mark_locator.h

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#ifndef VR_MARKLOCATOR_H
#define VR_MARKLOCATOR_H

namespace vr
{

class Circles
{
public:
    int radiusMin;
    int radiusMax;
    int accuThreshold;
    float accuResolution;
    float minDistance;
    float cannyThreshold;
    size_t found(cv::Mat& mat);

    Circles();
    ~Circles();
    int count();
    cv::Vec3f* item(int i);
private:
    std::vector<cv::Vec3f> items_;
};

class MarkEvaluator;

class MarkLocator
{
public:
    MarkLocator();
    ~MarkLocator();
    bool search(MarkEvaluator& evaluator, const cv::Mat& image,
            const int radiusMin,
            const int radiusMax,
            const size_t minCandidates = 1);
    void setTimeOutPeriod(double secs);
    double getTimeOutPeriod();
    void setParameters(const float cannyThresholdMin);
    void getParameters(float& cannyThresholdMin);
    void needSortedCandidates();
    inline size_t candidateCount() const { return candidateCount_; };
    inline const std::vector<MarkImageData>& candidates() const { return candidates_; };
private:
    void collectCandidates(cv::Mat& image);
    void sortCandidates(int L, int R);
    void adjustCannyThreshold(cv::Mat& image);
    void startTimeoutPeriod();
    bool timeOut();

    MarkOrientationDetector classifier_;

    Circles circles_;
    float initialGaussSigma_;
    float minGaussSigma_;
    float gaussSigmaDelta_;
    float cannyThresholdMin_;
    float cannyThreshDecFactor_;
    int initialCannyThreshold_;
    std::vector<MarkImageData> candidates_;
    size_t minCandidates_;
    size_t candidateCount_;
    int64 t0_;
    int64 timeOutPeriod_;
};

}

#endif // VR_MARKLOCATOR_H