BlockMatching.h

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#pragma once

#include "std_hdr.h"
#include "CeilingMap.h"
#include "ImageData.h"

class BlockMatching
{
public:
        BlockMatching(void);
        ~BlockMatching(void);

        void CreateBlockMap(const long center_x,
                                                const long center_y,
                                                const unsigned long image_width,
                                                const unsigned long image_height,
                                                const unsigned short block_size,
                                                const double Coefficient,
                                                const unsigned short Resolution,
                                                unsigned short BlackWhiteValue);
        void MapTracking(ImageData &CeilingMap, ImageData &CurPos);
        void MapTracking(CeilingMap &CeilingMap, ImageData &CurImage);
        int     SumOfAbsoluteDifference(ImageData &src, ImageData &data, unsigned long offset_x = 0, unsigned long offset_y = 0);
        SignedOdometry_st Matching(CeilingMap &CeilingMap, ImageData &CurImage, int reach);
        void Packing(ImageData &org, ImageData &packData, double theta);

private:
        void CreateBlockTable();
        void DeleteBlockTable();

        long                            ***m_BlockTable;        /* �摜�̉�]�E�k���e�[�u��             */
        unsigned short          m_LatticeSize;          /* �摜�̍ŏI�T�C�Y                             */
        int                                     m_LatticeSize_Z;        /* �摜��360��]�̕���\                */
        int                                     m_Resolution;           /* �摜��360��]�̕���\                */
        unsigned short          m_BlackWhiteValue;      /* 2�l��臒l                                    */
};