ImageDescriber_APRILTAG.hpp

// This file is part of the AliceVision project.
// Copyright (c) 2016 AliceVision contributors.
// Copyright (c) 2012 openMVG contributors.
// This Source Code Form is subject to the terms of the Mozilla Public License,
// v. 2.0. If a copy of the MPL was not distributed with this file,
// You can obtain one at https://mozilla.org/MPL/2.0/.
 
#pragma once
 
#include <aliceVision/feature/imageDescriberCommon.hpp>
#include <aliceVision/feature/ImageDescriber.hpp>
#include <aliceVision/feature/regionsFactory.hpp>
#include <aliceVision/types.hpp>
 
#include <iostream>
#include <numeric>
 
namespace aliceVision {
namespace feature {
 
class ImageDescriber_APRILTAG : public ImageDescriber
{
  public:
    explicit ImageDescriber_APRILTAG();
 
    ~ImageDescriber_APRILTAG() override = default;
 
    bool useCuda() const override { return false; }
 
    bool useFloatImage() const override { return false; }
 
    EImageDescriberType getDescriberType() const override;
 
    std::size_t getMemoryConsumption(std::size_t width, std::size_t height) const override
    {
        // this should be a reasonably safe upper bound, but to know this exactly,
        // much deeper exmination of the AprilTag source code would be needed:
        return 3 * width * height * sizeof(unsigned char);
    }
 
    void setConfigurationPreset(ConfigurationPreset preset) override;
 
    bool describe(const image::Image<unsigned char>& image,
                  std::unique_ptr<Regions>& regions,
                  const image::Image<unsigned char>* mask = nullptr) override;
 
    void allocate(std::unique_ptr<Regions>& regions) const override;
 
    struct AprilTagParameters
    {
        explicit AprilTagParameters() = default;
 
        ~AprilTagParameters() = default;
 
        void setPreset(EImageDescriberPreset preset);
    };
 
  private:
    // AprilTag parameters
    AprilTagParameters _params;
};
 
template<class DescriptorT>
IndexT getAprilTagId(const DescriptorT& desc)
{
    std::size_t apriltagId = UndefinedIndexT;
    for (std::size_t i = 0; i < desc.size(); ++i)
    {
        if (desc.getData()[i] == (unsigned char)255)
        {
            if (apriltagId != UndefinedIndexT)
            {
                return UndefinedIndexT;
            }
            apriltagId = i;
        }
        else if (desc.getData()[i] != (unsigned char)0)
        {
            return UndefinedIndexT;
        }
    }
    return apriltagId;
}
 
}  // namespace feature
}  // namespace aliceVision