saihv / koral-ros Goto Github PK

     cv::Mat image_with_kps_L, image_with_kps_R;
std::vector <cv::KeyPoint> kpsL, kpsR;
std::vector<uint64_t> desc1;
std::vector<uint64_t> desc2;

unsigned int width = img1.cols;
unsigned int height = img1.rows;

KFeatureDetector detector(scaleFactor, scaleLevels, width, height, maxFeatureCount, fastThreshold);
detector.extractFeatures(img1);
kpsL = detector.converted_kps;
desc1 = detector.desc;
detector.converted_kps.clear();

for (int i = 0; i < kpsL.size(); i++)
{
	cv::drawMarker(img1, kpsL[i].pt, cv::Scalar(100, 0, 0), cv::MARKER_CROSS, 1, 8);
}
kpsL.clear();
cv::imshow("kps", img1);
cv::waitKey(1);