| 589 | } |
| 590 | |
| 591 | BriefExtractor::BriefExtractor(const std::string& pattern_file) { |
| 592 | // The DVision::BRIEF extractor computes a random pattern by default when |
| 593 | // the object is created. |
| 594 | // We load the pattern that we used to build the vocabulary, to make |
| 595 | // the descriptors compatible with the predefined vocabulary |
| 596 | |
| 597 | // loads the pattern |
| 598 | cv::FileStorage fs(pattern_file.c_str(), cv::FileStorage::READ); |
| 599 | if (!fs.isOpened()) throw std::string("Could not open file ") + pattern_file; |
| 600 | |
| 601 | std::vector<int> x1, y1, x2, y2; |
| 602 | fs["x1"] >> x1; |
| 603 | fs["x2"] >> x2; |
| 604 | fs["y1"] >> y1; |
| 605 | fs["y2"] >> y2; |
| 606 | |
| 607 | m_brief.importPairs(x1, y1, x2, y2); |
| 608 | } |
| 609 | |
| 610 | // void Keyframe::setRelocalizationPCLCallback(const PointCloudCallback& pcl_callback) { |
| 611 | // relocalization_pcl_callback_ = pcl_callback; |
nothing calls this directly
no test coverage detected