board.h

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#ifndef _Aruco_board_h
#define _Aruco_board_h
#include <opencv/cv.h>
#include <string>
#include <vector>
#include "marker.h"
using namespace std;
namespace aruco{
class BoardConfiguration
{
public:
    cv::Mat _markersId;// grid of marker ids. Represent the matrix of (integers) markers in the board
    int _markerSizePix, _markerDistancePix;//size in pixels of the marker side and the distance between markers

    BoardConfiguration();

    BoardConfiguration(const BoardConfiguration  &T);

    void saveToFile(string sfile)throw (cv::Exception);
    void readFromFile(string sfile)throw (cv::Exception);

};

class Board:public vector<Marker>
{
public:
    BoardConfiguration conf;
    //matrices of rotation and translation respect to the camera
    cv::Mat Rvec,Tvec;
    float markerSizeMeters;
    Board()
    {
        Rvec.create(3,1,CV_32FC1);
        Tvec.create(3,1,CV_32FC1);
        for (int i=0;i<3;i++)
            Tvec.at<float>(i,0)=Rvec.at<float>(i,0)=-999999;
        markerSizeMeters=-1;
    }

    void glGetModelViewMatrix(double modelview_matrix[16])throw(cv::Exception);

    static cv::Mat createBoardImage( cv::Size  gridSize,int MarkerSize,int MarkerDistance,unsigned int FirstMarkerID, BoardConfiguration& TInfo  ) throw (cv::Exception);


};
}

#endif