featurenav_base: typedef.h Source File

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00001 #ifndef FEATURENAV_BASE_TYPEDEF_H
00002 #define FEATURENAV_BASE_TYPEDEF_H
00003 
00004 #include <vector>
00005 
00006 #include <opencv2/opencv.hpp>
00007 #include <opencv2/features2d/features2d.hpp>
00008 #include <boost/function.hpp>
00009 #include <boost/bind.hpp>
00010 
00011 #include <sensor_msgs/Image.h>
00012 
00013 #include <featurenav_base/Feature.h>
00014 
00015 namespace featurenav_base {
00016 
00017 using std::vector;
00018 using cv::KeyPoint;
00019 using cv::DMatch;
00020 using ::featurenav_base::Feature;
00021 
00022 // void(image[in], keypoints[out], descriptors[out])
00023 typedef boost::function<void(const sensor_msgs::ImageConstPtr&, vector<KeyPoint>&, vector<Feature>&)> feature_extractor_function_ptr;
00024 // void(query_descriptors[in], train_descriptors[in], matches[out])
00025 typedef boost::function<void(const vector<Feature>&, const vector<Feature>&, vector<vector<DMatch> >&)> descriptor_matcher_function_ptr;
00026 
00027 enum action_type {LEARN, NAVIGATE};
00028 
00029 typedef boost::function<bool(const action_type)> can_do_function_ptr;
00030 typedef boost::function<void(const action_type)> start_do_function_ptr;
00031 
00032 } // namespace featurenav_base
00033 
00034 #endif // FEATURENAV_BASE_TYPEDEF_H