pose_recognition.h

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#ifndef POSE_RECOGNITION_H
#define POSE_RECOGNITION_H

#include <HalconCpp.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>


#include "object_descriptor.h"
#include "recognition_result.h"




namespace descriptor_surface_based_recognition {

class PoseRecognition {

private:

    HalconCpp::HImage scene_image_;

    HalconCpp::HImage scene_image_mono_;

    pcl::PointCloud<pcl::PointXYZ>::Ptr point_cloud_with_guppy_;

    ObjectDescriptor *obj_desc_;

    int max_instances_;

    int median_points_offset_;

    double sampling_distance_;

    double keypoint_fraction_;

    std::vector<RecognitionResult*> results_;

    bool eval_;


    void findTexture();

    bool reducePointCloud(int result_index);

    bool findModelInCloud(int result_index);

    void adjustRotation(int result_index);

public:

    PoseRecognition(HalconCpp::HImage &scene_image, HalconCpp::HImage &scene_image_mono, pcl::PointCloud<pcl::PointXYZ>::Ptr &point_cloud_with_guppy, ObjectDescriptor *obj_desc, int median_points_offset, double samplingDistance, double keypointFraction, bool eval, int max_instances = 1);

    virtual ~PoseRecognition();

    void findPoses();

    std::vector<RecognitionResult*> getResults() const;
    ObjectDescriptor* getObjectDescriptor() const;
    HalconCpp::HRegion getInputImageDomain() const;
};


}

#endif