groupsmap.hpp

#if 0

#ifndef _GROUPSS_MAP_HPP_
#define _GROUPSS_MAP_HPP_

#include <vector>

#include <boost/serialization/vector.hpp>

#include "image/JfrImage.hpp"
#include "model3d/Image3D.hpp"
#include "gfm/InterestPoint.hpp"
#include "jmath/jblas.hpp"

#include "facetsmap/densitymap.hpp"
#include "facetsmap/facetsanalyser.hpp"
#include "facetsmap/groupsmatching.hpp"

namespace jafar {
  namespace facetsmap {
    class FacetsGroup;
    class GroupsMap : public FacetsAnalyser {
      public: // constructor
        GroupsMap() : FacetsAnalyser() {}
        virtual ~GroupsMap() {};
      public: // save and load
        virtual void processImage(boost::numeric::ublas::bounded_matrix<double,4,4>& robotpos,
                                  const jafar::image::JfrImage& imgl, const jafar::image::JfrImage& imgr, const jafar::stereo::CalibrageMatrices& cm, int time, bool updateFacet, jafar::model3d::Image3DTemplate<jafar::model3d::Point3D>& im3d);
      private:
        void selectBestFacets(std::vector<Candidat>& candidats, vFacets& candidatsFacets);
        void insertGroup(FacetsGroup* fg, std::vector<Candidat>& vc, vFacets& candidatsFacets);
        
        vFacets findCloseMatch(Facet* f);
        void findGroupMatches(std::vector<Candidat>& candidats, vFacets& candidatsFacets);
      public: // Serialization
        static GroupsMap* loadFromFile(char* filename);
        void saveToFile(char* filename);
      private: // Serialization
        friend class boost::serialization::access;
        template<class Archive>
        void serialize(Archive & ar, const unsigned int version);
      private:
        DensityMap m_densityMap;
        vFacetsGroup m_groups;
    };
    template<class Archive>
    void GroupsMap::serialize(Archive & ar, const unsigned int version)
    {
      ar & boost::serialization::base_object<FacetsAnalyser>(*this);
      ar & m_densityMap;
      ar & m_groups;
    }
  };
};


#endif

#endif