object_pose_detection_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _object_pose_detection_alg_h_
#define _object_pose_detection_alg_h_

#include <iri_object_pose_detection/ObjectPoseDetectionConfig.h>
#include "mutex.h"

#include <HoughTransform.hpp>
#include <ransac.hpp>

//include object_pose_detection_alg main library

class ObjectPoseDetectionAlgorithm
{
  protected:
        CMutex alg_mutex_;

        //feat extraction and matching vars
        cv::Ptr<cv::FeatureDetector> detector;
        cv::Ptr<cv::DescriptorExtractor> descriptorExtractor;
        cv::Ptr<cv::DescriptorMatcher> descriptorMatcher;
        int matcherFilterType;

        float distance_ratio_; //TODO init!
        uint min_matches_; //TODO init!

        //init params
        std::string basepath_;
        std::string feats_dir_;
        std::string train_imas_dir_;
        std::string test_image_;

        //train set vars
        std::vector<std::string> train_files_;
        std::vector<cv::Mat> train_imas_;
        std::vector<std::vector<cv::KeyPoint> > train_kpoints_;
        std::vector<cv::Mat> train_desc_;

        std::string parse_param(const std::vector<std::string>& init, std::string req);
        bool init_config(const std::string &initfile);
        void compute_train_set();
        void load_train_set();

        enum { NONE_FILTER = 0, CROSS_CHECK_FILTER = 1 };


  public:
        typedef iri_object_pose_detection::ObjectPoseDetectionConfig Config;

        Config config_;

        ObjectPoseDetectionAlgorithm(void);

        void lock(void) { alg_mutex_.enter(); };

        void unlock(void) { alg_mutex_.exit(); };

        bool try_enter(void) { return alg_mutex_.try_enter(); };

        void config_update(Config& new_cfg, uint32_t level=0);

        // here define all object_pose_detection_alg interface methods to retrieve and set
        // the driver parameters

        ~ObjectPoseDetectionAlgorithm(void);

        void ortk_detect();
};

#endif