Class FBrief

pose_graph/ThirdParty/DBoW/FBrief.h:23–64

Functions to manipulate BRIEF descriptors

/// Functions to manipulate BRIEF descriptors
class FBrief : protected FClass {
 public:
  static const int L = 256;  // Descriptor length (in bits)
  typedef std::bitset<L> TDescriptor;
  typedef const TDescriptor* pDescriptor;

  /**
   * Calculates the mean value of a set of descriptors
   * @param descriptors
   * @param mean mean descriptor
   */
  static void meanValue(const std::vector<pDescriptor>& descriptors, TDescriptor& mean);

  /**
   * Calculates the distance between two descriptors
   * @param a
   * @param b
   * @return distance
   */
  static double distance(const TDescriptor& a, const TDescriptor& b);

  /**
   * Returns a string version of the descriptor
   * @param a descriptor
   * @return string version
   */
  static std::string toString(const TDescriptor& a);

  /**
   * Returns a descriptor from a string
   * @param a descriptor
   * @param s string version
   */
  static void fromString(TDescriptor& a, const std::string& s);

  /**
   * Returns a mat with the descriptors in float format
   * @param descriptors
   * @param mat (out) NxL 32F matrix
   */
  static void toMat32F(const std::vector<TDescriptor>& descriptors, cv::Mat& mat);
};

}  // namespace DBoW2