.. _program_listing_file__tmp_ws_src_aruco_ros_aruco_include_aruco_posetracker.h:

Program Listing for File posetracker.h
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_aruco_ros_aruco_include_aruco_posetracker.h>` (``/tmp/ws/src/aruco_ros/aruco/include/aruco/posetracker.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #ifndef ARUCO_POSETRACKER
   #define ARUCO_POSETRACKER
   
   #include "aruco_export.h"
   #include "cameraparameters.h"
   #include "marker.h"
   #include "markermap.h"
   
   #include <map>
   #include <opencv2/core/core.hpp>
   
   namespace aruco
   {
   class ARUCO_EXPORT MarkerPoseTracker
   {
   public:
     bool estimatePose(Marker& m, const CameraParameters& cam_params, float markerSize,
                       float minErrorRatio = 10 /*tau_e in paper*/);
   
     // returns the 4x4 transform matrix. Returns an empty matrix if last call to
     // estimatePose returned false
     cv::Mat getRTMatrix() const;
     // return the rotation vector. Returns an empty matrix if last call to estimatePose
     // returned false
     const cv::Mat getRvec() const
     {
       return _rvec;
     }
     // return the translation vector. Returns an empty matrix if last call to estimatePose
     // returned false
     const cv::Mat getTvec() const
     {
       return _tvec;
     }
   
   private:
     cv::Mat _rvec, _tvec;  // current poses
     double solve_pnp(const std::vector<cv::Point3f>& p3d,
                      const std::vector<cv::Point2f>& p2d, const cv::Mat& cam_matrix,
                      const cv::Mat& dist, cv::Mat& r_io, cv::Mat& t_io);
   };
   class ARUCO_EXPORT MarkerMapPoseTracker
   {
   public:
     MarkerMapPoseTracker();
     // Sets the parameters required for operation
     // If the msconf has data expressed in meters, then the markerSize parameter is not
     // required. If it is in
     // pixels, the markersize will be used to
     // transform to meters
     // Throws exception if wrong configuraiton
     void setParams(const CameraParameters& cam_params, const MarkerMap& msconf,
                    float markerSize = -1);
     // indicates if the call to setParams has been successfull and this object is ready to
     // call estimatePose
     bool isValid() const
     {
       return _isValid;
     }
   
     // resets current state
     void reset()
     {
       _isValid = false;
       _rvec = cv::Mat();
       _tvec = cv::Mat();
     }
   
     // estimates camera pose wrt the markermap
     // returns true if pose has been obtained and false otherwise
     bool estimatePose(const std::vector<Marker>& v_m);
   
     // returns the 4x4 transform matrix. Returns an empty matrix if last call to
     // estimatePose returned false
     cv::Mat getRTMatrix() const;
     // return the rotation vector. Returns an empty matrix if last call to estimatePose
     // returned false
     const cv::Mat getRvec() const
     {
       return _rvec;
     }
     // return the translation vector. Returns an empty matrix if last call to estimatePose
     // returned false
     const cv::Mat getTvec() const
     {
       return _tvec;
     }
     // prevents from big jumps. If the difference between current and previous positions are
     // greater than the value indicated
     // assumes no good tracking and the pose will be set as null
     void setMaxTrackingDifference(float maxTranslation, float maxAngle)
     {
       _maxTranslation = maxTranslation;
       _maxAngle = maxAngle;
     }
   
     void setMinErrorRatio(float minErrorRatio)
     {
       aruco_minerrratio_valid = minErrorRatio;
     }
   
     double getInitialErr()
     {
       return _initial_err;
     }
   
   protected:
     cv::Mat _rvec, _tvec;  // current poses
     aruco::CameraParameters _cam_params;
     MarkerMap _msconf;
     std::map<int, Marker3DInfo> _map_mm;
     bool _isValid;
     cv::Mat relocalization(const std::vector<Marker>& v_m);
     float aruco_minerrratio_valid;           /*tau_e in paper*/
     std::map<uint32_t, cv::Mat> marker_m2g;  // for each marker, the transform from the
                                              // global ref system to the marker ref system
     float _maxTranslation = -1, _maxAngle = -1;
     double _initial_err;
   };
   };  // namespace aruco
   
   #endif