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#ifndef dataStructures_h

#define dataStructures_h

#include <vector>

#include <opencv2/core.hpp>

using namespace std;

struct DataFrame { // represents the available sensor information at the same time instance

cv::Mat cameraImg; // camera image

std::vector<cv::KeyPoint> keypoints; // 2D keypoints within camera image

cv::Mat descriptors; // keypoint descriptors

std::vector<cv::DMatch> keypointMatches; // keypoint matches between previous and current frame

};

enum KeypointDetector

{

Shi_Tomasi,

HARRIS,

FAST,

BRISK,

ORB,

AKAZE,

SIFT

};

struct Hyperparameters

{

Hyperparameters()= default;

KeypointDetector keypointDetector = Shi_Tomasi; // Shi_Tomasi, HARRIS, FAST, BRISK, ORB, AKAZE, SIFT

string descriptor = "BRIEF"; // BRISK, BRIEF, ORB, FREAK, AKAZE, SIFT

string matcherType = "MAT_BF"; // MAT_BF, MAT_FLANN

string descriptorType = "DES_BINARY"; // DES_BINARY, DES_HOG

string selectorType = "SEL_KNN"; // SEL_NN, SEL_KNN

};

#endif /* dataStructures_h */