activeSearch.hpp

Go to the documentation of this file.

#ifndef ACTIVESEARCH_HPP_
#define ACTIVESEARCH_HPP_

#include "jmath/random.hpp"
#include "jmath/jblas.hpp"
#include "image/roi.hpp"

#include "rtslam/gaussian.hpp"
#include "rtslam/rtSlam.hpp"

#include <iostream>

namespace jafar {
  namespace rtslam {
    using namespace jblas;


    class ActiveSearchGrid {

        friend std::ostream& operator <<(std::ostream & s, ActiveSearchGrid const & grid);

      private:
        veci2 imgSize;
        veci2 gridSize;
        veci2 cellSize;
        veci2 offset;
        mati projectionsCount;
        mati emptyCellsTile_tmp;
        int separation;
        int margin;
        int cells_h;
      public:
        typedef std::vector<std::vector<observation_ptr_t> > Grid;
        Grid projections;

      public:
        ActiveSearchGrid(const int & imgSize_h, const int & imgSize_v, const int & nCells_h, const int & nCells_v, const int & margin = 0,
            const int & separation = 0);

        void clear();

        void renew();

        void addObs(const vec2 & pix, observation_ptr_t obsPtr);

        bool getRoi(image::ConvexRoi & roi);

        void setFailed(const image::ConvexRoi & roi);

        
      private:
        template<class Vec2>
        veci2 pix2cell(const Vec2 & pix) {
          veci2 cell;
          cell(0) = (pix(0) - offset(0)) / cellSize(0);
          cell(1) = (pix(1) - offset(1)) / cellSize(1);
          return cell;
        }

        veci2 cellOrigin(const veci2 & cell);

        vec2 cellCenter(const veci2 & cell);

        bool pickEmptyCell(veci2 & cell);

        void cell2roi(const veci2 & cell, image::ConvexRoi & roi);

    };

#if 0

    class ActiveSearch {
      public:
        vecb visibleObs;
        vecb selectedObs;

        std::map<double, observation_ptr_t> projectAll(const sensor_ptr_t & senPtr, size_t & numVis);

        void predictApp(const observation_ptr_t & obsPtr);

        void scanObs(const observation_ptr_t & obsPtr, const image::ConvexRoi & roi);
    };
#endif
  }
}

#endif /* ACTIVESEARCH_HPP_ */