SegmentableRecognition.h

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// *****************************************************************
// -----------------------------------------------------------------
// SegmentableRecognition.h 
// -----------------------------------------------------------------
// *****************************************************************

// *****************************************************************
// Author:  Pedram Azad
// Date:    2006/02/23
// *****************************************************************


// *****************************************************************
// double-include protection
// *****************************************************************

#ifndef _SEGMENTABLE_RECOGNITION_H_
#define _SEGMENTABLE_RECOGNITION_H_


// *****************************************************************
// necessary includes
// *****************************************************************

#include "Structs/ObjectDefinitions.h"


// *****************************************************************
// forwards
// *****************************************************************

class CObjectFinder;
class CObjectFinderStereo;
class CStereoCalibration;
class CRegionFilterInterface;
class CByteImage;
class CSegmentableDatabase;
class CColorParameterSet;




class CSegmentableRecognition
{
public:
        // constructor
        CSegmentableRecognition();
        
        // destructor
        ~CSegmentableRecognition();
        

        bool Init(const char *pColorParameterFile, const char *pCameraParameterFileDeprecated, const char *pCameraParameterFile,
                          const char *pObjectDatabaseConfigurationFile, const char* pDataPathPrefix = 0);

    bool Init(CColorParameterSet* pColorParameterSet, CStereoCalibration* pStereoCalibration, const char *pObjectDatabaseConfigurationFile);

    bool InitWithoutDatabase(CColorParameterSet* pColorParameterSet, CStereoCalibration* pStereoCalibration);
    
    bool AddClass(const std::string& classPath);

        void SetStereoCalibration(CStereoCalibration *pStereoCalibration);

        void SetRecognitionThresholds(float fSizeRatioThreshold, float fCorrelationThreshold);
        
        void DoRecognition(const CByteImage * const *ppInputImages, CByteImage **ppResultImages,
                int nMinPixelsPerRegion, bool bBlobsOnly = false, float fMaxEpipolarDistance = 10,
                ObjectColor color = eNone, bool bTrack = false, bool bInputImagesAreUndistorted = false);
                
        void DoRecognitionSingleObject(const CByteImage * const *ppInputImages, CByteImage **ppResultImages, const char *pObjectName,
                int nMinPixelsPerRegion, float fMaxEpipolarDistance = 10,
                ObjectColor color = eNone, bool bTrack = false, bool bInputImagesAreUndistorted = false);
        
        const Object3DList& GetObject3DList() { return m_object3DList; }

        const CStereoCalibration* GetStereoCalibration();

        const CColorParameterSet* GetColorParameterSet() { return m_pColorParameterSet; }
        
        CSegmentableDatabase* GetObjectDatabase() { return m_pSegmentableDatabase; }

        void SetVerbose(bool bVerbose);
        
        
private:
        // private methods
        void _DoRecognition(const CByteImage * const *ppInputImages, CByteImage **ppResultImages, const char *pObjectName = 0,
                int nMinPixelsPerRegion = 500, bool bBlobsOnly = false, float fMaxEpipolarDistance = 10,
                ObjectColor color = eNone, bool bTrack = false, bool bInputImagesAreUndistorted = false);
        void FindAndClassifyBlobs(CObjectFinderStereo *pObjectFinderStereo, const CByteImage * const *ppInputImages,
                        CByteImage **pResultImages, CByteImage *pGrayImage, const char *pObjectName, ObjectColor color,
                        int nMinPixelsPerRegion, bool bBlobsOnly, float fMaxEpipolarDistance, bool bInputImagesAreUndistorted);
        bool RecognizeAndLocalizeObject(CByteImage *pGrayImage, Object3DEntry &entry, const char *pObjectName);
        void PostProcessResultList();
        
        // public attributes
        CRegionFilterInterface *m_pCompactRegionFilter;
        
        CObjectFinderStereo *m_pObjectFinderStereo;
        
        CSegmentableDatabase *m_pSegmentableDatabase;
        
        CByteImage *m_pGrayImageBig;
        CByteImage *m_pGrayImageSmall;
        
        CColorParameterSet *m_pColorParameterSet;
        
        Object3DList m_object3DList;
        
        bool m_bVerbose;
};



#endif /* _SEGMENTABLE_RECOGNITION_H_ */