marker.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
      conditions and the following disclaimer.

   2. Redistributions in binary form must reproduce the above copyright notice, this list
      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
FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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The views and conclusions contained in the software and documentation are those of the
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or implied, of Rafael Muñoz Salinas.
********************************/
#ifndef _Aruco_Marker_H
#define _Aruco_Marker_H
#include "exports.h"
#include <vector>
#include <iostream>
#include <cstdint>
#include <opencv2/core/core.hpp>
#include "cameraparameters.h"
using namespace std;
namespace aruco {
class ARUCO_EXPORTS Marker : public std::vector< cv::Point2f > {
  public:
    // id of  the marker
    int id;
    // size of the markers sides in meters
    float ssize;
    // matrices of rotation and translation respect to the camera
    cv::Mat Rvec, Tvec;

    Marker();
    Marker(int id);
    Marker(const Marker &M);
    Marker(const std::vector< cv::Point2f > &corners, int _id = -1);
    ~Marker() {}
    bool isValid() const { return id != -1 && size() == 4; }

    void draw(cv::Mat &in, cv::Scalar color, int lineWidth = 1, bool writeId = true) const;

    void calculateExtrinsics(float markerSize, const CameraParameters &CP, bool setYPerpendicular = true) throw(cv::Exception);
    void calculateExtrinsics(float markerSize, cv::Mat CameraMatrix, cv::Mat Distorsion = cv::Mat(), bool setYPerpendicular = true) throw(cv::Exception);

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

    void OgreGetPoseParameters(double position[3], double orientation[4]) throw(cv::Exception);

    cv::Point2f getCenter() const;
    float getPerimeter() const;
    float getArea() const;
    bool operator==(const Marker &m)const{return m.id==id;}
    friend bool operator<(const Marker &M1, const Marker &M2) { return M1.id < M2.id; }
    friend ostream &operator<<(ostream &str, const Marker &M) {
        str << M.id << "=";
        for (int i = 0; i < 4; i++)
            str << "(" << M[i].x << "," << M[i].y << ") ";
        str << "Txyz=";
        for (int i = 0; i < 3; i++)
            str << M.Tvec.ptr< float >(0)[i] << " ";
        str << "Rxyz=";
        for (int i = 0; i < 3; i++)
            str << M.Rvec.ptr< float >(0)[i] << " ";

        return str;
    }


    //saves to a binary stream
    void toStream(ostream &str)const;
    //reads from a binary stream
    void fromStream(istream &str);

    //returns the 3d points of a marker wrt its center
    static vector<cv::Point3f> get3DPoints(float msize);
  private:
    void rotateXAxis(cv::Mat &rotation);
};
}
#endif