ObjectRecognition.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
 
#include "ObjectHypothesis.h"
 
// IVT
#include <cstdio>
#include <string>
#include <vector>
 
#include <Math/Math3d.h>
 
 
class CByteImage;
class CCalibration;
class CRFCSignatureFeatureEntry;
 
class CObjectRecognition
{
public:
    static void FindPossibleObjectLocations(const CObjectHypothesis* pHypothesis,
                                            const CByteImage* pHSVImage,
                                            const std::vector<CHypothesisPoint*>& aScenePoints,
                                            const CCalibration* calibration,
                                            std::vector<Vec3d>& aPossibleLocations,
                                            const int desiredNumberOfLocations = 0);
 
    static void
    FindSimilarRegionsWithHueAndSaturationHistogram(const CByteImage* pHSVImage,
                                                    const std::vector<float>& aHueHistogram,
                                                    const std::vector<float>& aSaturationHistogram,
                                                    CByteImage* pProbabilityImage);
 
    static void SaveObjectDescriptorRGBD(const CObjectHypothesis* pHypothesis,
                                         const std::string sObjectName,
                                         const int nDescriptorNumber = 0);
    static bool LoadObjectDescriptorRGBD(const std::string sObjectName,
                                         const int nDescriptorNumber,
                                         CObjectHypothesis*& pHypothesis);
 
    static void SaveObjectDescriptorPCD(const CObjectHypothesis* pHypothesis,
                                        const std::string sObjectName,
                                        const int nDescriptorNumber = 0);
 
    static void FindObjectRGBD(const CObjectHypothesis* pHypothesis,
                               const CByteImage* pHSVImage,
                               const std::vector<CHypothesisPoint*>& aScenePoints,
                               const CCalibration* calibration,
                               const Vec3d upwardsVector,
                               Vec3d& vPosition,
                               Mat3d& mOrientation,
                               float& distance,
                               float& fProbability,
                               CByteImage* pResultImage = NULL);
 
    static void FindAllObjectsRGBD(const CByteImage* pHSVImage,
                                   const CByteImage* pRGBImage,
                                   const std::vector<CHypothesisPoint*>& aScenePoints,
                                   const CCalibration* calibration,
                                   const Vec3d upwardsVector,
                                   std::vector<std::string>& aNames,
                                   std::vector<Vec3d>& aPositions,
                                   std::vector<Mat3d>& aOrientations,
                                   std::vector<float>& aProbabilities);
 
    static void
    FindObjectWithManyDescriptorsRGBD(const CByteImage* pHSVImage,
                                      const CByteImage* pRGBImage,
                                      const std::vector<CHypothesisPoint*>& aScenePoints,
                                      const CCalibration* calibration,
                                      const Vec3d upwardsVector,
                                      const std::string objectName,
                                      const int numDescriptors);
 
 
    static void SaveObjectDescriptorRFCH(const CByteImage* pRGBImage,
                                         const CByteImage* pObjectMask,
                                         const std::string sObjectName,
                                         const int nDescriptorNumber = 0);
    static void LoadObjectDescriptorRFCH(const std::string sObjectName,
                                         const int nDescriptorNumber,
                                         CRFCSignatureFeatureEntry*& pFeatureDescriptor);
 
    static void FindObjectRFCH(CRFCSignatureFeatureEntry* pFeatureDescriptor,
                               CByteImage* pRGBImage,
                               const std::vector<CHypothesisPoint*>& aScenePoints,
                               const CCalibration* calibration,
                               Vec3d& vPosition,
                               Mat3d& mOrientation,
                               float& fProbability,
                               CByteImage* pResultImage = NULL);
    static void FindAllObjectsRFCH(const CByteImage* pRGBImage,
                                   const CCalibration* calibration,
                                   const std::vector<CHypothesisPoint*>& aScenePoints,
                                   std::vector<std::string>& aNames,
                                   std::vector<Vec3d>& aPositions,
                                   std::vector<Mat3d>& aOrientations,
                                   std::vector<float>& aProbabilities);
};