First commit.

desktop/jni/marker.hpp

@@ -0,0 +1,67 @@
+#ifndef MARKER_HPP
+#define MARKER_HPP
+
+#include <vector>
+
+#include <opencv2/opencv.hpp>
+
+namespace nxtar{
+
+    /**
+     * Termination criteria for OpenCV's iterative algorithms.
+     */
+    const cv::TermCriteria TERM_CRITERIA = cv::TermCriteria(CV_TERMCRIT_EPS +
+                                                            CV_TERMCRIT_ITER,
+                                                            30,
+                                                            0.1);
+
+    class Marker;
+
+    typedef std::vector<cv::Point2f>             points_vector;
+    typedef std::vector<cv::Point3f>             points_vector_3D;
+    typedef std::vector<std::vector<cv::Point> > contours_vector;
+    typedef std::vector<Marker>                  markers_vector;
+
+    class Marker{
+        public:
+            ~Marker();
+            points_vector points;
+            cv::Mat       translation;
+            cv::Mat       rotation;
+            int code;
+    };
+
+    /**
+     * Detect all 5x5 markers in the input image and return their codes in the
+     * output vector. 
+     */
+    void getAllMarkers(markers_vector &, cv::Mat &);
+
+    /**
+     * Find a chessboard calibration pattern in the input image. Returns true
+     * if the pattern was found, false otherwise. The calibration points
+     * detected on the image are saved in the output vector.
+     */
+    bool findCalibrationPattern(points_vector &, cv::Mat &);
+
+    /**
+     * Sets the camera matrix and the distortion coefficients for the camera
+     * that captured the input image points into the output matrices. Returns
+     * the reprojection error as returned by cv::calibrateCamera.
+     */
+    double getCameraParameters(cv::Mat &,
+                               cv::Mat &,
+                               std::vector<points_vector> &,
+                               cv::Size);
+
+    /**
+     * Obtains the necesary geometric transformations necessary to move a reference
+     * unitary polygon to the position and rotation of the markers passed as input.
+     * The obtained transformations are given relative to a camera centered in the
+     * origin and are saved inside the input markers.
+     */
+    void estimateMarkerPosition(markers_vector &, cv::Mat &, cv::Mat &);
+
+}
+
+#endif