ArManager.h

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/*
-----------------------------------------------------------------------------
This source file is part of OpenSpace3D
For the latest info, see http://www.openspace3d.com
 
Copyright (c) 2012 I-maginer
 
This program 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 of the License, or (at your option) any later
version.
 
This program 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 program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA, or go to
http://www.gnu.org/copyleft/lesser.txt
 
-----------------------------------------------------------------------------
*/
 
#ifndef __BTK_ARMANAGER_H__
#define __BTK_ARMANAGER_H__
 
#include "Prerequisites.h"
#include <aruco.h>
#include <set>
#include "ArMarker.h"
#include "ArCameraParam.h"
#include "ArDetector.h"
#include "ArFeaturedDetector.h"
#include "ArFaceDetector.h"
#include "ArBlobDetector.h"
#include "ArTkDetector.h"
#ifdef HAVE_BTSLAM
#include "sSlam.h"
#endif
#include "BitmapToolkitThread.h"
 
class ArManager
{
  public:
          typedef std::set<ArMarker*> MarkerList;
    
        public:
    boost::shared_mutex updateMutex;
    boost::shared_mutex listMutex;
    MarkerList markerList;
 
        protected:
 
        private:
                static ArManager* _singleton;
    ArDetector* detector;
 
#ifdef HAVE_BTSLAM
    Sslam* slamdetector;
#endif
    ArTkDetector* tkdetector;
    ArFeaturedDetector* fdetector;
    ArFaceDetector* facedetector;
    std::vector<ArBlobDetector*> bdetectorList;
    LASTDATA lastData;
 
        public:
                static ArManager* GetInstance();
                static void Kill();
                void UpdateMarkers(cv::Mat image, ArCameraParam* arCameraParam, bool reversedBitmap = false, bool debugDraw = false);
                ArMarker* AddMarker(int index, float size);
    ArMarker* AddMarker(std::string path, float size, unsigned int maxFeatures = 600);
    ArMarker* AddMarker(cv::Mat tpl, float size, unsigned int maxFeatures = 600);
    ArMarker* AddObjMarker(const std::string path, float size, unsigned int maxFeatures = 600);
    ArMarker* AddFaceMarker(float size);
 
#ifdef HAVE_BTSLAM
    void EnableSlamDetector(bool state);
    void SetSlamDetectorParams(int nbp, int nbimp, int minf, int maxf);
 
    Vector3 GetSlamCameraPostition();
    BtQuaternion GetSlamCameraOrientation();
    bool IsSlamFound();
    void ResetSlamDetector();
#endif
    ArBlobDetector* AddBlobDetector(cv::SimpleBlobDetector::Params params);
    void RemoveBlobDetector(ArBlobDetector* detector);
 
                void RemoveMarker(ArMarker* marker);
    void GetLastData(LASTDATA &data);
    void updateFiducialMarkers(std::vector<aruco::Marker> detectedMarkers, LASTDATA lastd);
    void SetNFTdetectorDirty();
 
    /*
    void UseNaturalFeatureDetection(bool state);
    ArNaturalFeatureDetector* GetNaturalFeatureDetector();
    */
        protected:
                ~ArManager();
 
        private:
                ArManager();
    unsigned int CalcNewID();
};
 
#endif