MarkerDetector.h

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/*
Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * 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.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "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
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*/

#ifndef CORELIB_INCLUDE_RTABMAP_CORE_MARKERDETECTOR_H_
#define CORELIB_INCLUDE_RTABMAP_CORE_MARKERDETECTOR_H_

#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/CameraModel.h>
#include <opencv2/opencv_modules.hpp>

#ifdef HAVE_OPENCV_ARUCO
#include <opencv2/aruco.hpp>
#endif

namespace rtabmap {

typedef std::map<int, Transform> MapIdPose;

class MarkerInfo {
public:
    MarkerInfo(int id, float length, Transform pose) :
        id_(id),
        length_(length),
        pose_(pose)
    {}
    int id() const {return id_;}
    float length() const {return length_;}
    const Transform & pose() const {return pose_;}
private:
    int id_;
    float length_;
    Transform pose_;
};

class RTABMAP_EXP MarkerDetector {
    
public:
        MarkerDetector(const ParametersMap & parameters = ParametersMap());
        virtual ~MarkerDetector();
        void parseParameters(const ParametersMap & parameters);

    RTABMAP_DEPRECATED(
    MapIdPose detect(const cv::Mat & image,
                        const CameraModel & model,
                        const cv::Mat & depth = cv::Mat(),
                        float * estimatedMarkerLength = 0,
                        cv::Mat * imageWithDetections = 0), "Use the other detect(), in which the returned map contains the length of each marker detected.");

    std::map<int, MarkerInfo> detect(const cv::Mat & image,
                    const std::vector<CameraModel> & models,
                    const cv::Mat & depth = cv::Mat(),
                    const std::map<int, float> & markerLengths = std::map<int, float>(),
                    cv::Mat * imageWithDetections = 0);

    std::map<int, MarkerInfo> detect(const cv::Mat & image,
                    const CameraModel & model,
                    const cv::Mat & depth = cv::Mat(),
                    const std::map<int, float> & markerLengths = std::map<int, float>(),
                    cv::Mat * imageWithDetections = 0);

private:
#ifdef HAVE_OPENCV_ARUCO
        cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
        float markerLength_;
        float maxDepthError_;
        float maxRange_;
        float minRange_;
        int dictionaryId_;
        cv::Ptr<cv::aruco::Dictionary> dictionary_;
#endif
};

} /* namespace rtabmap */

#endif /* CORELIB_INCLUDE_RTABMAP_CORE_MARKERDETECTOR_H_ */