Class BRIEF

pose_graph/ThirdParty/DVision/BRIEF.h:39–171

BRIEF descriptor

/// BRIEF descriptor
class BRIEF {
 public:
  /// Bitset type
  typedef boost::dynamic_bitset<> bitset;

  /// Type of pairs
  enum Type {
    RANDOM,        // random pairs (Calonder's original version)
    RANDOM_CLOSE,  // random but close pairs (used in GalvezIROS11)
  };

 public:
  /**
   * Creates the BRIEF a priori data for descriptors of nbits length
   * @param nbits descriptor length in bits
   * @param patch_size
   * @param type type of pairs to generate
   */
  BRIEF(int nbits = 256, int patch_size = 48, Type type = RANDOM_CLOSE);
  virtual ~BRIEF();

  /**
   * Returns the descriptor length in bits
   * @return descriptor length in bits
   */
  inline int getDescriptorLengthInBits() const { return m_bit_length; }

  /**
   * Returns the type of classifier
   */
  inline Type getType() const { return m_type; }

  /**
   * Returns the size of the patch
   */
  inline int getPatchSize() const { return m_patch_size; }

  /**
   * Returns the BRIEF descriptors of the given keypoints in the given image
   * @param image
   * @param points
   * @param descriptors
   * @param treat_image (default: true) if true, the image is converted to
   *   grayscale if needed and smoothed. If not, it is assumed the image has
   *   been treated by the user
   * @note this function is similar to BRIEF::compute
   */
  inline void operator()(const cv::Mat& image,
                         const std::vector<cv::KeyPoint>& points,
                         std::vector<bitset>& descriptors,
                         bool treat_image = true) const {
    compute(image, points, descriptors, treat_image);
  }

  /**
   * Returns the BRIEF descriptors of the given keypoints in the given image
   * @param image
   * @param points