VisLearner.h
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00001 /*
00002  * Copyright (C) 2009 by Ulrich Friedrich Klank <klank@in.tum.de>
00003  *
00004  * This program is free software; you can redistribute it and/or modify
00005  * it under the terms of the GNU General Public License as published by
00006  * the Free Software Foundation; either version 3 of the License, or
00007  * (at your option) any later version.
00008  *
00009  * This program is distributed in the hope that it will be useful,
00010  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00011  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012  * GNU General Public License for more details.
00013  *
00014  * You should have received a copy of the GNU General Public License
00015  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
00016  */
00017 
00018 
00019 /************************************************************************
00020                         VisLearner.h - Copyright klank
00021 
00022 **************************************************************************/
00023 
00024 
00025 #ifndef VISLEARNER_H
00026 #define VISLEARNER_H
00027 
00028 #include <string>
00029 #include <vector>
00030 #include "SignatureDB.h"
00031 #include "ImageInputSystem.h"
00032 #include "Statistics.h"
00033 #include "RefineAlgorithm.h"
00034 #include "AlgorithmSelector.h"
00035 #include "PerceptionPrimitive.h"
00036 #ifdef BOOST_THREAD
00037 #include "boost/thread.hpp"
00038 #else
00039 #endif
00040 
00041 
00042 
00043 #define XML_NODE_VISLEARNER "VisLearner"
00044 namespace cop
00045 {
00046   typedef int TaskID;
00047 
00052   class VisLearner
00053   {
00054   public:
00055 
00056     // Constructors/Destructors
00057     //
00058 
00062     VisLearner ( XMLTag* tag, SignatureDB& sigDB, ImageInputSystem& imgSys,
00063   #ifdef LOGFILE
00064          LogFile& log,
00065   #endif /*LOGFILE*/
00066           bool bLearning = true);
00067 
00068 
00072     virtual ~VisLearner ( );
00073   private:
00074     VisLearner();
00075 
00076     // Methods
00077     //
00078   public:
00079     XMLTag* Save();
00085     double RefineObject (Signature& object);
00086 
00087 
00096     SignatureLocations_t RefineObject (PossibleLocations_t* lastKnownPoses, PerceptionPrimitive &visPrim, int &numOfObjects);
00105     SignatureLocations_t ProoveObject(PossibleLocations_t* lastKnownPoses, PerceptionPrimitive &visPrim, int &numOfObjects);
00106 
00107     void AddAlgorithm(Algorithm<Descriptor*>*);
00108     void AddAlgorithm(Algorithm<ImprovedPose >*);
00109 
00114     Signature* GetObjectSignature (int index );
00115 
00116 
00117     void threadfunc();
00118 
00119     const AlgorithmSelector<Descriptor* >& GetRefineAlgorithmSelection(){return m_refinements;}
00120     const AlgorithmSelector<ImprovedPose>& GetProoveAlgorithmSelection(){return m_checks;}
00121 
00122 
00123   private:
00124 
00125     // Private attributes
00126     //
00127     SignatureDB&                m_signatureDB;
00128     ImageInputSystem&   m_imageSys;
00129     Statistics                  m_stats;
00130 
00131 
00132     std::vector<std::pair<TaskID, Signature*> > m_taskList;
00133     AlgorithmSelector<Descriptor* >     m_refinements;
00134     AlgorithmSelector<ImprovedPose>     m_checks;
00135   #ifdef BOOST_THREAD
00136     boost::thread* m_learningThread;
00137   #else
00138   #endif
00139     static bool s_Learning;
00140     static bool s_Running;
00141   private:
00142     VisLearner& operator=(VisLearner&){throw "Error";}
00143 
00144   };
00145 }
00146 #endif // VISLEARNER_H
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cognitive_perception
Author(s): Ulrich F Klank
autogenerated on Thu May 23 2013 07:38:35