EngineCustom.hpp

/* $Id$*/

#ifndef _GFM_ENGINECUSTOM_HPP_
#define _GFM_ENGINECUSTOM_HPP_

#include <image/Image.hpp>

#include "fdetect/InterestFeature.hpp"
#include "fdetect/DetectionResult.hpp"
#include "fdetect/Descriptor.hpp"
#include "fdetect/Detector.hpp"
#include "gfm/Matcher.hpp"
#include "gfm/MatchingResult.hpp"

#include "kernel/dataLog.hpp"
#include <boost/noncopyable.hpp>

namespace jafar {
  namespace gfm {
    class MatchSourceInfo;
    class DescriptorFactory;
    class Detector;
    class Matcher;
    class EngineCustom :
      public jafar::kernel::DataLoggable, public boost::noncopyable
    {
    public:
      EngineCustom(jafar::fdetect::Detector* detector, jafar::gfm::Matcher* matcher, jafar::gfm::Matcher* stereomatcher = 0, jafar::fdetect::DescriptorFactory* descriptor = 0, bool robustifyDetection = false) : m_detector(detector), m_descriptorFactory(descriptor), m_matcher(matcher),  m_stereoMatcher(stereomatcher), m_sourceInfoRef(0), robustifyDetection(robustifyDetection),
                                                     detect_time(0), match_time(0), stereo_time(0), ndetected(0), nmatched(0), nstereoed(0) { }
      ~EngineCustom();
    public:
      const jafar::fdetect::DetectionResult& currentPoints() const;
      jafar::fdetect::DetectionResult detect(jafar::image::Image const& image_ref);
      void initTracking(jafar::image::Image const& image_ref, 
      jafar::fdetect::DetectionResult& points_ref);
      jafar::gfm::MatchingResult track(jafar::image::Image const& image_match, 
               jafar::fdetect::DetectionResult& points_match);
      jafar::gfm::MatchingResult match(jafar::image::Image const& image_ref, 
               jafar::fdetect::DetectionResult& points_ref,
               jafar::image::Image const& image_match, 
               jafar::fdetect::DetectionResult& points_match);
      jafar::gfm::MatchingResult matchWithStereo(jafar::image::Image const& image_match,
             jafar::fdetect::DetectionResult& points_match);
      virtual void writeLogHeader(jafar::kernel::DataLogger& log) const;
      virtual void writeLogData(jafar::kernel::DataLogger& log) const;
    protected:
      inline MatchSourceInfo* sourceInfoRef() const { return m_sourceInfoRef; }
      inline Matcher* matcher() { return m_matcher; }
      inline fdetect::DescriptorFactory* descriptorFactory() { return m_descriptorFactory; }
      inline fdetect::Detector* detector() { return m_detector; }
    private:
      fdetect::Detector* m_detector;
      fdetect::DescriptorFactory* m_descriptorFactory;
      Matcher* m_matcher;
      Matcher* m_stereoMatcher;
      MatchSourceInfo* m_sourceInfoRef;
      bool robustifyDetection;
      image::Image buffer;
        
      long detect_time;
      long match_time;
      long stereo_time;
      int ndetected;
      int nmatched;
      int nstereoed;
    };

  }
}

#endif