artoolkitplus.h

/* -- 2007-05-07 -- 
 *  ardev - an augmented reality library for robot developers
 *  Copyright 2005-2007 - Toby Collett (ardev _at_ plan9.net.nz)
 *
 *  This library is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 *
 *  This library is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 *  Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public
 *  License along with this library; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 
 *
 */
#ifndef ARTOOKITPLUS_H
#define ARTOOKITPLUS_H

#include <ardev/ardevconfig.h>
#ifdef HAVE_ARTOOLKITPLUS

#include <ARToolKitPlus/ar.h>
#include <ARToolKitPlus/Logger.h>
#include <ardev/ardev.h>

#include <map>

namespace ARToolKitPlus
{
        class Camera;
        class TrackerSingleMarker;
}

struct intlt
{
        public: bool operator () (const int & lhs, const int &rhs)
        {
                return lhs < rhs;
        };
};

class MyLogger : public ARToolKitPlus::Logger
{
    void artLog(const char* nStr)
    {
        printf(nStr);
    }
};


class ARToolKitPlusPreProcess : public FrameProcessObject
{
        public:
                ARToolKitPlusPreProcess(CameraObject & Camera);
        
                void ProcessFrame(const ARImage & frame);
                
                int AddPattern(int id, double Height=0);
                void RemovePattern(int id);

                bool GetMarkerPos(int id, ARPosition &result);
        
        private:
                ARToolKitPlus::Camera * DummyCam;
                unsigned int lastFrameWidth;            //< last width of a frame, used to scale calibration data
                unsigned int lastFrameHeight;           //< last height of a frame, used to scale calibration data
                int minfocnt;                           //< number of minfo structures returned last time
                ARToolKitPlus::ARMarkerInfo *tmp_markers;               //< the information about the found markers
                ARCamera camera;                                //< the camera

                bool            useBCH;
                MyLogger      logger;
                ARToolKitPlus::TrackerSingleMarker *tracker;
                ARImage GrayImage;
                
                std::map<int,double,intlt> MarkerHeights; //< A map of the marker Heights

};

class ARToolKitPlusPosition : public PositionObject
{
        public:
                ARToolKitPlusPosition(ARToolKitPlusPreProcess & pre,int ID,double Height) : Pre(pre) 
                {
                        DroppedFrames = 0;
                        MarkerID = Pre.AddPattern(ID, Height);
                }; 
                ~ARToolKitPlusPosition()
                {
                        Pre.RemovePattern(MarkerID);
                }; 
        
                virtual ARPosition GetPosition();

                virtual bool Present();
        
        protected:
                ARToolKitPlusPreProcess & Pre;
                unsigned int MarkerID;
                ARPosition lastGoodPosition;
                int DroppedFrames;
};

#endif
#endif

---

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