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Diffstat (limited to 'ftnoir_tracker_aruco/include/board.h')
| -rw-r--r-- | ftnoir_tracker_aruco/include/board.h | 168 |
1 files changed, 168 insertions, 0 deletions
diff --git a/ftnoir_tracker_aruco/include/board.h b/ftnoir_tracker_aruco/include/board.h new file mode 100644 index 00000000..c1d79292 --- /dev/null +++ b/ftnoir_tracker_aruco/include/board.h @@ -0,0 +1,168 @@ +/***************************** +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 |