ExternScanMatch.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 __SCAN_MATCHER_H_
#define __SCAN_MATCHER_H_

#include <Resource.h>
#include <CsmInterface.h>

#include <CommonOptions.h>

#define SMATCHRES_DEBUG 1

using namespace MipBaselib;

namespace MipResources{
 
 /* @{ */

 
class ExternScanMatchOptions : public Options {
 public:
  StringOption* algorithm;
  IntOption* csmUseCorrTricks;
  DecimalOption* csmMaxLinearCorrection;
  DecimalOption* csmMaxAngularCorrection;
  IntOption* customDebugLevel;;

  ExternScanMatchOptions();
  
  ~ExternScanMatchOptions();

  string getObjectName() const {
   return "ExternScanMatchOptions";
  }
};

class ExternScanMatch : public Resource{
 private:
  
  static const ResourcePlate _plate= SCNM_RES; 
  
  bool _performSM;
  bool _resultAvailable;
  
  CsmInterface* _csmInterface;
  pthread_mutex_t  _mutex;
  
  ExternScanMatchOptions _options;
  
  void _executeScanMatching();
  bool _getPerformSM();
  void _setResultAvailable();
  void _unsetResultAvailable();
  bool _checkResultAvailable();
  void _unsetPerformSM();
 
  Thread _smThread;
  
  Scan *_firstScan;
  Pose *_firstPose;
  Scan *_secondScan;
  Pose *_secondPose;
  
 public:
  
  ExternScanMatch(int argc, const char* argv[]);
  
  ~ExternScanMatch();
  
  ResourcePlate getPlate() const {
   return _plate;
  }
  
  void execute(Scan *fS, Pose *fP,Scan *sS, Pose *sP);
  
  bool getResult(Pose& result, bool& valid);
  
  void extSMWork();
};

 /* @} */
 
}; //end namespace MipResources




#endif