surf_detector.cpp

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#include "ccny_rgbd/features/surf_detector.h"

namespace ccny_rgbd {

SurfDetector::SurfDetector():FeatureDetector()
{
  surf_detector_.reset(
    new cv::SurfFeatureDetector(threshold_, 4, 2, true, false));
}

SurfDetector::~SurfDetector()
{

}

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

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

  if(compute_descriptors_)
    surf_descriptor_.compute(
      input_img, frame.keypoints, frame.descriptors);
}

void SurfDetector::setThreshold(double threshold)
{
  threshold_ = threshold;
    
  surf_detector_.reset(
    new cv::SurfFeatureDetector(threshold_, 4, 2, true, false));
}

} // namespace ccny_rgbd