ogSensorModel.hpp

/* $Id$ */

#include "opencv/cxcore.h"

#include "camera/cameraPinhole.hpp"

#include "geom/3dOccupancyGrid.hpp"

namespace jafar {
  namespace stereo {
    class StereoOGSensorModel : public jafar::geom::OGSensorModel {

    public:

      StereoOGSensorModel(jafar::camera::StereoBench const& stereoBench, double dispStdDev);
      ~StereoOGSensorModel();

      void setDisparity(std::string fileName);

      void setupUpdate(jafar::geom::DenseOG const& og);

    protected:

      jafar::geom::Box<double> visibilityBoxInSensorFrame() const;
      double inverseObservationInSensorFrame(jafar::geom::VoxelCoord const& voxel) const;

    private:

      camera::StereoBench m_stereoBench;
      double m_dispStdDev;
      double m_lOccupied;
      double m_lFree;

      IplImage* m_disparity;

      double m_sizeVoxel_2;
      jblas::vec3 m_deltaVoxel;
      
    }; // StereoOGSensor
  }
}