orb_detector.cpp

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#include "ccny_rgbd/features/orb_detector.h"

namespace ccny_rgbd {

OrbDetector::OrbDetector(): FeatureDetector(),
  n_features_(400),
  threshold_(31.0)
{
  mutex_.lock();
  
  orb_detector_.reset(
    new cv::OrbFeatureDetector(n_features_, 1.2f, 8, threshold_, 0, 2, 0, 31));
  
  mutex_.unlock();
}

OrbDetector::~OrbDetector()
{

}

void OrbDetector::findFeatures(RGBDFrame& frame, const cv::Mat& input_img)
{
  mutex_.lock();
  
  cv::Mat mask(frame.depth_img.size(), CV_8UC1);
  frame.depth_img.convertTo(mask, CV_8U);

  orb_detector_->detect(input_img, frame.keypoints, mask);

  if(compute_descriptors_)
    orb_descriptor_.compute(
      input_img, frame.keypoints, frame.descriptors);
  
  mutex_.unlock();
}

void OrbDetector::setThreshold(int threshold)
{
  mutex_.lock();
  
  threshold_ = threshold;

  orb_detector_.reset(
    new cv::OrbFeatureDetector(n_features_, 1.2f, 8, threshold_, 0, 2, 0, 31));
  
  mutex_.unlock();
}

void OrbDetector::setNFeatures(int n_features)
{
  mutex_.lock();
  n_features_ = n_features;

  orb_detector_.reset(
    new cv::OrbFeatureDetector(n_features_, 1.2f, 8, threshold_, 0, 2, 0, 31));
  
  mutex_.unlock();
}

} //namespace