star_detector.cpp

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#include "ccny_rgbd/features/star_detector.h"

namespace ccny_rgbd {

StarDetector::StarDetector(): FeatureDetector()
{   
  star_detector_.reset(
    new cv::StarFeatureDetector(16, threshold_, 10, 8, min_distance_));
}

StarDetector::~StarDetector()
{

}

void StarDetector::findFeatures(RGBDFrame& frame, const cv::Mat& input_img)
{
  boost::mutex::scoped_lock(mutex_);
  
  cv::Mat mask(frame.depth_img.size(), CV_8UC1);
  frame.depth_img.convertTo(mask, CV_8U);

  star_detector_->detect(input_img, frame.keypoints, mask);
}
    
void StarDetector::setMinDistance(double min_distance)
{
  min_distance_ = min_distance;
    
  star_detector_.reset(
    new cv::StarFeatureDetector(16, threshold_, 10, 8, min_distance_));
}

void StarDetector::setThreshold(double threshold)
{
  threshold_ = threshold;
    
  star_detector_.reset(
    new cv::StarFeatureDetector(16, threshold_, 10, 8, min_distance_));
}

} // namespace ccny_rgbd