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 <boost/foreach.hpp>

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:
        std::map<std::string, tracker_mode> current_modes;
        std::map<std::string, tracker_confidence> current_confs;
        cv::Mat last_image;

    public:
        TrackerInterface()
        {
        }
        virtual void track() = 0;
        virtual void recovery() = 0;
        void process(cv::Mat img)
        {
            last_image = img;
            tracker_mode current_mode = TRACKER_RECOVERY_MODE;
            typedef std::pair<std::string, blort_ros::tracker_mode> NameModePair_t;
            BOOST_FOREACH(NameModePair_t item, current_modes)
            {
                if(item.second != current_mode)
                {
                    //FIXME tracking and locked mode are equivalent for now
                    current_mode = item.second;
                    break;
                }
            }
            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(std::string id)
        {
          current_confs[id] = TRACKER_CONF_FAIR;
          current_modes[id] = TRACKER_TRACKING_MODE;
        }

        virtual void switchToRecovery(std::string id)
        {
          current_confs[id] = TRACKER_CONF_LOST;
          current_modes[id] = TRACKER_RECOVERY_MODE;
        }

        virtual void reset(std::string id){ switchToRecovery(id); }
        tracker_mode getMode(std::string id){ return current_modes[id]; }
        tracker_confidence getConfidence(std::string id){ return current_confs[id]; }
    };
}

#endif // BLORTTRACKER_H