CsmInterface.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 __SM_INTERFACE_H
#define __SM_INTERFACE_H

#ifdef MIP_HOST_APPLE
#include <applePatch.h>
#endif

#include <stdio.h>
#include <stdlib.h>
#include <vector>
#include <iostream>
#include <string>
#include <fstream>

#include <LogTrace.h>
#include <Spaces.h>
#include <Scan.h>

using namespace std;

namespace MipBaselib {

class CsmInterfaceOut : public MIPObject{
 private:
  vector<Pose> _poseEstimates;
  stringstream _debugss;
  string   _totOutFileName;
  fstream  _totOutFile;
  
  string getObjectName() const {
   return "CsmInterface";
  }
  void _lineExtractor(string line);
 public:
  CsmInterfaceOut();
  
  Pose getLastEstimate();

  void load(FILE *fp);
  
//   void print();
};



class CsmInterfaceOutStats : public MIPObject{
 private:
  string   _statsFileName,_totStatsFileName;
  fstream  _statsFile,_totStatsFile;
  
  void _lineExtractor(string line);

  string getObjectName() const {
   return "CsmInterface";
  }
  
 public: 
  vector<int> valid;     
  vector <Pose> err;     
  vector <int> iterations;  
  vector <int> nvalid;    
  vector <double> errors;   
  vector <double> ref_ts;   
  vector <double> sens_ts;  

  CsmInterfaceOutStats();

  bool getValid();
  
  string getFileName();
  
  bool load();
  
  void print();

};



class CsmInterfaceErr : public MIPObject{
 private:
  string   _errFileName,_totErrFileName;
  fstream  _errFile,_totErrFile;
  
  bool _somethingIsFishy;
  
  void _lineExtractor(string buf);
  
  string getObjectName() const {
   return "CsmInterface";
  }
 public: 
  CsmInterfaceErr();

  bool getValid();
  
  string getFileName();
  
  bool load();
  
  void print();
};


class CsmInterfaceIn : public MIPObject{
 
 string getObjectName() const {
  return "CsmInterface";
 }
 public:
  int   useCorrTricks;
  Decimal maxLinearCorrection;
  Decimal maxAngularCorrectionDeg;

  CsmInterfaceIn(int cT = 0, Decimal lC=0.3, Decimal aC=2.0);
};



class CsmInterface : public MIPObject{
 private:
  Scan *_firstScan;
  Pose *_firstPose;
  Scan *_secondScan;
  Pose *_secondPose;
  
  string _inputFileName;
  string _totalInputFileName;
  
  fstream _inputFile;
  fstream _totalInputFile;
  
  void _writeInputFile();
  
  string getObjectName() const {
   return "CsmInterface";
  }
 
 public:
  
  CsmInterface();
  
  bool sm2Run(Scan *fS, Pose *fP,Scan *sS, Pose *sP, const CsmInterfaceIn &in);
  
  CsmInterfaceOutStats stats; 
  CsmInterfaceOut    out;  
  CsmInterfaceErr    err;  
};


}; // end of namespace

#endif 

/* @} */