/home/jgoppert/Projects/uvsim/uvsim/src/uvsim/sensing/DepthEngine.h

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/*
 * DepthEngine.h
 * Copyright (C) James Goppert 2009 <jgoppert@users.sourceforge.net>
 *
 * DepthEngine.h is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * DepthEngine.h is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef DepthEngine_H
#define DepthEngine_H

#include "cv.h"
#include "highgui.h"

namespace uvsim
{

class DepthEngine
{
public:
    static const int winSize = 10;
    static const int maxCount = 100;
    static const double quality = 0.01;
    static const double minDistance = 10;
    bool firstRun;

    // Dynamically Allocated (Must Release Memory)
    IplImage *video, *image, *prevImage, *rectifiedImage, *prevRectifiedImage,
    *grey, *prevGrey, *pyramid, *prevPyramid,
    *swapTemp, *eig, *temp;
    CvPoint2D32f *points[2], *swapPoints;
    char *status;
    CvMat *H1, *H2, *fundamentalMatrix, *R1, *R2, *M1, *M2, *iM, *D1, *D2,
    *mx1, *my1, *mx2, *my2, *pair;

    // Links (Don't Deallocate)
    IplImage *frame;

    // Statically Allocated
    int needToInit, nightMode, flags, addRemovePt, count;
    CvPoint pt;
    CvSize imageSize;
public:
    DepthEngine (IplImage * frame);
    virtual ~DepthEngine();
    void init();
    void calculateOpticalFlow();
    void calculateDepth();
    void update(bool initialize = false);
    void drawPoints();
};

}

#endif

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