source: flair-src/trunk/lib/FlairVisionFilter/src/OpticalFlowData.h@ 419

Last change on this file since 419 was 338, checked in by Sanahuja Guillaume, 3 years ago

remove opencv dep

File size: 3.8 KB
Line 
1/*!
2 * \file OpticalFlowData.h
3 * \brief Class defining pptical flow datas
4 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
5 * \date 2012/04/12
6 * \version 4.0
7 */
8
9#ifndef OPTICALFLOWDATA_H
10#define OPTICALFLOWDATA_H
11
12#include <io_data.h>
13
14//TODO: use flair::core::Vector2D
15typedef struct IntPoint {
16 int x;
17 int y;
18}
19IntPoint;
20
21typedef struct FloatPoint {
22 float x;
23 float y;
24}
25FloatPoint;
26
27class OpticalFlowData_impl;
28
29namespace flair { namespace filter {
30 /*! \class OpticalFlowData
31 *
32 * \brief Class defining optical flow datas
33 *
34 * Optical flow datas are composed of the following: \n
35 * PointsA: tracked points on first image
36 * PointsB: tracked points on second image
37 * FoundFeature: array representing if a point on first image is found on second image
38 * FeatureError: array representing correlation error for each point (confidence)
39 */
40 class OpticalFlowData: public core::io_data {
41 public:
42 class Type: public core::DataType {
43 size_t GetSize() const {return 0;} //TODO
44 std::string GetDescription() const {return "optical flow";}
45 };
46
47 /*!
48 * \brief Constructor
49 *
50 * Construct OpticalFlowData.
51 *
52 * \param parent parent
53 * \param max_features maximum number of features to track
54 * \param name name
55 * \param n number of samples for the io_data
56 */
57 OpticalFlowData(const core::Object* parent,uint32_t max_features,std::string name="",uint32_t n=1);
58
59 /*!
60 * \brief Destructor
61 *
62 */
63 ~OpticalFlowData();
64
65 /*!
66 * \brief Points on first image
67 *
68 */
69 IntPoint* PointsA(void) const;
70
71 /*!
72 * \brief Points on second image
73 *
74 */
75 FloatPoint* PointsB(void) const;
76
77 /*!
78 * \brief Features found
79 *
80 * value of the array is one if feature is found
81 */
82 char *FoundFeature(void) const;
83
84 /*!
85 * \brief Correlation error
86 *
87 */
88 uint32_t *FeatureError(void) const;
89
90 /*!
91 * \brief Set points of interest of frst image
92 *
93 * \param points points
94 */
95 void SetPointsA(const IntPoint *points);
96
97 /*!
98 * \brief Set points of interest of second image
99 *
100 * \param points points
101 */
102 void SetPointsB(const FloatPoint *points);
103
104 /*!
105 * \brief Set found features
106 *
107 * \param found_features found features
108 */
109 void SetFoundFeature(const char *found_features);
110
111 /*!
112 * \brief Set features error
113 *
114 * \param features_error features error
115 */
116 void SetFeatureError(const unsigned int *features_error);
117
118 /*!
119 * \brief Number of maximum features
120 *
121 */
122 uint32_t MaxFeatures(void) const;
123
124 /*!
125 * \brief Number of tracked features
126 *
127 */
128 uint32_t NbFeatures(void) const;
129
130 /*!
131 * \brief Set number of tracked features
132 *
133 * \param value number of tracked features
134 */
135 void SetNbFeatures(uint32_t value);
136
137 /*!
138 * \brief Change number of maximum features
139 *
140 * \param value new number of maximum tracked features
141 */
142 void Resize(uint32_t value);
143
144 OpticalFlowData::Type const &GetDataType() const {return dataType;}
145
146 /*!
147 * \brief Raw read datas
148 *
149 * Reimplemented from io_data. \n
150 * See io_data::RawRead.
151 *
152 * \param dst destination buffer
153 */
154 void RawRead(char *dst) const;
155
156 private:
157 Type dataType;
158 OpticalFlowData_impl *pimpl_;
159 };
160} // end namespace filter
161} // end namespace flair
162#endif // OPTICALFLOWDATA_H
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