MultiMarkerInitializer.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 MULTIMARKERINITIALIZER_H
#define MULTIMARKERINITIALIZER_H

#include "MultiMarker.h"
#include <Eigen/StdVector>

namespace alvar {

class ALVAR_EXPORT MultiMarkerInitializer : public MultiMarker
{
public:
        class MarkerMeasurement : public Marker {
                long _id;
        public:
                MarkerMeasurement() : globalPose(false) {}
                bool globalPose;
                unsigned long GetId() const { return _id; }
                void SetId(unsigned long _id) { this->_id = _id; }
    };

protected:
        std::vector<bool> marker_detected;
        std::vector<std::vector<MarkerMeasurement, Eigen::aligned_allocator<MarkerMeasurement> > > measurements;
        typedef std::vector<std::vector<MarkerMeasurement, Eigen::aligned_allocator<MarkerMeasurement> > >::iterator MeasurementIterator;
        FilterMedian *pointcloud_filtered;
        int filter_buffer_min;

        bool updateMarkerPoses(std::vector<MarkerMeasurement, Eigen::aligned_allocator<MarkerMeasurement> > &markers, const Pose &pose);
        void MeasurementsAdd(MarkerIterator &begin, MarkerIterator &end);

public:
        MultiMarkerInitializer(std::vector<int>& indices, int filter_buffer_min = 4, int filter_buffer_max = 15);
        ~MultiMarkerInitializer();

        template <class M>
        void MeasurementsAdd(const std::vector<M, Eigen::aligned_allocator<M> > *markers) {
            MarkerIteratorImpl<M> begin(markers->begin());
            MarkerIteratorImpl<M> end(markers->end());
        MeasurementsAdd(begin, end);
        }

        void MeasurementsReset();

        int Initialize(Camera* cam);

        int getMeasurementCount() { return measurements.size(); }

        const std::vector<MarkerMeasurement, Eigen::aligned_allocator<MarkerMeasurement> >& getMeasurementMarkers(int measurement) {
                return measurements[measurement];
        }

        double getMeasurementPose(int measurement, Camera *cam, Pose &pose) {
                MarkerIteratorImpl<MarkerMeasurement> m_begin(measurements[measurement].begin());
                MarkerIteratorImpl<MarkerMeasurement> m_end(measurements[measurement].end());
                return _GetPose(m_begin, m_end, cam, pose, NULL);
        }
};

} // namespace alvar

#endif