calibTree.h

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#include <fstream>
#include <cstdlib>
#include <ros/ros.h>
#include <stdint-gcc.h>
#include <vector>

#define NOT_SET 5
#define BOTH_CAMERAS 3

//Colors
#define RED 0
#define GREEN 1
#define BLUE 2

using namespace std;

class calibTree
{
public:

  struct calib
  {
    uint8_t r;
    uint8_t g;
    uint8_t b;
    int camera;
    int calibType;
    //used to know the order in which calibs were created
    int id;

    //Used for the trees created.  

    struct calib * redTreeLeftChild;
    struct calib * redTreeRightChild;
    struct calib * redTreeParent;
  };

  calibTree();

  ~calibTree();

  void newCalibPoint(uint8_t red, uint8_t green, uint8_t blue, int camera, int calibType);

  int getCalibPointsSize();

  int getCalibPointColor(int index, int paramIndex);

  int getCalibPointCamera(int index);

  int getCalibPointType(int index);

  void removeCalibPoint(int index);

  void createTree();

  int parseCalibTree(int R, int G, int B, int camera, int calibAccuracy);

  void orderCalibsByRed();

  bool removeLastNodeFromTree(int cameraShown);

  void freeTree();

  void printTree();

private:

  //Head of the calibration tree indexed on the red color values
  struct calib * treeHead;

  //Structures holding calibration files info use to create the tree.
  vector<calib> calibPoints;

  int idCount;

  /*
   Private Functions
   */

  void createTreeRecursion(int start, int end);

  int parseCalibTreeRecursion(calib * treeNode, int R, int G, int B, int camera, int calibAccuracy);

  bool removeLastNodeFromTreeRecursion(calib * nodePtr, int r, int g, int b, int id);

  void freeTreeRecursion(calib * treeHead);

  void addToTree(int calibNode);

  void createTreeNode(int vectorIndex, calib * nodePtr, calib * parentPtr);

  void printTreeRecursion(calib * node, int level);
};