apprentice.hpp

/* $Id$ */

#ifndef _APPRENTICE_HPP
#define _APPRENTICE_HPP

#include "kernel/jafarException.hpp"
#include "datareader/DataReader.hpp"
#include "datareader/MonoReader.hpp"
#include "premodeler/sequenceObjectExtractor.hpp"
#include "premodeler/offlineEngine.hpp"
#include "premodeler/ifManager.hpp"
#include "bundler/modelerAdapter.hpp"
#include "objlocalizer/tsai2d.hpp"
#include "camera/cameraPinhole.hpp"
#include "jmath/jblas.hpp"
#include "bundle/sba.hpp"
#include "geom/t3dEuler.hpp"
namespace jafar {
  
  namespace learner {

    class Apprentice {
      /*
       * private attributes and methodes 
       */
      private:
      premodeler::OfflineEngine* pEngine;
      premodeler::IFManager* ifManager;
      premodeler::SequenceObjectExtractor* extractor;
      premodeler::Engine::DetectorType type;
      premodeler::IFLists gTracker;
      datareader::DataReader* objImgDataReader;
      datareader::MonoReader* objImgMonoReader;
      std::string sensorName;
      bundler::ModelerAdapter* mAdapter;
      std::map<int, jblas::vec3> bundledPoints;
      bundle::SparseBundleAdjustment* sba;
      geom::T3DEuler originToObject;

      public:
      Apprentice(const premodeler::Engine::DetectorType& _type,
                 const std::string& _sensorName,
                 const std::string& _emptySerieName,
                 const int& _emptySerieNumber,
                 const std::string&  _emptyPath,
                 const std::string& _filledSerieName,
                 const int& _filledSerieNumber,
                 const std::string&  _filledPath);
             
      Apprentice(const premodeler::Engine::DetectorType& _type,
                 const std::string& _sensorName,
                 datareader::DataReader* _emptyImagesDataReader,
                 datareader::DataReader* _filledImagesDataReader);
      

      ~Apprentice();

      void extractObject(const int& _objectImagesSerieNumber = -1,
                         const std::string& _objectImagesSeriesName = "",
                         const std::string&  _objectImagesPath = "",
                         int begin = -1,
                         int end = -1,
                         int proceedStep = -1);

      void extractFeatures(int begin = -1,
                           int end = -1,
                           int proceedStep = -1);

      void bundleOnFeatures(int begin = -1,
                            int end = -1,
                            int proceedStep = -1);

      void improveModel();

      void computeObjectReference();

      void expressInObjectReference();

      void generate3dModel();
    }; //class Apprentice

  } //namespace premodeler

}//namespace jafar

#endif