#include <cv.h>

#include <opencv2/highgui/highgui.hpp>

#include <vector>

#include <iostream>

#include <stdlib.h>

using namespace std;

using namespace cv;

// see http://opencv-users.1802565.n2.nabble.com/Problems-about-the-OpenCV-SIFT-feature-detector-td6084481.html

// see https://code.ros.org/trac/opencv/ticket/1029

// see http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_feature_detectors.html?highlight=siftfeaturedetector#SiftFeatureDetector

int main(int argc, char **argv) {

    if (argc != 3) {

        cerr << "Usage: siftmask <image> <mask>" << endl;

        return 1;

    }

    Mat image = imread(argv[1], 0);

    Mat mask = imread(argv[2], 0);

    assert(CV_8U == mask.type());

    vector<KeyPoint> keypoints;

    SiftFeatureDetector fd = SiftFeatureDetector(SIFT::DetectorParams::

                                         GET_DEFAULT_THRESHOLD(),

                                         SIFT::DetectorParams::

                                         GET_DEFAULT_EDGE_THRESHOLD());

    fd.detect(image, keypoints, mask);

    Mat outImg;

    drawKeypoints(image, keypoints, outImg);

    imshow("mask", mask);

    waitKey(-1);

    imshow("keypoints", outImg);

    waitKey(-1);

    return 0;

}