feature_detector.cpp

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#include "rgbdtools/features/feature_detector.h"

namespace rgbdtools {

FeatureDetector::FeatureDetector():
  compute_descriptors_(false),
  max_range_(7.0),
  max_stdev_(0.15),
  smooth_(0)
{

}

FeatureDetector::~FeatureDetector()
{

}

void FeatureDetector::findFeatures(RGBDFrame& frame)
{
  boost::mutex::scoped_lock(mutex_);

  const cv::Mat& input_img = frame.rgb_img;

  cv::Mat gray_img(input_img.rows, input_img.cols, CV_8UC1);
  const cv::Mat* ptarget_img = NULL;

  if (input_img.type() != CV_8UC1)
  {
    // convert from RGB to grayscale only if necessary
    cvtColor(input_img, gray_img, CV_BGR2GRAY);
    ptarget_img = &gray_img;
  }
  else
    ptarget_img = &input_img;

  // blur if needed
  if(smooth_ > 0)
  {
    int blur_size = smooth_*2 + 1;
    cv::GaussianBlur(*ptarget_img, *ptarget_img, cv::Size(blur_size, blur_size), 0);
  }

  // clear previous data:
  frame.keypoints.clear();
  frame.descriptors = cv::Mat();
  
  // find the 2D coordinates of keypoints
  findFeatures(frame, *ptarget_img);

  // calculates the 3D position and covariance of features
  frame.computeDistributions(max_range_, max_stdev_);
}

void FeatureDetector::setComputeDescriptors(bool compute_descriptors)
{
  compute_descriptors_ = compute_descriptors;
}

void FeatureDetector::setSmooth(int smooth)
{
  smooth_ = smooth;
}

void FeatureDetector::setMaxRange(double max_range)
{
  max_range_ = max_range;
}

void FeatureDetector::setMaxStDev(double max_stdev)
{
  max_stdev_ = max_stdev;
}

int FeatureDetector::getSmooth() const
{
  return smooth_;
}

double FeatureDetector::getMaxRange() const
{
  return max_range_;
} 

double FeatureDetector::getMaxStDev() const
{
  return max_stdev_;
} 

} // namespace rgbdtools