ci_camera_sensor_tag_detector_algorithm.h

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#ifndef CI_CAMERAS_SENSOR_TAG_DETECTOR_ALGORITHM_H
#define CI_CAMERAS_SENSOR_TAG_DETECTOR_ALGORITHM_H
 
namespace argos {
  class CCI_CameraSensorTagDetectorAlgorithm;
}
 
#include <argos3/plugins/robots/generic/control_interface/ci_camera_sensor_algorithm.h>
#include <argos3/core/utility/math/vector2.h>
#include <argos3/core/utility/datatypes/datatypes.h>
#include <array>
 
#ifdef ARGOS_WITH_LUA
extern "C" {
#include <lua.h>
#include <lualib.h>
#include <lauxlib.h>
}
#endif
 
 
namespace argos {
   
   class CCI_CameraSensorTagDetectorAlgorithm : virtual public CCI_CameraSensorAlgorithm {
      
   public:
 
      struct SReading {
         /* Payload of the tag */
         std::string Payload;
         /* Coordinates of the center in image */
         CVector2 Center;
         /* Coordinates of the corners in image */
         std::array<CVector2, 4> Corners;
         SReading(const std::string& str_payload,
                  const CVector2& c_center,
                  const std::array<CVector2, 4>& c_corners) :
            Payload(str_payload),
            Center(c_center),
            Corners(c_corners) {}
      };
 
   public:
      
      CCI_CameraSensorTagDetectorAlgorithm() {}
      
      virtual ~CCI_CameraSensorTagDetectorAlgorithm() {}
      
      const std::vector<SReading>& GetReadings() const {
         return m_vecReadings;
      }
      
#ifdef ARGOS_WITH_LUA
      virtual void CreateLuaState(lua_State* pt_lua_state);
      
      virtual void ReadingsToLuaState(lua_State* pt_lua_state);
 
      virtual const std::string& GetId() {
         static std::string strId("tag_detector");
         return strId;
      }
#endif
 
   protected:
 
      std::vector<SReading> m_vecReadings;
      
   };
   
}
 
#endif