TexturedObjectDatabase.h

Go to the documentation of this file.

// *****************************************************************
// Filename:  TexturedObjectDatabase.h
// Copyright: Pedram Azad, Chair Prof. Dillmann (IAIM),
//            Institute for Computer Science and Engineering (CSE),
//            University of Karlsruhe. All rights reserved.
// Author:    Pedram Azad
// Date:      2006
// *****************************************************************


#ifndef _TEXTURED_OBJECT_DATABASE_H_
#define _TEXTURED_OBJECT_DATABASE_H_


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

#include "Features/FeatureEntry.h"
#include "DataStructures/DynamicArray.h"
#include "Structs/ObjectDefinitions.h"
#include <string>


// *****************************************************************
// define
// *****************************************************************

#define MAXIMUM_NUMBER_OF_CLASSES 50


// *****************************************************************
// forward declarations
// *****************************************************************

class CDynamicArray;
class CByteImage;
class CTexturedFeatureSet;
class CHoughSpace2D;
class CStereoMatcher;
class CStereoCalibration;
class CKdTree;
struct Object3DEntry;




// *****************************************************************
// CTexturedObjectDatabase
// *****************************************************************

class CTexturedObjectDatabase
{
public:
        // constructor
        CTexturedObjectDatabase(int nImageWidth, int nImageHeight);

        // destructor
        ~CTexturedObjectDatabase();

        
        // public methods
        
        // loads stereo calibration from file (optional; needed for 3d localization only)
        bool LoadCameraParameters(const char *pFileName);
        void InitCameraParameters(CStereoCalibration *pStereoCalibration, bool bCloneCalibration);
        
        // loads database from configuration file
        bool LoadDatabase(const char *pConfigurationFilename, const char* pDataFilePathPrefix = 0);
        
        // set thresholds
        void SetRecognitionThresholds(int nMinValidFeatures, float fMaxError);
        
        // add feature set to database
        bool AddFeatureSet(CTexturedFeatureSet *pFeatureSet);
        bool AddClass(const std::string& sClassName, const std::string& sFeatureSetFileName);
    
        // remove feature set from database
        bool RemoveFeatureSet(int nIndex);
        bool RemoveFeatureSet(const char *pName);
                
        // high level method for analyzing features in a scene
        int AnalyzeFeatures(CDynamicArray *pFeatures, CByteImage *pResultImage,
                const CByteImage * const *ppInputImagesFor3DLocalization = 0,
                const Vec2d *pInterestPoints = 0, int nInterestPoints = 0,
                int nUseKdTree = 0, bool bInputImagesAreUndistorted = false,
                const char *pObjectName = 0);
        
        // returns feature set for a given index
        const CTexturedFeatureSet* GetFeatureSet(int nIndex);
        
        // returns number of objects in database
        int GetSize();

        
        // set methods
        void SetVerbose(bool bVerbose);
        void SetStereo(bool bStereo) { m_bLocalizeWithStereo = bStereo; }

        void SetCorrelationParameters(int nWindowSize, float fMinZ, float fMaxZ, float fThreshold)
        {
                m_nCorrelationWindowSize = nWindowSize;
                m_fCorrelationMinZ = fMinZ;
                m_fCorrelationMaxZ = fMaxZ;
                m_fCorrelationThreshold = fThreshold;
        }


private:
        // private class definitions
        class CFeatureMapEntry : public CDynamicArrayElement
        {
        public:
                CFeatureMapEntry(const CFeatureEntry *pFeature_, const CFeatureEntry *pMatchedFeature_, const CTexturedFeatureSet *pFeatureSet_) :
                        pFeature(pFeature_), pMatchedFeature(pMatchedFeature_), pFeatureSet(pFeatureSet_)
                {
                }
                
                const CFeatureEntry *pFeature;
                const CFeatureEntry *pMatchedFeature;
                const CTexturedFeatureSet *pFeatureSet;
        };
        
        // private methods
        bool BuildKdTree(int nObjectIndex);
        bool Localize3D(const Vec2d &p1, const Vec2d &p2, const Vec2d &p3, const Vec2d &p4,
                const Vec3d &p1_3d, const Vec3d &p2_3d, const Vec3d &p3_3d, const Vec3d &p4_3d,
                const Vec2d *pFeatures, int nFeatures, const CByteImage * const *ppImages,
                CByteImage *pResultImage, Object3DEntry &entry, bool bInputImagesAreUndistorted);       
        
        // private attributes
        CDynamicArray *m_pObjectArray;
        CDynamicArray **m_ppObjectFeatureMap;
        CKdTree **m_ppKdTrees;
        CHoughSpace2D *m_pHoughSpace;
        
        int m_nImageWidth;
        int m_nImageHeight;
        
        CStereoMatcher *m_pStereoMatcher;
        CStereoCalibration *m_pStereoCalibration;
        bool m_bStereoInitialized;
        bool m_bOwnStereoCalibrationObject;
        
        bool m_bVerbose;

        int m_nCorrelationWindowSize;
        float m_fCorrelationMinZ;
        float m_fCorrelationMaxZ;
        float m_fCorrelationThreshold;

        bool m_bLocalizeWithStereo;

        
public:
        Object3DList m_objectList;
};



#endif /* _OBJECT_DATABASE_H_ */