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#ifndef vision_INC
#define vision_INC
#include <opencv2/core.hpp>
#include <Eigen/Dense>
#include <iostream>
#include <opencv2/highgui/highgui.hpp>
#include <vector>
#include "camera.h"
#include "types.h"
using cv::Mat;
using cv::RotatedRect;
using cv::Rect;
using Eigen::Vector2d;
using Eigen::Vector3d;
using Eigen::Matrix;
using std::vector;
/*
* =====================================================================================
* Class: Vision
* Description:
* =====================================================================================
*/
class Vision
{
public:
/* ==================== LIFECYCLE ======================================= */
Vision (); /* constructor */
/* ==================== ACCESSORS ======================================= */
void drawMeasurements( const vector<measurement_t> &z, const Camera &cam,
const cv::Scalar &colsrc, const cv::Scalar &colref,
bool drawEllipse);
void show();
/* ==================== MUTATORS ======================================= */
/* ==================== OPERATORS ======================================= */
void open(const char *fn, const Camera &cam);
void acquireFeatures(const Camera &cam, vector<measurement_t> &z,
const vector<measurement_t> &curz);
void getTemplate( Mat &p, const Vector3d &pt);
void measure( const Camera &cam, const measurement_t &zin, measurement_t &zout);
void measurements( const Camera &cam, const vector<measurement_t> &zin,
vector<measurement_t> &zout);
void searchRegion( const Camera &cam, const measurement_t &z, cv::RotatedRect &rr);
protected:
/* ==================== METHODS ======================================= */
/* ==================== DATA MEMBERS ======================================= */
private:
/* ==================== METHODS ======================================= */
/* ==================== DATA MEMBERS ======================================= */
Mat original, gray, display;
static int _id;
}; /* ----- end of class Vision ----- */
#endif /* ----- #ifndef vision_INC ----- */
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