ArucoPoseTracker.hh

 
#ifndef GRAMODS_TRACK_ARUCOPOSETRACKER
#define GRAMODS_TRACK_ARUCOPOSETRACKER
 
#include <gmTrack/config.hh>
 
#ifdef gramods_ENABLE_OpenCV_objdetect
 
#include <gmCore/OFactory.hh>
#include <gmCore/Updateable.hh>
 
#include <gmTrack/MultiPoseTracker.hh>
 
#include <gmTrack/ArucoBoard.hh>
#include <gmTrack/OpenCvVideoCapture.hh>
 
BEGIN_NAMESPACE_GMTRACK;
 
class ArucoPoseTracker
  : public MultiPoseTracker,
    public gmCore::Updateable {
 
public:
 
  ArucoPoseTracker();
 
  void update(gmCore::Updateable::clock::time_point time, size_t frame);
 
  //void setCornerRefineMethod(std::string m);
  //void setCornerRefineMethod(cv::aruco::CornerRefineMethod m);
  //void setDetectorParameters(cv::aruco::DetectorParameters params);
  //void setDetectorParametersFile(std::string file);
  //void setCameraParameters(cv::InputArray cameraMatrix cameraMatrix, cv::InputArray distCoeffs);
  //void setCameraParametersFile(std::string file);
 
  void addArucoBoard(std::shared_ptr<ArucoBoard> board);
 
  void setVideoSource(std::shared_ptr<OpenCvVideoCapture> vs);
 
  void setInverted(bool on);
 
  void setShowDebug(bool on);
 
  void setRefindMarkers(bool on);
 
  void setCameraConfigurationFile(std::filesystem::path file);
 
  bool getPose(std::map<int, PoseSample> &p) override;
 
  void traverse(Visitor *visitor) override;
 
  GM_OFI_DECLARE;
 
private:
 
  struct Impl;
  std::unique_ptr<Impl> _impl;
};
 
END_NAMESPACE_GMTRACK;
 
#endif
 
#endif