VisualTracking.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 __VISUAL_TRACKING_
#define __VISUAL_TRACKING_

//#include <opencv/cv.h>
#include <opencv2/imgproc/imgproc.hpp>



#ifndef MIP_WIN
#include <SE3.h>
#include <baselib.h>
#include <socketUDP.h>
#else
#include <mipDefinitions.h>
#endif

using namespace MipBaselib;

namespace MipAlgorithms{


 /* @{ */

 enum AlgoType{
  CAMSHIFT,
  REMOTEUDP,
  NUM_ALGO_TYPE
 };

 static const char* AlgoTypeName[NUM_ALGO_TYPE] ={
  "CAMSHIFT",
  "REMOTE UDP"
 };

 enum VisRefType{
  BASE,
  VIS_REF_TYPE
 };

 static const char* VisRefTypeName[VIS_REF_TYPE] ={
  "BASE"
 };

 typedef Decimal ImageMoment;




 class ImageFeature {
  public:
   MipBaselib::Time t;    
   MipBaselib::Time diff_t;  
   Decimal u;   
   Decimal v;   
   Decimal dotU;  
   Decimal dotV;  
   Decimal integU;  
   Decimal integV;  

   ImageFeature();
   void print();
 };


 class VisualReference {
  public:
   ImageFeature* _feat;

   VisRefType vrType;

   VisualReference(){}

   VisualReference(IplImage* i, VisRefType t);
 };


 class VisualTrackPar {
  public:
   int type;    
   int udpPort;    

   VisualTrackPar(){}
 };
 
 class VisualTrackVar {
  public:
 };
 
 class VisualTracking {
  protected:
   VisualTrackPar* _par;
   VisualTrackVar* _var;
  public:
   VisualTracking();

   VisualTracking(int algoType, int udpPort = 0);
   
   virtual void getEstPose(Pose3D *pose) = 0;

   virtual void setEstPose(Pose3D *pose) = 0;

      virtual bool displayTrack(int addInfo) = 0;

   virtual bool getFeatureErr(IplImage* frame, MipBaselib::Time& newTime, ImageFeature& f) = 0;
   
   virtual void setDisplay(int level) = 0;
   
   VisualTrackVar* getVar() {
    return _var;
   }
 };

 /* @} */
};// end namespace MipAlgorithms

#endif