diff --git a/src/feature_match.h b/src/feature_match.h new file mode 100644 index 0000000000000000000000000000000000000000..87119851d38dd8658364b241bf162c3fdf8730ff --- /dev/null +++ b/src/feature_match.h @@ -0,0 +1,27 @@ +#ifndef FEATURE_MATCH_H_ +#define FEATURE_MATCH_H_ + +// Wolf includes +#include "wolf.h" + +//wolf nampseace +namespace wolf { + +/** \brief Match between a feature and a feature + * + * Match between a feature and a feature (feature-feature correspondence) + * + **/ +struct FeatureMatch +{ + FeatureBasePtr feature_ptr_; + Scalar normalized_score_; +}; + +typedef std::map<FeatureBasePtr, FeatureMatch> FeatureMatchMap; + +}//end namespace + +#endif + + diff --git a/src/processor_tracker_feature.h b/src/processor_tracker_feature.h index 963742eaf492b9aeaa616aa7009849f7a3485605..a4614f10455406d84df5a7f711010bc8abca6c78 100644 --- a/src/processor_tracker_feature.h +++ b/src/processor_tracker_feature.h @@ -8,8 +8,10 @@ #ifndef PROCESSOR_TRACKER_FEATURE_H_ #define PROCESSOR_TRACKER_FEATURE_H_ +//wolf includes #include "processor_tracker.h" #include "capture_base.h" +#include "feature_match.h" #include "wolf.h" namespace wolf diff --git a/src/wolf.h b/src/wolf.h index a25a14955155a1e0745220f4b7ff0525b59ee470..08cbebbe15ff695f1ed1dea959e05f61306d8148 100644 --- a/src/wolf.h +++ b/src/wolf.h @@ -377,14 +377,14 @@ typedef std::shared_ptr<StateQuaternion> StateQuaternionPtr; // - - Local Parametrization typedef std::shared_ptr<LocalParametrizationBase> LocalParametrizationBasePtr; -// Feature-Feature correspondence -struct FeatureMatch -{ - FeatureBasePtr feature_ptr_; - Scalar normalized_score_; -}; - -typedef std::map<FeatureBasePtr, FeatureMatch> FeatureMatchMap; +// // Feature-Feature correspondence +// struct FeatureMatch +// { +// FeatureBasePtr feature_ptr_; +// Scalar normalized_score_; +// }; +// +// typedef std::map<FeatureBasePtr, FeatureMatch> FeatureMatchMap;