srba/models/observations_MonocularCamera.h

/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2015, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/utils/TCamera.h>
#include <mrpt/tfest.h>  // for use in landmark_matcher<>

namespace srba {
namespace observations {
    struct MonocularCamera
    {
        static const size_t  OBS_DIMS = 2; 
        
        struct obs_data_t
        {
            mrpt::utils::TPixelCoordf  px;

            template <class ARRAY>
            inline void getAsArray(ARRAY &obs) const {
                obs[0] = px.x;
                obs[1] = px.y;
            }
        };

        struct TObservationParams
        {
            mrpt::utils::TCamera  camera_calib;
        };
    };

    template <> struct landmark_matcher<MonocularCamera>
    {
        template <class POSE>
        static bool find_relative_pose(
            const mrpt::aligned_containers<MonocularCamera::obs_data_t>::vector_t & new_kf_obs,
            const mrpt::aligned_containers<MonocularCamera::obs_data_t>::vector_t & old_kf_obs,
            const MonocularCamera::TObservationParams &params,
            POSE &pose_new_kf_wrt_old_kf)
        {
            return false; // We cannot find any absolute relative pose only from 2 sets of monocular features, right?
        }
    };

}
} // end NS