pgh_scene.h

Go to the documentation of this file.

//
// scene image stuff. need a separate class to collate all the
// comparison results etc. 
// 
// stuart meikle 
// Thu May 11 13:05:23 2000
//

// scene objects are also pgh_2dobject objects as there are a flat series of lines
// which are converted into pghs.

// bpa - Tue Apr 17 13:49:36 BST 2001
// Added new addModel function
//  addModel("pgm_filename","model_name")
// NOT WORKING PROPERLY! DO NOT USE

#ifndef PGH_SCENE_H
#define PGH_SCENE_H

#include <boost/shared_array.hpp>
#include <string>
#include <list>
#include <sys/time.h>
#include "mimasconfig.h"
#include "object.h"
#include "pgh_2dobject.h"
#include "object_instance_list.h"
#include "image.h"

//think through the algo a bit:-
//(1) register all the objects we're interested in finding.
//    create histograms for them all and all that
//(2) compare each scene line to each of the lines of each of the objects
//    we need to store the response of each SCENE line to each line in each object
//    (not the response of each object line to each scene line)

//for each scene line
//

//
// NOTE TO DEVELOPERS: the scene class (this one) will take control of all
// pointed to data structures passed in. ie if you pass a pointer to an object
// into addModel then that structure will be deleted when this class is destroyed.
//
namespace mimas {
class pgh_scene : public pgh_2dobject
{
    //NOTE: the input camera scene is a 2d pgh object in its own right.


    class scene_match_score
    {
        public:
        double  best_match;
        pgh_ptr object_pgh;
        line_ptr object_line;
    };
 
    typedef boost::shared_array< scene_match_score > scene_match_score_array;
    typedef std::list< scene_match_score_array > scene_match_score_array_list;
    typedef pgh_2dobject_ptr_list::iterator     obj_it;
    typedef scene_match_score_array_list::iterator    sms_it;
    typedef enum { long_lines, short_lines, points }  pgh_loc_type;


    private:
  pgh_2dobject_ptr_list objects_of_interest;

        //this is essentially like Class definitions
        //  object_instance_list  instances;
        //for each of the objects_of_interest
        //we have a list of all of the found instances
        //(if they have been searched for)

     // std::list<bool>   we_created_obj;///<store bool for each of objects of interest which says if this class created it
        //not all of the object line data will be created by this
        //class -> we shouldn't delete external data!

   scene_match_score_array_list match_score_list;
        //each element is scene_match_score[ num_scene_lines ]
        //one entry per object here.

#ifdef HAVE_GETTIMEOFDAY
  struct timeval    timestamp;
#endif
  pgh_loc_type    location_hough_type;

        //info regarding how this set of scene lines relates to the
        //underlying image. non-ideal!

  double      centroid_posn_x;
  double      centroid_posn_y;
        //the co-ordinates of the set of scene lines centroid on
        //the original image. a bit weird...

  int     image_height, image_width;
        //size of the attached camera image


  //funcs:
  object_instance_list_ptr locateObject( scene_match_score_array match_array, pgh_2dobject_ptr ob );
  object_instance_list_ptr locateObject_longLines( scene_match_score_array match_array , pgh_2dobject_ptr ob );
  object_instance_list_ptr locateObject_points( scene_match_score_array match_array , pgh_2dobject_ptr ob );
  angle orientObject( scene_match_score_array match_array , pgh_2dobject &ob, const Vector &loc );


    public:
  pgh_scene(void);
  ~pgh_scene(void);

  // added by fbc, 15.11.01
  void      clear(void);


  void      addModel( const line_ptr_list &geom,
                         const std::string &name );
  void      addModel( pgh_2dobject_ptr ob );
  // void     addModel( pgh_2dobject *ob, bool wco );

  // following was added by bpa
  // NOT WORKING PROPERLY! DO NOT USE
  void      addModel(char *pgmfilename , const char *modelname );


  object_instance_list_ptr findModel( pgh_2dobject_ptr ob );
  void      updateSceneLines( const line_ptr_list &newscene, int w, int h );

  // added by bpa
  void      updateSceneLines(char *newscenePGM, int w, int h );
  void      updateSceneLines( image<int> &imagein);

  // modified by fbc, 17.12.01
  void      updateSceneLines( image<int> &imagein, char *polyfilename);


  int     getNumScenePGHs(void);
  pgh_ptr_list *getScenePghList(void);
  // shifted here so that user can change value
  bool      prefiltering;
  double      pgh_match_thresh;    //(becoming a bit of a mess i think! -stu)
  double      hough_peak_thresh;
#ifdef HAVE_XALAN
  // added by Jan Wedekind
  // save parameters to xml-file. Returns true on success.
  void saveSceneParameters( const char *fileName );
  // load parameters from xml-file. Returns true on success.
  void loadSceneParameters( const char *fileName );
#endif
};

}

#endif

---