feature_map_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _feature_map_alg_h_
#define _feature_map_alg_h_

#include <iri_feature_map/FeatureMapConfig.h>
#include "mutex.h"
#include <sensor_msgs/PointCloud2.h>
#include <iri_publish_params/classifier_update.h>
#include <iri_publish_params/classifier_params.h>
#include <normal_descriptor_node/ndesc_pc.h>
#include <normal_descriptor_node/ndesc.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/ros/conversions.h>
#include <vector>
#include <Eigen/Dense>
#include <string.h>
#include <string>

//include feature_map_alg main library

class FeatureMapAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods
    int sel_vector_; //selected centroid/classifier
    int filter_method_; //0=clustering dist to sel, 1=clustering supress nonsel,  2=linear classifier, 3=logistic classifier
    Eigen::MatrixXf classifiers_; // classifier params
    std::string filename_;

    float eval_clusters(const std::vector<float> & vect, bool suppress_nonselected);
    float eval_linear(const std::vector<float> & vect);
    float eval_logistic(const std::vector<float> & vect);

    // save last eval_cluter result (useful for logging)
    float last_eval_cluster_max_score;
    float last_eval_cluster_min_score;

  public:
    typedef iri_feature_map::FeatureMapConfig Config;

    void compute_feature_response_map(const normal_descriptor_node::ndesc_pc &ndesc_pc_msg, pcl::PointCloud<pcl::PointXYZRGB> &hmap);
    
    void update_params(const iri_publish_params::classifier_update &params);
    void update_selected_vector(const int selected);

    Config config_;

    FeatureMapAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all feature_map_alg interface methods to retrieve and set
    // the driver parameters

    // Save the max value scored
    float get_last_cluster_max_score();
    // Save the min value scored (non zero)
    float get_last_cluster_min_score();

    ~FeatureMapAlgorithm(void);
};

#endif