ObjectModel.h

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#ifndef __OBJECT_MODEL__
#define __OBJECT_MODEL__

#include "VisualizationModel.h"
#include "DVision.h"

#include <string>
#include <vector>
#include <opencv/cv.h>

typedef DVision::PMVS::PLYFile PLYFile;
typedef DVision::SurfSet SurfSet;

// This flag is to distinguish between code for Opencv > 2.1.1, that defined
// cv::FlannBasedMatcher, and code for OpenCV 2.1.1, that only defines a 
// cv::Index class
// Iif OPENCV_ADV_MATCHER is 1, the code for > 2.1.1 will be used
//#define OPENCV_ADV_MATCHER 0 //cturtle
#define OPENCV_ADV_MATCHER 1 //diamondback

class ObjectModel
{
  private:
    // Avoid copies
    ObjectModel (const ObjectModel &);
    ObjectModel & operator = (const ObjectModel &);
    
  public:
    
    ObjectModel();
    
    ObjectModel(const std::string &dir, bool load_visualization_model);
    
    virtual ~ObjectModel();
    
    void loadDirectory(const std::string &dir, bool load_visualization_model);
    
    static std::string getName(const std::string &dir);
    
    static bool checkDirectory(const std::string &dir);
    
    void detectFaces(const SurfSet &scene, std::vector<int>& face_indices,
      std::vector<std::vector<int> >& key_indices,
      std::vector<std::vector<int> >& scene_indices,
      std::vector<std::vector<float> >& distances,
      int min_detected_points = 1, int max_correspondences_per_point = 3,
      float max_ratio = 0.6);
    
    inline const VisualizationModel &getVisualizationModel() const
    {
      return *m_visualization_model;
    }
    
  public:
    
    struct Face
    {
      SurfSet surf;
      std::vector<PLYFile::PLYPoint> plypoints;
      cv::Mat image;
      cv::Mat A; // intrinsic parameters of camera
      cv::Mat cRo, cto; // Pose of (o)bject in the (c)amera frame that took the 
                        // face image
      
#if OPENCV_ADV_MATCHER
      // Only valid for OpenCV > 2.1.1
      cv::FlannBasedMatcher flann_matcher;
#else
      cv::flann::Index *flann_matcher;
      
      Face(): flann_matcher(NULL){}
#endif
    };
    
    std::string Name;
    std::vector<Face> Faces;
    std::string Type; // "planar", "3D"
  
  protected:
  
    //void updateMap(const char *filename, int face_idx, int N);
    
    //void loadFlann(const std::string &flan_filename,
    //  const std::string &keys_filename);
  
  protected:
    /*
    cv::flann::Index *m_flann;
    SurfSet *m_features;
    std::vector<std::vector<std::vector<int> > > m_map; 
    */
    
    VisualizationModel *m_visualization_model;
};

#endif