MarkerDetector.h

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/*
 * This file is part of ALVAR, A Library for Virtual and Augmented Reality.
 *
 * Copyright 2007-2012 VTT Technical Research Centre of Finland
 *
 * Contact: VTT Augmented Reality Team <alvar.info@vtt.fi>
 *          <http://www.vtt.fi/multimedia/alvar.html>
 *
 * ALVAR is free software; you can redistribute it and/or modify it under the
 * terms of the GNU Lesser General Public License as published by the Free
 * Software Foundation; either version 2.1 of the License, or (at your option)
 * any later version.
 *
 * This library 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 Lesser General Public License
 * for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with ALVAR; if not, see
 * <http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html>.
 */

#ifndef MARKER_DETECTOR_H
#define MARKER_DETECTOR_H

#include "Alvar.h"
#include "Util.h"
#include "ConnectedComponents.h"
#include "Draw.h"
#include "Camera.h"
#include "Marker.h"
#include "Rotation.h"
#include "Line.h"
#include <algorithm>
using std::rotate;
#include <list>
#include <vector>
#include <map>
#include <cassert>
#include <Eigen/StdVector>

namespace alvar {

class ALVAR_EXPORT MarkerDetectorImpl {
protected:
        virtual Marker* new_M(double _edge_length = 0, int _res = 0, double _margin = 0) = 0;
        virtual void _markers_clear() = 0;
        virtual void _markers_push_back(Marker *mn) = 0;
        virtual size_t _markers_size() = 0;
        virtual void _track_markers_clear() = 0;
        virtual void _track_markers_push_back(Marker *mn) = 0;
        virtual size_t _track_markers_size() = 0;
        virtual Marker* _track_markers_at(size_t i) = 0;
        virtual void _swap_marker_tables() = 0;

        Labeling* labeling;

        std::map<unsigned long, double> map_edge_length;
        double edge_length;
        int res;
        double margin;
        bool detect_pose_grayscale;

        MarkerDetectorImpl();
        virtual ~MarkerDetectorImpl();

public:
        void TrackMarkersReset();

        void TrackMarkerAdd(int id, PointDouble corners[4]);

        void SetMarkerSize(double _edge_length = 1, int _res = 5, double _margin = 2);

        void SetMarkerSizeForId(unsigned long id, double _edge_length = 1);

        void SetOptions(bool _detect_pose_grayscale=false);

        int Detect(IplImage *image,
                           Camera *cam,
                           bool track=false,
                           bool visualize=false,
                           double max_new_marker_error=0.08,
                           double max_track_error=0.2,
                           LabelingMethod labeling_method=CVSEQ,
                           bool update_pose=true);

        int DetectAdditional(IplImage *image, Camera *cam, bool visualize=false, double max_track_error=0.2);
};

template<class M>
class ALVAR_EXPORT MarkerDetector : public MarkerDetectorImpl
{
protected:
  Marker* new_M(double _edge_length = 0, int _res = 0, double _margin = 0) {
    return new M(_edge_length, _res, _margin);
  }

  void _markers_clear() { markers->clear(); }
  void _markers_push_back(Marker *mn) { markers->push_back(*((M*)mn)); }
  size_t _markers_size() { return markers->size(); }
  void _track_markers_clear() { track_markers->clear(); }
  void _track_markers_push_back(Marker *mn) { track_markers->push_back(*((M*)mn)); }
  size_t _track_markers_size() { return track_markers->size(); }
  Marker* _track_markers_at(size_t i) { return &track_markers->at(i); }

  void _swap_marker_tables() {
                std::vector<M, Eigen::aligned_allocator<M> > *tmp_markers = markers;
                markers = track_markers;
                track_markers = tmp_markers;
  }

public:

        std::vector<M, Eigen::aligned_allocator<M> > *markers;
        std::vector<M, Eigen::aligned_allocator<M> > *track_markers;

  MarkerDetector() : MarkerDetectorImpl() {
    markers = new std::vector<M, Eigen::aligned_allocator<M> >;
    track_markers = new std::vector<M, Eigen::aligned_allocator<M> >;
        }

        ~MarkerDetector() {
    delete markers;
    delete track_markers;
        }
};

} // namespace alvar

#endif