ObjectDetectorMethod.h

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#ifndef __OBJECT_DETECTOR_METHOD__
#define __OBJECT_DETECTOR_METHOD__

#include <opencv/cv.h>
#include <vector>
#include "re_msgs/DetectedObject.h"
#include "ObjectModel.h"
#include "CameraBridge.h"
#include "VisualizationManager.h"

#include "DVision.h"


class ObjectDetectorMethod
{
public:

  class DetectionData
  {
  public:

    // All the data fields must inherit AnyData
    struct AnyData
    {
      bool provided;
      AnyData(): provided(false){}
    };

    struct SURFdata: public AnyData
    {
      DVision::SurfSet surfset;
    };

    // General parameters
    struct Parameters
    {
      const CameraBridge &camera; // camera intrinsic parameters

      Parameters(const CameraBridge& _cam): camera(_cam){}
    };

  public:
    const cv::Mat &img;    // reference image to search for objects
    Parameters params;     // general parameters
    SURFdata surfdata;     // surfs from img

  public:
    DetectionData(const cv::Mat &_img, const CameraBridge &_cam)
    : img(_img), params(_cam) {}

  };

public:

  virtual void detect(ObjectDetectorMethod::DetectionData &data,
    ObjectModel &model,
    re_msgs::DetectedObject &detection) = 0;

  virtual inline void setDebugMode(bool onoff, const std::string &dir)
  {
    m_debug = onoff;
    m_debug_dir = dir;
  }

  virtual inline bool debugMode() const { return m_debug; }

  virtual inline void setVisualizationManager(VisualizationManager *vis)
  {
    m_visualizer = vis;
  }

  virtual inline bool visualizationMode() const { return m_visualizer != NULL; }

protected:

  ObjectDetectorMethod(VisualizationManager *vis = NULL):
    m_visualizer(vis){}

  inline void visualize(const cv::Mat &image, const std::string &text = "",
    bool hold = false)
  {
    if(m_visualizer) m_visualizer->show(image, text, hold);
  }

protected:

  void calculatePose(const ObjectModel::Face &face, const std::vector<int>
    &face_indices, const DVision::SurfSet &scene_surfset,
    const std::vector<int> &scene_indices, const CameraBridge &camera,
    cv::Mat &cTo) const;

  void convertPose(const cv::Mat &T, geometry_msgs::Pose &pose) const;

  void convert3DPoints(const ObjectModel::Face &face,
    const std::vector<int> &indices,
    const cv::Mat &cTo,
    std::vector<geometry_msgs::Point> &points3d) const;

  void convert3DPoints(const ObjectModel::Face &face,
    const cv::Mat &cTo,
    std::vector<geometry_msgs::Point> &points3d) const;

  void get3DModelPoints(const ObjectModel::Face &face,
    const std::vector<int> &indices,
    std::vector<geometry_msgs::Point> &points3d) const;

  void get3DModelPoints(const ObjectModel::Face &face,
    std::vector<geometry_msgs::Point> &points3d) const;

  void getPointsOctave(const ObjectModel::Face &face,
    const std::vector<int> &indices,
    std::vector<int> &octave) const;

   void getPointsOctave(const ObjectModel::Face &face,
    std::vector<int> &octave) const;

   void project2DPoints(const ObjectModel::Face &face,
    const cv::Mat &cTo, const CameraBridge &camera,
    const std::vector<int> &indices,
    std::vector<re_msgs::Pixel> &points2d)  const;

  void project2DPoints(const ObjectModel::Face &face,
    const cv::Mat &cTo, const CameraBridge &camera,
    std::vector<re_msgs::Pixel> &points2d) const;

  void changeOrientation(const cv::Mat &cTo, cv::Mat &rTo) const;

protected:

  bool m_debug; 
  std::string m_debug_dir; 

  VisualizationManager *m_visualizer;

};

#endif