lktracking.hh

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00001 /*
00002  * Copyright (C) Gostai S.A.S., 2007.  All rights reserved.
00003  *
00004  * This software is provided "as is" without warranty of any kind,
00005  * either expressed or implied, including but not limited to the
00006  * implied warranties of fitness for a particular purpose.
00007  *
00008  * See the LICENSE file for more information.
00009  * For comments, bug reports and feedback: http://www.urbiforge.com
00010  */
00011 #ifndef LKTRACKING_HH_
00012 #define LKTRACKING_HH_
00013 
00014 #include <iostream>
00015 #include <cv.h>
00016 #include <cxcore.h>
00017 #include <highgui.h>
00018 #include <math.h>
00019 #include <vector>
00020 #include <boost/foreach.hpp>
00021 #include "visionbehavior.hpp"
00022 #include "vision.hpp"
00023 
00024 #define MAX_COUNT       200
00025 
00030 class           LkTracking : public VisionBehavior<CvPoints> {
00031 private:
00032   CvPoints              result;
00033   IplImage*             image;
00034   IplImage*             grey;
00035   IplImage*             prev_grey;
00036   IplImage*             pyramid;
00037   IplImage*             prev_pyramid;
00038   IplImage*             swap_temp;
00039   int                   win_size;
00040   CvPoint2D32f*         points[2];
00041   CvPoint2D32f*         swap_points;
00042   char*                 status;
00043   int                   count;
00044   int                   need_to_init;
00045   int                   night_mode;
00046   int                   flags;
00047   int                   add_remove_pt;
00048   CvPoint               pt;
00049   CvPoints              ptsToAdd;
00050 public:
00051                         LkTracking();
00052   virtual               ~LkTracking();
00053   virtual void          writeOn(IplImage& img) const;
00054   virtual void          actOnKeyPressed(char& key);
00055   virtual CvPoints&     getResult();
00056   void                  addPointsToTrack(CvPoints&);
00057 private:
00058   virtual void          emptyResult();
00059   virtual void          compute(const IplImage& img);
00060 };
00061 
00062 #endif /* !LKTRACKING_HH_ */

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