opencv_blobtrack.h

/* -- 2007-05-07 -- 
 *  ardev - an augmented reality library for robot developers
 *  Copyright 2005-2007 - Toby Collett (ardev _at_ plan9.net.nz)
 *
 *  This library is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 *
 *  This library is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 *  Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public
 *  License along with this library; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 
 *
 */
#ifndef OPENCV_BLOBTRACK_H
#define OPENCV_BLOBTRACK_H

#include <ardev/ardevconfig.h>

#ifdef HAVE_OPENCV

#include <ardev/ardev.h>
#include <ardev/debug.h>
#include <map>

#include <opencv/cv.h>

struct intlt_bt
{
        public: bool operator () (const int & lhs, const int &rhs)
        {
                return lhs < rhs;
        };
};

typedef struct BlobPair
{
        int Hue1_Min;
        int Hue1_Max;
        int Hue2_Min;
        int Hue2_Max;
        double Height;
        
        ARPosition pos; 
} BlobPair_t;

class OpenCVBlobTrackPreProcess : public FrameProcessObject
{
        public:
                OpenCVBlobTrackPreProcess(CameraObject & Camera, double BlobMinSize = 200, double BlobMaxSize = 10000, bool debug = false);
        
                ~OpenCVBlobTrackPreProcess();
                
                void ProcessFrame(const ARImage & frame);
                
                int AddBlobs(BlobPair_t & blob);
                void RemoveBlobs(int id);
        
                bool GetMarkerPos(int id, ARPosition &result);
        
        private:
                unsigned int lastFrameWidth;            //< last width of a frame, used to scale calibration data
                unsigned int lastFrameHeight;           //< last height of a frame, used to scale calibration data
                ARCamera camera;                                //< the camera
                double MinSize;                                 //< Min size of blob
                double MaxSize;                                 //< Max size of blob
                bool Debug;                                     //< Set wether the debug windows are enabled
                int PatNumber;
                
                std::map<int,BlobPair,intlt_bt> Markers; //< A map of the marker Heights

                // find center of a blob                
                ARPoint GetBlobCenter(int HueMin, int HueMax, IplImage * im, CvSize size);
                
                ARPosition GetPosition(ARPoint P1, ARPoint P2, double Height);
                
                void DropLowSat(IplImage * h_img, IplImage * s_img, int sat_thresh, int NewHue, CvSize size);
};

class OpenCVBlobTrackPosition : public PositionObject
{
        public:
                OpenCVBlobTrackPosition(OpenCVBlobTrackPreProcess & pre, const BlobPair_t & blob) : Pre(pre), Blob(blob)
                {
                        Elapsed = 0;
                        MarkerID = 0;
                        memset(&lastGoodPosition,0,sizeof(lastGoodPosition));
                }; 
                
                ~OpenCVBlobTrackPosition()
                {
                }; 
        
                int Initialise(bool Active = true)
                {
                        dbg_print(ARDBG_VERBOSE,"Adding new blob pair to opencv tracker: %d %d %d %d\n",Blob.Hue1_Min, Blob.Hue1_Max,Blob.Hue2_Min,Blob.Hue2_Max);
                        MarkerID = Pre.AddBlobs(Blob);
                        dbg_print(ARDBG_VERBOSE,"Blob was assigned Marker ID: %d\n",MarkerID);
                        return 0;
                };

                void Terminate()
                {
                        Pre.RemoveBlobs(MarkerID);
                };
        
                virtual ARPosition GetPosition();

                virtual bool Present();
        
        protected:
                OpenCVBlobTrackPreProcess & Pre;
                unsigned int MarkerID;
                ARPosition lastGoodPosition;
                StopWatch Timer;
                double Elapsed;
                BlobPair_t Blob;
};

#endif
#endif

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