descriptorAbstract.hpp

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#ifndef DESCRIPTORABSTRACT_H_
#define DESCRIPTORABSTRACT_H_

#include <boost/smart_ptr.hpp>

#include "jmath/jblas.hpp"
#include "image/oimstream.hpp"

#include "rtslam/rtSlam.hpp"
//#include "rtslam/appearanceAbstract.hpp"
#include "rtslam/appearanceImage.hpp"

namespace jafar {

  namespace rtslam {

    class DescriptorAbstract {
      
      
      public:

        DescriptorAbstract();
        virtual ~DescriptorAbstract();

        virtual bool addObservation(const observation_ptr_t & obsPtr) = 0;
        virtual bool predictAppearance(const observation_ptr_t & obsPtr) = 0;
        virtual bool isPredictionValid(const observation_ptr_t & obsPtr) = 0;
        
        virtual std::string categoryName() const {
          return "DESCRIPTOR";
        }

        virtual void desc_text(std::ostream& os) const {}
        virtual void desc_image(image::oimstream& os) const {}

    };

    
    std::ostream& operator <<(std::ostream & s, DescriptorAbstract const & desc);
    image::oimstream& operator <<(image::oimstream & s, DescriptorAbstract const & desc);
    
    
    class DescriptorFactoryAbstract
    {
      public:
        virtual DescriptorAbstract *createDescriptor() = 0;
    };
    
  }
}

#endif /* DESCRIPTORABSTRACT_H_ */