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#pragma once
#include <cstdio>
#include <map>
#include <vector>
#include <set>
#include <ARToolKitPlus/TrackerMultiMarker.h>
#include <Ivy.h>
#include "Calibration.h"
#include "MinMaxAvg.h"
using ARToolKitPlus::TrackerMultiMarker;
#pragma comment (lib, "ARToolKitPlus.lib")
class MyMakerInfo
{
public:
int id;
ARFloat confidence;
ARFloat x;
ARFloat y;
int area;
int dir;
ARFloat prev_matrix[3][4];
int absent; // count of marker absence if > 10 ==> remove
double time;
};
class ARAnalyse
{
public:
ARAnalyse();
~ARAnalyse();
bool InitialiseTracker( int width, int height, int sample_size);
void Transform( unsigned char * cameraBuffer, int size, bool moyen );
void Analyse( double SampleTime, const unsigned char * cameraBuffer, int size );
bool Calibrate();
void SaveCalibration();
void RestoreCalibration();
bool IsCalibrationEnabled()
{
return m_calibration_enabled;
}
bool IsCalibrated()
{
return m_calibrated;
}
void IvyInit(const char *domain);
typedef std::map<int, MyMakerInfo> MarkersMap;
MarkersMap markers;
ARToolKitPlus::ARMarkerInfo getDetectedMarker(int i)
{
return m_tracker->getDetectedMarker(i);
}
const ARFloat* getModelViewMatrix() const
{
return m_tracker->getModelViewMatrix();
}
const ARFloat* getProjectionMatrix() const
{
return m_tracker->getProjectionMatrix();
}
bool ToggleAutoThreshold();
void setThreshold( int thr )
{
if ( ! m_tracker->isAutoThresholdActivated() )
m_tracker->setThreshold( thr );
}
int getThreshold()
{
return m_tracker->getThreshold();
}
bool IsCalibrationID( int id );
MinMaxAvg confidence;
MinMaxAvg frame_per_seconds;
MinMaxAvg frame_delay;
int DownSample;
int BlurPass;
typedef enum { GrayScale, Blur, Diff, Threshold, Moyen } DisplayType;
typedef enum { FMoyen, FLaplacien4, FLaplacien8, FLaplaciend, FSobel, FPrewitt, FGaussian } FilterType;
DisplayType Display;
FilterType filter;
protected:
// Ivy;
Ivy* bus;
char * camera;
// For calibration Process
std::set<int> m_calibration_ids;
std::map<int,Calibration::Corners> m_IdToCorner;
Calibration *m_calibration;
bool m_calibrated;
bool m_calibration_enabled;
bool first_calibration_done;
TrackerMultiMarker *m_tracker; // Manages ARToolkit tracker
int m_width, m_height; // image size
int nb_pixel;
typedef float pixel_type;
typedef float value_type;
pixel_type *m_gray;
pixel_type *m_blur0;
pixel_type *m_blur1;
pixel_type *m_filter_v;
pixel_type *m_filter_h;
// filtre moyen sur plusieurs images
void CalcMoyen();
void DisplayGrayScale(unsigned char * cameraBuffer, pixel_type * dest);
void DisplayBlur(unsigned char * cameraBuffer, pixel_type * dest);
void DisplayDiff(unsigned char * cameraBuffer, pixel_type * dest);
void DisplayThreshold(unsigned char * cameraBuffer, pixel_type * dest);
void DisplayMoyen(unsigned char * cameraBuffer, pixel_type * dest);
void Filter ( const float *k, int k_size, pixel_type *src, pixel_type *dst );
void CombineFilter ( pixel_type *src_h, pixel_type *src_v, pixel_type *dst );
float *m_sum;
pixel_type **m_images;
int m_first_image;
int m_last_image;
int nb_images;
long FrameCount;
double MarkerWidth;
ARToolKitPlus::MARKER_MODE MarkerType;
std::string CameraParameterFile;
std::string MarkerSetConfigFile;
std::string CalibrationFile;
double MarkerMoveThreshold;
int MarkerSeekingThreshold;
float MarkerBorderPercentage;
int MarkerAbsenceCount;
};
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