defining interfaces

common/conf.h

@@ -0,0 +1,7 @@
+#ifndef OCV_AR_CONF_H
+#define OCV_AR_CONF_H
+
+#define OCV_AR_CONF_PLATFORM_IOS
+//#define #define OCV_AR_CONF_PLATFORM_ANDROID
+
+#endif

common/detect.h

@@ -0,0 +1,63 @@
+#ifndef OCV_AR_DETECT_H
+#define OCV_AR_DETECT_H
+
+#include <set>
+
+#include "conf.h"
+#include "types.h"
+#include "marker.h"
+
+using namespace std;
+
+namespace ocv_ar {
+
+class Detect {
+public:
+
+    void setCamIntrinsics(cv::Mat &camIntrinsics);
+
+    void setFrameOutputLevel(FrameProcLevel level);
+
+    void setInputFrame(cv::Mat *frame);
+    cv::Mat *getOutputFrame() const { return outFrame; }
+
+    void processFrame();
+
+    set<Marker *> getMarkers() const { return markers; };
+
+private:
+    void preprocess();
+
+    void performThreshold();
+
+    void threshPostProc();
+
+    void findContours();
+
+    void findMarkerCandidates();
+
+    void checkMarkerCandidates();
+
+    void discardDuplicateMarkers();
+
+    void estimatePositions();
+
+    void setOutputFrameOnReqProcLevel(FrameProcLevel reqLvl, cv::Mat *srcFrame = NULL);
+
+    int readMarkerCode(cv::Mat &img, int *validRot);
+
+    bool checkMarkerCode(const cv::Mat &m, int dir) const;
+    int markerCodeToId(const cv::Mat &m, int dir) const;
+
+    void drawMarker(cv::Mat &img, const Marker &m);
+
+
+    cv::Mat *inFrame;
+    cv::Mat *outFrame;
+
+    set<Marker *> markers;
+};
+
+}
+
+#endif

common/marker.h

@@ -0,0 +1,60 @@
+#ifndef OCV_AR_MARKER_H
+#define OCV_AR_MARKER_H
+
+#include <vector>
+
+#include "conf.h"
+#include "marker.h"
+
+using namespace std;
+
+namespace ocv_ar {
+
+typedef vector<cv::Point> PointVec;
+typedef vector<cv::Point2f> Point2fVec;
+
+class Marker {
+public:
+    Marker(PointVec &pts);
+    Marker(Point2fVec &pts);
+
+    void setId(int newId) { id = newId; };
+    int getId() const { return id; };
+
+    Point2fVec getPoints() const { return points; };
+    void addPoint(cv::Point2f p) { points.push_back(p); };
+    void clearPoints() { points.clear(); };
+    void rotatePoints(int rot);
+
+    cv::Point2f getCentroid() const { return centroid; };
+    float getPerimeterRadius() const { return perimeterRad; };
+
+    const cv::Mat &getRVec() const { return rVec; };
+    const cv::Mat &getTVec() const { return tVec; };
+
+    void updatePoseMat(const cv::Mat &r, const cv::Mat &t);
+
+//    const glm::mat4 &getPoseMat() const { return poseMat; };
+//    const float *getPoseMatPtr() const { return poseMat.ptr<float>(); };
+
+    void sortPoints();
+    void calcShapeProperties();
+
+private:
+    void init();
+
+    int id;
+
+    Point2fVec points;
+
+    cv::Point2f centroid;
+    float perimeterRad;
+
+    cv::Mat rVec;
+    cv::Mat tVec;
+//    glm::mat4 poseMat;      // 4x4 matrix with model-view-transformation
+};
+
+}
+
+#endif

common/types.h

@@ -0,0 +1,9 @@
+#ifndef OCV_AR_TYPES_H
+#define OCV_AR_TYPES_H
+
+typedef enum _FrameProcLevel {
+    DEFAULT = -1,
+    PREPROC,
+} FrameProcLevel;
+
+#endif

ocv_ar.h

@@ -0,0 +1,7 @@
+#ifndef OCV_AR
+#define OCV_AR
+
+#include "common/conf.h"
+#include "common/detect.h"
+
+#endif