ObjectFinderStereo.h

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
// The IVT is maintained by the Karlsruhe Institute of Technology (KIT)
// (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de).
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// ****************************************************************************
// ****************************************************************************
// Filename:  ObjectFinderStereo.h
// Author:    Pedram Azad
// Date:      2005
// ****************************************************************************


#ifndef _OBJECT_FINDER_STEREO_H_
#define _OBJECT_FINDER_STEREO_H_


// ****************************************************************************
// Necessary includes
// ****************************************************************************

#include "Structs/ObjectDefinitions.h"
#include <string>


// ****************************************************************************
// Forward declarations
// ****************************************************************************

class CRegionFilterInterface;
class CObjectEntryFilterInterface;
class CObjectClassifierInterface;
class CObjectFinder;
class CByteImage;
class CCalibration;
class CStereoCalibration;
class CColorParameterSet;



// ****************************************************************************
// CObjectFinderStereo
// ****************************************************************************

class CObjectFinderStereo
{
public:
        // constructor
        CObjectFinderStereo();
        
        // destructor
        ~CObjectFinderStereo();
        
        
        // public methods
        bool Init(const char *pCameraParameterFileName);
        void Init(CStereoCalibration* pStereoCalibration);
        
        void SetColorParameterSet(const CColorParameterSet *pColorParameterSet);
                
        // first call this method for each new image
        void PrepareImages(const CByteImage * const *ppImages, float fROIFactor = -1, bool bCalculateHSVImage = true);
        
        // then for each color call one of the FindObjects-methods
        void FindObjects(const CByteImage * const *ppImages, CByteImage **ppResultImages, ObjectColor color, int nMinPointsPerRegion, bool bShowSegmentedImage);
        void FindObjects(const CByteImage * const *ppImages, CByteImage **ppResultImages, ObjectColor color, int nMinPointsPerRegion, CByteImage **ppResultSegmentedImages);
        void FindObjects(const CByteImage * const *ppImages, CByteImage **ppResultImages, ObjectColor colorName, int hue, int hue_tol, int min_sat, int max_sat, int min_v, int max_v, int nMinPointsPerRegion, bool bShowSegmentedImage);
        void FindObjectsInSegmentedImage(const CByteImage * const *ppImages, CByteImage **ppResultImages, ObjectColor color, int nMinPointsPerRegion, bool bShowSegmentedImage);
        
        // finally call this method
        int Finalize(float dMinZDistance, float fMaxZDistance, bool bInputImagesAreRectified, ObjectColor finalizeColor = eNone, float fMaxEpipolarDistance = 10, bool bUseDistortionParameters = true);
        
        // member access
        CByteImage* GetLeftSegmentationResult();
        CByteImage* GetRightSegmentationResult();
        const CStereoCalibration* GetStereoCalibration() { return m_pStereoCalibration; }
        
        // use these methods for setting a region/entry filter
        void SetRegionFilter(CRegionFilterInterface *pRegionFilter);
        void SetObjectEntryFilter(CObjectEntryFilterInterface *pObjectEntryFilter) { m_pObjectEntryFilter = pObjectEntryFilter; }
        
        // use these methods for manipulating the internal object list
        const Object3DList& GetObject3DList() { return m_objectList; }
        void ClearObjectList();
        void AddObject(const Object3DEntry &entry);
        
        // use these methods for adding classifiers (mostly not used)
        void AddObjectClassifier(CObjectClassifierInterface *pObjectClassifier);
        void RemoveObjectClassifier(CObjectClassifierInterface *pObjectClassifier);
        void ClearObjectClassifierList();

        // public attributes
        Object3DList m_objectList;


protected:
        // protected methods
        void UpdateObjectFinderLists(Object2DList &resultListLeft, Object2DList &resultListRight);
        int DetermineMatches(Object2DList &resultListLeft, Object2DList &resultListRight, float fMinZDistance, float fMaxZDistance, bool bInputImagesAreRectified, bool bUseDistortionParameters, ObjectColor finalizeColor, float fMaxYDiff);

        // protected attributes
        CObjectFinder *m_pObjectFinderLeft;
        CObjectFinder *m_pObjectFinderRight;
        CStereoCalibration *m_pStereoCalibration;
                
private:
        // private attributes
        std::vector<CObjectClassifierInterface*> m_objectClassifierList;
        CObjectEntryFilterInterface *m_pObjectEntryFilter;
        bool m_bOwnCalibration;
};



#endif /* _OBJECT_FINDER_STEREO_H_ */