board.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
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
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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_board_h
#define _Aruco_board_h
#include <opencv2/core/core.hpp>
#include <string>
#include <vector>
#include "exports.h"
#include "marker.h"
using namespace std;
namespace aruco {
struct ARUCO_EXPORTS MarkerInfo : public vector< cv::Point3f > {
    MarkerInfo() {}
    MarkerInfo(int _id) { id = _id; }
    MarkerInfo(const MarkerInfo &MI) : vector< cv::Point3f >(MI) { id = MI.id; }
    MarkerInfo &operator=(const MarkerInfo &MI) {
        vector< cv::Point3f >::operator=(MI);
        id = MI.id;
        return *this;
    }
    int id; // maker id
};

class ARUCO_EXPORTS BoardConfiguration : public vector< MarkerInfo > {
    friend class Board;

  public:
    enum MarkerInfoType {
        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
    // variable indicates if the data in MakersInfo is expressed in meters or in pixels so as to do conversion internally
    int mInfoType;
    BoardConfiguration();
    BoardConfiguration(string filePath) throw(cv::Exception);

    BoardConfiguration(const BoardConfiguration &T);

    BoardConfiguration &operator=(const BoardConfiguration &T);
    void saveToFile(string sfile) throw(cv::Exception);
    void readFromFile(string sfile) throw(cv::Exception);
    bool isExpressedInMeters() const { return mInfoType == METERS; }
    bool isExpressedInPixels() const { return mInfoType == PIX; }
    int getIndexOfMarkerId(int id) const;
    const MarkerInfo &getMarkerInfo(int id) const throw(cv::Exception);
    void getIdList(vector< int > &ids, bool append = true) const;

  private:
    void saveToFile(cv::FileStorage &fs) throw(cv::Exception);
    void readFromFile(cv::FileStorage &fs) throw(cv::Exception);
};

class ARUCO_EXPORTS Board : public vector< Marker > {

  public:
    BoardConfiguration conf;
    // matrices of rotation and translation respect to the camera
    cv::Mat Rvec, Tvec;
    Board() {
        Rvec.create(3, 1, CV_32FC1);
        Tvec.create(3, 1, CV_32FC1);
        for (int i = 0; i < 3; i++)
            Tvec.at< float >(i, 0) = Rvec.at< float >(i, 0) = -999999;
    }

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

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


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

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

#endif