trackerinterface.hpp

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 * @file trackerinterface.h
 * @author Bence Magyar
 * @date March 2012
 * @version 0.1
 * @brief This class describes an interface derived from the blort tracker as a complete application.
 * It defines the system logic of recovery and track modes and confidence states.
 * @namespace pal_blort
 */

#ifndef BLORTTRACKER_H
#define BLORTTRACKER_H

#include <opencv2/core/core.hpp>
#include <ros/console.h> //TODO: remove

namespace blort_ros
{
    enum tracker_mode
    {
        TRACKER_RECOVERY_MODE,
        TRACKER_TRACKING_MODE,
        TRACKER_LOCKED_MODE
    };

    enum tracker_confidence
    {
        TRACKER_CONF_GOOD,
        TRACKER_CONF_FAIR,
        TRACKER_CONF_LOST
    };

    class TrackerInterface
    {
    protected:
        tracker_mode current_mode;
        tracker_confidence current_conf;
        cv::Mat last_image;

    public:
        TrackerInterface()
        {
            current_mode = TRACKER_RECOVERY_MODE;
            current_conf = TRACKER_CONF_LOST;
        }
        virtual void track() = 0;
        virtual void recovery() = 0;
        void process(cv::Mat img)
        {
            last_image       = img;            
            switch(current_mode)
            {
            case TRACKER_RECOVERY_MODE:
                recovery();
                break;
            case TRACKER_TRACKING_MODE:
                track();
                break;
            case TRACKER_LOCKED_MODE:
                track(); //FIXME a bit hacky
                break;
            }
        }
        virtual void switchToTracking(){ current_conf = TRACKER_CONF_FAIR; current_mode = TRACKER_TRACKING_MODE; }
        virtual void switchToRecovery(){ current_conf = TRACKER_CONF_LOST; current_mode = TRACKER_RECOVERY_MODE; }
        virtual void reset(){ switchToRecovery(); }
        tracker_mode getMode(){ return current_mode; }
        tracker_confidence getConfidence(){ return current_conf; }
    };
}

#endif // BLORTTRACKER_H