RecognizerThread.h

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#ifndef _RECOGNIZER_THREAD_H_
#define _RECOGNIZER_THREAD_H_

#include <blort/ThreadObject/Thread.h>
#include <blort/Recognizer3D/Recognizer3D.h>
#include <vector>
#include <opencv2/core/core.hpp>

class CRecognizerThread : public CThread
{
private:
        enum Command{
                RECOGNIZE,
                LEARN,
                LOAD,
                SAVE,
                GETSIFT,
                GETLASTSIFT,
                IDLE,
        };
        Command cmd;
        
        CEventClass m_evCmd, m_evData;
        CMutexClass m_running;
        
        bool m_quit;
  std::map<std::string, double> m_confs;
        std::string m_sift_file;
        blortRecognizer::CameraParameter m_params;
  std::map<std::string, boost::shared_ptr<TomGine::tgPose> > m_poses;
        std::vector< boost::shared_ptr<TomGine::tgModel> > m_models;
        IplImage* m_image;
        std::vector<blortRecognizer::Siftex> m_lastsiftexlist;
        std::vector<blortRecognizer::Siftex> m_siftexlist;

  cv::Mat result;
  std::string config_root;
        
public:
        CRecognizerThread(const blortRecognizer::CameraParameter& params, std::string config_root="");
        ~CRecognizerThread();
        
  void Recognize(IplImage* image, std::map<std::string, boost::shared_ptr<TomGine::tgPose> > & poses, std::map<std::string, double> & confs);
        
        void LearnSifts(IplImage* image,  TomGine::tgModel &model, TomGine::tgPose& pose);
        
  void LoadSiftModel(const std::string& sift_file);
        
  void SaveSiftModel(const std::string& sift_file);
        
        void GetSifts(std::vector<blortRecognizer::Siftex>& sl);
        
        void GetLastSifts(std::vector<blortRecognizer::Siftex>& sl);
        
        virtual BOOL OnTask();

  cv::Mat getImage(){ return result; }
};

#endif /* _RECOGNIZER_THREAD_H_ */