| 1 | /*!
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| 2 | * \file OpticalFlowData.h
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| 3 | * \brief Class defining pptical flow datas
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| 4 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 5 | * \date 2012/04/12
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| 6 | * \version 4.0
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| 7 | */
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| 8 |
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| 9 | #ifndef OPTICALFLOWDATA_H
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| 10 | #define OPTICALFLOWDATA_H
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| 11 |
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| 12 | #include <io_data.h>
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| 13 |
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| 14 | //TODO: use flair::core::Vector2D
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| 15 | typedef struct IntPoint {
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| 16 | int x;
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| 17 | int y;
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| 18 | }
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| 19 | IntPoint;
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| 20 |
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| 21 | typedef struct FloatPoint {
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| 22 | float x;
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| 23 | float y;
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| 24 | }
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| 25 | FloatPoint;
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| 26 |
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| 27 | class OpticalFlowData_impl;
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| 28 |
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| 29 | namespace flair { namespace filter {
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| 30 | /*! \class OpticalFlowData
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| 31 | *
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| 32 | * \brief Class defining optical flow datas
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| 33 | *
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| 34 | * Optical flow datas are composed of the following: \n
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| 35 | * PointsA: tracked points on first image
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| 36 | * PointsB: tracked points on second image
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| 37 | * FoundFeature: array representing if a point on first image is found on second image
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| 38 | * FeatureError: array representing correlation error for each point (confidence)
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| 39 | */
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| 40 | class OpticalFlowData: public core::io_data {
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| 41 | public:
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| 42 | class Type: public core::DataType {
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| 43 | size_t GetSize() const {return 0;} //TODO
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| 44 | std::string GetDescription() const {return "optical flow";}
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| 45 | };
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| 46 |
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| 47 | /*!
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| 48 | * \brief Constructor
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| 49 | *
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| 50 | * Construct OpticalFlowData.
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| 51 | *
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| 52 | * \param parent parent
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| 53 | * \param max_features maximum number of features to track
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| 54 | * \param name name
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| 55 | * \param n number of samples for the io_data
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| 56 | */
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| 57 | OpticalFlowData(const core::Object* parent,uint32_t max_features,std::string name="",uint32_t n=1);
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| 58 |
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| 59 | /*!
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| 60 | * \brief Destructor
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| 61 | *
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| 62 | */
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| 63 | ~OpticalFlowData();
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| 64 |
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| 65 | /*!
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| 66 | * \brief Points on first image
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| 67 | *
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| 68 | */
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| 69 | IntPoint* PointsA(void) const;
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| 70 |
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| 71 | /*!
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| 72 | * \brief Points on second image
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| 73 | *
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| 74 | */
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| 75 | FloatPoint* PointsB(void) const;
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| 76 |
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| 77 | /*!
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| 78 | * \brief Features found
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| 79 | *
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| 80 | * value of the array is one if feature is found
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| 81 | */
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| 82 | char *FoundFeature(void) const;
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| 83 |
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| 84 | /*!
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| 85 | * \brief Correlation error
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| 86 | *
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| 87 | */
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| 88 | uint32_t *FeatureError(void) const;
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| 89 |
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| 90 | /*!
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| 91 | * \brief Set points of interest of frst image
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| 92 | *
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| 93 | * \param points points
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| 94 | */
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| 95 | void SetPointsA(const IntPoint *points);
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| 96 |
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| 97 | /*!
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| 98 | * \brief Set points of interest of second image
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| 99 | *
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| 100 | * \param points points
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| 101 | */
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| 102 | void SetPointsB(const FloatPoint *points);
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| 103 |
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| 104 | /*!
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| 105 | * \brief Set found features
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| 106 | *
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| 107 | * \param found_features found features
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| 108 | */
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| 109 | void SetFoundFeature(const char *found_features);
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| 110 |
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| 111 | /*!
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| 112 | * \brief Set features error
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| 113 | *
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| 114 | * \param features_error features error
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| 115 | */
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| 116 | void SetFeatureError(const unsigned int *features_error);
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| 117 |
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| 118 | /*!
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| 119 | * \brief Number of maximum features
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| 120 | *
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| 121 | */
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| 122 | uint32_t MaxFeatures(void) const;
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| 123 |
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| 124 | /*!
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| 125 | * \brief Number of tracked features
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| 126 | *
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| 127 | */
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| 128 | uint32_t NbFeatures(void) const;
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| 129 |
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| 130 | /*!
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| 131 | * \brief Set number of tracked features
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| 132 | *
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| 133 | * \param value number of tracked features
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| 134 | */
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| 135 | void SetNbFeatures(uint32_t value);
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| 136 |
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| 137 | /*!
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| 138 | * \brief Change number of maximum features
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| 139 | *
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| 140 | * \param value new number of maximum tracked features
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| 141 | */
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| 142 | void Resize(uint32_t value);
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| 143 |
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| 144 | OpticalFlowData::Type const &GetDataType() const {return dataType;}
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| 145 |
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| 146 | /*!
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| 147 | * \brief Raw read datas
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| 148 | *
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| 149 | * Reimplemented from io_data. \n
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| 150 | * See io_data::RawRead.
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| 151 | *
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| 152 | * \param dst destination buffer
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| 153 | */
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| 154 | void RawRead(char *dst) const;
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| 155 |
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| 156 | private:
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| 157 | Type dataType;
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| 158 | OpticalFlowData_impl *pimpl_;
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| 159 | };
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| 160 | } // end namespace filter
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| 161 | } // end namespace flair
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| 162 | #endif // OPTICALFLOWDATA_H
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