SegmentableDatabase.h

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// *****************************************************************
// Filename:  SegmentableDatabase.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:      03.12.2007
// *****************************************************************


#ifndef _SEGMENTABLE_DATABASE_H_
#define _SEGMENTABLE_DATABASE_H_


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

#include <string>
#include <map>


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

class CByteImage;
class CFloatMatrix;
class CDynamicArray;
class COpenGLVisualizer;
class CObjectFinderStereo;
class CStereoCalibration;
class CDatabaseEntry;
struct Transformation3d;
struct Mat3d;
struct Vec3d;



// *****************************************************************
// CSegmentableDatabase
// *****************************************************************

class CSegmentableDatabase
{
public:
        // constructor
        CSegmentableDatabase();
        
        // destructor
        ~CSegmentableDatabase();
        
        
        // public methods
                
        // for recognition
        bool Init(const char *pConfigurationFilename, const char *pCameraParameterFilename, const char* pViewDataBasePathPrefix = 0);
        bool Init(const char *pConfigurationFilename, CStereoCalibration* pStereoCalibration, const char* pViewDataBasePathPrefix = 0);
    bool Init(CStereoCalibration* pStereoCalibration);
    bool AddClass(const std::string& classPath, const std::string& dataBasePrefix, std::string overrideClassName = "");

        void SetStereoCalibration(CStereoCalibration *pStereoCalibration);
        bool FindBestMatch(const CFloatMatrix *pInputData, const CByteImage *pMask, const Vec3d &initialPosition, int nSize,
                Transformation3d &resultPose, float &fResultError, int &nResultClass, int &nResultView, float &fResultRatio, float &fResultCorrelation,
                const char *pObjectName);
        
        // set recognition thresholds
        void SetRecognitionThresholds(float fSizeRatioThreshold, float fCorrelationThreshold);
        
        // set verbose mode
        void SetVerbose(bool bVerbose) { m_bVerbose = bVerbose; }
        
        // member access
        int GetNumberOfClasses();
        int GetInputDimension() { return m_nInputDimension; }
        const CDatabaseEntry* GetDatabaseEntry(int nClass);

        // pose correction
        bool CalculateCorrectedPosition(const char *pOIVFilePath, const Vec3d &triangulatedPosition, const Mat3d &orientation, const CByteImage *pMask, int nSize,
        Vec3d &correctedPosition, float &fRatio, float &fCorrelation);
        void CalculateCorrectedOrientation(const Vec3d &position, const Mat3d &orientation, Mat3d &resultOrientation);
        
        // static methods
        static bool DrawObjectFromFile(COpenGLVisualizer *pVisualizer, const char *pOIVFilePath, const Transformation3d &pose);
        static void Cleanup(); // call this method at the end of your programm to free memory for static objects


private:
        // private methods
        int SimulateSize(const char *pOIVFilePath, const Transformation3d &pose, CByteImage *pObjectImage);
        bool InitDatabase(const char *pConfigurationFilename, const char* pViewDataBasePathPrefix = 0);
        
        // private attributes
        CDynamicArray *m_pViewDatabaseList;
        int m_nInputDimension;

        COpenGLVisualizer *m_pOpenGLVisualizer;
        CObjectFinderStereo *m_pObjectFinderStereo;
        
        float m_fSizeRatioThreshold;
        float m_fCorrelationThreshold;
        
        bool m_bVerbose;
};



#endif /* _SEGMENTABLE_DATABASE_H_ */