FiducialTracker.h

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#pragma once

#include <ARToolKitPlus/TrackerSingleMarker.h>
#include <vector>
#include <QQueue>
#include <QMap>

#include "Tracker.h"
#include "Camera.h"

using ARToolKitPlus::TrackerSingleMarker;

struct ARToolKitConfig{
    float patternWidth;     
    bool useBCH;            
    int maxNumPatterns;     
    int threshold;          
};

struct Marker{
    int id;             
    bool tracked;       
    float confidence;   
    QMatrix4x4 pose;    
};

struct MarkerSet{
    QString name;                           
    QMap<int, QMatrix4x4> markers;          
    bool tracked;                           
    Similarity pose;                        
    QQueue<Similarity> stabilisationQueue;  
    cv::KalmanFilter KF;                    
    int timeSinceLastTrack;                 
};



class FiducialTracker :
    public Tracker
    
{
    Q_OBJECT

public:
    FiducialTracker(Camera* cam, ARToolKitConfig artkc, FilterConfig filterConfig, 
                    QString originMarkerSet, bool objectTracker);
    ~FiducialTracker(void);


    void setCamera(Camera *cam);                                            
    void addMarkerToSet(QString setName, int markerId, QMatrix4x4 offset);  
    void addSubscription(int trackableId, QString markerSetName);           
    bool isObjectTracker(){return objectTracker;}                           
    Similarity getOrigin(){return markerSets[originMarkerSet].pose;}        
    Camera* getCamera(){return cam;}                                        
    bool isTracked(int trackableId);                            
    Similarity getPose(int trackableId);                        
    QString getMarkerSetName(int trackableId);                  
protected:
    //members
    TrackerSingleMarker *tracker;               
    Camera* cam;                                
    volatile bool newFrame;                     
    QMap<int, Marker> markers;                  
    QMap<QString, MarkerSet> markerSets;        
    QMap<int, QString> subscriptions;           
    const QString originMarkerSet;              
    bool originLocked;              
    bool objectTracker;             
    //functions
    void update();                  
public slots:
    void notifyNewFrame();                  
    void lockOrigin(int state);             
    void enableKalman(int enable);          
signals:
    void newNumDetectedMarkers(int num);    
};