LandmarkRepresentation.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program 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 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

#ifndef OV_TYPE_LANDMARKREPRESENTATION_H
#define OV_TYPE_LANDMARKREPRESENTATION_H

#include <string>

namespace ov_type {

class LandmarkRepresentation {

public:
  enum Representation {
    GLOBAL_3D,
    GLOBAL_FULL_INVERSE_DEPTH,
    ANCHORED_3D,
    ANCHORED_FULL_INVERSE_DEPTH,
    ANCHORED_MSCKF_INVERSE_DEPTH,
    ANCHORED_INVERSE_DEPTH_SINGLE,
    UNKNOWN
  };

  static inline std::string as_string(Representation feat_representation) {
    if (feat_representation == GLOBAL_3D)
      return "GLOBAL_3D";
    if (feat_representation == GLOBAL_FULL_INVERSE_DEPTH)
      return "GLOBAL_FULL_INVERSE_DEPTH";
    if (feat_representation == ANCHORED_3D)
      return "ANCHORED_3D";
    if (feat_representation == ANCHORED_FULL_INVERSE_DEPTH)
      return "ANCHORED_FULL_INVERSE_DEPTH";
    if (feat_representation == ANCHORED_MSCKF_INVERSE_DEPTH)
      return "ANCHORED_MSCKF_INVERSE_DEPTH";
    if (feat_representation == ANCHORED_INVERSE_DEPTH_SINGLE)
      return "ANCHORED_INVERSE_DEPTH_SINGLE";
    return "UNKNOWN";
  }

  static inline Representation from_string(const std::string &feat_representation) {
    if (feat_representation == "GLOBAL_3D")
      return GLOBAL_3D;
    if (feat_representation == "GLOBAL_FULL_INVERSE_DEPTH")
      return GLOBAL_FULL_INVERSE_DEPTH;
    if (feat_representation == "ANCHORED_3D")
      return ANCHORED_3D;
    if (feat_representation == "ANCHORED_FULL_INVERSE_DEPTH")
      return ANCHORED_FULL_INVERSE_DEPTH;
    if (feat_representation == "ANCHORED_MSCKF_INVERSE_DEPTH")
      return ANCHORED_MSCKF_INVERSE_DEPTH;
    if (feat_representation == "ANCHORED_INVERSE_DEPTH_SINGLE")
      return ANCHORED_INVERSE_DEPTH_SINGLE;
    return UNKNOWN;
  }

  static inline bool is_relative_representation(Representation feat_representation) {
    return (feat_representation == Representation::ANCHORED_3D || feat_representation == Representation::ANCHORED_FULL_INVERSE_DEPTH ||
            feat_representation == Representation::ANCHORED_MSCKF_INVERSE_DEPTH ||
            feat_representation == Representation::ANCHORED_INVERSE_DEPTH_SINGLE);
  }

private:
  LandmarkRepresentation(){};
};

} // namespace ov_type

#endif // OV_TYPE_LANDMARKREPRESENTATION_H