LocPano_struct.h

#ifndef _LOC_PANO_STRUCT_H
#define _LOC_PANO_STRUCT_H


#include "BasicStructures.h"
#include "Panoramique_struct.h"
#include "HistoFamily_struct.h"

namespace jafar {
  namespace locpano {

#define LPFilterSize  40 

    /*************************************/
    typedef enum{BAD_SEL,
     GOOD_SEL} state_Aspec;

    typedef enum{NIL_SEL,
     SEL} state_Selec;

    typedef struct LocPanoHeader
    {
      unsigned char stateAspect:1;   /*State of the Aspec. Aspect Representative */
      /*or not representative*/
      float         PosX,PosY,PosZ;            /* Position for each aspect */ 
      float         Theta;                   /*robot orientation*/
      double  covariances[6]; /* 2D position covariances: XX, XY, YT, YT, TT
           (T = theta) */
    } LocPanoHeader;


    typedef struct LocPanoData
    {
      int              Label;           /*label  identification*/
      int              maxNbImages;     /*Max learning images number */
      int      nbImages;      /* Number of images stored in the database */
      int              Day,Moth,Year;  /* Date of the learning phase        */
      unsigned         Selec:1;        /*If the key histograms are find */
      /*Select = SELEC. if not Select=NOT_SELEC*/
      LocPanoHeader   *ImageHeader;   /*General information of each image*/
      /*  One image for each robot postition.
    Each aspect is formed  by (1) one histogram family, (2) the means of the image region (uses for compute the orientation), (3) one set of Interest point, and 
    (4) sky line*/
      HistoFam        *LocCarHisto;
      HistoFam         *MeanHisto;
      /*  IntPoint        *IPoint;  */
      /*  SkyLine         *SLine; */
    }LocPanoData;




    /******************************************************
 Structure that contains all the parameters to use the functions of LocPano
    *************************************/

    typedef struct LocPanoParams
    {
      /* Info related to the geometry of the images */
      int   nbLines;
      int   nbColumns;  /* Size of the images */
      Parabolic imageGeometry;  /* 'panoramic' geometry */
  
      /* For the orientation */
      int   minOrientationRadius; /* Radius under which the pixels are
             not considered to recover the
             orienttation */

      int   maxOrientationRadius; /* Radius over which the pixels are
             not considered to recover the
             orienttation */
      int   nbOrientationRings;
      int   nbOrientationValues; /* Defines how may rings and how
            many points on each ring are
            used to recover the orientation. */

      /* For the local characteristics */
      int   nbLchRings; /* Nb of local characteristics rings  */
      int   nbLchBins;    /* Size of the corresponding histograms */
      int   nbLchCharacteristics; /* Nb of computed local characteristics */

      int   minLchRadius; /* Radius under which the pixels are
             not considered for the local
             characteristics */
      float         resolutionLog;  /* Resolution on the logarithmic aprroximation function*/
      int           logComputing;      /* logarithme computing or approxim ? (0 = approxim.) */
 
      float   gaussianSigma;
      int   gaussianOrder;  /* Parameters to compute the gaussian derivatives */

    }LocPanoParams;

    /**************************************************
 Structure that contains all the working data
    **************************************************/

    typedef struct LocPanoInternal
    {
      int   nbLines;
      int   nbColumns;  /* Size of the processed images */
      float         resolutionLog;   /* Resolution on the logarithmic aprroximation function*/

      HistoFam* histoLCH; /* The histograms of local characteristics */
      HistoFam* histoLCHTmp;  /* Intermediate data to compute 'closest image' */
      HistoFam* histoOrien; /* The histogram of the mean
           characteristics on angular
           sectors */
      HistoFam* histoOrienTmp;  /* Intermediate data to compute 'histoOrien' */

      int*    profileMask;  /* To accelerate the computation of
             'histoOrien' : defines the angular
             sectors */
      int*    LCHMask;  /* To accelerate the computation of
             'Local characteristic histogram(LCH)' :
             defines the radius sectors */
      float*  LCHPosHist; /* To accelerate the computation of
           'Local characteristic histogram(LCH)' :
           defines the postition in the histogram with respect 
           to local characterisitcs*/
      HistoResult*   resultHisto;     /* result of the histogram compariason*/

      float*  Caract1;
      float*  Caract2;
      float*  Caract3;
      float*  Caract4;
      float*  Caract5;
      float*  Caract6;
      float*  Caract7;  /* All the local characteristics */
  
      LocPanoHeader* imagePosition;  /*current image position*/
      LocPanoHeader* newimagePosition;  /*image position computed with respect to 
            base database*/

    }LocPanoInternal;



  }
}


#endif /* _LOC_PANO_STRUCT_H */