facetsanalyser.hpp

#ifndef _FACETS_ANALYSER_HPP_
#define _FACETS_ANALYSER_HPP_

#include <vector>

// #include <stereo/CalibrageMatrices.hpp>
#include "image/Image.hpp"
#include "camera/cameraPinhole.hpp"
#include "gfm/InterestFeature.hpp"
#include "jmath/jblas.hpp"

#include "facetsmap/facetscontainer.hpp"

namespace jafar {
  namespace gfm {
    class Engine;
  }
  namespace facetsmap {
    class FacetsParams;
    class FacetsDetector;
    struct ProcessStats {
      ProcessStats() : count_good(0), count_bad(0), count_see_again(0), reasons(10), reasonNotGood(0), count_facet_rematch(0)
      {
        reasons[0] = 0;reasons[1] = 0;reasons[2] = 0;reasons[3] = 0;reasons[4] = 0;
      }
      void dump();
      int count_good;
      int count_bad;
      int count_see_again;
      std::vector<int> reasons;
      int reasonNotGood;
      int count_facet_rematch;
    };
    class FacetsAnalyser : public FacetsContainer {
//       void updateMap( groups, )
      public: // constructor
        FacetsAnalyser(const FacetsParams* params );
        virtual ~FacetsAnalyser() {};
      public: // properties
        virtual void processImage(jblas::mat44& robotpos, jblas::mat44& robotmovement,
                                  const boost::numeric::ublas::bounded_matrix<double,4,4>& leftToRight,
                                  const jafar::image::Image& imgl, const jafar::image::Image& imgr, const jafar::camera::StereoBench& stereoBench, int time, bool updateFacet, std::map<int, jblas::vec > predictions)  =0;
        void dumpProcessStats();
      protected:
        vFacets analyseImage(const jafar::image::Image& imgl, const jafar::image::Image& imgr, const camera::StereoBench& stereoBench, int time, bool updateFacet);
        Facet * findRecentFacetContaining( jblas::vec3 v );
        inline void insertFacet(uint id, Facet* f, bool lookneigh = false)
        {
          FacetsContainer::insertFacet(id, f, lookneigh);
          m_recentFacets.push_back(f);
        }
        inline const FacetsParams* params() { return m_params; };
      private: // Variables
        const FacetsParams* m_params;
        std::vector<ProcessStats> m_processStats;
        vFacets m_recentFacets;
        gfm::Engine* m_matchingEngine;
        FacetsDetector* m_facetsDetector;
    };
    
  };
};


#endif