00001 00024 #ifndef CCNY_RGBD_STAR_DETECTOR_H 00025 #define CCNY_RGBD_STAR_DETECTOR_H 00026 00027 #include "ccny_rgbd/features/feature_detector.h" 00028 #include "ccny_rgbd/rgbd_util.h" 00029 #include "ccny_rgbd/StarDetectorConfig.h" 00030 00031 namespace ccny_rgbd { 00032 00035 class StarDetector: public FeatureDetector 00036 { 00037 public: 00038 00041 StarDetector(); 00042 00045 ~StarDetector(); 00046 00052 void findFeatures(RGBDFrame& frame, const cv::Mat& input_img); 00053 00057 void setMinDistance(double min_distance); 00058 00062 void setThreshold(double threshold); 00063 00064 private: 00065 00066 double min_distance_; 00067 double threshold_; 00068 00069 boost::shared_ptr<cv::FeatureDetector> star_detector_; 00070 }; 00071 00072 typedef boost::shared_ptr<StarDetector> StarDetectorPtr; 00073 00074 } // namespace ccny_rgbd 00075 00076 #endif // CCNY_RGBD_STAR_DETECTOR_H
