boarddetector.h

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/*****************************
Copyright 2011 Rafael Muñoz Salinas. All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are
permitted provided that the following conditions are met:

   1. Redistributions of source code must retain the above copyright notice, this list of
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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_BoardDetector_H
#define _Aruco_BoardDetector_H
#include <opencv2/core/core.hpp>
#include "exports.h"
#include "board.h"
#include "cameraparameters.h"
#include "markerdetector.h"
using namespace std;

namespace aruco {

class ARUCO_EXPORTS BoardDetector {
  public:
    BoardDetector(bool setYPerpendicular = false);


    void setParams(const BoardConfiguration &bc, const CameraParameters &cp, float markerSizeMeters = -1);
    void setParams(const BoardConfiguration &bc);
    float detect(const cv::Mat &im) throw(cv::Exception);
    Board &getDetectedBoard() { return _boardDetected; }
    MarkerDetector &getMarkerDetector() { return _mdetector; }
    vector< Marker > &getDetectedMarkers() { return _vmarkers; }


    // ALTERNATIVE DETECTION METHOD, BASED ON MARKERS PREVIOUSLY DETECTED

    float detect(const vector< Marker > &detectedMarkers, const BoardConfiguration &BConf, Board &Bdetected, cv::Mat camMatrix = cv::Mat(),
                 cv::Mat distCoeff = cv::Mat(), float markerSizeMeters = -1) throw(cv::Exception);
    float detect(const vector< Marker > &detectedMarkers, const BoardConfiguration &BConf, Board &Bdetected, const CameraParameters &cp,
                 float markerSizeMeters = -1) throw(cv::Exception);

    static Board detect(const cv::Mat &Image, const BoardConfiguration &bc, const CameraParameters &cp, float markerSizeMeters = -1);

    void setYPerpendicular(bool enable) { _setYPerpendicular = enable; }
    void setYPerperdicular(bool enable) { setYPerpendicular(enable); } // TODO mark as deprecated
    bool isYPerpendicular() { return _setYPerpendicular; }

    void set_repj_err_thres(float Repj_err_thres) { repj_err_thres = Repj_err_thres; }
    float get_repj_err_thres() const { return repj_err_thres; }


  private:
    void rotateXAxis(cv::Mat &rotation);
    bool _setYPerpendicular;

    //-- Functionality to detect markers inside
    bool _areParamsSet;
    BoardConfiguration _bconf;
    Board _boardDetected;
    float _markerSize, repj_err_thres;
    CameraParameters _camParams;
    MarkerDetector _mdetector; // internal markerdetector
    vector< Marker > _vmarkers; // markers detected in the call to : float  detect(const cv::Mat &im);
};
};
#endif