/home/fwph/code/wurde/modules/visionModule/Operators/ConstrainedDetector/ConstrainedDetector.cpp

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#include "DetectorChain.H"
#include <Logger.H>
#include <string>
#include <opencv/cv.h>
#include <opencv/highgui.h>

using namespace std;
using namespace RobotObjects;
using namespace RobotVision;

DetectorChain::DetectorChain(std::string name) : VisionOperator(name),m_laser(STRAT_ASSIGNED,"FaceLaser") {
       registerConsumer(&m_laser);
}

void DetectorChain::initOperator(){

        m_state=STATE_RUN;
        m_format=FORMAT_CHAR_1_GRAY;
        m_stereo=false;

        if(g_globalConfiguration.haveModuleOPtion(m_name,"stereo")){
                string tmpstereo=g_globalConfiguration.getModuleOption(m_name,"stereo");
                std::transform(tmpformat.begin(),tmpformat.end(), tmpformat.begin(), (int (*) (int)) tolower);
                if(tmpformat=="yes"||tmpformat=="true"){
                        m_stereo=true;
                }
        }

        parseConfig();

        for(vector<ObjectDetector>::iterator iter=m_detectorChain.begin();
            iter!=m_detectorChain.end();
            iter++){
                vector<RobotObjects *> consumers=iter->getConsumers();
                m_consumers+=consumers;
        }

        for(vector<RobotObjects *>::iterator iter=m_consumers.begin();
            iter!=m_consumers.end(); 
            iter++){
                registerConsumer(*iter);
        }
}

void runOperator(RobotObjects::RoleImage image, RobotObjects::RoleImage stereo){


}

void runOperator(RobotObjects::RoleImage theimage){
        // initialize the regions somehow
        std::vector<ProbabilityRegions> currentRegions;

        // run the detector chain
        for(vector<ObjectDetector>::iterator iter=m_detectorChain.begin();
            iter!=m_detectorChain.end();
            iter++){
                iter->filterRegions(&currentRegions,theimage);
        }

        // publish results
        
}

void quitOperator(){

}

void parseConfig(){

}


extern "C" {

       VisionOperator *DetectorChain_factory(std::string name) {
              return new DetectorChain(name);
       }
       
       class DetectorChainProxy { 
       public:
              DetectorChainProxy(){
                     operatorFactory["DetectorChain"] = DetectorChain_factory;
              }
       };
       
       DetectorChainProxy p_imagewriter;
}

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