voting_table.hh

#ifndef __VOTING_TABLE_H
#define __VOTING_TABLE_H

#include <boost/smart_ptr.hpp>
#include <boost/multi_array.hpp>
#include <boost/numeric/ublas/vector.hpp>
#include <map>
#include <mimas/mm_image.h>
#ifndef NDEBUG
#include <mimas/mm_image_qtoutput.h>
#endif
#include <mimas/mm_object.h>
#include <mimas/mm_xml_reference.h>
#include <utility>
#include <vector>
#include "calibration.hh"
#include "geometric_map.hh"
#include "geometric_voting_statistics.hh"
#include "mi_pose.hh"

class voting_table: public mimas::mm_object
{
 public:
  voting_table( const calibration_ptr &_calib,
                const mimas::mm_xml_reference< XalanElement >
                &geometricVotingNode, int _samplingRate, int _fringe,
                short int minGradient, geometric_map_ptr _hash_map,
                bool _verbose );
  std::vector< std::pair< mi_pose, double > > recognise
    ( const mimas::mm_image< bool > &scene_features,
      const std::vector< boost::numeric::ublas::vector< int > > &points,
      const mi_pose &poseInv,
      geometric_voting_statistics *statistic ) const;
  double get_z_resolution(void) const { return z_resolution; }
  geometric_map_ptr get_hash_map(void) const { return hash_map; }
 protected:
  mi_pose pose2d( const mi_pose &pose, int x, int y ) const;
  int pose_depth( const mi_pose &pose ) const;
  mi_pose pose3d( const mi_pose &pose, int x, int y, int z ) const;
  bool verification( const mimas::mm_image< bool > &scene_features,
                     const mi_pose &objectPose,
                     geometric_voting_statistics *statistic ) const;
  calibration_ptr calib;
  int sampling_rate;
  int fringe;
  double min_hits;
  double max_misses;
  int skip;
  double z_resolution;
  std::vector< std::vector< boost::numeric::ublas::vector< int > > >
    points_stack;
  int max_num_features;
  boost::multi_array< std::map< int, int >, 2 > hash_table;
  std::vector< mi_pose > candidates;
  geometric_map_ptr hash_map;
  bool verbose;
#ifndef NDEBUG

  mutable mimas::mm_image_qtoutput< mimas::mm_rgba< unsigned char > > display;
#endif
};

typedef boost::shared_ptr< voting_table > voting_table_ptr;

#endif

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