Quad.h

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#ifndef QUAD_H
#define QUAD_H

#include <utility>
#include <vector>

#include <Eigen/Dense>

#include "Homography33.h"

namespace AprilTags {

class FloatImage;
class Segment;

using std::min;
using std::max;

class Quad {
public:
  static const int minimumEdgeLength = 6; 
  static float const maxQuadAspectRatio; 


  Quad(const std::vector< std::pair<float,float> >& p, const std::pair<float,float>& opticalCenter);

  std::pair<float,float> interpolate(float x, float y);

  std::pair<float,float> interpolate01(float x, float y);

  std::vector< std::pair<float,float> > quadPoints;

  std::vector<Segment*> segments;


  float observedPerimeter;


  Homography33 homography;

  /*  @param quads any discovered quads will be added to this list
   *  @param path  the segments currently part of the search
   *  @param parent the first segment in the quad
   *  @param depth how deep in the search are we?
   */
  static void search(const FloatImage& fImage, std::vector<Segment*>& path,
                     Segment& parent, int depth, std::vector<Quad>& quads,
                     const std::pair<float,float>& opticalCenter);

#ifdef INTERPOLATE
 private:
  Eigen::Vector2f p0, p3, p01, p32;
#endif

};

} // namespace

#endif