VotingSpace.hpp

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#pragma once
//Pkg includes
//NOTE: Has to be included to enable the class to give a shared pointer of itself the an other function.
#include <boost/enable_shared_from_this.hpp>
#include <boost/thread/thread.hpp>

//Local includes
#include "typedef.hpp"
#include "common_type/Point.hpp"
#include "VotedPose.hpp"
#include "common_type/Object.hpp"
#include "VotingBin.hpp"

namespace ISM {

//Computed VotedPoses (reference pose votes) are inserted into voxelgrid and each voxelgrid element is searched for promising combinations of votes.
class VotingSpace : public boost::enable_shared_from_this<VotingSpace>
{

public:

  VotingSpace(double binSize, double maxProjectionAngleDeviation, int raterType = 0) :
        enable_shared_from_this(),
        binSize(binSize),
        maxProjectionAngleDeviation(maxProjectionAngleDeviation),
        mRaterType(raterType),
        halfBinSize(binSize/(2.0)),
    squaredRadius((3.0 / 4.0) * binSize * binSize),
        offsetOfSphere((sqrt(3) * binSize / 2.0) - halfBinSize),
    nThreads(boost::thread::hardware_concurrency()),
        threads(nThreads),
        votingBinsPerThread(nThreads),
        resultsPerThread(nThreads)
    { }

    //Insertion into grid and its evaluation. This method is called for each sub-ISM at a time.
    VotingResultPtrs fillAndEvalVotingSpace(VotedPosePtrs& votes, bool enabledSelfVoteCheck);
    //Converts from cartesian to grid coordinates.
    VotingBinPtr getBin(double x, double y, double z);
    //Implements radius search during votingspace evaluation.
    TypeToInnerMap collectVotesInSphere(PointPtr& centerPtr, bool& voteFromReferenceObjectExists);

    int discretizeToBins(double x);

    void calcResult(int i, VotingResultCalculatorPtr& calculator);

    //This is the actual grid, wrapped in this class.
    XIndexToYIndex voteGrid;

    //Currently accepted deviations for scene recognition with the given grid.
    double binSize;
    double maxProjectionAngleDeviation;

    //Simple or APO-Rater enum.
    const int mRaterType;

    //Some members for discretizeToBins.
    const double halfBinSize;
    static constexpr double epsilon = 1e-6;

    //Size of sphere for radius search.
    // NOTE: const double radius = sqrt(3.0) * binSize / 2; Perform  with diameter = bin diagonal around centerPtr = originForFitting.
    const double squaredRadius;
    //The sphere is larger than bin size.
    const double offsetOfSphere;

    // per thread data/maybe extract this to a class
    int nThreads;
    std::vector<boost::shared_ptr<boost::thread>> threads;
    std::vector<std::vector<VotingBinPtr>> votingBinsPerThread;
    std::vector<std::vector<VotingResultPtr>> resultsPerThread;
    int curThread;
};
}