AbstractModel.hpp

#pragma once

#include <array>
#include <iostream>
#include <memory>
#include <stdexcept>
#include <vector>

namespace GRANSAC {
typedef float VPFloat;

// Each abstract model is made of abstract parameters
// Could be anything from a point (that make a 2D line or 3D plane or image
// correspondences) to a line
class AbstractParameter {
 public:
  virtual ~AbstractParameter(
      void){};  // To make this polymorphic we add dummy destructor
};

// Abstract model type for generic RANSAC model fitting
template <int t_NumParams> /* Minimum number of parameters required to define
                              this model*/
                           class AbstractModel {
 protected:
  std::array<std::shared_ptr<AbstractParameter>, t_NumParams> m_MinModelParams;

  virtual VPFloat ComputeDistanceMeasure(
      std::shared_ptr<AbstractParameter> Param) = 0;

 public:
  virtual void Initialize(
      const std::vector<std::shared_ptr<AbstractParameter>> &InputParams) = 0;
  virtual std::pair<VPFloat, std::vector<std::shared_ptr<AbstractParameter>>>
  Evaluate(
      const std::vector<std::shared_ptr<AbstractParameter>> &EvaluateParams,
      VPFloat Threshold) = 0;

  virtual std::array<std::shared_ptr<AbstractParameter>, t_NumParams>
  GetModelParams(void) {
    return m_MinModelParams;
  };
};
}  // namespace GRANSAC