BearExtrCamStr.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 __BEAR_EXTR_CAM_STR_H_
#define __BEAR_EXTR_CAM_STR_H_

#include "BearExtrCamUtils.h"

using namespace std;
namespace MipAlgorithms{
 
 class featureImage {
  public:
   
   TooN::Matrix<3> pmat;
   
   cv::Point position;
   cv::Point oldCirclePosition; // posizione precedente nel pìano immagine del centro del K
   cv::Point circlePosition; // posizione del centro del cerchio sul piano immagine
   cv::Rect roi;
   vpDot2 d; // tracker del cerchio associato al K
   bool init; // flag di inizializzazione del tracker del cerchio
   // OLD
   int allarm;
   
   /* Methods */
   featureImage();
   
   featureImage( cv::Point po, cv::Point cp, cv::Rect Roi, TooN::Matrix<3> p );
   
   featureImage(const featureImage& k);
   
   featureImage& operator=(const featureImage& k);
   
   static void findFeature(cv::Mat Image,int Tl_x, int Tl_y, int _Tp_width, int _Tp_height, std::vector<featureImage> & camera, TooN::Matrix<3> pm, BearExtrCamPar* par, BearExtrCamVar* var);
   
//    static void findCircleHough(cv::Image &src, )
   
   static void trackFeatureVisp(cv::Mat &Image, vector<featureImage> & camera, BearExtrCamPar* par, BearExtrCamVar* var);
   
   void computePosition(cv::Mat& Image,featureImage K, BearExtrCamPar* par, BearExtrCamVar* var);
   
 };
}
#endif