Tracker2d3d.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:  Tracker2d3d.h
// Author:    Pedram Azad
// Date:      25.01.2008
// ****************************************************************************


#ifndef _TRACKER_2D_3D_
#define _TRACKER_2D_3D_


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

#include "Interfaces/RigidObjectTrackingInterface.h"


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

class CCalibration;
class CByteImage;
struct Mat3d;
struct Vec3d;



// ****************************************************************************
// CTracker2d3d
// ****************************************************************************

class CTracker2d3d : public CRigidObjectTrackingInterface
{
public:
        // constructor
        CTracker2d3d();

        // desturctor
        ~CTracker2d3d();
        
        
        // 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);

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



#endif /* _TRACKER_2D_3D_ */