csvKeypointDetector.h

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#ifndef CSVKEYPOINTDETECTOR_H
#define CSVKEYPOINTDETECTOR_H
 
#include "isaeslam/featuredetectors/aCustomFeatureDetector.h"
 
namespace isae {
 
class CsvKeypointDetector : public ACustomFeatureDetector {
  public:
    CsvKeypointDetector(int n, int n_per_cell, double max_matching_dist = 64)
        : ACustomFeatureDetector(n, n_per_cell) {
        this->init();
        _max_matching_dist = max_matching_dist;
    }
 
    void customDetectAndCompute(const cv::Mat &img,
                                    const cv::Mat &mask,
                                    std::vector<std::shared_ptr<AFeature>> &features) override;
    void computeDescriptor(const cv::Mat &img, std::vector<std::shared_ptr<AFeature>> &features) override;
 
    void init() override;
    double computeDist(const cv::Mat &desc1, const cv::Mat &desc2) const override;
 
  private:
    std::string _folder_path; 
};
 
} // namespace isae
 
#endif // CSVKEYPOINTDETECTOR_H