Image Component Library (ICL)
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines
FiducialDetectorPlugin.h
Go to the documentation of this file.
00001 /********************************************************************
00002 **                Image Component Library (ICL)                    **
00003 **                                                                 **
00004 ** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
00005 **                         Neuroinformatics Group                  **
00006 ** Website: www.iclcv.org and                                      **
00007 **          http://opensource.cit-ec.de/projects/icl               **
00008 **                                                                 **
00009 ** File   : ICLMarkers/src/ICLMarkers/FiducialDetectorPlugin.h     **
00010 ** Module : ICLMarkers                                             **
00011 ** Authors: Christof Elbrechter                                    **
00012 **                                                                 **
00013 **                                                                 **
00014 ** GNU LESSER GENERAL PUBLIC LICENSE                               **
00015 ** This file may be used under the terms of the GNU Lesser General **
00016 ** Public License version 3.0 as published by the                  **
00017 **                                                                 **
00018 ** Free Software Foundation and appearing in the file LICENSE.LGPL **
00019 ** included in the packaging of this file.  Please review the      **
00020 ** following information to ensure the license requirements will   **
00021 ** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
00022 **                                                                 **
00023 ** The development of this software was supported by the           **
00024 ** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
00025 ** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
00026 ** Forschungsgemeinschaft (DFG) in the context of the German       **
00027 ** Excellence Initiative.                                          **
00028 **                                                                 **
00029 ********************************************************************/
00030 
00031 #pragma once
00032 
00033 #include <ICLUtils/CompatMacros.h>
00034 #include <ICLUtils/Any.h>
00035 #include <ICLUtils/Configurable.h>
00036 #include <ICLUtils/ParamList.h>
00037 
00038 #include <ICLCore/Img.h>
00039 
00040 #include <ICLGeom/Camera.h>
00041 #include <ICLGeom/CoplanarPointPoseEstimator.h>
00042 
00043 #include <ICLMarkers/FiducialImpl.h>
00044 
00045 namespace icl{
00046   namespace markers{
00047     
00049     struct ICLMarkers_API FiducialDetectorPlugin : public utils::Configurable{
00051 
00053       geom::Camera *camera;
00054   
00056       geom::CoplanarPointPoseEstimator poseEst;
00057           
00058       
00060       FiducialDetectorPlugin();
00061       
00063       virtual ~FiducialDetectorPlugin() {}
00064       
00066 
00073       virtual void getCenter2D(utils::Point32f &dst, FiducialImpl &impl);
00074       
00076       virtual void getRotation2D(float &dst, FiducialImpl &impl);
00077       
00079 
00081       virtual void getCorners2D(std::vector<utils::Point32f> &dst, FiducialImpl &impl);
00082       
00084 
00087       virtual void getKeyPoints2D(std::vector<Fiducial::KeyPoint> &dst, FiducialImpl &impl);
00088   
00090 
00096       virtual void getCenter3D(geom::Vec &dst, FiducialImpl &impl);
00097   
00099 
00105       virtual void getRotation3D(geom::Vec &dst, FiducialImpl &impl);
00106   
00108 
00114       virtual void getPose3D(geom::Mat &dst, FiducialImpl &impl);
00115       
00117       enum SourceImageType{
00118         Binary,  
00119         Gray,    
00120         Color    
00121       };
00122       
00124       virtual SourceImageType getPreProcessing() const { 
00125         return Binary;
00126       }
00127   
00129       virtual void getFeatures(Fiducial::FeatureSet &dst)=0;
00130       
00132       virtual void detect(std::vector<FiducialImpl*> &dst, const core::Img8u &image)=0;
00133       
00135       virtual void addOrRemoveMarkers(bool add, const utils::Any &which, const utils::ParamList &params)=0;
00136   
00138 
00139       virtual std::string getName(const FiducialImpl *impl);
00140       
00142 
00145       virtual std::string getIntermediateImageNames() const{ return ""; }
00146       
00148 
00153       virtual const core::ImgBase *getIntermediateImage(const std::string &name) const throw (utils::ICLException){
00154         throw utils::ICLException("FiducialDetectorPlugin: no intermediate image is associated with givne name '" + name + "'");
00155         return 0;
00156       }
00157       
00159 
00160       static std::vector<int> parse_list_str(const utils::Any &s);
00161       
00163       virtual core::Img8u createMarker(const utils::Any&,const utils::Size &, const utils::ParamList &){
00164         throw utils::ICLException("FiducialDetectorPlugin::createMarker seems to be not implemented for this marker type");
00165         return core::Img8u();
00166       }
00167     };
00168     
00169   } // namespace markers
00170 }
00171 
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines