ArucoGridBoard.hh

 
#ifndef GRAMODS_TRACK_ARUCOGRIDBOARD
#define GRAMODS_TRACK_ARUCOGRIDBOARD
 
#include <gmTrack/ArucoBoard.hh>
 
#ifdef gramods_ENABLE_OpenCV_objdetect
 
// Required before gmCore/OFactory.hh for some compilers
#include <gmCore/io_eigen.hh>
#include <gmCore/io_float.hh>
 
#include <gmCore/OFactory.hh>
 
#include <Eigen/Eigen>
 
BEGIN_NAMESPACE_GMTRACK;
 
class ArucoGridBoard : public ArucoBoard {
 
public:
 
  ArucoGridBoard();
 
  void setColumns(size_t N);
 
  void setRows(size_t N);
 
  void setMarkerSize(float s);
 
  void setMarkerSeparation(float s);
 
  void setFirstId(size_t id);
 
  void setDictionary(std::string dict);
 
  void setPosition(Eigen::Vector3f p);
 
  void setOrientation(Eigen::Quaternionf q);
 
  cv::Ptr<cv::aruco::Board> getBoard() override;
 
  GM_OFI_DECLARE;
 
private:
 
  struct Impl;
  std::unique_ptr<Impl> _impl;
};
 
END_NAMESPACE_GMTRACK;
 
#endif
#endif