PHDIDRansac.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP 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 MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------


#ifndef __PHD_ID_RANSAC_H
#define __PHD_ID_RANSAC_H

#include <Spaces.h>
#include <armadillo>
#include <math.h>
#include <Gaussian.h>
#include <GaussianMixture.h>
#include <map>
#include <Roulette.h>

#include <PHDRansac.h>

using namespace MipBaselib;
using namespace arma;

namespace MipAlgorithms{
 
 /* @{ */
 
 
 class PHDIDRansacPars : public PHDRansacPars{
  
  public:
   
   PHDIDRansacPars(int tr=1000);
   
   PHDIDRansacPars(const PHDIDRansacPars &p);
   
   const PHDIDRansacPars& operator=(const PHDIDRansacPars &p);
 };
 
 
 class PHDIDRansacVars:public PHDRansacVars{
  public:
   
   PHDIDRansacVars();
 };
 
 
 
 class PHDIDRansac :public PHDRansac{
  protected:
   PHDIDRansacVars* _idvars;
   PHDIDRansacPars* _idpars;
  public:
   PHDIDRansac();
   
   PHDIDRansac(PHDIDRansacPars &inParams);
   
   virtual PHDRansacOut step(PHDRansacIn &in);
   
   virtual string print();
   
  private:
   void _gmprewarping(GaussianMixtureJointId &gm);
   
   void _findIdMaps(GaussianMixtureJointId &gm, map<int,vector<int> > &idm, map<int,vector<Decimal> > &szm, vector<int> &ids);
   void _findCommonIds();
   void _buildRoulettes();
   void _findBestAssociation(PHDRansacIn &in);
   Pose _register(PHDRansacIn &in);
 };
 
 /* @} */
 
}


#endif