VisTrackCamshift.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 __VIS_TRACK_CAMSHIFT_
#define __VIS_TRACK_CAMSHIFT_

#include <VisualTracking.h>
//#include <opencv/highgui.h>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/video/tracking.hpp>
#include <opencv2/imgproc/imgproc_c.h>

namespace MipAlgorithms{

 
 /* @{ */
 
 //=======================================
// Savitzky-Golay 1st derivation filter
//---------------------------------------
// Copyright 2008 Matthias Toussaint
// Usable under the terms of the GPL 2.0
//=======================================

// Filter 'object' definition
//
typedef struct 
{
  float x0, x1, x2, x3, x4, x5, x6;
} SavgolFilter7;

 class VisualTrackCamshiftVar : public VisualTrackVar{
  private:
   int displayRes;
   int videoSaving;
   int init;

  public:
   CvSize frameSize;
   int depth;
   pthread_mutex_t _initMutex;
   int track;

   CvSize  refScaleFact;
   CvPoint imageCentre;

   IplImage *image;      
   IplImage *hsv;       
   IplImage *hue;       
   IplImage *saturation;   
   IplImage *mask_hue;    
   IplImage *mask_sat;    
   IplImage *backprjct_hue;  
   IplImage *backprjct_sat;  
   IplImage  *anddpep;     

   CvTermCriteria criterio;   
   
   CvVideoWriter *videoWriter;  

   CvHistogram *hist_sat;   
   CvHistogram *hist_hue;   

   CvPoint p1, p2, p3, p4;   
   CvPoint r1, r2, r3, r4;   
   CvPoint corner;     

   CvConnectedComp track_comp;     
   CvBox2D track_box;              

   int coord[2];     

   Time refTime;     
   Decimal ref[2];     
   Decimal dotRef[2];    

   // TODO move in reference ???
   CvRect selezione;    

   int  smin_hue,
     vmin_hue,
     vmax_hue;                 // variabili per lo split del canale hue

   int  smin_sat,
     smax_sat,
     vmin_sat,
     vmax_sat;                 // variabili per lo split del canale sat

   int  thresh;
   
   SavgolFilter7 *uDotFil;
   SavgolFilter7 *vDotFil;

   VisualTrackCamshiftVar();
   
   ~VisualTrackCamshiftVar();

   void setVar(IplImage* frame);

   void setDisplay(int level);

   int getDisplay() { return displayRes; }
   
   void setVideoSaving(int videoFlag);

   int getVideoSaving() { return videoSaving; }

   void closeDisplay();
   
   void setInit(int newVal) {
    pthread_mutex_lock(&_initMutex);
    init = newVal;
    pthread_mutex_unlock(&_initMutex);
   }
   
   int getInit() {
    pthread_mutex_lock(&_initMutex);
    int ret = init;
    pthread_mutex_unlock(&_initMutex);
    return ret;
   }
 };

 class VisTrackCamshift :  public VisualTracking {
  private:
   VisualTrackCamshiftVar*  _wv;    
   ImageFeature*    _vf;    
   ListenerUDP*    listenerUDP;  
   
   pthread_mutex_t _imgFeatMutex;
  public:
   VisTrackCamshift(int type, int port = 0);

   VisTrackCamshift(int type, IplImage* img, int port = 0);
   
   ~VisTrackCamshift();

   static void VtcMouseCallback(int event, int x, int y, int flags, void*param);

      virtual bool displayTrack(int addInfo = 1);

   void getEstPose(Pose3D *pose);

   void setEstPose(Pose3D *pose);

   void getLastFeatureErr(ImageFeature& f);
   
   void setFeatureErr(ImageFeature& f);
   
   bool getFeatureErr(IplImage* frame, Time& newTime, ImageFeature& f);

   bool trackReference(IplImage* frame, Time& newTime);

   void setDisplay(int level) {
    _wv->setDisplay(level);
   }
   
   VisualTrackCamshiftVar* getVar() { return _wv; }
   
   Decimal sg_derive7_step( SavgolFilter7 *filter, Decimal angle );
 };

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



#endif