Marker &M)
    {
        str<<M.id<<"=";
        for (int i=0;i<4;i++)
            str<<"("<<M[i].x<< ","<<M[i].y<<") ";
        str<<"Txyz=";
        for (int i=0;i<3;i++)
            str<<M.Tvec.at<float>(i,0)<<" ";
        str<<"Rxyz=";
        for (int i=0;i<3;i++)
            str<<M.Rvec.at<float>(i,0)<<" ";

        return str;
    }
    
    static cv::Mat createMarkerImage(int id,int size) throw (cv::Exception);
    
    
private:
  void rotateXAxis(cv::Mat &rotation);

};

}
#endif