RecognitionResult.hpp

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#pragma once

#include <string>
#include <sstream>
#include <vector>
#include <map>
#include <cstdint>
#include <cmath>
#include <boost/shared_ptr.hpp>
#include "typedef.hpp"
#include "ObjectSet.hpp"
#include "Pose.hpp"
#include "recognizer/VotedPose.hpp"


namespace ISM {

struct RecognitionResult;

typedef boost::shared_ptr<RecognitionResult> RecognitionResultPtr;

struct RecognitionResult
{
    std::string patternName;
    PosePtr referencePose;
    ObjectSetPtr recognizedSet;
    double confidence;
    std::vector<RecognitionResultPtr> subPatterns;
    SummarizedVotedPosePtrs summarizedVotes;

    static constexpr double epsilon = 1e-6;

    RecognitionResult( const std::string patternName, const PosePtr referencePose, const ObjectSetPtr recognizedSet,
                       const double confidence, SummarizedVotedPosePtrs summarizedVotes = SummarizedVotedPosePtrs())
        :
          patternName(patternName),  referencePose(referencePose), recognizedSet(recognizedSet),
          confidence(confidence), summarizedVotes(summarizedVotes), numberOfCombinations(0)
    {}
  
    u_int64_t getNumberOfCombinations();

private:
    u_int64_t numberOfCombinations;

};

typedef boost::shared_ptr<RecognitionResult> RecognitionResultPtr;

bool operator==(const RecognitionResultPtr& recogRes1, const RecognitionResultPtr& recogRes2);
bool operator==(const RecognitionResult& recogRes1, const RecognitionResult& recogRes2);

std::ostream& operator<<(std::ostream &strm, ISM::RecognitionResult &o);
std::ostream& operator<<(std::ostream &strm, ISM::RecognitionResultPtr &o);
}