dataManagerActiveSearch.hpp

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#ifndef DATAMANAGERACTIVESEARCH_HPP_
#define DATAMANAGERACTIVESEARCH_HPP_

#if 0
#include "rtslam/dataManagerAbstract.hpp"
#include "rtslam/activeSearch.hpp"

namespace jafar {
  namespace rtslam {

    template< class RawSpec,class SensorSpec, class Detector, class Matcher >
    class DataManagerActiveSearch
      : public DataManagerAbstract
      , public SpecificChildOf<SensorSpec>
    {
    public:
      // Define the function linkToParentSensorSpec.
      ENABLE_LINK_TO_SPECIFIC_PARENT(SensorAbstract,SensorSpec,
             SensorSpec,DataManagerAbstract);
      // Define the functions sensorSpec() and sensorSpecPtr().
      ENABLE_ACCESS_TO_SPECIFIC_PARENT(SensorSpec,sensorSpec);


    protected:
      boost::shared_ptr<Detector> detector;
      boost::shared_ptr<Matcher> matcher;
      boost::shared_ptr<ActiveSearchGrid> asGrid;
      // the list of observations sorted by information gain
      typedef map<double, observation_ptr_t> ObservationListSorted;
      ObservationListSorted obsListSorted;
      struct detector_params_t {
          int patchSize;  
          double measStd; 
          double measVar; 
      } detectorParams_;
      struct matcher_params_t {
          int patchSize; 
          double regionSigma; 
          double threshold; 
          double mahalanobisTh; 
          double measStd; 
          double measVar; 
      } matcherParams_;
      struct alg_params_t {
          int n_updates; 
      } algorithmParams_;
    public:
      void setDetector(const boost::shared_ptr<Detector> & _detector, int _patchSize, double _measStd){
        detector = _detector;
        detectorParams_.patchSize = _patchSize;
        detectorParams_.measStd = _measStd;
        detectorParams_.measVar = _measStd * _measStd;
      }
      detector_params_t detectorParams(){return detectorParams_;}
      void setMatcher(boost::shared_ptr<Matcher> & _matcher, int _patchSize, double _nSigma, double _threshold, double _mahalanobisTh, double _measStd){
        matcher = _matcher;
        matcherParams_.patchSize = _patchSize;
        matcherParams_.regionSigma = _nSigma;
        matcherParams_.threshold = _threshold;
        matcherParams_.mahalanobisTh = _mahalanobisTh;
        matcherParams_.measStd = _measStd;
        matcherParams_.measVar = _measStd * _measStd;
      }
      matcher_params_t matcherParams(){return matcherParams_;}
      void setActiveSearchGrid( boost::shared_ptr<ActiveSearchGrid> arg ) { asGrid=arg; }
      boost::shared_ptr<ActiveSearchGrid> activeSearchGrid( void ) { return asGrid; }
      void setAlgorithmParams(int n_updates){
        algorithmParams_.n_updates = n_updates;
      }
      alg_params_t algorithmParams(){return algorithmParams_;}
    protected:
      void detectNewObs( boost::shared_ptr<RawSpec> data );
      bool match(const boost::shared_ptr<RawImage> & rawPtr, const appearance_ptr_t & targetApp, image::ConvexRoi &roi, Measurement & measure, const appearance_ptr_t & app);
      void processKnownObs( boost::shared_ptr<RawSpec> data );

    public:
      virtual ~DataManagerActiveSearch( void ) {}

      virtual void process( boost::shared_ptr<RawAbstract> data );

    };
  }
}//namespace jafar::rtslam


#include "rtslam/rawImage.hpp"
#include "rtslam/sensorPinhole.hpp"

namespace jafar {
  namespace rtslam {

//    typedef DataManagerActiveSearch<RawImage,SensorPinhole> DataManagerActiveSearch_Image_PH;

  }
}//namespace jafar::rtslam


#include "rtslam/dataManagerActiveSearch.impl.hpp"

#endif
#endif /* DATAMANAGERACTIVESEARCH_HPP_ */