feature_match.hpp

#ifndef __fovis_feature_match_hpp__
#define __fovis_feature_match_hpp__

#include <vector>

#include <Eigen/Dense>
#include <Eigen/Geometry>

#include "keypoint.hpp"

namespace fovis
{

class PyramidLevel;

enum MatchStatusCode {
  MATCH_NEEDS_DEPTH_REFINEMENT,
  MATCH_REFINEMENT_FAILED,
  MATCH_OK
};

class FeatureMatch
{
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  public:
    FeatureMatch() :
      target_keypoint(NULL),
      ref_keypoint(NULL),
      compatibility_degree(0),
      in_maximal_clique(false),
      inlier(false),
      reprojection_error(0),
      track_id(-1)
    {
    }

    FeatureMatch(KeypointData* target_keypoint, KeypointData* ref_keypoint) :
      target_keypoint(target_keypoint),
      ref_keypoint(ref_keypoint),
      compatibility_degree(0),
      in_maximal_clique(false),
      inlier(false),
      reprojection_error(0),
      track_id(-1)
    {
      refined_target_keypoint.copyFrom(*target_keypoint);
    }

    KeypointData* target_keypoint;

    KeypointData* ref_keypoint;

    KeypointData refined_target_keypoint;

    std::vector<int> consistency_vec;

    int compatibility_degree;

    bool in_maximal_clique;

    bool inlier;

    int id;

    double reprojection_error;

    int track_id;

    MatchStatusCode status;
};

} /*  */

#endif