MultiMarker.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 MULTIMARKER_H
#define MULTIMARKER_H

#include "Alvar.h"
#include "Rotation.h"
#include "MarkerDetector.h"
#include "Camera.h"
#include "Filter.h"
#include "FileFormat.h"
#include <tf/LinearMath/Vector3.h>
#include <Eigen/StdVector>

namespace alvar {

class ALVAR_EXPORT MultiMarker {


private:

        bool SaveXML(const char* fname);
        bool SaveText(const char* fname);
        bool LoadText(const char* fname);
        bool LoadXML(const char* fname);

public:
    // The marker information is stored in all three tables using 
        // the indices-order given in constructor. 
        // One idea is that the same 'pointcloud' could contain feature 
        // points after marker-corner-points. This way they would be
        // optimized simultaneously with marker corners...
        std::map<int, CvPoint3D64f> pointcloud;
        std::vector<int> marker_indices; // The marker id's to be used in marker field (first being the base)
        std::vector<int> marker_status;  // 0: not in point cloud, 1: in point cloud, 2: used in GetPose()
    std::vector< std::vector<tf::Vector3> > rel_corners; //The coords of the master marker relative to each child marker in marker_indices

        int pointcloud_index(int marker_id, int marker_corner, bool add_if_missing=false);
        int get_id_index(int id, bool add_if_missing=false);

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

        int _SetTrackMarkers(MarkerDetectorImpl &marker_detector, Camera* cam, Pose& pose, IplImage *image);
        int master_id;  //The id of the first marker specified in the XML file 


        virtual void Reset();

        bool Save(const char* fname, FILE_FORMAT format = FILE_FORMAT_DEFAULT);

        bool Load(const char* fname, FILE_FORMAT format = FILE_FORMAT_DEFAULT);

        MultiMarker(std::vector<int>& indices);

        MultiMarker() {}

        template <class M>
        double GetPose(const std::vector<M, Eigen::aligned_allocator<M> >* markers, Camera* cam, Pose& pose, IplImage* image = 0)
        {
                MarkerIteratorImpl<M> begin(markers->begin());
                MarkerIteratorImpl<M> end(markers->end());
                return _GetPose(begin, end,
                                                cam, pose, image);
        }

        template <class M>
        double Update(const std::vector<M, Eigen::aligned_allocator<M> >* markers, Camera* cam, Pose& pose, IplImage* image = 0)
        {
                if(markers->size() < 1) return -1.0;

                return GetPose(markers, cam, pose, image);
        }

        void PointCloudReset();

        void PointCloudCorners3d(double edge_length, Pose &pose, CvPoint3D64f corners[4]);

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

        void PointCloudCopy(const MultiMarker *m);

        bool PointCloudIsEmpty() {
                return pointcloud.empty();
        }

        size_t Size() {
                return marker_indices.size();
        }

        void PointCloudGet(int marker_id, int point,
        double &x, double &y, double &z);

        bool IsValidMarker(int marker_id);

        std::vector<int> getIndices(){
                return marker_indices;
        }

        int getMasterId(){
                return master_id;
        }

        template <class M>
        int SetTrackMarkers(MarkerDetector<M> &marker_detector, Camera* cam, Pose& pose, IplImage *image=0) {
    return _SetTrackMarkers(marker_detector, cam, pose, image);
        }
};

} // namespace alvar

#endif