ArFaceMarker.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
 
-----------------------------------------------------------------------------
*/
 
/*
 Toolkit based on OpenCV library
 First version : dec 2010
 Author : Bastien BOURINEAU
*/
 
#ifndef __BTK_FACEMARKER_H__
#define __BTK_FACEMARKER_H__
 
#include "Prerequisites.h"
#include <vector>
#include <iostream>
#include "opencv2/features2d/features2d.hpp"
#include "cameraparameters.h"
#include "marker.h"
#include "ArFeaturedMarker.h"
 
typedef struct model_struct FLANDMARK_Model;
 
class ArFaceMarker : public ArFeaturedMarker
{
public:
  std::vector<cv::Point2f> m_lastCorner;
 
  ArFaceMarker(unsigned int mid, float size);
 
  ~ArFaceMarker();
 
  //void calculateFeaturedExtrinsics(float markerSize, aruco::CameraParameters& camParams, bool setYPerpendicular=true);
 
  void SetImage(const cv::Mat image, std::vector<cv::Rect> objRects);
 
  bool detectMotionFlow(cv::Mat &frame);
 
  bool IsInitialized();
 
  void Update(cv::Mat frame, cv::Mat color, aruco::CameraParameters& camparam, bool reverse);
private:
  unsigned int m_maxFeatures;
  bool m_bInitialized;
  cv::Rect m_ObjRect;
  cv::Mat m_prevFrame;
  std::vector<cv::Point2f> m_pcorners;
  std::vector<cv::Point2f> m_ObjPoints;
  std::vector<bool> m_lastFoundPoints;
  unsigned int m_nbInitFrames;
  unsigned int m_initFrames;
  unsigned int m_minInliners;
  FilterDoubleExponential3f m_PosSmoothers;
 
  bool GetCorners(std::vector<cv::Point2f> trainPoints, std::vector<cv::Point2f> framePoints);
  cv::Point3f UnProjectPoint(cv::Point2f pt, cv::Point2f offset, float width, float height, float radius);
};
 
#endif