trv_mosaic.hpp

#ifndef TRV_MOSAIC_HPP
#define TRV_MOSAIC_HPP

#include "traversability/trv_homographyMosaic.hpp"

#include "kernel/jafarException.hpp"
#include "jmath/jblas.hpp"
#include "jmath/ublasExtra.hpp"

namespace jafar {
  namespace traversability {
    
    class Mosaic
    {
      
      protected:
        jafar::image::Image mMosaic;
        HomographyMosaic mH_mosaic;
        int mNumberOfTiles;;
        cv::Rect mBb;
      
      public:
        Mosaic ( int mosaicWidth, int mosaicHeight, int uShift = 0, int vShift = 0,
                 JfrImage_TypeColorSpace colSpace = JfrImage_CS_GRAY );
        ~Mosaic ( void );
        
        
        jafar::image::Image get ( void ) { return mMosaic; }
        jblas::mat33 getH_C0Cn ( void ) { return mH_mosaic.getH_C0Cn(); }
        
        void setH_C0Cn ( const jblas::mat33 &H_C0Cn ) { mH_mosaic.setH_C0Cn(H_C0Cn); }
        void update ( const jblas::mat33 &H_C0C1 ) { mH_mosaic.update(H_C0C1); }
        
        void initMosaic ( int mosaicWidth, int mosaicHeight, float uShift, float vShift );
        void reset ( float uShift=0.0, float vShift=0.0 );
        
        void add ( const jafar::image::Image &imgIn, const jafar::image::Image &imgMsk1 );
        void addCorners ( const jafar::image::Image &imgIn );
        
      protected:
        // TODO: change code such that the mask image is used to calculate bounding box!
        void calcBoundingRect ( const jblas::mat33 &H_COutCIn, const jafar::image::Image &imgIn, cv::Rect &boundingRect );  
        void shrinkBoundingRectToImage ( const jafar::image::Image &img, cv::Rect &boundingRect );
    };
    
  } // namespace traversability
} // namespace jafar

# endif