checker.hpp

// Copyright (C) 2023 Alessandro Fornasier.
// Control of Networked Systems, University of Klagenfurt, Austria.
//
// All rights reserved.
//
// This software is licensed under the terms of the BSD-2-Clause-License with
// no commercial use allowed, the full terms of which are made available
// in the LICENSE file. No license in patents is granted.
//
// You can contact the authors at <alessandro.fornasier@ieee.org>
 
#ifndef CHECKER_HPP
#define CHECKER_HPP
 
#include "msceqf/options/msceqf_options.hpp"
#include "types/fptypes.hpp"
#include "utils/tools.hpp"
#include "vision/track.hpp"
 
namespace msceqf
{
class Checker
{
 public:
  Checker(const CheckerOptions& opts);
 
  [[nodiscard]] bool disparityCheck(const Tracks& tracks) const;
 
 private:
  CheckerOptions opts_;  
};
 
}  // namespace msceqf
 
#endif  // CHECKER_HPP