MultiCamFiducial.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/MultiCamFiducial.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 <ICLMarkers/FiducialDetector.h>
#include <ICLGeom/GeomDefs.h>

namespace icl{
  namespace markers{
    
    struct MultiCamFiducialImpl;


    class MultiCamFiducial{
      MultiCamFiducialImpl *impl; 
      
        public:
      MultiCamFiducial(MultiCamFiducialImpl *impl=0):impl(impl){}
      
      bool isNull() const { return !impl; }
      

      int getCamsFound() const;
      

      Fiducial operator[](int idx);
      
      const Fiducial operator[](int idx) const;
      

      geom::Camera &getCamera(int idx);
      
      const geom::Camera &getCamera(int idx) const;
      
      int getID() const;
      

      const math::FixedColVector<float,3> &getCenter3D() const;
      

      const math::FixedColVector<float,3> &getOrientation3D() const;
      

      const geom::Mat &getPose3D() const;
    };
  
  } // namespace markers
}