HoughSpace2D.h

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// *****************************************************************
// Filename:  HoughSpace2D.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:      2005
// *****************************************************************


#ifndef _HOUGH_SPACE_2D_H_
#define _HOUGH_SPACE_2D_H_


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

#include "DataStructures/DynamicArray.h"


// *****************************************************************
// define
// *****************************************************************



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

class CFeatureEntry;
class CByteImage;
struct Mat3d;
struct Vec2d;



// *****************************************************************
// CFeatureSet
// *****************************************************************

class CHoughSpace2D
{
public:
        // constructor
        CHoughSpace2D(int nImageWidth, int nImageHeight, float fScale);

        // CFeatureSet
        ~CHoughSpace2D();

        
        // public methods
        void InitNextRun();
        void Vote(const CFeatureEntry *pFeature, const CFeatureEntry *pMatchedFeature, const Vec2d &center);
        bool CheckAndDetermineHomography(Mat3d &A, Vec2d &centroid, int &nResultMatches, float &fResultError, CByteImage *pResultImage = 0);
        
        void SetRecognitionThresholds(int nMinValidFeatures, float fMaxError);
        
        void WriteHoughSpaceImage();
        
        const Vec2d* GetValidFeatures() { return m_pValidFeatures; }
        const Vec2d* GetMatchedFeatures() { return m_pMatchedFeatures; }
        int GetNumberOfValidFeatures() { return m_nValidFeatures; }
        
        void SetVerbose(bool bVerbose) { m_bVerbose = bVerbose; }
        
        
private:
        // private class definitions
        class CHoughSpace2DBin
        {
        public:
                CHoughSpace2DBin()
                {
                        nID = 0;
                        nHits = 0;
                }
                
                int nID;
                unsigned short nHits;
        };
        
        class CFeaturePair : public CDynamicArrayElement
        {
        public:
                CFeaturePair(const CFeatureEntry *pFeature_, const CFeatureEntry *pMatchedFeature_) : pFeature(pFeature_), pMatchedFeature(pMatchedFeature_)
                {
                }
                
                const CFeatureEntry *pFeature;
                const CFeatureEntry *pMatchedFeature;
                int offsets[6];
        };

        // private attributes
        CHoughSpace2DBin **m_ppHoughSpace;
        int m_nWidth;
        int m_nHeight;
        float m_fScale;
        int m_nCurrentID;
        int m_nMaxHits;
        int m_nBestOffset;
        float m_fBestScale;
        
        CDynamicArray *m_pPairList;
        
        Vec2d *m_pValidFeatures;
        Vec2d *m_pMatchedFeatures;
        int m_nValidFeatures;
        
        int m_nMinValidFeatures;
        float m_fMaxError;
        
        bool m_bVerbose;
};



#endif /* _HOUGH_SPACE_2D_H_ */