PHDRansac.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
//
// $Id$
//
// 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_RANSAC_H
#define __PHD_RANSAC_H

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


using namespace MipBaselib;
using namespace arma;

namespace MipAlgorithms{
 
 /* @{ */
 
 
 class PHDRansacIn{
  public:
   GaussianMixtureJointId gm1;
   GaussianMixtureJointId gm2;
   GaussianMixtureID gmA;
   GaussianMixtureID gmB;
   
   PHDRansacIn();
 };
 
 
 class PHDRansacOut{
  public:
   
   Pose relPose;
   bool valid;
   Decimal meanSquareError;
   int numInliers;
   
   PHDRansacOut();
 };
 
 class PHDRansacPars {
  
  public:
   
   int _trials;
   
   PHDRansacPars(int tr=1000);
   
   PHDRansacPars(const PHDRansacPars &p);
   
   const PHDRansacPars& operator=(const PHDRansacPars &p);
 };
 
 
 class PHDRansacVars {
  public:
   
   Decimal minSquareError;
   int maxInliers;
   
   map<int, vector<Decimal> > _sizeMap1;
   map<int, vector<int> > _idMap1;
   map<int, Roulette> _idRoulette1;
   vector<int> _ids1;
   vector<Decimal> _szId1;
   
   
   map<int, vector<Decimal> > _sizeMap2;
   map<int, vector<int> > _idMap2;
   map<int, Roulette> _idRoulette2;
   vector<int> _ids2;
   vector<Decimal> _szId2;
   
   vector<int> _commonIds;
   
   
   vector< Col<int>::fixed<2> > _associations;
   
   PHDRansacVars();
 };
 
 
 
 class PHDRansac {
  protected:
   PHDRansacVars* _vars;
   PHDRansacPars* _pars;
  public:
   PHDRansac();
   
   PHDRansac(PHDRansacPars &inParams);
   
   virtual PHDRansacOut step(PHDRansacIn &in);
   
   virtual string print();
   
  private:
   virtual void _gmprewarping(GaussianMixtureJointId &gm);
   
   virtual void _findIdMaps(GaussianMixtureJointId &gm, map<int,vector<int> > &idm, map<int,vector<Decimal> > &szm, vector<int> &ids);
   virtual void _findCommonIds();
   virtual void _buildRoulettes();
   virtual void _findBestAssociation(PHDRansacIn &in);
   virtual Pose _register(PHDRansacIn &in);
 };
 
 /* @} */
 
}


#endif