gldetector.h

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 *
 * @file gldetector.h
 * @author Bence Magyar
 * @date April 2012
 * @version 0.1
 * @brief The GLDetector class encapsulates the Recognizer module of BLORT.
 * It provides a C++ interface but uses ROS classes for data transfer at some places.
 */

#ifndef GLDetector_H
#define GLDetector_H

#include <geometry_msgs/Pose.h>
#include <string>
#include <blort_msgs/RecoveryCall.h>

#include <blort/ThreadObject/RecognizerThread.h>
#include <blort/Recognizer3D/Recognizer3D.h>
#include <blort_ros/DetectorConfig.h>

#include <blort/ObjectEntry.h>

namespace blort_ros
{
    class GLDetector
    {
    private:

        // EXPERIMENTAL temporary stuff
        int rec3dcounter;
        // end of EXPERIMENTAL

        float recovery_conf_threshold; // threshold used in recovery mode to say OK to a pose proposal

        // Create OpenGL Window and Tracker
        boost::shared_ptr<blortRecognizer::Recognizer3D> recognizer; // recovery component

        //config files 
        std::vector<blort::ObjectEntry> objects;
        std::vector<size_t> sift_index;
        size_t sift_files_count;

        // Initialise image
        IplImage *image_; // iplimage that used be the in former blort tracker module
        cv::Mat last_image;

        //reconf GUI hack
        bool last_reset;

    public:
        GLDetector(const sensor_msgs::CameraInfo& camera_info,
                   const std::string& config_root);

        bool recovery(std::vector<std::string> & obj_ids, const cv::Mat& image,
                      blort_msgs::RecoveryCall::Response &resp);

        bool recoveryWithLast(std::vector<std::string> & obj_ids, blort_msgs::RecoveryCall::Response &resp);

        void reconfigure(blort_ros::DetectorConfig config);

        cv::Mat getImage();

        void setNNThreshold(double nn_threshold)
        { recognizer->setNNThreshold(nn_threshold); }

        void setRansacNPointsToMatch(unsigned int n)
        { recognizer->setRansacNPointsToMatch(n); }

        ~GLDetector();

        cv::Mat getDebugImage();

    };
}

#endif // GLDetector_H