VisFinder.h

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/*
 * Copyright (C) 2009 by Ulrich Friedrich Klank <klank@in.tum.de>
 *
 * This program 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.
 *
 * This program 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/>.
 */


/************************************************************************
                        VisFinder.h - Copyright klank

**************************************************************************/


#ifndef VISFINDER_H
#define VISFINDER_H

#include <string>
#include <vector>

#include "AlgorithmSelector.h"
#include "RelPoseFactory.h"
#include "AttentionManager.h"
#include "VisLearner.h"
#include "TrackAlgorithm.h"
#include "PerceptionPrimitive.h"

#define XML_NODE_VISFINDER "VisualFinder"

namespace cop
{
  class VisFinder
  {

  public:

    // Constructors/Destructors
    //

    VisFinder ( XMLTag*  configFile, ImageInputSystem* imageSystem, SignatureDB* db, AttentionManager* manager, VisLearner*     visLearner
  #ifdef LOGFILE
          , LogFile& log
  #endif
          );

    virtual ~VisFinder ( );



    VisFinder& operator=(VisFinder&){throw "Error";}
    virtual SignatureLocations_t Locate (PossibleLocations_t* lastKnownPoses, PerceptionPrimitive& object, int &numOfObjects);

    bool GetPlaneClusterCall(PossibleLocations_t* poses, RelPose*, PerceptionPrimitive& obj, const std::vector<Sensor*> &sensors);

    virtual void StartTrack (PerceptionPrimitive& object, RelPose* pose);
    virtual void StopTrack (Signature& object);


    virtual RelPose* RelTwoObjects (const RelPose& pose, Signature& sig1, Signature& sig2);
    virtual XMLTag* Save();
    void AddAlgorithm(Algorithm<std::vector<RelPose*> >* alg);
    int CountAlgorithms(){return m_selLocate.CountAlgorithms();}

    const AlgorithmSelector<std::vector<RelPose*> >& GetAlgorithmSelection(){return m_selLocate;}
  private:
      AlgorithmSelector<std::vector<RelPose*> > m_selLocate;
      std::map<int, TrackAlgorithm*> m_runningTracks;
  public:
    ImageInputSystem* m_imageSys;
    SignatureDB*      m_sigdb;
    VisLearner*       m_visLearner;
    AttentionManager* m_attentionMan;


  };
}
#endif // VISFINDER_H