afeaturematcher.h

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#ifndef AFEATUREMATCHER_H
#define AFEATUREMATCHER_H
 
#include "isaeslam/typedefs.h"
#include <type_traits>
 
#include "isaeslam/data/features/AFeature2D.h"
#include "isaeslam/data/sensors/Camera.h"
#include "isaeslam/featuredetectors/aFeatureDetector.h"
 
namespace isae {
 
typedef std::unordered_map<std::shared_ptr<AFeature>, std::vector<std::shared_ptr<AFeature>>> vec_feat_matches;
 
typedef std::unordered_map<std::shared_ptr<AFeature>, std::vector<double>> vec_feat_matches_scores;
 
class AFeatureMatcher {
  public:
    AFeatureMatcher() {}
    AFeatureMatcher(std::shared_ptr<AFeatureDetector> detector) : _detector(detector) {}
 
    virtual uint match(std::vector<std::shared_ptr<AFeature>> &features1,
                       std::vector<std::shared_ptr<AFeature>> &features2,
                       std::vector<std::shared_ptr<AFeature>> &features_init,
                       vec_match &matches,
                       vec_match &matches_with_ldmks,
                       int searchAreaWidth  = 51,
                       int searchAreaHeight = 51);
    virtual uint ldmk_match(std::shared_ptr<ImageSensor> &sensor1,
                            std::vector<std::shared_ptr<ALandmark>> &ldmks,
                            int searchAreaWidth  = 51,
                            int searchAreaHeight = 51);
 
  protected:
    virtual void getPossibleMatchesBetween(const std::vector<std::shared_ptr<AFeature>> &features1,
                                           const std::vector<std::shared_ptr<AFeature>> &features2,
                                           const std::vector<std::shared_ptr<AFeature>> &features_init,
                                           const uint &searchAreaWidth,
                                           const uint &searchAreaHeight,
                                           vec_feat_matches &matches,
                                           vec_feat_matches_scores &all_scores);
    vec_match filterMatches(vec_feat_matches &matches12,
                            vec_feat_matches &matches21,
                            vec_feat_matches_scores &all_scores12,
                            vec_feat_matches_scores &all_scores21);
 
    std::shared_ptr<AFeatureDetector> _detector; 
    double _first_second_match_score_ratio =
        0.9;                    
    std::string _feature_label; 
};
 
} // namespace isae
#endif // AFEATUREMATCHER_H