MultiCamFiducialImpl.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/MultiCamFiducialImpl.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 <ICLMarkers/Fiducial.h>
#include <ICLGeom/Camera.h>

namespace icl{
  namespace markers{


    struct ICLMarkers_API MultiCamFiducialImpl{
      int id;                              
      int numFound;                        
      std::vector<Fiducial> fids;          
      std::vector<geom::Camera*> cams;           
      math::FixedColVector<float,3> center;      
      math::FixedColVector<float,3> orientation; 
      geom::Mat pose;                            
      bool haveCenter;      
      bool haveOrientation; 
      bool havePose;        

      MultiCamFiducialImpl();

      MultiCamFiducialImpl(int id,
                           const std::vector<Fiducial> &fids,
                           const std::vector<geom::Camera*> cams);


      void init(int id);

      const math::FixedColVector<float,3> &estimateCenter3D();

      const geom::Mat &estimatePose3D();

      const math::FixedColVector<float,3> &estimateOrientation3D();
    };

  } // namespace markers
}