Segment3DObservation.hpp

/* $Id$ */

#ifndef _DSEG3D_SEGMENT3D_OBSERVATION_HPP_
#define _DSEG3D_SEGMENT3D_OBSERVATION_HPP_

#include <jmath/jblas.hpp>
#include <geom/Declarations.hpp>
#include <geom/Segment.hpp>

namespace jafar {
  namespace dseg {
    class SegmentHypothesis;
  }
  namespace dseg3d {
    class Segment3DObservation {
      public:
        Segment3DObservation( const jafar::geom::Segment3D& _segment3D,
                              const jblas::vec3& _uvd1,
                              const jblas::vec3& _uvd2,
                              const dseg::SegmentHypothesis* _leftSegment,
                              const dseg::SegmentHypothesis* _rightSegment );
        ~Segment3DObservation();
        const jafar::geom::Segment3D& segment3D() const;
        const jblas::vec3& uvd1() const;
        const jblas::vec3& uvd2() const;
        const dseg::SegmentHypothesis* leftSegment() const;
        const dseg::SegmentHypothesis* rightSegment() const;
        bool isHorizontal() const;
      private:
        jafar::geom::Segment3D m_segment3D;
        jblas::vec3 m_uvd1;
        jblas::vec3 m_uvd2;
        const dseg::SegmentHypothesis* m_leftSegment;
        const dseg::SegmentHypothesis* m_rightSegment;
    };
  }
}

#endif