BearExtrCam.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_H_
#define __BEAR_EXTR_CAM_H_

#include "BearExtrCamStr.h"

using namespace std;
namespace MipAlgorithms{
 
 class BearExtrCamInput{
  public:
   cv::Mat*  currImage;
   int     areaCircleMin;
   int     areaCircleMax;
   Decimal   crThr;
   int     wROI;
   int     hROI;
   int      areaCircMinRect; 
   int      areaCircMaxRect;
   Decimal   actTime;
   
   // Methods
   BearExtrCamInput();
   
   BearExtrCamInput(cv::Mat *ci, const int &acm, const int &acM, const Decimal &ct, const int &wR, const int &hR, const int &acmRect, const int &acMRect, const Decimal &at);
   
   ~BearExtrCamInput();
   
   BearExtrCamInput(const BearExtrCamInput& rhs);
   
   BearExtrCamInput& operator=(const BearExtrCamInput& rhs);
 };
 
 class BearExtrCamOutput{
  public:
   vector<Position2DArma> imagePlanePoints;
   bool validOutput;
   
   BearExtrCamOutput();
   
   BearExtrCamOutput(vector<Position2DArma> &pp, const bool &vo);
   
   ~BearExtrCamOutput();
   
   BearExtrCamOutput(const BearExtrCamOutput& rhs);
   
   BearExtrCamOutput& operator=(const BearExtrCamOutput& rhs);
   
   void normalizePoints(vector<featureImage> &fi, BearExtrCamPar* par);
 };

 class BearExtrCam{
  private:
   BearExtrCamPar*       _pars;
   BearExtrCamVar*       _vars;
   bool                  _firstStep;
   vector<featureImage>  _featureList;
   TooN::Matrix<3> pm;
   
  public:
   BearExtrCam();
   
   BearExtrCam(const BearExtrCamPar &pars);
   
   ~BearExtrCam();
   
   void step(BearExtrCamInput &beci, BearExtrCamOutput &beco);
   
   void firstStep(BearExtrCamInput &beci);
   
   void normalStep(BearExtrCamInput &beci, BearExtrCamOutput &beco);
   
   BearExtrCamPar* getPar();
   
   void setAdjustedParameters(BearExtrCamInput &beci);
 };
}
#endif