ARTrackableMultiSquareAuto.h

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/*
 *  ARTrackableMultiSquareAuto.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
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 *
 *  Copyright 2018 Eden Networks Ltd.
 *
 *  Author(s): Philip Lamb
 *
 */
 
#ifndef ARTRACKABLEMAP_H
#define ARTRACKABLEMAP_H
 
#include <ARX/ARTrackable.h>
#include <ARX/AR/arMulti.h>
#include <memory>
 
class ARTrackableMultiSquareAuto : public ARTrackable {
 
private:
    int m_OriginMarkerUid; // The UID of the barcode marker which defines the origin of the world coordinate system.
    ARdouble m_markerWidth;
    ARMultiMarkerInfoT *m_MultiConfig;
 
    // A holder for a struct which holds member variables which we don't want to appear to the header.
    std::unique_ptr<struct ARTrackableMapPrivateMembers> m_pm;
 
 
protected:
    
public:
    
    ARTrackableMultiSquareAuto();
    ~ARTrackableMultiSquareAuto();
    
    bool initWithOriginMarkerUID(int originMarkerUID, ARdouble markerWidth);
    
    // Tracking parameters.
    ARdouble m_ImageBorderZone = 0.2f; 
    bool m_robustFlag = true; 
    ARdouble m_maxErr = 4.0f; 
 
 
    bool updateWithDetectedMarkers(ARMarkerInfo* markerInfo, int markerNum, int videoWidth, int videoHeight, AR3DHandle *ar3DHandle);
 
    bool updateWithDetectedMarkersStereo(ARMarkerInfo* markerInfoL, int markerNumL, int videoWidthL, int videoHeightL, ARMarkerInfo* markerInfoR, int markerNumR, int videoWidthR, int videoHeightR, AR3DStereoHandle *handle, ARdouble transL2R[3][4]);
    
    ARMultiMarkerInfoT *copyMultiConfig();
 
    int getPatternCount() override;
    std::pair<float, float> getPatternSize(int patternIndex) override;
    std::pair<int, int> getPatternImageSize(int patternIndex, AR_MATRIX_CODE_TYPE matrixCodeType) override;
    bool getPatternTransform(int patternIndex, ARdouble T[16]) override;
    bool getPatternImage(int patternIndex, uint32_t *pattImageBuffer, AR_MATRIX_CODE_TYPE matrixCodeType) override;
};
 
 
#endif // !ARTRACKABLEMAP_H