MultiMarkerFiltered.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 MULTIMARKERFILTERED_H
#define MULTIMARKERFILTERED_H

#include "MultiMarker.h"

namespace alvar {

class ALVAR_EXPORT MultiMarkerFiltered : public MultiMarker
{
protected:
        static const int filter_buffer_max=15;
        FilterMedian *pointcloud_filtered;

        double _Update(MarkerIterator &begin, MarkerIterator &end, 
                 Camera* cam, Pose& pose, IplImage* image);

public:
        MultiMarkerFiltered(std::vector<int>& indices);

        ~MultiMarkerFiltered();

        void PointCloudAverage(int marker_id, double edge_length, Pose &pose);

        template <class M>
        double Update(const std::vector<M>* markers, Camera* cam, Pose& pose, IplImage* image = 0)
        {
                if(markers->size() < 1) return false;
                MarkerIteratorImpl<M> begin(markers->begin());
                MarkerIteratorImpl<M> end(markers->end());
    return _Update(begin, end, 
                   cam, pose, image);
        }

        void MeasurementsReset() {
                pointcloud_filtered->reset();
        }
};

} // namespace alvar

#endif