00001 #ifndef _FACETS_DETECTOR_HPP_
00002 #define _FACETS_DETECTOR_HPP_
00003
00004 #include <camera/cameraPinhole.hpp>
00005 #include <image/Image.hpp>
00006 #include <jmath/jblas.hpp>
00007 #include <kernel/timingTools.hpp>
00008
00009 #include "facetsmap/types.hpp"
00010
00011 namespace jafar {
00012 namespace gfm {
00013 class Engine;
00014 }
00015 namespace facetsmap {
00016 class FacetsParams;
00017 class FacetsDetector
00018 {
00019 public:
00020 FacetsDetector(const FacetsParams* params, gfm::Engine* matchingEngine =0);
00021 ~FacetsDetector();
00022 vFacets detectIn(const jafar::image::Image& imgl, const jafar::image::Image& imgr,
00023 const camera::StereoBench& stereoBench, int time);
00024 protected:
00025 inline uint nextId() { return m_nextId++; };
00026 private:
00027 const FacetsParams* m_params;
00028 int m_nextId;
00029 gfm::Engine* m_matchingEngine;
00030 };
00031 }
00032 }
00033
00034 #endif
