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diff --git a/ftnoir_tracker_aruco/include/board.h b/ftnoir_tracker_aruco/include/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
-ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-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/opencv.hpp>
-#include <string>
-#include <vector>
-#include "exports.h"
-#include "marker.h"
-using namespace std;
-namespace aruco {
-/**
- * 3d representation of a marker
- */
-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
-};
-
-/**\brief This class defines a board with several markers.
- * A Board contains several markers so that they are more robustly detected.
- *
- * In general, a board is a set of markers. So BoardConfiguration is only a list
- * of the id of the markers along with the position of their corners.
- *
- * The position of the corners can be specified either in pixels (in a non-specific size) or in meters.
- * The first is the typical case in which you generate the image of  board  and the print it. Since you do not know in advance the real
- * size of the markers, their corners are specified in pixels, and then, the translation to meters can be made once you know the real size.
- *
- * On the other hand, you may want to have the information of your boards in meters. The BoardConfiguration allows you to do so.
- *
- * The point is in the mInfoType variable. It can be either PIX or METERS according to your needs.
- *
-*/
-
-
-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(const BoardConfiguration  &T);
-
-    /**
-    */
-    BoardConfiguration & operator=(const BoardConfiguration  &T);
-    /**Saves the board info to a file
-    */
-    void saveToFile(string sfile)throw (cv::Exception);
-    /**Reads board info from a file
-    */
-    void readFromFile(string sfile)throw (cv::Exception);
-    /**Indicates if the corners are expressed in meters
-     */
-    bool isExpressedInMeters()const {
-        return mInfoType==METERS;
-    }
-    /**Indicates if the corners are expressed in meters
-     */
-    bool isExpressedInPixels()const {
-        return mInfoType==PIX;
-    }
-    /**Returns the index of the marker with id indicated, if is in the list
-     */
-    int getIndexOfMarkerId(int id)const;
-    /**Returns the Info of the marker with id specified. If not in the set, throws exception
-     */
-    const MarkerInfo& getMarkerInfo(int id)const throw (cv::Exception);
-    /**Set in the list passed the set of the ids 
-     */
-    void getIdList(vector<int> &ids,bool append=true)const;
-private:
-    /**Saves the board info to a file
-    */
-    void saveToFile(cv::FileStorage &fs)throw (cv::Exception);
-    /**Reads board info from a file
-    */
-    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;
-    }
-
-    /**Given the extrinsic camera parameters returns the GL_MODELVIEW matrix for opengl.
-    * Setting this matrix, the reference corrdinate system will be set in this board
-     */
-    void glGetModelViewMatrix(double modelview_matrix[16])throw(cv::Exception);
-
-    /**
-     * Returns position vector and orientation quaternion for an Ogre scene node or entity.
-     * 	Use:
-     * ...
-     * Ogre::Vector3 ogrePos (position[0], position[1], position[2]);
-     * Ogre::Quaternion  ogreOrient (orientation[0], orientation[1], orientation[2], orientation[3]);
-     * mySceneNode->setPosition( ogrePos  );
-     * mySceneNode->setOrientation( ogreOrient  );
-     * ...
-     */
-    void OgreGetPoseParameters(  double position[3], double orientation[4] )throw(cv::Exception);
-
-
-    /**Save this from a file
-     */
-    void saveToFile(string filePath)throw(cv::Exception);
-    /**Read  this from a file
-     */
-    void readFromFile(string filePath)throw(cv::Exception);
-
-};
-}
-
-#endif