recognition_result.h

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#ifndef RECOGNITION_RESULT_H
#define RECOGNITION_RESULT_H

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


namespace descriptor_surface_based_recognition {

class RecognitionResult {

private:
    bool model_found_;

    int view_index;

    double score_2D_;

    HalconCpp::HHomMat2D trans_matrix_2D_;

    Eigen::Vector2i tex_point_;

    HalconCpp::HQuaternion adjusted_rotation_;

    int search_radius_;

    bool pose_valid_;

    double score_3D_;

    Eigen::Vector3d tex_point_3D_;

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

    HalconCpp::HTuple pose_;

public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    RecognitionResult(int view_index, double score_2D, HalconCpp::HHomMat2D &trans_matrix_2D, const Eigen::Vector2i &tex_point);

    bool checkModelFound();

    void setSearchCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr &search_cloud);
    void setPose(HalconCpp::HTuple pose);
    void setModelFound(bool model_found = true);
    void setTexPoint3D(pcl::PointXYZ tex_point_3D);
    void setAdjustedRotation(HalconCpp::HQuaternion quaternion);
    void setScore3D(double score_3D);
    void setSearchRadius(int radius);
    void setPoseValid(bool pose_valid);

    HalconCpp::HTuple getPose() const;
    int getViewIndex() const;
    double getScore2D() const;
    double getScore3D() const;
    HalconCpp::HHomMat2D getTransMatrix2D() const;
    Eigen::Vector2i getTexPoint() const;
    Eigen::Vector3d getTexPoint3D() const;
    pcl::PointCloud<pcl::PointXYZ>::Ptr getSearchCloud() const;
    HalconCpp::HQuaternion getAdjustedRotation() const;
    int getSearchRadius() const;
    bool getPoseValid() const;

};


}

#endif