afeaturetracker.h

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#ifndef AFEATURETRACKER_H
#define AFEATURETRACKER_H
 
#include <memory>
#include <utility>
#include <vector>
 
#include "isaeslam/data/sensors/Camera.h"
#include "isaeslam/featuredetectors/aFeatureDetector.h"
#include "isaeslam/typedefs.h"
 
namespace isae {
 
class AFeatureTracker {
  public:
    AFeatureTracker() {}
    AFeatureTracker(std::shared_ptr<AFeatureDetector> detector) : _detector(detector) {}
 
    virtual uint track(std::shared_ptr<isae::ImageSensor> &sensor1,
                       std::shared_ptr<isae::ImageSensor> &sensor2,
                       std::vector<std::shared_ptr<AFeature>> &features_to_track,
                       std::vector<std::shared_ptr<AFeature>> &features_init,
                       vec_match &tracks,
                       vec_match &tracks_with_ldmk,
                       int search_width   = 21,
                       int search_height  = 21,
                       int nlvls_pyramids = 3,
                       double max_err     = 10,
                       bool backward      = false) = 0;
 
  protected:
    std::shared_ptr<AFeatureDetector> _detector; 
    std::string _feature_label;                  
};
 
} // namespace isae
 
#endif // AFEATURETRACKER_H