gft_detector.cpp

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#include "rgbdtools/features/gft_detector.h"

namespace rgbdtools {

GftDetector::GftDetector():
  FeatureDetector()
{
  gft_detector_.reset(
    new cv::GoodFeaturesToTrackDetector(n_features_, 0.01, min_distance_));
}

GftDetector::~GftDetector()
{

}

void GftDetector::findFeatures(RGBDFrame& frame, const cv::Mat& input_img)
{
  cv::Mat mask(frame.depth_img.size(), CV_8UC1);
  frame.depth_img.convertTo(mask, CV_8U);

  gft_detector_->detect(input_img, frame.keypoints, mask);
  
  if(compute_descriptors_)
    orb_descriptor_.compute(
      input_img, frame.keypoints, frame.descriptors);
}

void GftDetector::setNFeatures(int n_features)
{
  n_features_ = n_features;
    
  gft_detector_.reset(
    new cv::GoodFeaturesToTrackDetector(n_features_, 0.01, min_distance_));
}
    
void GftDetector::setMinDistance(double min_distance)
{
  min_distance_ = min_distance;
    
  gft_detector_.reset(
    new cv::GoodFeaturesToTrackDetector(n_features_, 0.01, min_distance_));
}

} // namespace rgbdtools