LED.h

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// Copyright 2015 Sensics, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//  http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef INCLUDED_LED_h_GUID_C53E1134_AD6B_46B0_4808_19C7EAA7D0EC
#define INCLUDED_LED_h_GUID_C53E1134_AD6B_46B0_4808_19C7EAA7D0EC

// Internal Includes
#include "LedIdentifier.h"
#include "LedMeasurement.h"

// Library/third-party includes
#include <opencv2/core/core.hpp>

// Standard includes
#include <vector>

namespace osvr {
namespace vbtracker {

    static const bool USING_INVERTED_LED_POSITION = true;

    class Led {
      public:
        static const int SENTINEL_NO_IDENTIFIER_OBJECT_OR_INSUFFICIENT_DATA =
            -1;
        static const int SENTINEL_INSUFFICIENT_EXTREMA_DIFFERENCE = -2;
        static const int
            SENTINEL_NO_PATTERN_RECOGNIZED_DESPITE_SUFFICIENT_DATA = -3;
        static const int SENTINEL_NO_IDENTIFIER_OBJECT = -4;
        static const int SENTINEL_MARKED_MISIDENTIFIED = -5;

        Led(LedIdentifier *identifier, LedMeasurement const &meas);

        static const uint8_t MAX_NOVELTY = 4;
        void addMeasurement(LedMeasurement const &meas, bool blobsKeepId);

        LedMeasurement const &getMeasurement() const {
            return m_latestMeasurement;
        }

        ZeroBasedBeaconId getID() const { return m_id; }

        OneBasedBeaconId getOneBasedID() const { return makeOneBased(getID()); }

        bool identified() const { return beaconIdentified(getID()); }

        uint8_t novelty() const { return m_novelty; }

        cv::Point2f getLocation() const { return m_latestMeasurement.loc; }

        cv::Point2f getInverseLocation() const {
            return cv::Point2f(m_latestMeasurement.imageSize.width -
                                   m_latestMeasurement.loc.x,
                               m_latestMeasurement.imageSize.height -
                                   m_latestMeasurement.loc.y);
        }

        cv::Point2f getLocationForTracking() const {
            return USING_INVERTED_LED_POSITION ? getInverseLocation()
                                               : getLocation();
        }

        KeyPointIterator nearest(KeyPointList &keypoints,
                                 double threshold) const;

        LedMeasurementVecIterator nearest(LedMeasurementVec &meas,
                                          double threshold) const;

        bool isBright() const { return m_lastBright; }

        bool wasUsedLastFrame() const { return m_wasUsedLastFrame; }

        void markAsUsed() { m_wasUsedLastFrame = true; }

        void resetUsed() { m_wasUsedLastFrame = false; }

        void markMisidentified();

      private:
        LedMeasurement m_latestMeasurement;

        BrightnessList m_brightnessHistory;

        ZeroBasedBeaconId m_id =
            ZeroBasedBeaconId(SENTINEL_NO_IDENTIFIER_OBJECT);

        LedIdentifier *m_identifier = nullptr;

        bool m_lastBright = false;

        bool m_newlyRecognized = false;
        uint8_t m_novelty;

        bool m_wasUsedLastFrame = false;
    };

} // End namespace vbtracker
} // End namespace osvr

#endif // INCLUDED_LED_h_GUID_C53E1134_AD6B_46B0_4808_19C7EAA7D0EC