cvGFTTFeatureDetector.h

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#ifndef CVGFTTFEATUREDETECTOR_H
#define CVGFTTFEATUREDETECTOR_H
 
#include "isaeslam/featuredetectors/aOpenCVFeatureDetector.h"
 
namespace isae {
 
class cvGFTTFeatureDetector : public AOpenCVFeatureDetector {
  public:
    cvGFTTFeatureDetector(int n, int n_per_cell, double max_matching_dist = 64)
        : AOpenCVFeatureDetector(n, n_per_cell) {
        _max_matching_dist = max_matching_dist;
        _detector          = cv::GFTTDetector::create(n_per_cell);
        _descriptor        = cv::ORB::create();
    }
    void init() override {}
    double computeDist(const cv::Mat &desc1, const cv::Mat &desc2) const override {
        return cv::norm(desc1, desc2, _descriptor->defaultNorm());
    }
    std::vector<std::shared_ptr<AFeature>>
    detectAndComputeGrid(const cv::Mat &img,
                         const cv::Mat &mask,
                         std::vector<std::shared_ptr<AFeature>> existing_features) override;
};
 
} // namespace isae
 
#endif // CVGFTTFEATUREDETECTOR_H