markermap.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
authors and should not be interpreted as representing official policies, either expressed
or implied, of Rafael Muñoz Salinas.
********************************/
#ifndef _Aruco_MarkerMap_h
#define _Aruco_MarkerMap_h
#include <opencv2/core/core.hpp>
#include <string>
#include <vector>
#include "exports.h"
#include "marker.h"
using namespace std;
namespace aruco {
struct ARUCO_EXPORTS Marker3DInfo : public vector< cv::Point3f > {
    Marker3DInfo() {}
    Marker3DInfo(int _id) { id = _id; }
    bool operator==(const Marker3DInfo &MI) {return id==MI.id;}
    int id; // maker id

    //returns the distance of the marker side
    float getMarkerSize()const{return cv::norm(at(0)-at(1));}
public:
    void toStream(std::ostream &str){str<<id<<" "<<size()<<" ";for(size_t i=0;i<size();i++) str<<at(i).x<<" "<<at(i).y<<" "<<at(i).z<<" ";}
    void fromStream(std::istream &str){int s;str>>id>>s;resize(s);for(size_t i=0;i<size();i++) str>>at(i).x>>at(i).y>>at(i).z;}

};

class ARUCO_EXPORTS MarkerMap : public vector< Marker3DInfo > {


public:

    MarkerMap();

    MarkerMap(string filePath) throw(cv::Exception);

    bool isExpressedInMeters() const { return mInfoType == METERS; }
    bool isExpressedInPixels() const { return mInfoType == PIX; }
    MarkerMap convertToMeters( float markerSize)throw (cv::Exception);
    //simple way of knowing which elements detected in an image are from this markermap
    //returns the indices of the elements in the vector 'markers' that belong to this set
    //Example: The set has the elements with ids 10,21,31,41,92
    //The input vector has the markers with ids 10,88,9,12,41
    //function returns {0,4}, because element 0 (10) of the vector belongs to the set, and also element 4 (41) belongs to the set
    std::vector<int> getIndices(vector<aruco::Marker> &markers);

    const Marker3DInfo &getMarker3DInfo(int id) const throw(cv::Exception);

    int getIndexOfMarkerId(int id) const;
    void getIdList(vector< int > &ids, bool append = true) const;


    cv::Mat getImage(float METER2PIX=0)const throw (cv::Exception);


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



    //calculates the camera location w.r.t. the map using the information provided
    //returns the <rvec,tvec>
    pair<cv::Mat,cv::Mat> calculateExtrinsics(const std::vector<aruco::Marker> &markers ,float markerSize, cv::Mat CameraMatrix, cv::Mat Distorsion   ) throw(cv::Exception);

    //returns string indicating the dictionary
    std::string getDictionary()const{return dictionary;}


    enum Marker3DInfoType {
        NONE = -1,
        PIX = 0,
        METERS = 1
    }; // indicates if the data in MakersInfo is expressed in meters or in pixels so as to do conversion internally
    //returns string indicating the dictionary
    void setDictionary(std::string  d){dictionary=d;}


    // variable indicates if the data in MakersInfo is expressed in meters or in pixels so as to do conversion internally
    int mInfoType;
private:
    //dictionary it belongs to (if any)
    std::string dictionary;


private:
    void saveToFile(cv::FileStorage &fs) throw(cv::Exception);
    void readFromFile(cv::FileStorage &fs) throw(cv::Exception);
public:
    void toStream(std::ostream &str);
    void fromStream(std::istream &str);
};

}

#endif