ARTrackable.h

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/*
 *  ARTrackable.h
 *  artoolkitX
 *
 *  This file is part of artoolkitX.
 *
 *  artoolkitX 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 3 of the License, or
 *  (at your option) any later version.
 *
 *  artoolkitX 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 artoolkitX.  If not, see <http://www.gnu.org/licenses/>.
 *
 *  As a special exception, the copyright holders of this library give you
 *  permission to link this library with independent modules to produce an
 *  executable, regardless of the license terms of these independent modules, and to
 *  copy and distribute the resulting executable under terms of your choice,
 *  provided that you also meet, for each linked independent module, the terms and
 *  conditions of the license of that module. An independent module is a module
 *  which is neither derived from nor based on this library. If you modify this
 *  library, you may extend this exception to your version of the library, but you
 *  are not obligated to do so. If you do not wish to do so, delete this exception
 *  statement from your version.
 *
 *  Copyright 2018 Realmax, Inc.
 *  Copyright 2015 Daqri, LLC.
 *  Copyright 2010-2015 ARToolworks, Inc.
 *
 *  Author(s): Julian Looser, Philip Lamb
 *
 */
 
#ifndef ARTRACKABLE_H
#define ARTRACKABLE_H
 
#include <ARX/AR/ar.h>
#include <ARX/AR/arFilterTransMat.h>
 
#include <vector>
#include <utility>
#include <atomic>
 
#ifdef ARDOUBLE_IS_FLOAT
#  define _0_0 0.0f
#  define _1_0 1.0f
#else
#  define _0_0 0.0
#  define _1_0 1.0
#endif
 
class ARController; // Forward declaration of owner.
 
class ARTrackable {
    
private:
    ARFilterTransMatInfo *m_ftmi;
    ARdouble   m_filterCutoffFrequency;
    ARdouble   m_filterSampleRate;
 
protected:
    ARdouble trans[3][4];                   
 
    ARdouble m_positionScaleFactor;
 
    static std::atomic<int> nextUID;
 
public:
 
    enum TrackableType {
        SINGLE,                             
        MULTI,                              
        NFT,                                
        TwoD,                               
        MULTI_AUTO                          
    };
 
    int UID;                                
    static const int NO_ID = -1;            
    TrackableType type;                     
    
    // Inputs from subclasses.
    bool visiblePrev;                       
    bool visible;                           
    
    // Output.
    ARdouble transformationMatrix[16];      
    ARdouble transformationMatrixR[16];     
    
    ARTrackable(TrackableType type);
    
    ARTrackable(const ARTrackable&) = delete; 
    ARTrackable& operator=(const ARTrackable&) = delete; 
 
    virtual ~ARTrackable();
    
    void setPositionScalefactor(ARdouble scale);
    ARdouble positionScalefactor();
    
    virtual bool update(const ARdouble transL2R[3][4] = NULL);
 
 
    virtual int getPatternCount() = 0;
    virtual std::pair<float, float> getPatternSize(int patternIndex) = 0;
    virtual std::pair<int, int> getPatternImageSize(int patternIndex, AR_MATRIX_CODE_TYPE matrixCodeType) = 0;
    virtual bool getPatternTransform(int patternIndex, ARdouble T[16]) = 0;
    virtual bool getPatternImage(int patternIndex, uint32_t *pattImageBuffer, AR_MATRIX_CODE_TYPE matrixCodeType) = 0;
 
    // Filter control.
    void setFiltered(bool flag);
    bool isFiltered();
    ARdouble filterSampleRate();
    void setFilterSampleRate(ARdouble rate);
    ARdouble filterCutoffFrequency();
    void setFilterCutoffFrequency(ARdouble freq);
 
};
 
 
#endif // !ARTRACKABLE_H