ArMarker.h

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/*
-----------------------------------------------------------------------------
This source file is part of OpenSpace3D
For the latest info, see http://www.openspace3d.com
 
Copyright (c) 2012 I-maginer
 
This program 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 of the License, or (at your option) any later
version.
 
This program 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
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA, or go to
http://www.gnu.org/copyleft/lesser.txt
 
-----------------------------------------------------------------------------
*/
 
#ifndef __BTK_ARMARKER_H__
#define __BTK_ARMARKER_H__
 
#include <aruco.h>
#include "Prerequisites.h"
#include "BitmapToolkitThread.h"
#include "ArDetector.h"
 
 
//keep for now, most of used shared_mutex and some other are C++17 only
#include <boost/thread/thread.hpp>
 
class ArMarker : public aruco::Marker
{
public:
  enum MarkerType
  {
    AR_ARUCO_MARKER = 0,
    AR_FFT_MARKER = 1,
    AR_FACE_MARKER = 2,
    AR_ARTK_FFT_MARKER = 3
  };
protected:
  boost::mutex markerMutex;
  boost::mutex killMutex;
  boost::mutex m_thread_lock;
  Vector3 m_pos;
  Vector3 m_pixel_pos;
  BtQuaternion m_orientation;
  bool m_visible;
  bool m_needUpdate;
  float m_size;
  bool m_bUpdating;
private:
  //cv::Mat m_lastFrame;
  //cv::Mat m_lastColor;
  
  aruco::CameraParameters m_lastCamParam;
  bool m_lastReverse;
  MarkerType m_type;
 
public :
        /* Constructor with assigned value */
  ArMarker(unsigned int nid, float markerSize = -1, MarkerType type = AR_ARUCO_MARKER);
  //ArMarker(std::string path, unsigned int id, float markerSize=-1, bool border = false, unsigned int maxFeatures = 600);
        //ArMarker(cv::Mat image, unsigned int id, float markerSize=-1, bool border = false, unsigned int maxFeatures = 600);
  //ArMarker(const std::string path, unsigned int id, float markerSize=-1, unsigned int maxFeatures = 600);
  //ArMarker(unsigned int id, float markerSize, int type);
 
  /* Destructor */
        virtual ~ArMarker();
 
        /* Create bitmap with marker's id */
        cv::Mat GetMarkerBitmap(int size);
 
        void SetPosition(Vector3 pos);
  //void SetCorners(std::vector<cv::Point2d> cor);
  void SetPixelPosition(Vector3 pixelpos);
        void SetOrientation(BtQuaternion orientation);
  void Draw(cv::Mat image);
  void SetCoords(std::vector<cv::Point2f> coords);
 
        Vector3 GetPosition();
  Vector3 GetPixelPosition();
        BtQuaternion GetOrientation();
  std::vector<cv::Point2f> GetCorners();
 
  void SetSize(float size);
  float GetSize();
 
        unsigned int GetID();
  MarkerType GetType();
 
        void SetVisible(bool visible);
        bool IsVisible();
 
        /* Detect marker's position in picture */
        void Update(ArCameraParam& camparam, aruco::Marker& marker, bool reverse);
 
  //void Update(cv::Mat frame, cv::Mat color, aruco::CameraParameters& camparam, bool reverse);
  //void Update(const cv::Mat &frameDescriptors, const std::vector<cv::KeyPoint> &frameKeypoints, aruco::CameraParameters& camparam, bool reverse);
  //void DetectFeaturedThread();
 
  //void SetImage(const cv::Mat image, cv::Rect objRect);
  //void SetImage(const cv::Mat image, std::vector<cv::Rect> objRects);
 
  //bool GetWarpedMarker(cv::Mat &image);
  void rotateXAxis(cv::Mat& rotation);
protected :
 
private :
        /* Default constructor */
        ArMarker();
};
 
#endif