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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, 0 insertions, 168 deletions
diff --git a/ftnoir_tracker_aruco/include/board.h b/ftnoir_tracker_aruco/include/board.h deleted file mode 100644 index ec7dd43f..00000000 --- a/ftnoir_tracker_aruco/include/board.h +++ /dev/null @@ -1,168 +0,0 @@ -/***************************** -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" -namespace aruco { -using namespace std; -/** - * 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 |