DirectSegments3DTracker.hpp

/* $Id$ */

#ifndef _DSEG3D_DIRECT_SEGMENTS_3D_TRACKER_HPP_
#define _DSEG3D_DIRECT_SEGMENTS_3D_TRACKER_HPP_

#include <image/Image.hpp>
#include <geom/Segment.hpp>


namespace jafar {
  namespace dseg {
    class Predictor;
    class SegmentsSet;
  }
  namespace dseg3d {
    class Segment3DObservation;
    class DirectSegments3DTracker {
      public:
        DirectSegments3DTracker(const dseg::Predictor* trackerPredictor, int _reduction, int _stereoReduction = 1);
        ~DirectSegments3DTracker();
        void loadStereoParam(std::string const& filename);
        void loadLeftParam(std::string const& filename);
        void process( const jafar::image::Image& _leftImage, const jafar::image::Image& _rightImage );
        const dseg::SegmentsSet& currentLines() const;
        const jafar::dseg::SegmentsSet& currentStereoLines() const;
        const std::list< jafar::geom::Segment3D >& segments3D() const;
        const std::list< Segment3DObservation >& segment3DObservations() const;
        jafar::image::Image* getDisparityImage() const;
      private:
      void computeLineEquations( jblas::vec4& eq1, jblas::vec4& eq2, const jblas::vec3& p1) const;
      private:
        struct Private;
        Private* const d;
    };
  }
}

#endif