appearanceImage.hpp

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#ifndef __AppearenceImageSimu_H__
#define __AppearenceImageSimu_H__

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

#include "jmath/jblas.hpp"
#include "image/Image.hpp"
#include "rtslam/appearanceAbstract.hpp"
#include "rtslam/gaussian.hpp"
#include "boost/shared_ptr.hpp"


#ifdef HAVE_MODULE_DSEG
  #include "dseg/SegmentsSet.hpp"
  #include "dseg/SegmentHypothesis.hpp"
#endif

namespace jafar {
  namespace rtslam {

    class AppearanceImagePoint;
      typedef boost::shared_ptr<AppearanceImagePoint> app_img_pnt_ptr_t;

    class AppearanceImagePoint: public AppearanceAbstract {
      public:
        image::Image patch;
        unsigned int patchSum;
        unsigned int patchSquareSum;
        Gaussian offset; 
      public:
        AppearanceImagePoint(const image::Image& patch, Gaussian const &offset);
        AppearanceImagePoint(int width, int height, int depth):
          patch(width, height, depth, JfrImage_CS_GRAY), offset(2) {
//          cout << "Created patch with " << width << "x" << height << " pixels; depth: " << depth << "; color space: " << JfrImage_CS_GRAY << endl;
        }
        virtual ~AppearanceImagePoint();
        virtual AppearanceAbstract* clone();

      private:
        void computePatchIntegrals();
    };

#ifdef HAVE_MODULE_DSEG

    class AppearanceImageSegment;
      typedef boost::shared_ptr<AppearanceImageSegment> app_img_seg_ptr_t;

      class AppearanceImageSegment: public AppearanceAbstract {
         public:
            image::Image patch;
        unsigned int patchMeanLeft;
        unsigned int patchMeanRight;
        Gaussian offsetTop;
        Gaussian offsetBottom;
        dseg::SegmentsSet m_hypothesis;
      public:
        AppearanceImageSegment(const image::Image& patch, Gaussian const &offsetTop, Gaussian const &offsetBottom, dseg::SegmentHypothesis* _hypothesis = NULL);
        AppearanceImageSegment(int width, int height, int depth, dseg::SegmentHypothesis* _hypothesis = NULL):
          patch(width, height, depth, JfrImage_CS_GRAY),
          patchMeanLeft(0),patchMeanRight(0),
          offsetTop(2), offsetBottom(2) {
          if(_hypothesis != NULL)m_hypothesis.addSegment(_hypothesis);
//          cout << "Created patch with " << width << "x" << height << " pixels; depth: " << depth << "; color space: " << JfrImage_CS_GRAY << endl;
            }
            virtual ~AppearanceImageSegment();
            virtual AppearanceAbstract* clone();

        dseg::SegmentHypothesis* hypothesis() {return m_hypothesis.segmentAt(0);}
        void setHypothesis(dseg::SegmentHypothesis* _hypothesis)
        {
          m_hypothesis = dseg::SegmentsSet();
          m_hypothesis.addSegment(_hypothesis);
        }

        jblas::vec4 realObs()
        {
          jblas::vec4 ret;
          ret.clear();
          if(m_hypothesis.count() > 0)
          {
            ret[0] = m_hypothesis.segmentAt(0)->x1();
            ret[1] = m_hypothesis.segmentAt(0)->y1();
            ret[2] = m_hypothesis.segmentAt(0)->x2();
            ret[3] = m_hypothesis.segmentAt(0)->y2();
          }
          return ret;
        }
      };
      
#endif //HAVE_MODULE_DSEG

  }

}


#endif // #ifndef __AppearenceImageSimu_H__
/*
 * Local variables:
 * mode: c++
 * indent-tabs-mode: t
 * tab-width: 2
 * c-basic-offset: 2
 * End:
 */