mi_recognition.hh

#ifndef __MI_RECOGNITION_H
#define __MI_RECOGNITION_H

#include <map>
#include <mimas/mm_image.h>
#include <mimas/mm_object.h>
#include <mimas/mm_xml_reference.h>
#include <vector>
#include "calibration.hh"
#include "mi_object_type.hh"
#include "mi_scene.hh"
#include "recognition_method.hh"



class mi_recognition: public mimas::mm_object
{
public:
  mi_recognition( const mimas::mm_xml_reference< XalanElement >
                  &configuration, bool _verbose );
  void recognise( const mimas::mm_image< unsigned char > &image,
                  double timestamp, mi_scene_ptr scene ) const;
  calibration_ptr get_calibration(void) { return calib; }
  std::map< std::string, mi_object_type_ptr > &get_object_types(void)
    { return object_types; }
  /* Add user-defined method (being used for "human recognition").
      @param name Name of recognition-method.
      @param method The recognition-object. */
  /* void add_method( const std::string &name, recognition_method_ptr method )
     { methods[ name ] = method; } */
  virtual bool human_vision( const std::string &type,
                             const mimas::mm_image< unsigned char > &image,
                             double timestamp, double *angle,
                             int *x, int *y ) const;
protected:
  void remove_objects( const std::string &method,
                       mi_scene_ptr scene ) const;
  void reschedule( const std::string &method,
                   mi_scene_ptr scene ) const;
  void take_best_matches( std::vector< match > &matches,
                          double timestamp,
                          mi_scene_ptr scene,
                          vision_type method ) const;
  calibration_ptr calib;
  std::map< std::string, recognition_method_ptr > methods;
  std::map< std::string, mi_object_type_ptr > object_types;
  bool verbose;
};

typedef boost::shared_ptr< mi_recognition > mi_recognition_ptr;


#endif

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