MarkerGridDetector.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/MarkerGridDetector.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/Configurable.h>
#include <ICLUtils/Array2D.h>
#include <ICLUtils/ParamList.h>
#include <ICLMarkers/FiducialDetector.h>

namespace icl{
  namespace markers{


          class ICLMarkers_API MarkerGridDetector : public utils::Configurable{
      struct Data;   
      Data *m_data;  

      int getPos(int id);

      public:

        class ICLMarkers_API GridDefinition{
        std::map<int,utils::Point> posLUT; 
        utils::Size numCells;              
        std::vector<int> ids;              
        std::string markerType;            

        public:
        // empty constructor
        GridDefinition();

        GridDefinition(const utils::Size &numCells,
                       const std::vector<int> &markerIDs=std::vector<int>(),
                       const std::string &markerType="bch") ;


        utils::Point getPos(int id) const;

        int getIndex(int id) const;

        int getWidth() const;

        int getHeight() const;

        int getDim() const;

        const utils::Size &getSize() const;

        const std::string &getMarkerType() const;

        const std::vector<int> &getMarkerIDs() const;
      };


      MarkerGridDetector();


      MarkerGridDetector(const GridDefinition &gridDef,
                         const utils::ParamList &extraParams=utils::ParamList("size","1x1"));

      ~MarkerGridDetector();


      void init(const GridDefinition &gridDef,
                const utils::ParamList &extraParams=utils::ParamList("size","1x1"));

      const GridDefinition &getGridDefinition() const;

      typedef utils::Array2D<Fiducial> Result;


      const Result &detect(const core::ImgBase *image) ;

      bool isNull() const;

      FiducialDetector *getFiducialDetector();
    };
  }
}