trv_tracker.hpp

#ifndef TRV_TRACKER_HPP
#define TRV_TRACKER_HPP
#include "traversability/trv_util.hpp"

#include <fstream>          // to read data files
#include <string> 

#include "gfm/Engine.hpp"
#include "gfm/EngineTracking.hpp"
#include "gfm/EngineOfflineTracking.hpp"
#include "fdetect/Detector.hpp"
#include "fdetect/HarrisDetector.hpp"
#include "gfm/GroupsMatcher.hpp"
#include "gfm/Matcher.hpp"
#include "gfm/MatchFocus.hpp"
#include "fdetect/DetectionResult.hpp"
#include "gfm/MatchingResult.hpp"
#include "fdetect/InterestFeature.hpp"
#include "fdetect/SURFDetector.hpp"
#include "fdetect/SIFTDetector.hpp"

// #include "premodeler/engine.hpp"
// #include "premodeler/ifManager.hpp"

#include "klt/klt.hpp"
    
namespace jafar
{
  namespace traversability
  {
    
    typedef enum TrackerType
    {
      TRV_HARRIS,
      TRV_SIFT,
      TRV_SURF,
      TRV_GFM,
      TRV_FOCUS,
      TRV_KLT,
//      TRV_PRE_HARRIS,   // PRE is old
//      TRV_PRE_SURF,// PRE is old
//      TRV_PRE_SIFT, // PRE is old
      TRV_NONE
    } TrackerType;
    
    
    class Tracker
    {
      private:
        TrackerType mTrackerType;
        float mImScale;
        int mFeatures;
        int mBufferSize;
        int mBufferCnt;
        
        MatchesContainer mMatches;
        
        jafar::gfm::Engine* mGfmEngine;
        jafar::gfm::MatchingResult mGfmMr;
        
        jafar::gfm::EngineOfflineTracking* mGfmEngineTr;
        
        MatchesContainer* *mGfmBuffer;
        
        
//        jafar::premodeler::Engine* mPreEngine;
//        jafar::premodeler::SequenceMR mPreMr;
        
        jafar::klt::Klt* mKltEngine;
        KLT_TrackingContext mKltTC;
        KLT_FeatureList mKltFL;
        KLT_FeatureTable mKltFT;
        
      public:
        Tracker ( TrackerType tt=TRV_NONE, int nFeautres=1000, int bufferSize=100 );
        ~Tracker ( void ) { /*delete mGfmEngine;*/ } 
        
        void track ( jafar::image::Image &im0, jafar::image::Image &im1 );
        MatchesContainer* matches ( const int idx0=0, const int idx1=1);
        MatchesContainer* readMatches ( std::string filename );
        TrackerType getTrackerType ( void ) const { return mTrackerType; }
    };
    
  } // namespace traversability
} // namespace jafar

#endif