Tracker.h

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/* ========================================================================
* PROJECT: ARToolKitPlus
* ========================================================================
* This work is based on the original ARToolKit developed by
*   Hirokazu Kato
*   Mark Billinghurst
*   HITLab, University of Washington, Seattle
* http://www.hitl.washington.edu/artoolkit/
*
* Copyright of the derived and new portions of this work
*     (C) 2006 Graz University of Technology
*
* This framework is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This framework is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this framework; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*
* For further information please contact 
*   Dieter Schmalstieg
*   <schmalstieg@icg.tu-graz.ac.at>
*   Graz University of Technology, 
*   Institut for Computer Graphics and Vision,
*   Inffeldgasse 16a, 8010 Graz, Austria.
* ========================================================================
** @author   Daniel Wagner
*
* $Id: Tracker.h 172 2006-07-25 14:05:47Z daniel $
* @file
* ======================================================================== */


#ifndef __ARTOOLKIT_TRACKER_HEADERFILE__
#define __ARTOOLKIT_TRACKER_HEADERFILE__


#include <ARToolKitPlus/ARToolKitPlus.h>
#include <ARToolKitPlus/ar.h>
#include <ARToolKitPlus/arMulti.h>
#include <ARToolKitPlus/Logger.h>
#include <ARToolKitPlus/extra/Profiler.h>
#include <ARToolKitPlus/Camera.h>


namespace ARToolKitPlus {



class Tracker
{
public:
        virtual ~Tracker()
        {}

        virtual void cleanup() = 0;



        virtual bool setPixelFormat(PIXEL_FORMAT nFormat) = 0;



        virtual bool loadCameraFile(const char* nCamParamFile, ARFloat nNearClip, ARFloat nFarClip) = 0;



        virtual void setLoadUndistLUT(bool nSet) = 0;


        virtual void setLogger(ARToolKitPlus::Logger* nLogger) = 0;


        virtual int arDetectMarker(ARUint8 *dataPtr, int thresh, ARMarkerInfo **marker_info, int *marker_num) = 0;


        virtual int arDetectMarkerLite(ARUint8 *dataPtr, int thresh, ARMarkerInfo **marker_info, int *marker_num) = 0;


        virtual ARFloat arMultiGetTransMat(ARMarkerInfo *marker_info, int marker_num, ARMultiMarkerInfoT *config) = 0;
        virtual ARFloat arGetTransMat(ARMarkerInfo *marker_info, ARFloat center[2], ARFloat width, ARFloat conv[3][4]) = 0;

        virtual ARFloat arGetTransMatCont(ARMarkerInfo *marker_info, ARFloat prev_conv[3][4], ARFloat center[2], ARFloat width, ARFloat conv[3][4]) = 0;

        // RPP integration -- [t.pintaric]
        virtual ARFloat rppMultiGetTransMat(ARMarkerInfo *marker_info, int marker_num, ARMultiMarkerInfoT *config) = 0;
        virtual ARFloat rppGetTransMat(ARMarkerInfo *marker_info, ARFloat center[2], ARFloat width, ARFloat conv[3][4]) = 0;


        virtual int arLoadPatt(char *filename) = 0;


        virtual int arFreePatt(int patno) = 0;

        virtual int arMultiFreeConfig( ARMultiMarkerInfoT *config ) = 0;

        virtual ARMultiMarkerInfoT *arMultiReadConfigFile(const char *filename) = 0;


        virtual void activateBinaryMarker(int nThreshold) = 0;


        virtual void setMarkerMode(MARKER_MODE nMarkerMode) = 0;



        virtual void activateVignettingCompensation(bool nEnable, int nCorners=0, int nLeftRight=0, int nTopBottom=0) = 0;

        
        virtual void changeCameraSize(int nWidth, int nHeight) = 0;



        virtual void setUndistortionMode(UNDIST_MODE nMode) = 0;


        virtual bool setPoseEstimator(POSE_ESTIMATOR nMethod) = 0;


        virtual void setBorderWidth(ARFloat nFraction) = 0;


        virtual void setThreshold(int nValue) = 0;


        virtual int getThreshold() const = 0;


        virtual void activateAutoThreshold(bool nEnable) = 0;

        
        virtual bool isAutoThresholdActivated() const = 0;



        virtual void setNumAutoThresholdRetries(int nNumRetries) = 0;



        virtual void setImageProcessingMode(IMAGE_PROC_MODE nMode) = 0;


        virtual const ARFloat* getModelViewMatrix() const = 0;


        virtual const ARFloat* getProjectionMatrix() const = 0;


        virtual const char* getDescription() = 0;


        virtual PIXEL_FORMAT getPixelFormat() const = 0;


        virtual int getBitsPerPixel() const = 0;



        virtual int getNumLoadablePatterns() const = 0;


        virtual Camera* getCamera() = 0;


        virtual void setCamera(Camera* nCamera) = 0;


        virtual void setCamera(Camera* nCamera, ARFloat nNearClip, ARFloat nFarClip) = 0;


        virtual ARFloat calcOpenGLMatrixFromMarker(ARMarkerInfo* nMarkerInfo, ARFloat nPatternCenter[2], ARFloat nPatternSize, ARFloat *nOpenGLMatrix) = 0;


        virtual Profiler& getProfiler() = 0;


        virtual ARFloat executeSingleMarkerPoseEstimator(ARMarkerInfo *marker_info, ARFloat center[2], ARFloat width, ARFloat conv[3][4]) = 0;

        virtual ARFloat executeMultiMarkerPoseEstimator(ARMarkerInfo *marker_info, int marker_num, ARMultiMarkerInfoT *config) = 0;
};


}       // namespace ARToolKitPlus


#endif //__ARTOOLKIT_TRACKER_HEADERFILE__