TexturedRecognition.h

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// *****************************************************************
// -----------------------------------------------------------------
// TexturedRecognition.h 
// -----------------------------------------------------------------
// *****************************************************************

// *****************************************************************
// Author:  Pedram Azad
// Date:    2006/09/23
// *****************************************************************


// *****************************************************************
// double-include protection
// *****************************************************************

#ifndef _TEXTURED_RECOGNITION_H_
#define _TEXTURED_RECOGNITION_H_


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

#include "Structs/ObjectDefinitions.h"


// *****************************************************************
// forwards
// *****************************************************************

class CByteImage;
class CTexturedObjectDatabase;
class CHarrisSIFTFeatureCalculator;
class CStereoCalibration;




class CTexturedRecognition
{
public:
        // constructor
        CTexturedRecognition(int nImageWidth, int nImageHeight, float fSIFTThreshold = 0);
        
        // destructor
        ~CTexturedRecognition();
        

    bool Init(const char *pObjectDatabaseFilePath, const char *pCameraParameterFileName = 0, const char* pDataFilePath = 0);

        bool Init(const char *pObjectDatabaseFilePath, CStereoCalibration *pStereoCalibration, bool bCloneCalibration, const char* pDataFilePath = 0);
        
        void DoRecognition(const CByteImage * const *ppInputImages, CByteImage **ppResultImages, bool bLocalizeWithStereo = false, int nUseKdTree = 0, bool bInputImagesAreUndistorted = false);

        void DoRecognitionSingleObject(const CByteImage * const *ppInputImages, CByteImage **ppResultImages, const char *pObjectName,
                bool bLocalizeWithStereo = false, int nUseKdTree = 0, bool bInputImagesAreUndistorted = false);
        
        void SetVerbose(bool bVerbose);

        void SetStereo(bool bStereo);

        void SetQualityThreshold(float fQualityThreshold);

        void SetRecognitionThresholds(int nMinValidFeatures, float fMaxError);
        
        const Object3DList& GetObject3DList();
    
        CTexturedObjectDatabase* GetObjectDatabase() { return m_pObjectDatabase; }
        
        
private:
        // private methods
        void _DoRecognition(const CByteImage * const *ppInputImages, CByteImage **ppResultImages, const char *pObjectName,
                bool bLocalizeWithStereo, int nUseKdTree, bool bInputImagesAreUndistorted);
        
        // private methods
        CTexturedObjectDatabase *m_pObjectDatabase;
        CHarrisSIFTFeatureCalculator *m_pFeatureCalculator;

        CByteImage *m_ppGrayImages[2];
        
        int m_nImageWidth;
        int m_nImageHeight;
        
        bool m_bVerbose;
};



#endif /* _TEXTURED_RECOGNITION2_H_ */