oracle.hpp

/* $Id$ */

#ifndef _APPRENTICE_HPP
#define _APPRENTICE_HPP

#include "kernel/jafarException.hpp"
#include "objlocalizer/tsai3d.hpp"
#include "objlocalizer/point2d3d.hpp"
#include "jmath/jblas.hpp"

namespace jafar {
  
  namespace learner {

    class Oracle {
      /*
       * private attributes and methodes 
       */
      private:
      std::map<int, jblas::vec3> bundledPoints;
      std::map<unsigned int, jblas::vec2> detectedFeatures;
      objlocalizer::Points2d3d points;
      objlocalizer::Tsai3dLocalizer* localizer;
      jblas::mat m;
      double alphaU, alphaV, u0, v0;
      jblas::vec3 barycenter;

      public:

      Oracle(const double& _alphaU,
             const double& _alphaV,
             const double& _u0,
             const double& _v0,
             const std::map<int, jblas::vec3>& _bundledPoints,
             const std::map<unsigned int, jblas::vec2>& _detectedFeatures);

      ~Oracle();

      void locateObject();

      jblas::vec3 getObjectBarycenter();

      void findObjectBarycenter();

    }; //class Oracle

  } //namespace learner

}//namespace jafar

#endif