DualCoding: BrickData.h Source File

00001 //-*-c++-*-
00002 #ifndef _BRICKDATA_H_
00003 #define _BRICKDATA_H_
00004 
00005 #include <vector>
00006 #include <iostream>
00007 #include <string>
00008 
00009 #include "Shared/newmat/newmat.h"
00010 
00011 #include "BaseData.h"    // superclass
00012 #include "Point.h"       // Point data members
00013 #include "ShapeTypes.h"  // brickDataType
00014 
00015 #include "LineData.h"
00016 #include "ShapeLine.h"
00017 #include "ShapeBlob.h"
00018 
00019 namespace DualCoding {
00020 
00021 class ShapeRoot;
00022 class SketchSpace;
00023 template<typename T> class Sketch;
00024 
00025 class BrickData : public BaseData {
00026 private:
00027   // T=Top, G=Ground, F=front, B=back, L=left, R=right
00028   EndPoint GFL;
00029   EndPoint GFR;
00030   EndPoint GBL;
00031   EndPoint GBR;
00032   EndPoint TFL;
00033   EndPoint TFR;
00034   EndPoint TBL;
00035   EndPoint TBR;
00036 
00037   Point centroid;
00038 
00039 public:
00040 
00041   //! Constructor
00042   BrickData(ShapeSpace& _space,
00043       const EndPoint &GFL, const EndPoint &GFR, const EndPoint &GBL, const EndPoint &GBR, 
00044       const EndPoint &TFL, const EndPoint &TFR, const EndPoint &TBL, const EndPoint &TBR);
00045 
00046   //! Copy constructor
00047   //BrickData(BrickData& otherBrick);
00048 
00049   static ShapeType_t getStaticType() { return brickDataType; }
00050   DATASTUFF_H(BrickData);
00051   
00052   //! Centroid. (Virtual in BaseData.)
00053   Point getCentroid() const { return centroid; } 
00054   
00055   EndPoint getGFL() {return GFL;}
00056   EndPoint getGFR() {return GFR;}
00057   EndPoint getGBL() {return GBL;}
00058   EndPoint getGBR() {return GBR;}
00059   EndPoint getTFL() {return TFL;}
00060   EndPoint getTFR() {return TFR;}
00061   EndPoint getTBL() {return TBL;}
00062   EndPoint getTBR() {return TBR;}
00063   
00064   //! Match bricks based on their parameters.  (Virtual in BaseData.)
00065   virtual bool isMatchFor(const ShapeRoot& other) const;
00066 
00067   virtual void mergeWith(const ShapeRoot& other);
00068 
00069   virtual bool isAdmissible() const { return true; }
00070 
00071   virtual bool updateParams(const ShapeRoot& other, bool force=false);
00072 
00073   //! Print information about this shape. (Virtual in BaseData.)
00074   virtual void printParams() const;
00075   
00076   //! Transformations. (Virtual in BaseData.)
00077   void applyTransform(const NEWMAT::Matrix& Tmat);
00078   
00079   //! Project to ground
00080   virtual void projectToGround(const NEWMAT::Matrix& camToBase,
00081              const NEWMAT::ColumnVector& groundplane);
00082 
00083   virtual unsigned short getDimension() const { return 3; }
00084 
00085   //! Extraction.
00086   static std::vector<Shape<BrickData> > findBricks(ShapeSpace& ShS, std::vector<Shape<LineData> > lines);
00087 
00088   static std::vector<Shape<BrickData> > findBricksFromBlobs(ShapeSpace& ShS, 
00089                   std::vector<Shape<BlobData> > blobs1,
00090                   std::vector<Shape<BlobData> > blobs2,
00091                   std::vector<Shape<BlobData> > blobs3);
00092 
00093   static Shape<BrickData> extractBrick(ShapeSpace& space, vector<Shape<BlobData> > &blobs);
00094     
00095   static vector<Point> findOrthogonalBoundingBox(ShapeSpace& space, Shape<BlobData> blob, Point centroid, Shape<LineData> parallel);
00096 private:
00097   //! Render into a sketch space and return reference. (Private.)
00098   Sketch<bool>* render() const;
00099 
00100 
00101   static int addBrickWithTwoSides(ShapeSpace& ShS,
00102           std::vector<Point>& corners1, 
00103           std::vector<Point>& corners2, 
00104           std::vector<std::vector<Point> >& blobs3, 
00105           std::vector<Shape<BrickData> >& result, 
00106           float distanceThresh);
00107 
00108   //@}
00109 
00110   BrickData& operator=(const BrickData&); //!< don't call
00111 };
00112 
00113 } // namespace
00114 
00115 #endif