pose_validation.h

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#ifndef POSE_VALIDATION_H
#define POSE_VALIDATION_H

#include <rviz/ogre_helpers/render_system.h>

#include <OGRE/Ogre.h>
#include <OGRE/OgreException.h>
#include <OGRE/OgreRoot.h>

#include <HalconCpp.h>

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



namespace descriptor_surface_based_recognition {

class PoseValidation {

private:
    double image_width_;

    double image_height_;

    bool is_initialized_;


    Ogre::Root* root_;
    Ogre::SceneManager* scene_manager_;
    rviz::RenderSystem* render_sys_;
    Ogre::Camera* camera_;
    Ogre::SceneNode* camera_node_;
    Ogre::TexturePtr rtt_texture_;
    Ogre::RenderTexture* render_texture_;
    Ogre::RenderWindow *window_;

    HalconCpp::HImage renderObjectImage(RecognitionResult *recognition_result, Ogre::MeshPtr mesh);


public:

    PoseValidation();

    PoseValidation(double image_width, double image_height, double far_plane, double near_plane, double cx, double cy, double fx, double fy, int render_width, int render_height);

    bool isInitialized() const;

    HalconCpp::HTuple validateObject(ObjectDescriptor *object, RecognitionResult *recognition_result, Ogre::MeshPtr mesh);

    bool compareHomographyMatrices(HalconCpp::HHomMat2D original, HalconCpp::HHomMat2D rendered, int pose_validation_dist_err);

};


}

#endif