tracker.h

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/*
 * Dune D3D library - Tobias Alexander Franke 2014
 * For copyright and license see LICENSE
 * http://www.tobias-franke.eu
 */

#ifndef DUNE_TRACKER
#define DUNE_TRACKER

#ifdef OPENCV

#include "render_target.h"

#include <DirectXMath.h>

#include <opencv2/core/core.hpp>

namespace dune
{
    class pattern
    {
    protected:
        std::vector<cv::Mat> rotated_versions_;

    public:
        void load(const tstring& filename);

        const cv::Mat& operator[](size_t i) const { return rotated_versions_[i]; }
    };

    struct detection_info
    {
        size_t index;
        int orientation;
        double correlation;

        DirectX::XMMATRIX transformation;
    };

    class tracker
    {
    public:
        float time_track_;

    protected:
        cv::Mat cam_intrinsic_;
        cv::Mat cam_distortion_;

        std::vector<pattern> patterns_;
        std::vector<detection_info> detected_;

    public:
        void create(const tstring& camera_parameters_filename);
        void destroy();

        void track_frame(render_target& frame);

        size_t load_pattern(const tstring& filename);

        void remove_pattern(size_t id);

        DirectX::XMFLOAT4X4 model_view_matrix(FLOAT scale, const DirectX::XMFLOAT3& translation, const DirectX::XMFLOAT4X4& rotation, UINT pattern_id = 0) const;
    };
}

#endif

#endif