depth_source.hpp

#ifndef __fovis_depth_source_hpp__
#define __fovis_depth_source_hpp__

#include <Eigen/Core>

namespace fovis
{

class OdometryFrame;
class FeatureMatch;

class DepthSource
{
  public:
    virtual bool haveXyz(int u, int v) = 0;

    virtual void getXyz(OdometryFrame * frame) = 0;

    virtual void refineXyz(FeatureMatch * matches,
                           int num_matches,
                           OdometryFrame * frame) = 0;

    virtual double getBaseline() const = 0;

};

}

#endif