chamfer_match.h

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#ifndef CHAMFER_MATCH_H
#define CHAMFER_MATCH_H

#include <cstdlib>
#include <cmath>
#include <ctime>
#include <iostream>
#include <string>
#include <values.h>
#include "mimasconfig.h"
#include "mimasexception.h"
#include "image.h"
#include "canny.h"
#ifdef HAVE_XALAN
#include "xml_reference.h"
#endif

namespace mimas {
  
enum angle_type {deg, rad};


class chamfer_match : public object
{
    private:
  typedef std::string string;
  void paethRotateRadian(image<int> &imagein, image<int> &imageout, float radian); 
  void invert(image<int> &inimage); 
  void multiLevelCorrelation(image<int> &edgemap, image<int> &objectedgemap, int levels, int &x, int &y, float &corrval); 
  void chamfer(image<int> &inimage); 
#ifdef HAVE_XALAN
   void storeChamferParams( std::ostream &stream ); 
   void extractChamferParams( xml_reference< XalanElement > &docElement ) throw (mimasexception); 
#endif 
   string name; 
  float ang1, ang2, angstep;
  float mincorr;
  int mlevels;
  bool chamferModel, sceneAdded, ROI;
  canny<int> canny;
  image<int> scene, model;
  int roi_lx, roi_ly, roi_ux, roi_uy;
  bool cannyAutoThres;
  float cannyStdDev;
  int cannyLowThres, cannyHighThres;


    public:

  chamfer_match(void); 
   string getName(void);
  void setName( const std::string &n );
  void setSearchAngleRange(float angle1, float angle2, float anglestep, angle_type ang); 
  void setMultiResLevels(int levels);
  void setChamferModel(bool val); 
  bool getChamferModel(void); 
  void addScene(image<int> &sceneimage); 
   void findModel(image<int> &modelimage, int &est_x, int &est_y, float &est_anglerad) throw (mimasexception); 
  void useROI(bool val); 
  void setROI(int x1, int y1, int x2, int y2); 
  void setCannyAutoThres(bool val); 
  void setCannyStdDev(float val); 
  void setCannyLowThres(int val); 
  void setCannyHighThres(int val); 
  float getMinCorrVal(void); 
#ifdef HAVE_XALAN
   void saveChamferParameters( const char *fileName ) throw (mimasexception); 
   void loadChamferParameters( const char *fileName ) throw (mimasexception); 
#endif
  int track_roi_lx, track_roi_ly, track_roi_ux, track_roi_uy; 
  
  bool getCannyAutoThres(void); 
  float getCannyStdDev(void); 
  int getCannyLowThres(void); 
  int getCannyHighThres(void); 
  int getMultiResLevels(void);
  void getSearchAngleRange(float &angle1, float &angle2, float &anglestep); 
  bool getUseROI(void); 
};

};

#endif

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