alandmarkinitializer.h

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#ifndef ALANDMARKINITIALIZER_H
#define ALANDMARKINITIALIZER_H
 
#include <iostream>
#include <opencv2/core.hpp>
 
#include "isaeslam/data/landmarks/ALandmark.h"
#include "isaeslam/typedefs.h"
 
namespace isae {
 
class ImageSensor;
class AFeature;
class ALandmark;
 
class ALandmarkInitializer : public std::enable_shared_from_this<ALandmarkInitializer> {
  public:
    ALandmarkInitializer() = default;
    ~ALandmarkInitializer() {}
    uint initFromMatch(feature_pair match);
 
    uint initFromMatches(vec_match matches);
 
    uint initFromFeatures(std::vector<std::shared_ptr<AFeature>> feats);
 
  protected:
    std::shared_ptr<ALandmark> createNewLandmark(std::shared_ptr<AFeature> f1, std::shared_ptr<AFeature> f2);
 
    virtual bool initLandmark(std::vector<std::shared_ptr<AFeature>> features,
                              std::shared_ptr<ALandmark> &landmark)          = 0;
 
    virtual bool initLandmarkWithDepth(std::vector<std::shared_ptr<AFeature>> features,
                                       std::shared_ptr<ALandmark> &landmark) = 0;
 
    virtual std::shared_ptr<ALandmark> createNewLandmark(std::shared_ptr<AFeature> f) = 0;
};
 
} // namespace isae
 
#endif // ALANDMARKINITIALIZER_H