FiducialImpl.h

Go to the documentation of this file.

/********************************************************************
**                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/FiducialImpl.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.LGPL **
** 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/CompatMacros.h>
#include <ICLUtils/Size32f.h>
#include <ICLMarkers/Fiducial.h>

#include <bitset>

namespace icl{
  namespace markers{


    struct ICLMarkers_API FiducialImpl{
      FiducialDetectorPlugin *parent;

      Fiducial::FeatureSet supported;

      Fiducial::FeatureSet computed;

      /*  The Fiduical ID can be used externally to distinguish between differnent
          Fiducial instances */
      int id;


      int index;


      utils::Size32f realSizeMM;

      cv::ImageRegion imageRegion;

      /* this pointer and its members <b>can</b> be instantiated by
          parent FiduicalDetectorImpl instance */
      struct Info2D{
        utils::Point32f infoCenter;
        float infoRotation;
        std::vector<utils::Point32f> infoCorners;
        std::vector<Fiducial::KeyPoint> infoKeyPoints;
      } *info2D;

      /* this pointer and its members <b>can</b> be instantiated by
          parent FiduicalDetectorImpl instance */
      struct Info3D{
        geom::Vec infoCenter;
        geom::Vec infoRotation;
        geom::Mat infoPose;
      } *info3D;

      inline FiducialImpl():supported(0),computed(0),id(-1),index(-1),info2D(0),info3D(0){}

      inline FiducialImpl(FiducialDetectorPlugin *parent,
                          Fiducial::FeatureSet supported,
                          Fiducial::FeatureSet computed,
                          int id, int index,
                          const utils::Size32f &realSizeMM):
        parent(parent),supported(supported),
        computed(computed),id(id),index(index),
        realSizeMM(realSizeMM),info2D(0),info3D(0){}

      FiducialImpl(const FiducialImpl &o);

      FiducialImpl &operator=(const FiducialImpl &o);

      inline ~FiducialImpl(){
        if(info2D) delete info2D;
        if(info3D) delete info3D;
      }

      inline Info2D *ensure2D(){
        if(!info2D) info2D = new Info2D;
        return info2D;
      }

      inline Info3D *ensure3D(){
        if(!info3D) info3D = new Info3D;
        return info3D;
      }

    };


  } // namespace markers
}