star_detector.cpp
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00001 
00024 #include "rgbdtools/features/star_detector.h"
00025 
00026 namespace rgbdtools {
00027 
00028 StarDetector::StarDetector(): FeatureDetector()
00029 {   
00030   star_detector_.reset(
00031     new cv::StarFeatureDetector(16, threshold_, 10, 8, min_distance_));
00032 }
00033 
00034 StarDetector::~StarDetector()
00035 {
00036 
00037 }
00038 
00039 void StarDetector::findFeatures(RGBDFrame& frame, const cv::Mat& input_img)
00040 {
00041   boost::mutex::scoped_lock(mutex_);
00042   
00043   cv::Mat mask(frame.depth_img.size(), CV_8UC1);
00044   frame.depth_img.convertTo(mask, CV_8U);
00045 
00046   star_detector_->detect(input_img, frame.keypoints, mask);
00047 }
00048     
00049 void StarDetector::setMinDistance(double min_distance)
00050 {
00051   min_distance_ = min_distance;
00052     
00053   star_detector_.reset(
00054     new cv::StarFeatureDetector(16, threshold_, 10, 8, min_distance_));
00055 }
00056 
00057 void StarDetector::setThreshold(double threshold)
00058 {
00059   threshold_ = threshold;
00060     
00061   star_detector_.reset(
00062     new cv::StarFeatureDetector(16, threshold_, 10, 8, min_distance_));
00063 }
00064 
00065 } // namespace rgbdtools
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lib_rgbdtools
Author(s): Ivan Dryanovski
autogenerated on Tue Aug 27 2013 10:33:54