2d3d_features.hpp

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>

using namespace cv;
using namespace std;

vector<KeyPoint> detect_rgbd_features(Mat rgb_image, Mat depth_image, int fast_threshold, float flatness_threshold);