micron-vision: geometric_voting_plugin.hh Source File

00001 #ifndef __GEOMETRIC_VOTING_H
00002 #define __GEOMETRIC_VOTING_H
00003 
00004 #include <map>
00005 #include <string>
00006 #ifndef NDEBUG
00007 #include <mimas/mm_image_qtoutput.h>
00008 #endif
00009 #include <mimas/mm_xml_reference.h>
00010 #include "geometric_map.hh"
00011 #include "recognition_method_4dof.hh"
00012 #include "tools.hh"
00013 #include "voting_table.hh"
00014 
00023 class geometric_voting_plugin: public recognition_method_4dof
00024 {
00025 public:
00034   geometric_voting_plugin( const calibration_ptr &_calib,
00035                            const mimas::mm_xml_reference< XalanElement >
00036                            &configuration,
00037                            bool _verbose );
00042   virtual std::vector< match > recognise
00043   ( const mimas::mm_image< unsigned char > &image,
00044     double timestamp,
00045     mi_scene_ptr scene ) const;
00046 protected:
00050   int fringe;
00054   int sampling_rate;
00056   double timeout;
00058   short int min_gradient;
00062   std::map< std::string, voting_table_ptr > models;
00063 #ifndef NDEBUG
00065   mutable mimas::mm_image_qtoutput< mimas::mm_rgba< unsigned char > > display;
00066 #endif
00067 };
00068 
00069 #endif