grid2D.hpp

#ifndef GRID_2D_HPP
#define GRID_2D_HPP

#include "jmath/jblas.hpp"
#include <iostream>
#include "model3d/point2D.hpp"
#include "model3d/point3D.hpp"
#include "model3d/ransacLine2D.hpp"
#include "model3d/Image3D.hpp"


namespace jafar {
  namespace model3d {


    
    class Grid2D
    {
    public:

      Grid2D();
      ~Grid2D();
      
      void initialize();

      void info();
      
      void clear();

      void setPoints(std::vector<Point2D>* pPoints);
      void setPoints(char * fileName);

      // set the points 2d by projection of the points3d of the image3d
      void setPoints(Image3D* pImage3D);
      

      void extractLine2D_ransac();


#ifdef HAVE_OPENGL

      void displayLine2D();
#endif // HAVE_OPENGL

      // data members
      
      std::vector<Point2D>* m_pPoints;
      std::vector<Line2D> m_vLine2D;
      std::vector<Point3D> m_vPt_1;
      std::vector<Point3D> m_vPt_2;

      int m_nMaxNumberOfLines;
      RansacLine2D m_RansacLine2D;

      //
      double m_dbMinX, m_dbMinY;
      double m_dbMaxX, m_dbMaxY;
      double m_dbStep;
    };
    
  }// namespace model3d
}// namespace jafar

#endif // GRID_2D_HPP