VisTrackVisp.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 __VISTRACKVISP_H
#define __VISTRACKVISP_H

#include <visp/vpImage.h>

#include <visp/vpImageIo.h>

#include <visp/vpDot2.h>
#include <visp/vpIoTools.h>

#include <VisualTracking.h>

namespace MipAlgorithms{


 /* @{ */

 class VisualTrackVispVar : public VisualTrackVar{
  private:
                        int displayRes;
                        int videoSaving;
   int init;
                        pthread_mutex_t _initMutex;
  public:
                        vpDot2 _d2;
                        vpImagePoint _cog;
                        vpImagePoint initPoint;
                        IplImage *image; 
                        int track;
                        int grayLevel;

                        CvVideoWriter *videoWriter;  

                        CvSize  refScaleFact;
   CvPoint imageCentre;

                        vpImage<unsigned char> _frameVP;

   VisualTrackVispVar(bool green, bool moments, Decimal grayLevel);

   ~VisualTrackVispVar();

   void setDisplay(int level);

   int getDisplay() { return displayRes; }

   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;
   }

   void setVideoSaving(int videoFlag);

   int getVideoSaving() { return videoSaving; }

 };

 class VisTrackVisp :  public VisualTracking {
  private:
   VisualTrackVispVar*  _wv; 
   ImageFeature*           _vf; 

   pthread_mutex_t _imgFeatMutex;

                        void init();
  public:
   VisTrackVisp(IplImage* img, bool green, bool moments, Decimal grayLevel, int vSav);

   ~VisTrackVisp();

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

   void getEstPose(Pose3D *pose);

   void setEstPose(Pose3D *pose);

   void getLastFeatureErr(ImageFeature& f);

   void setFeatureErr(ImageFeature& f);

   bool getFeatureErr(IplImage* frame, MipBaselib::Time& newTime, ImageFeature& f);

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

   void setDisplay(int level) {
    _wv->setDisplay(level);
   }

   bool displayTrack(int addInfo = 1);

   VisualTrackVispVar* getVar() { return _wv; }
 };

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


#endif /* __VISTRACKVISP_H */