activeSegmentSearch.hpp

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#ifndef ACTIVESEGMENTSEARCH_HPP
#define ACTIVESEGMENTSEARCH_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 ActiveSegmentSearchGrid {

            friend std::ostream& operator <<(std::ostream & s, ActiveSegmentSearchGrid 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:
            ActiveSegmentSearchGrid(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 vec4 & pix, observation_ptr_t obsPtr);

            bool getRoi(image::ConvexRoi & roi);

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


         private:
            template<class Vec>
        veci4 pix2cell(const Vec & pix) {
          veci4 cell;
               cell(0) = (pix(0) - offset(0)) / cellSize(0);
          cell(1) = (pix(1) - offset(1)) / cellSize(1);
          cell(2) = (pix(2) - offset(0)) / cellSize(0);
          cell(3) = (pix(3) - 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 // ACTIVESEGMENTSEARCH_HPP