RAPiD.h

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
// The IVT is maintained by the Karlsruhe Institute of Technology (KIT)
// (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de).
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// ****************************************************************************
// ****************************************************************************
// Filename:  RAPiD.h
// Author:    Pedram Azad
// Date:      25.01.2008
// ****************************************************************************


#ifndef __RAPID_H__
#define __RAPID_H__


// ****************************************************************************
// Necessary includes
// ****************************************************************************

#include "Interfaces/RigidObjectTrackingInterface.h"
#include "DataStructures/DynamicArray.h"
#include "Math/Math2d.h"
#include "Math/Math3d.h"


// ****************************************************************************
// Forward declarations
// ****************************************************************************

class CCalibration;
class CByteImage;



// ****************************************************************************
// CRAPiD
// ****************************************************************************

class CRAPiD : public CRigidObjectTrackingInterface
{
public:
        // public class definitions
        class CRAPiDElement : public CDynamicArrayElement
        {
        public:
                Vec3d p;
                Vec2d n;
                float l;
        };

        // constructor
        CRAPiD();

        // desturctor
        ~CRAPiD();
        
        
        // public methods
        void SetParameters(int nPixelsDelta, int nPixelsSearchDistance)
        {
                m_nPixelsDelta = nPixelsDelta;
                m_nPixelsSearchDistance = nPixelsSearchDistance;
        }

        // public virtual methods
        void Init(const CCalibration *pCalibration);
        bool Track(const CByteImage *pEdgeImage, Vec3d *pOutlinePoints, int nOutlinePoints,
                                Mat3d &rotation, Vec3d &translation);

        // public static methods
        static bool RAPiD(CDynamicArray &elementList, const CCalibration *pCalibration, Mat3d &rotation, Vec3d &translation);


private:
        // private attributes
        const CCalibration *m_pCalibration;
        
        int m_nPixelsDelta;
        int m_nPixelsSearchDistance;
};



#endif /* __RAPID_H__ */