00001
00005 #ifndef _THERMALVIS_TRACKS_H_
00006 #define _THERMALVIS_TRACKS_H_
00007
00008 #include "general_resources.hpp"
00009 #include "opencv_resources.hpp"
00010 #include "camera.hpp"
00011 #include "tools.hpp"
00012
00014 struct indexedFeature {
00015 int imageIndex;
00016 Point2f featureCoord;
00017
00018 indexedFeature(const int& i, const Point2f& f) {
00019 imageIndex = i;
00020 featureCoord = f;
00021 }
00022
00023
00024 };
00025
00027 struct featureTrack {
00028
00029 vector<indexedFeature> locations;
00030 bool isTriangulated;
00031
00032 featureTrack();
00033
00035 void set3dLoc(const Point3d& loc);
00036
00038 void reset3dLoc(const Point3d& loc);
00039 Point3d get3dLoc();
00040
00041 void addFeature(indexedFeature& feat) {
00042 locations.push_back(feat);
00043 }
00044
00045 Point2f getCoord(unsigned int cam_idx);
00046
00047 protected:
00048 Point3d xyzEstimate;
00049
00050 };
00051
00052 void addMatchToVector(vector<featureTrack>& featureTrackVector, int index1, const Point2f& point1, int index2, const Point2f& point2);
00053
00054 void drawFeatureTracks(Mat& src, Mat& dst, vector<featureTrack>& tracks, const Scalar& tColor, const Scalar& kColor, int index, unsigned int history = 10);
00055
00056 void redistortTracks(const vector<featureTrack>& src, vector<featureTrack>& dst, const Mat& cameraMatrix, const Mat& distCoeffs, unsigned int latest, const Mat& newCamMat=Mat::eye(3,3,CV_64FC1), unsigned int history = 5);
00057
00058 bool createTrackMatrix(const vector<featureTrack>& src, Mat& dst, int latest = -1);
00059
00060 void assignHistoricalPoints(const vector<featureTrack>& src, unsigned int idx_1, unsigned int idx_2, vector<Point2f>& dst);
00061 #endif
