objectTracker.hpp

/* $Id$ */

#ifndef _OBJECT_TRACKER_HPP
#define _OBJECT_TRACKER_HPP

#include "kernel/jafarException.hpp"
#include "localizer/tsai3d.hpp"
#include "jmath/jblas.hpp"
#include "geom/Declarations.hpp"
#include "camera/cameraPinhole.hpp"

namespace jafar {
  
  namespace oracle {
    class ObjectTracker {

      /*
       * private attributes and methodes 
       */
      private:
      localizer::Tsai3dLocalizer *m_localizer;
      public:

      ObjectTracker(const double& _alphaU,
                    const double& _alphaV, 
                    const double& _u0, 
                    const double& _v0);

      ObjectTracker(const camera::CameraPinhole& cam);

      void setPoints(const std::vector<geom::Point2D>& _points2D, 
                     const std::vector<geom::Point3D>& _points3D);

      void setPoints(const std::map <int, geom::Point2D>& _twoDPoints,
                     const std::map <int, geom::Point3D>& _threeDPoints);

      void setPoints(const std::vector<jblas::vec2>& _points2D, 
                     const std::vector<jblas::vec3>& _points3D);

      void setPoints(const std::map <int, jblas::vec2>& _twoDPoints,
                     const std::map <int, jblas::vec3>& _threeDPoints);

      jblas::mat44 locate();
      
    };//class ObjectTracker

  }//namespace oracle

}//namespace jafar

#endif