ibg_cv.h

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#ifndef VTEC_CV_WRAPPER_IBG_CV_HEADER
#define VTEC_CV_WRAPPER_IBG_CV_HEADER

#include <cv_wrapper/homography_optimizer_interface.h>
#include <homography_optimizer/ibg_interface.h>
#include <homography_optimizer/types.h>
#include <cv_bridge/cv_bridge.h>

namespace VTEC
{
class IBGHomographyOptimizerCvWrapper : public HomographyOptimizerInterface
{
public:
  IBGHomographyOptimizerCvWrapper();

  virtual void initialize(const int max_nb_iter, const int max_nb_pyr_level, const double sampling_rate) = 0;

  bool setReferenceTemplate(const cv::Mat& ref_image, const int posx, const int posy, const int sizex, const int sizey);

  double optimize(const cv::Mat& curr_image, cv::Mat& H, float& alpha, float& beta, int predictor);

  std::vector<int> getNbIterations();

  std::vector<cv::Mat> getHomographySequence();

  void getCurrentTemplate(cv::Mat& img);

  void getReferenceTemplate(cv::Mat& img);

  void setHomography(const cv::Mat H);

  void getHomography(cv::Mat& H);

protected:
  IBGHomographyOptimizer* optimizer;

  bool initialized_;

}; /* class IBGHomographyOptimizerCvWrapper */

class IBGFullHomographyOptimizerCvWrapper : public IBGHomographyOptimizerCvWrapper
{
public:
  IBGFullHomographyOptimizerCvWrapper()
  {
  }

  void initialize(const int max_nb_iter, const int max_nb_pyr_level, const double sampling_rate)
  {
    optimizer = new IBGFullHomographyOptimizer();
    optimizer->initialize(max_nb_iter, max_nb_pyr_level, sampling_rate);
    initialized_ = true;
  }

}; /* class IBGFullHomographyOptimizerCvWrapper */

class IBGAffineHomographyOptimizerCvWrapper : public IBGHomographyOptimizerCvWrapper
{
public:
  IBGAffineHomographyOptimizerCvWrapper()
  {
  }

  void initialize(const int max_nb_iter, const int max_nb_pyr_level, const double sampling_rate)
  {
    optimizer = new IBGAffineHomographyOptimizer();
    optimizer->initialize(max_nb_iter, max_nb_pyr_level, sampling_rate);
    initialized_ = true;
  }

}; /* class IBGAffineHomographyOptimizerCvWrapper */

class IBGStretchHomographyOptimizerCvWrapper : public IBGHomographyOptimizerCvWrapper
{
public:
  IBGStretchHomographyOptimizerCvWrapper()
  {
  }

  void initialize(const int max_nb_iter, const int max_nb_pyr_level, const double sampling_rate)
  {
    optimizer = new IBGStretchHomographyOptimizer();
    optimizer->initialize(max_nb_iter, max_nb_pyr_level, sampling_rate);
    initialized_ = true;
  }

}; /* class IBGStretchHomographyOptimizerCvWrapper */
} /* namespace VTEC */

#endif /* VTEC_CV_WRAPPER_IBG_CV_HEADER */