MatchingAlgorithm.hpp

Go to the documentation of this file.

/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions are met:
 * 
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright notice,
 *     this list of conditions and the following disclaimer in the documentation
 *     and/or other materials provided with the distribution.
 *   * Neither the name of Autonomous Systems Lab / ETH Zurich nor the names of
 *     its contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  Created on: 
 *      Author: Simon Lynen
 *    Modified: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_MATCHINGALGORITHM_HPP_
#define INCLUDE_OKVIS_MATCHINGALGORITHM_HPP_

#include <vector>
#include <cstddef>
#include <okvis/assert_macros.hpp>
#include <limits>
#include <map>
#include <memory>

namespace okvis {

class MatchingAlgorithm {
 public:
  OKVIS_DEFINE_EXCEPTION(Exception, std::runtime_error)

  typedef std::shared_ptr<MatchingAlgorithm> Ptr;

  MatchingAlgorithm();
  virtual ~MatchingAlgorithm();

  virtual void doSetup() {
  }

  virtual size_t sizeA() const = 0;
  virtual size_t sizeB() const = 0;

  typedef std::multimap<size_t, size_t> listB_tree_structure_t;

  virtual listB_tree_structure_t::iterator getListBStartIterator(size_t indexA);
  virtual listB_tree_structure_t::iterator getListBEndIterator(size_t indexA);

  virtual float distanceThreshold() const {
    return std::numeric_limits<float>::max();
  }

  virtual float distanceRatioThreshold() const {
    return 0;
  }

  virtual bool skipA(size_t /* indexA */) const {
    return false;
  }

  virtual bool skipB(size_t /* indexB */) const {
    return false;
  }

  virtual float distance(size_t indexA, size_t indexB) const = 0;

  virtual void reserveMatches(size_t numMatches) = 0;

  virtual void setBestMatch(size_t indexA, size_t indexB, double distance) = 0;

  float matchFailed() const {
    return std::numeric_limits<float>::max();
  }

 private:
  listB_tree_structure_t dummy_;

};

}  // namespace okvis

#endif /* INCLUDE_OKVIS_MATCHINGALGORITHM_HPP_ */