tracker.h

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/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
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 * $Id: point_cloud.h 4696 2012-02-23 06:12:55Z rusu $
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#ifndef PCL_TRACKING_TRACKER_H_
#define PCL_TRACKING_TRACKER_H_

#include <pcl/tracking/tracking.h>
#include <pcl/search/search.h>

namespace pcl
{
  namespace tracking
  {
    template <typename PointInT, typename StateT>
    class Tracker: public PCLBase<PointInT>
    {
    protected:
      using PCLBase<PointInT>::deinitCompute;
      
    public:
      using PCLBase<PointInT>::indices_;
      using PCLBase<PointInT>::input_;
      
      typedef PCLBase<PointInT> BaseClass;
      typedef boost::shared_ptr< Tracker<PointInT, StateT> > Ptr;
      typedef boost::shared_ptr< const Tracker<PointInT, StateT> > ConstPtr;

      typedef boost::shared_ptr<pcl::search::Search<PointInT> > SearchPtr;
      typedef boost::shared_ptr<const pcl::search::Search<PointInT> > SearchConstPtr;
            
      typedef pcl::PointCloud<PointInT> PointCloudIn;
      typedef typename PointCloudIn::Ptr PointCloudInPtr;
      typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
      
      typedef pcl::PointCloud<StateT> PointCloudState;
      typedef typename PointCloudState::Ptr PointCloudStatePtr;
      typedef typename PointCloudState::ConstPtr PointCloudStateConstPtr;
      
    public:
      Tracker (): tracker_name_ (), search_ () {}
      
      void 
      compute ();
      
    protected:
      std::string tracker_name_;

      SearchPtr search_;

      inline const std::string& 
      getClassName () const { return (tracker_name_); }

      virtual bool
      initCompute ();

      inline void 
      setSearchMethod (const SearchPtr &search) { search_ = search; }

      inline SearchPtr 
      getSearchMethod () { return (search_); }
      
      virtual StateT 
      getResult () const = 0;
      
    private:
      virtual void
      computeTracking () = 0;
      
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  }
}

#include <pcl/tracking/impl/tracker.hpp>

#endif