CscDetectorEngineArucoToObjects.h

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//
//  CscDetectorEngineArucoToObjects.hpp
//  ConscienceRobotManager
//
//  Created by Ilies Zaoui on 15/02/2021.
//  Copyright © 2021 Conscience Robotics. All rights reserved.
//
 
#ifndef CscDetectorEngineArucoToObjects_h
#define CscDetectorEngineArucoToObjects_h
 
#include "CoreObjects/CscEntityModel.h"
#include "CoreObjects/CscWorldObject.h"
#include "DetectorEngine/CscDetectorEngine.h"
#include "Util/conscience_log.h"
#include <ctime>
#include <opencv2/aruco.hpp>
#include <opencv2/opencv.hpp>
 
#include <vector>
 
using std::string;
using std::vector;
 
namespace conscience_core::detector_engine {
 
    class CscDetectorEngineArucoToObjects : public CscDetectorEngine {
    public:
        inline static const string ADDITIONAL_PARAM_OFFSET_TOP = "offsetTop";
        inline static const string ADDITIONAL_PARAM_OFFSET_RIGHT = "offsetRight";
        inline static const string ADDITIONAL_PARAM_LOCATE_IN_SCENE = "locateInSimulator";
 
        CscDetectorEngineArucoToObjects(const map<int, int> &association, const ptr<cv::aruco::DetectorParameters> parameters, cv::Mat camMatrix, cv::Mat distCoeffs, float markerLength = 0.226, const vector<const CscLocationTag*>& arucoLocations = vector<const CscLocationTag*>(), double angleCamera = 0.0);
 
        // find the camera focal
        ptr<DetectionResult> detectOnImage(
            const DetectorSourceImage &image, ptr<DetectionParameters> parameters) override;
 
        virtual bool equals(CscDetectorEngine *) const override;
        
        const vector<const CscLocationTag*>& getArucoTags() const;
        double getAngleCamera() const;
    private:
        unique_ptr<CscLogger> logger = nullptr;
 
        mutex detectionMutex;
 
        cv::Mat markerImage;
        map<int, int> association;
        const vector<const CscLocationTag*> arucoLocations;
        double angleCamera = 0.0;
        
        float markerLength; // .266m Corresponds to the length of an aruco printed on a A3 paper (landscape orientation)
 
        cv::Ptr<cv::aruco::DetectorParameters> parameters;
        cv::Mat camMatrix, distCoeffs;
        cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
 
        const bool drawRejected = false;
 
        cv::Mat getPreparedImage(cv::Mat &image);
    };
}
 
#endif /* CscDetectorEngineArucoToObjects_hpp */