00001 00024 #ifndef RGBDTOOLS_FEATURE_DETECTOR_H 00025 #define RGBDTOOLS_FEATURE_DETECTOR_H 00026 00027 #include <vector> 00028 #include <boost/thread/mutex.hpp> 00029 00030 #include "rgbdtools/types.h" 00031 #include "rgbdtools/rgbd_frame.h" 00032 00033 namespace rgbdtools { 00034 00037 class FeatureDetector 00038 { 00039 public: 00040 00043 FeatureDetector(); 00044 00047 virtual ~FeatureDetector(); 00048 00053 void findFeatures(RGBDFrame& frame); 00054 00064 inline int getSmooth() const; 00065 00069 inline double getMaxRange() const; 00070 00074 inline double getMaxStDev() const; 00075 00085 void setSmooth(int smooth); 00086 00090 void setMaxRange(double max_range); 00091 00095 void setMaxStDev(double max_stdev); 00096 00097 void setComputeDescriptors(bool compute_descriptors); 00098 00099 protected: 00100 00101 boost::mutex mutex_; 00102 00103 bool compute_descriptors_; 00104 00110 virtual void findFeatures(RGBDFrame& frame, const cv::Mat& input_img) = 0; 00111 00112 private: 00113 00114 int smooth_; 00115 double max_range_; 00116 double max_stdev_; 00117 }; 00118 00119 typedef boost::shared_ptr<FeatureDetector> FeatureDetectorPtr; 00120 00121 } // namespace rgbdtools 00122 00123 #endif // RGBDTOOLS_FEATURE_DETECTOR_H
