From 8ceec47f7748daf0f5d16434911dfe2d8ab43d36 Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Wed, 17 Jan 2024 22:44:20 +0100
Subject: [PATCH] arucoTag class

---
 utils/ArucoTag.cpp |  1 +
 utils/ArucoTag.h   | 37 +++++++++++++++++++++++++++++++++++++
 2 files changed, 38 insertions(+)
 create mode 100644 utils/ArucoTag.cpp
 create mode 100644 utils/ArucoTag.h

diff --git a/utils/ArucoTag.cpp b/utils/ArucoTag.cpp
new file mode 100644
index 0000000..42ec1bb
--- /dev/null
+++ b/utils/ArucoTag.cpp
@@ -0,0 +1 @@
+#include "ArucoTag.h"
diff --git a/utils/ArucoTag.h b/utils/ArucoTag.h
new file mode 100644
index 0000000..0bff2af
--- /dev/null
+++ b/utils/ArucoTag.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include <iostream>
+#include <opencv2/opencv.hpp>
+#include <utility>
+
+enum ArucoTagType
+{
+    FLOWER,
+    SOLAR_PANEL
+};
+
+class ArucoTag {
+public:
+    int id;
+    std::string name;
+    float length;
+    cv::Mat objectRepresenation;
+    ArucoTagType type;
+
+    ArucoTag(const int id, std::string name, const float length, const ArucoTagType type) : id(id), name(std::move(name)), length(length), type(type)
+    {
+        this->objectRepresenation = cv::Mat(4, 1, CV_32FC3);
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[0] = cv::Vec3f(-length/2.f, length/2.f, 0);
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[1] = cv::Vec3f(length/2.f, length/2.f, 0);
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[2] = cv::Vec3f(length/2.f, -length/2.f, 0);
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[3] = cv::Vec3f(-length/2.f, -length/2.f, 0);
+    }
+
+    void setFlowerObjectRepresentation()
+    {
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[0] = cv::Vec3f(-length/2.f, length/2.f, 0);
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[1] = cv::Vec3f(length/2.f, length/2.f, 0);
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[2] = cv::Vec3f(length/2.f, -length/2.f, 0);
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[3] = cv::Vec3f(-length/2.f, -length/2.f, 0);
+    }
+};