Amer.hpp

#ifndef _AMER_H_
#define _AMER_H_

#include "facetsmap/FacetsGroupBase.hpp"
#include "camera/cameraPinhole.hpp"

namespace jafar {
  namespace facetsmap {
    class Amer : public FacetsGroupBase {
      public:
        Amer(int id, int time) : FacetsGroupBase(time), m_id(id), m_countSeen(0), m_age(0)
        {
        }
        /*inline*/ int countSeen() const { return m_countSeen; }
        /*inline*/ void seenAgain() { m_countSeen++; }
        /*inline*/ int age() const { return m_age; }
        /*inline*/ void incAge() { m_age++; }
        inline int id() const { return m_id; }
      private:
        int m_id;
        int m_countSeen;
        int m_age;
    };
    class AmerObservation {
      public:
        AmerObservation(Amer* a, jafar::camera::StereoBench const& stereoBench_, const jblas::vec& obsv) : m_amer(a), m_observation(obsv)
        {
/*          JFR_DEBUG(obsv);
          ublas::range range03(0,3);
          jblas::vec pix(2);
          double d;
          stereoBench_.computePixDisp( ublas::vector_range<jblas::vec>(m_observation, range03) , pix, d);
          m_observation(0) = pix(0);
          m_observation(1) = pix(1);
          m_observation(2) = d;
          JFR_DEBUG(m_observation << obsv);*/
        }
        inline int id() const {
          return m_amer->id();
        }
        inline const jblas::vec& observation() const {
          return m_observation;
        }
      private:
        Amer* m_amer;
        jblas::vec m_observation;
    };
  }
}

#endif