Edge.h

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#ifndef EDGE_H
#define EDGE_H

#include <vector>

#include "AprilTags/FloatImage.h"

namespace AprilTags {

class FloatImage;
class UnionFindSimple;

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


class Edge {
public:
  static float const minMag;   
  static float const maxEdgeCost;   
  static int const WEIGHT_SCALE; // was 10000
  static float const thetaThresh; 
  static float const magThresh; 

  int pixelIdxA;
  int pixelIdxB;
  int cost;

  Edge() : pixelIdxA(), pixelIdxB(), cost() {}

  inline bool operator< (const Edge &other) const { return (cost < other.cost); }


  static int edgeCost(float  theta0, float theta1, float mag1);

  static void calcEdges(float theta0, int x, int y,
                        const FloatImage& theta, const FloatImage& mag,
                        std::vector<Edge> &edges, size_t &nEdges);

  static void mergeEdges(std::vector<Edge> &edges, UnionFindSimple &uf, float tmin[], float tmax[], float mmin[], float mmax[]);

};

} // namespace

#endif