MarkerSet.h

#pragma once
 
#include "MarkerPattern.h"
 
#include <memory>
#include <unordered_map>
#include <vector>
 
#include <opencv2/aruco.hpp>
#include <opencv2/core.hpp>
 
namespace AR {

class MarkerSet {
private:
    cv::Ptr<cv::aruco::Dictionary> dict;
    std::vector<MarkerPattern> markers;
    float physical_size;
    uint8_t data_region_size;
    uint8_t border_size;
    std::unordered_map<int, int> id_mappings;
    std::unordered_map<int, int> reverse_mappings;
    void init(uint8_t data_region_size, uint8_t border_size, float physical_size,
              cv::Ptr<cv::aruco::Dictionary> markerDict);
 
public:
    MarkerSet(uint8_t data_region_size, uint8_t border_size, float physical_size,
              cv::aruco::Dictionary markerDict);
    MarkerSet(uint8_t data_region_size, uint8_t border_size, float physical_size,
              cv::Ptr<cv::aruco::Dictionary> markerDictPtr);
    void addIDMapping(int id, int mapping);
    int getIDMapping(int id) const;
    template <class IDMapping_t> IDMapping_t getIDMappingCast(int id) const {
        return static_cast<IDMapping_t>(this->getIDMapping(id));
    }

    cv::Ptr<cv::aruco::Dictionary> getDict() const;
    uint8_t getDataRegionSize() const;
    uint8_t getBorderSize() const;
    float getPhysicalSize() const;
    std::vector<MarkerPattern> getMarkers() const;
    bool getMarkerByID(int id, MarkerPattern& out) const;
    bool getMarkerByMappedID(int mapped_id, MarkerPattern& out) const;
    bool isIDMapped(int id) const;
    int& operator[](int id);
};
 
namespace Markers {
enum URCMarkerName {
    START,
    POST1,
    POST2,
    POST3,
    GATEL,
    GATER
};

enum CIRCMarkerName { CIRCMarker1, CIRCMarker2 };

const std::shared_ptr<MarkerSet> URC_MARKERS();

const std::shared_ptr<MarkerSet> CIRC_MARKERS();
 
} // namespace Markers
} // namespace AR