MultiMarkerBundle.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 MULTIMARKERBUNDLE_H
#define MULTIMARKERBUNDLE_H

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

namespace alvar {

class ALVAR_EXPORT MultiMarkerBundle : public MultiMarker
{
protected:
        int optimization_keyframes;
        int optimization_markers;
        double optimization_error;
        bool optimizing;
        std::vector<Pose> camera_poses; // Estimated camera pose for every frame
        std::map<int, PointDouble> measurements; //
        int measurements_index(int frame, int marker_id, int marker_corner) {
                // hop return (int) (frame*marker_indices.size()*4)+(marker_id*4)+marker_corner;
                return (int) (frame*marker_indices.size()*4)+(get_id_index(marker_id)*4)+marker_corner;
        }

        void _MeasurementsAdd(MarkerIterator &begin, MarkerIterator &end, const Pose& camera_pose);

public:

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

        ~MultiMarkerBundle();

        void MeasurementsReset();

        double GetOptimizationError() { return optimization_error; }
        int GetOptimizationKeyframes() { return optimization_keyframes; }
        int GetOptimizationMarkers() { return optimization_markers; }
        bool GetOptimizing() { return optimizing; }

        template <class M>
        void MeasurementsAdd(const std::vector<M, Eigen::aligned_allocator<M> > *markers, const Pose& camera_pose) {
            MarkerIteratorImpl<M> begin(markers->begin());
            MarkerIteratorImpl<M> end(markers->end());
        _MeasurementsAdd(begin, end,
                     camera_pose);
        }
                                                                                                                                                                                                                        //LEVENBERGMARQUARDT
        bool Optimize(Camera *_cam, double stop, int max_iter, Optimization::OptimizeMethod method = Optimization::TUKEY_LM); //TUKEY_LM
};

} // namespace alvar

#endif