aCustomFeatureDetector.h

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#ifndef ACUSTOMFEATUREDETECTOR_H
#define ACUSTOMFEATUREDETECTOR_H
 
#include <iostream>
#include <opencv2/core.hpp>
#include <opencv2/features2d.hpp>
 
#include "isaeslam/data/features/Point2D.h"
#include "isaeslam/data/sensors/ASensor.h"
#include "isaeslam/featuredetectors/aFeatureDetector.h"
#include "isaeslam/typedefs.h"
 
namespace isae {
 
class ACustomFeatureDetector : public AFeatureDetector {
  public:
    ACustomFeatureDetector(int n, int n_per_cell) : AFeatureDetector(n, n_per_cell) {}
 
    void detectAndCompute(const cv::Mat &img,
                          const cv::Mat &mask,
                          std::vector<cv::KeyPoint> &keypoints,
                          cv::Mat &descriptors,
                          int n_points = 0) {}
    std::vector<std::shared_ptr<AFeature>> detectAndComputeGrid(
        const cv::Mat &img,
        const cv::Mat &mask,
        std::vector<std::shared_ptr<AFeature>> existing_features = std::vector<std::shared_ptr<AFeature>>());
 
    virtual void customDetectAndCompute(const cv::Mat &img,
                                        const cv::Mat &mask,
                                        std::vector<std::shared_ptr<AFeature>> &features)                = 0;
    virtual void computeDescriptor(const cv::Mat &img, std::vector<std::shared_ptr<AFeature>> &features) = 0;
 
  protected:
    const int getDefaultNorm() const { return _defaultNorm; }
    int _defaultNorm;
};
 
} // namespace isae
 
#endif // ACUSTOMFEATUREDETECTOR_H