Fiducial.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/Fiducial.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 <bitset>

#include <ICLUtils/Point32f.h>
#include <ICLGeom/GeomDefs.h>
#include <ICLCV/ImageRegion.h>

namespace icl{
  namespace markers{
    
    struct FiducialImpl;
    struct FiducialDetectorPlugin;


    class Fiducial{
      FiducialImpl *impl;
      
      public:
      
      

      enum Feature{
        Center2D,     
        Rotation2D,   
        Corners2D,    
        KeyPoints2D,  
        ImageRegion,  
        Center3D,     
        Rotation3D,   
        Pose3D,       
        FeatureCount  
      };
      

      typedef std::bitset<(int)FeatureCount> FeatureSet;
  
      static const FeatureSet AllFeatures;
      

      struct KeyPoint{
        inline KeyPoint(){}
        
        inline KeyPoint(const utils::Point32f &imagePos, const utils::Point32f &markerPos, int ID):
        imagePos(imagePos),markerPos(markerPos),ID(ID){}
  
        utils::Point32f imagePos;  
        utils::Point32f markerPos; 
        int ID;             
      };
      
      inline Fiducial(FiducialImpl *impl=0):impl(impl){}
  
      int getID() const;
      
      std::string getName() const;
      
      bool supports(Feature f) const;
      
      const utils::Point32f &getCenter2D() const;
      
      const float &getRotation2D() const;
      
      const std::vector<utils::Point32f> &getCorners2D() const;
  
      const std::vector<KeyPoint> &getKeyPoints2D() const;
  
      const cv::ImageRegion getImageRegion() const;
  
      const geom::Vec &getCenter3D() const;
      
      const geom::Vec &getRotation3D() const;
      
      const geom::Mat &getPose3D() const;    
  
      inline operator bool() const { return impl; }
  
      inline bool operator!() const { return isNull(); }
  
      inline bool isNull() const { return !impl; }
  
      inline bool operator==(const Fiducial &a) const { return impl == a.impl; }
  
      inline bool operator!=(const Fiducial &a) const{ return impl != a.impl; }
      
      inline FiducialImpl *getImpl() { return impl; }
  
      inline const FiducialImpl *getImpl() const { return impl; }
      
      FiducialDetectorPlugin *getDetector();
  
      const FiducialDetectorPlugin *getDetector() const;
    };
    
    
    inline Fiducial::FeatureSet operator|(Fiducial::FeatureSet s, Fiducial::Feature f){
      s.set(f); return s;
    }
  
    inline Fiducial::FeatureSet operator|(Fiducial::Feature f, Fiducial::FeatureSet s){
      return s|f;
    }
  
    inline Fiducial::FeatureSet operator|(Fiducial::Feature f1, Fiducial::Feature f2){
      Fiducial::FeatureSet s; s.reset(); s.set(f1); s.set(f2); return s;
    }
  } // namespace markers
}