Detector.h

#pragma once
 
#include "../camera/CameraParams.h"
#include "MarkerSet.h"
#include "Tag.h"
 
#include <memory>
#include <vector>
 
#include <opencv2/aruco.hpp>
#include <opencv2/core.hpp>
 
namespace AR {

class Detector {
private:
    std::shared_ptr<MarkerSet> marker_set_;
    cam::CameraParams camera_params_;
    cv::Ptr<cv::aruco::DetectorParameters> detector_params_;
    cv::Mat map1_, map2_;
    std::vector<Tag> _detectTagsImpl(const cv::Mat& input,
                                     std::vector<std::vector<cv::Point2f>>* rejected,
                                     bool undistort);
 
public:
    Detector();
    Detector(std::shared_ptr<MarkerSet> marker_set, cam::CameraParams camera_params,
             cv::Ptr<cv::aruco::DetectorParameters> detector_params =
                 cv::aruco::DetectorParameters::create());
    std::vector<Tag> detectTags(const cv::Mat& input,
                                std::vector<std::vector<cv::Point2f>>& rejected_points,
                                bool undistort = true);
    std::vector<Tag> detectTags(const cv::Mat& input, bool undistort = true);
    cv::aruco::DetectorParameters getDetectorParams();
    void setDetectorParams(cv::aruco::DetectorParameters params);
    bool empty() const;
};

 
} // namespace AR