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00024 #ifndef RGBDTOOLS_ORB_DETECTOR_H
00025 #define RGBDTOOLS_ORB_DETECTOR_H
00026
00027 #include <opencv2/core/core.hpp>
00028 #include <opencv2/features2d/features2d.hpp>
00029
00030 #include "rgbdtools/features/feature_detector.h"
00031
00032 namespace rgbdtools {
00033
00036 class OrbDetector: public FeatureDetector
00037 {
00038 public:
00039
00042 OrbDetector();
00043
00046 ~OrbDetector();
00047
00053 void findFeatures(RGBDFrame& frame, const cv::Mat& input_img);
00054
00058 void setThreshold(int threshold);
00059
00063 void setNFeatures(int n_features);
00064
00065 private:
00066
00067 int n_features_;
00068 double threshold_;
00069
00070 cv::OrbDescriptorExtractor orb_descriptor_;
00071 boost::shared_ptr<cv::OrbFeatureDetector> orb_detector_;
00072 };
00073
00074 typedef boost::shared_ptr<OrbDetector> OrbDetectorPtr;
00075
00076 }
00077
00078 #endif // RGBDTOOLS_ORB_DETECTOR_H