descriptorImagePoint.hpp

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#ifndef DESCRIPTORIMAGEPOINTSIMU_H_
#define DESCRIPTORIMAGEPOINTSIMU_H_

#include "boost/shared_ptr.hpp"

//#include "rtslam/rtSlam.hpp"
#include "rtslam/observationAbstract.hpp"
#include "rtslam/observationPinHoleEuclideanPoint.hpp"
#include "rtslam/observationPinHoleAnchoredHomogeneous.hpp"


#include "rtslam/descriptorAbstract.hpp"
#include "rtslam/featurePoint.hpp"
#include "rtslam/appearanceImage.hpp"

namespace jafar {
  namespace rtslam {

    class DescriptorImagePointFirstView;
    typedef boost::shared_ptr<DescriptorImagePointFirstView> desc_img_pnt_fv_ptr_t;
    class DescriptorImagePointMultiView;
    typedef boost::shared_ptr<DescriptorImagePointMultiView> desc_img_pnt_mv_ptr_t;

    class FeatureView
    {
      public:
        jblas::vec7 senPose;
        appearance_ptr_t appearancePtr;
        observation_model_ptr_t obsModelPtr;
        jblas::vec measurement;
        unsigned frame;
        bool used;
        
        void clear()
        {
          appearancePtr.reset();
          obsModelPtr.reset();
        }
        
        bool initFromObs(const observation_ptr_t & obsPtr, int descSize);
    };

    std::ostream& operator <<(std::ostream & s, FeatureView const & fv);
    image::oimstream& operator <<(image::oimstream & s, FeatureView const & fv);
    
    class DescriptorImagePointFirstView: public DescriptorAbstract {
      protected:
        FeatureView view;
      protected:
        int descSize;
      public:
        DescriptorImagePointFirstView(int descSize);
        virtual ~DescriptorImagePointFirstView();

        virtual std::string typeName() const {
          return "Image-Point-First-View";
        }

        virtual bool addObservation(const observation_ptr_t & obsPtr);
        virtual bool predictAppearance(const observation_ptr_t & obsPtrNew);
        virtual bool isPredictionValid(const observation_ptr_t & obsPtr) { return true; }
        
        virtual void desc_text(std::ostream& os) const;
        virtual void desc_image(image::oimstream& os) const;
    };
    
    class DescriptorImagePointFirstViewFactory: public DescriptorFactoryAbstract
    {
      protected:
        int descSize; 
      public:
        DescriptorImagePointFirstViewFactory(int descSize):
          descSize(descSize) {}
        DescriptorAbstract *createDescriptor() 
          { return new DescriptorImagePointFirstView(descSize); }
    };
        
    
    
    
    class DescriptorImagePointMultiView: public DescriptorAbstract
    {
      public:
        typedef std::vector<FeatureView> FeatureViewList; 
        enum PredictionType { ptNone = 0, ptAffine, ptHomographic };
        
      protected:
        FeatureViewList views; 
        FeatureView lastValidView; 
        bool lastObsFailed;
      protected:
        int descSize; 
        double scaleStep; 
        double angleStep; 
        PredictionType predictionType;
      private:
        double cosAngleStep;
      public:
        DescriptorImagePointMultiView(int descSize, double scaleStep, double angleStep, PredictionType predictionType);
        virtual ~DescriptorImagePointMultiView() {}
        
        virtual std::string typeName() const {
          return "Image-Point-Multi-View";
        }
        
        virtual bool addObservation(const observation_ptr_t & obsPtr);
        virtual bool predictAppearance(const observation_ptr_t & obsPtr);
        virtual bool isPredictionValid(const observation_ptr_t & obsPtr);
        
        virtual void desc_text(std::ostream& os) const;
        virtual void desc_image(image::oimstream& os) const;
      protected:
        inline void checkView(jblas::vec const &current_pov, double const &current_pov_norm2, jblas::vec const &lmk, FeatureView &view, double &cosClosestAngle, FeatureView* &closestView) const;
        bool getClosestView(const observation_ptr_t & obsPtr, FeatureView* &closestView);
    };
    
    class DescriptorImagePointMultiViewFactory: public DescriptorFactoryAbstract
    {
      protected:
        int descSize; 
        double scaleStep; 
        double angleStep; 
        DescriptorImagePointMultiView::PredictionType predictionType; 
      public:
        DescriptorImagePointMultiViewFactory(int descSize, double scaleStep, double angleStep, DescriptorImagePointMultiView::PredictionType predictionType):
          descSize(descSize), scaleStep(scaleStep), angleStep(angleStep), predictionType(predictionType) {}
        DescriptorAbstract *createDescriptor() 
          { return new DescriptorImagePointMultiView(descSize, scaleStep, angleStep, predictionType); }
    };
    
  }
}
#endif /* DESCRIPTORIMAGEPOINTSIMU_H_ */