FiducialDetectorPlugin.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLMarkers/src/ICLMarkers/FiducialDetectorPlugin.h     **
** Module : ICLMarkers                                             **
** Authors: Christof Elbrechter                                    **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.GPL  **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLUtils/Any.h>
#include <ICLUtils/Configurable.h>
#include <ICLUtils/ParamList.h>

#include <ICLCore/Img.h>

#include <ICLGeom/Camera.h>
#include <ICLGeom/CoplanarPointPoseEstimator.h>

#include <ICLMarkers/FiducialImpl.h>

namespace icl{
  namespace markers{
    
    struct FiducialDetectorPlugin : public utils::Configurable{

      geom::Camera *camera;
  
      geom::CoplanarPointPoseEstimator poseEst;
          
      
      FiducialDetectorPlugin();
      
      virtual ~FiducialDetectorPlugin() {}
      

      virtual void getCenter2D(utils::Point32f &dst, FiducialImpl &impl);
      
      virtual void getRotation2D(float &dst, FiducialImpl &impl);
      

      virtual void getCorners2D(std::vector<utils::Point32f> &dst, FiducialImpl &impl);
      

      virtual void getKeyPoints2D(std::vector<Fiducial::KeyPoint> &dst, FiducialImpl &impl);
  

      virtual void getCenter3D(geom::Vec &dst, FiducialImpl &impl);
  

      virtual void getRotation3D(geom::Vec &dst, FiducialImpl &impl);
  

      virtual void getPose3D(geom::Mat &dst, FiducialImpl &impl);
      
      enum SourceImageType{
        Binary,  
        Gray,    
        Color    
      };
      
      virtual SourceImageType getPreProcessing() const { 
        return Binary;
      }
  
      virtual void getFeatures(Fiducial::FeatureSet &dst)=0;
      
      virtual void detect(std::vector<FiducialImpl*> &dst, const core::Img8u &image)=0;
      
      virtual void addOrRemoveMarkers(bool add, const utils::Any &which, const utils::ParamList &params)=0;
  

      virtual std::string getName(const FiducialImpl *impl);
      

      virtual std::string getIntermediateImageNames() const{ return ""; }
      

      virtual const core::ImgBase *getIntermediateImage(const std::string &name) const throw (utils::ICLException){
        throw utils::ICLException("FiducialDetectorPlugin: no intermediate image is associated with givne name '" + name + "'");
        return 0;
      }
      

      static std::vector<int> parse_list_str(const utils::Any &s);
      
      virtual core::Img8u createMarker(const utils::Any&,const utils::Size &, const utils::ParamList &){
        throw utils::ICLException("FiducialDetectorPlugin::createMarker seems to be not implemented for this marker type");
        return core::Img8u();
      }
  
    };
    
  } // namespace markers
}