aOpenCVFeatureDetector.h

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#ifndef AOPENCVFEATUREDETECTOR_H
#define AOPENCVFEATUREDETECTOR_H
 
#include "isaeslam/data/features/Point2D.h"
#include "isaeslam/data/sensors/ASensor.h"
#include "isaeslam/featuredetectors/aFeatureDetector.h"
#include "isaeslam/typedefs.h"
 
namespace isae {
 
class Point2D;
 
class AOpenCVFeatureDetector : public AFeatureDetector {
  public:
    AOpenCVFeatureDetector(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);
    void computeDescriptor(const cv::Mat &img, std::vector<std::shared_ptr<AFeature>> &features);
 
    void retainBest(std::vector<cv::KeyPoint> &_keypoints, int n);
    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>>());
 
  protected:
    cv::Ptr<cv::FeatureDetector> _detector;       
    cv::Ptr<cv::DescriptorExtractor> _descriptor; 
};
 
} // namespace isae
 
#endif // AOPENCVFEATUREDETECTOR_H