recognition_method.hh

#ifndef __RECOGNITION_METHOD_H
#define __RECOGNITION_METHOD_H

#include <boost/smart_ptr.hpp>
#include <map>
#include <mimas/mm_image.h>
#include <mimas/mm_object.h>
#include <mimas/mm_xml_reference.h>
#include "calibration.hh"
#include "match.hh"
#include "mi_scene.hh"
#include "vision_type.hh"

class recognition_method: public mimas::mm_object
{
 public:
  recognition_method( const calibration_ptr &_calib,
                      vision_type _type,
                      const mimas::mm_xml_reference< XalanElement >
                      &configuration, bool _verbose );
  virtual std::vector< match > recognise
    ( const mimas::mm_image< unsigned char > &image,
      double timestamp,
      mi_scene_ptr scene ) const = 0;
  mi_pose convert_pose_to_external( const std::string &type,
                                    const mi_pose &pose ) const
    throw (mimas::mm_exception);
  mi_pose convert_pose_to_internal( const std::string &type,
                                    const mi_pose &pose ) const
    throw (mimas::mm_exception);
  vision_type get_type(void) const { return type; }
 protected:
  void custom_offset( const std::string &type,
                      const mi_pose &pose );
  calibration_ptr calib;
  std::map< std::string, mi_pose > offset;
  vision_type type;
  bool verbose;
};

typedef boost::shared_ptr< recognition_method > recognition_method_ptr;

#endif

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