recognitionmodel.h

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#ifndef RECOGNITIONMODEL_H
#define RECOGNITIONMODEL_H

#include <cv.h>

#include <vector>

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

// Enable this define to show debug visualization
//#define DEBUG_VIS

#ifdef DEBUG_VIS
#include <highgui.h>
#endif

typedef pcl::PointXYZRGB PointType;
typedef pcl::PointCloud<PointType> PointCloud;

class ObjectAspect {
public:
    ObjectAspect();

    int calculate(const cv::Mat& image, const PointCloud::Ptr& pointcloud);

    void fromFile(const std::string& filename);
    void plotKeypoints(cv::Mat &image);
    void findCorrespondences(const ObjectAspect& other, std::vector<cv::Point2i>& ptpairs);

    static int naiveNearestNeighbor(const float* vec, const std::vector<cv::KeyPoint>& model_keypoints,
                             const float* model_descriptors, const std::map<int,int>& imageMap2D3D);

    static double compareSURFDescriptors(const float* d1, const float* d2, double best, int length);

    double matchAspects(ObjectAspect& other, Eigen::Matrix4f& transform);

    std::vector<cv::KeyPoint> keypoints;
    std::vector<float> descriptors;
    std::map<int,int> map2D3D;
    std::map<int,int> map2D3Dinv;
    PointCloud::Ptr keypoints3D;

    cv::Mat image;
    PointCloud::Ptr points;
    ObjectAspect* match;
};

class RecognitionModel
{
public:
    RecognitionModel();

    bool loadFromPath(const std::string& path);

    std::vector<ObjectAspect*> aspects;
    bool matchAspects(ObjectAspect& other, Eigen::Matrix4f& model2scene);
    std::string model_name;
};

#endif // RECOGNITIONMODEL_H