Added marker pose estimation. Not tested yet.

jni/marker.hpp

@@ -22,20 +22,30 @@
 
 namespace nxtar{
 
-typedef std::vector<cv::Point2f> points_vector;
+class Marker;
 
+typedef std::vector<cv::Point2f> points_vector;
+typedef std::vector<Marker>      markers_vector;
+
+/**
+ * A class representing a marker with the geometric transformations needed to
+ * render something on top of it.
+ */
 class Marker{
 public:
 	~Marker();
+
+	int           code;
 	points_vector points;
-	int code;
+	cv::Mat       translation;
+	cv::Mat       rotation;
 };
 
 /**
  * Detect all 5x5 markers in the input image and return their codes in the
  * output vector.
  */
-void getAllMarkers(std::vector<int> &, cv::Mat &);
+void getAllMarkers(markers_vector &, cv::Mat &);
 
 /**
  * Find a chessboard calibration pattern in the input image. Returns true
@@ -51,6 +61,14 @@ bool findCalibrationPattern(points_vector &, cv::Mat &);
  */
 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 &);
+
 } // namespace nxtar
 
 #endif // MARKER_HPP