Observation.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_TRACKING_SLAM_OBSERVATION_H
#define META_OCEAN_TRACKING_SLAM_OBSERVATION_H
 
#include "ocean/tracking/slam/SLAM.h"
 
#include "ocean/math/Vector2.h"
 
namespace Ocean
{
 
namespace Tracking
{
 
namespace SLAM
{
 
// Forward declaration.
class Observation;
 
/**
 * Definition of a vector holding observations.
 * @ingroup trackingslam
 */
using Observations = std::vector<Observation>;
 
/**
 * This class implements an observation of a 3D feature point in a camera frame.
 * The observation is defined by the 2D position of the 3D feature point and the corresponding frame index.
 * @ingroup trackingslam
 */
class Observation
{
    public:
 
        /**
         * Default constructor creating an invalid observation.
         */
        Observation() = default;
 
        /**
         * Creates a new observation.
         * @param frameIndex The index of the camera frame in which the observation was made, with range [0, infinity)
         * @param imagePoint The image point of the observation
         */
        inline Observation(const Index32 frameIndex, const Vector2& imagePoint);
 
        /**
         * Returns the index of the camera frame in which the observation was made.
         * @return The observation's frame index
         */
        inline Index32 frameIndex() const;
 
        /**
         * Returns the image point of this observation.
         * @return The observation's image point
         */
        inline const Vector2& imagePoint() const;
 
    protected:
 
        /// The index of the camera frame in which the observation was made.
        Index32 frameIndex_ = Index32(-1);
 
        /// The image point of the observation.
        Vector2 imagePoint_;
};
 
inline Observation::Observation(const Index32 frameIndex, const Vector2& imagePoint) :
    frameIndex_(frameIndex),
    imagePoint_(imagePoint)
{
    // nothing to do here
}
 
inline Index32 Observation::frameIndex() const
{
    return frameIndex_;
}
 
inline const Vector2& Observation::imagePoint() const
{
    return imagePoint_;
}
 
}
 
}
 
}
 
#endif // META_OCEAN_TRACKING_SLAM_OBSERVATION_H