vpRBDriftDetector.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software 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 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 */

#ifndef VP_RB_DRIFT_DETECTOR_H
#define VP_RB_DRIFT_DETECTOR_H
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_NLOHMANN_JSON)
#include VISP_NLOHMANN_JSON(json_fwd.hpp)
#endif
 
BEGIN_VISP_NAMESPACE
 
class vpRBFeatureTrackerInput;
class vpHomogeneousMatrix;
class vpRGBa;
template <typename T> class vpImage;

class VISP_EXPORT vpRBDriftDetector
{
public:
  vpRBDriftDetector() = default;
 
  virtual ~vpRBDriftDetector() = default;

  virtual void update(const vpRBFeatureTrackerInput &previousFrame, const vpRBFeatureTrackerInput &frame, const vpHomogeneousMatrix &cTo, const vpHomogeneousMatrix &cprevTo) = 0;
 
  virtual double score(const vpRBFeatureTrackerInput &frame, const vpHomogeneousMatrix &cTo) = 0;

  virtual double getScore() const = 0;

  virtual bool hasDiverged() const = 0;
 
  virtual void reset() { }

  virtual void display(const vpImage<vpRGBa> &I) = 0;
 
#if defined(VISP_HAVE_NLOHMANN_JSON)
  virtual void loadJsonConfiguration(const nlohmann::json &) = 0;
#endif
 
};
 
END_VISP_NAMESPACE
 
#endif