/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 */

#ifndef VP_RB_VISUAL_ODOMETRY_H
#define VP_RB_VISUAL_ODOMETRY_H

#include <visp3/core/vpConfig.h>

BEGIN_VISP_NAMESPACE

class vpRBFeatureTrackerInput;
class vpHomogeneousMatrix;

/**
 * \brief
 *
 * <h2 id="header-details" class="groupheader">Tutorials & Examples</h2>
 *
 * <b>Tutorials</b><br>
 * <span style="margin-left:2em"> If you want to have an in-depth presentation of the Render-Based Tracker (RBT), you may have a look at:</span><br>
 *
 * - \ref tutorial-tracking-rbt
 *
 */
class VISP_EXPORT vpRBVisualOdometry
{
public:
  vpRBVisualOdometry();
  virtual ~vpRBVisualOdometry() = default;
  virtual void compute(const vpRBFeatureTrackerInput &frame, const vpRBFeatureTrackerInput &previousFrame) = 0;
  virtual void reset() { }
  virtual vpHomogeneousMatrix getCameraMotion() const = 0;
  virtual vpHomogeneousMatrix getCameraPose() const = 0;
};

END_VISP_NAMESPACE

#endif
