posetracker.h

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/*****************************
Copyright 2016 Rafael Muñoz Salinas. All rights reserved.

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      of conditions and the following disclaimer in the documentation and/or other materials
      provided with the distribution.

THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
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********************************/
#ifndef ARUCO_POSETRACKER
#define ARUCO_POSETRACKER
#include "exports.h"
#include <opencv2/core/core.hpp>
#include "marker.h"
#include "markermap.h"
#include "cameraparameters.h"
#include <map>
namespace aruco{

class ARUCO_EXPORTS MarkerPoseTracker{
  public:
    bool estimatePose(  Marker &m,const  CameraParameters &cam_params,float markerSize,float minErrorRatio=4);

    //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_EXPORTS 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)throw(cv::Exception);
    //indicates if the call to setParams has been successfull and this object is ready to call estimatePose
    bool isValid()const{return _isValid;}
    //estimates camera pose wrt the markermap
    //returns true if pose has been obtained and false otherwise
    bool estimatePose(const  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;}
private:

    cv::Mat _rvec,_tvec;//current poses
    aruco::CameraParameters _cam_params;
    MarkerMap _msconf;
    std::map<int,Marker3DInfo> _map_mm;
    bool _isValid;
};

};

#endif