FacetsMatcher.hpp

#ifndef _FACETS_MATCHER_HPP_
#define _FACETS_MATCHER_HPP_

#include "image/Image.hpp"
#include "geom/InterestPoint.hpp"

namespace jafar {
  namespace gfm {
    class Engine;
  }
  namespace camera {
    class StereoBench;
  }
  namespace facetsmap {
    class Facet;
    class FacetsDetector;
    struct FacetsMatch {
      FacetsMatch(Facet* f1, Facet* f2);
      Facet* previousFrame;
      Facet* nextFrame;
    };
    struct Result {
      std::vector<jafar::facetsmap::Facet*> previousFrame;
      std::vector<jafar::facetsmap::Facet*> nextFrame;
      std::vector<jafar::facetsmap::FacetsMatch> matches;
    };
    class FacetsMatcher {
      public:
      public:
        FacetsMatcher(gfm::Engine* matchingEngine =0);
        ~FacetsMatcher();
      public:
         Result computeMatch(const jafar::image::Image& img1l,
                                        const jafar::image::Image& img1r,
                                        const camera::StereoBench& stereoBench1,
                                        const jafar::image::Image& img2l, const jafar::image::Image& img2r,
                                        const camera::StereoBench& stereoBench2);
      private:
        FacetsDetector* m_facetsDetector;
    };
  }
}

#endif