ReconKhCam.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------

#ifndef __RECON_KH_CAM_H_
#define __RECON_KH_CAM_H_

//#ifdef _CH_
//#pragma package <opencv>
//#endif

//#define CV_NO_BACKWARD_COMPATIBILITY
#define Max_khepera 5                                                           // max number of khepera in view
#define focal 380.95                                                                 // must be in pixel !!
//#define focal 347.83                                                                 // must be in pixel !!

//#ifndef _EiC

// #include <cv.h>
// #include <highgui.h>

#include "opencv2/imgproc/imgproc.hpp"
#include <opencv2/imgproc/imgproc_c.h>
// #include "opencv2/opencv.hpp"

#include <stdio.h>
#include <stdlib.h>
#include <ctype.h>
#include <vector>
#include <iostream>
#include <sys/time.h>
#include "MIPMatrix.h"
#include <Camera.h>
//#endif

using namespace std;

class ReconKhCamVar{
 public:     IplImage *image, *hsv, *hue, *sat,*mask, *backproject,
              *histimg, *mask_sat, *backproject2,*total,*total2;
          
          CvHistogram *hist_hue,*hist_sat;
          
          int select_object;
          int track_object;
          CvPoint origin;
          CvRect selection;
          CvRect track_window;
          CvBox2D track_box;
          CvConnectedComp track_comp;
          CvMemStorage* contorni;
          
          // histogram vars
          //float hranges_arr[2];
          //float* hranges;
          //Decimal range_sat_val[2];
          //Decimal *range_sat;
          int hdims;
          int vmin, vmax, smin;
          int init_hist;
          
          // print rectangles vars
          int prime[Max_khepera];
          CvRect past_rects[Max_khepera];
          int pauses_spa[Max_khepera];                                                    // pause due changing rectangle position
          int pauses_dim[Max_khepera];                                                    // pause due changing rectangle dimension
          CvFont fonti;
          CvSeq* contours;
          
          //CvCapture* capture;
          // time variables
          struct timeval start, stop;
          Decimal temp;
          
          
          
          // output of bearing
          vector <Decimal> vect_out;
          
          ReconKhCamVar(){ image = 0, hsv = 0, hue = 0, sat = 0,mask = 0, backproject = 0,
                  histimg = 0, mask_sat = 0, backproject2 = 0,total = 0,total2 = 0;
                  hist_hue = 0,hist_sat = 0;
                  select_object = 0;
                  track_object = 0;
                  // range_sat_val[0] = 0;
                  // range_sat_val[1] = 256;
                  // range_sat = range_sat_val;
                  hdims = 16;
                  vmin = 51;
                  vmax = 200;
                  smin = 30;
                  for(int con=0; con<Max_khepera;con++)
                  {prime[con] = 1;}
                  cvInitFont(&fonti,CV_FONT_HERSHEY_SIMPLEX,1.0f,1.0f,0.0f,1,8);              // font to print rectangle numbers
                  //capture = 0;
                  temp = 0;
                  contorni = cvCreateMemStorage(0);
                  init_hist = -1;
                  contours = 0;
                 }

};

class ReconKhCamPar {
  private:
    Decimal _focal;
  
  public:
    ReconKhCamPar();
    
    ReconKhCamPar(Decimal fc);
    
    ReconKhCamPar(const ReconKhCamPar &A);
    
    ReconKhCamPar operator=(ReconKhCamPar A);
    
    
    Decimal getFocal() {
      return _focal;
    }
  };

class ReconKhCam{
 private:
      ReconKhCamVar* _var;
      ReconKhCamPar  *_par;
    public:
      /*Default constructor*/
      ReconKhCam(){
    _var = new ReconKhCamVar;
                _par = new ReconKhCamPar();
           }
      /*Default deconstructor*/
      ~ReconKhCam(){
             delete _var;
             delete _par;
            }
    
    void object_print(CvSeq *sequence,int ind,IplImage *imag, CvFont* font);
    
    void setDisplay();
    
    void closeDisplay();
    
    //bool step(IplImage *frame);
    //vector<Decimal> step(IplImage *frame);
    bool step(IplImage *frame,vector<Decimal> &ris);
};

#endif