Method operator()

pose_graph/src/pose_graph/Keyframe.cpp:221–225

}

void BriefExtractor::operator()(const cv::Mat& im,
                                std::vector<cv::KeyPoint>& keys,
                                std::vector<DVision::BRIEF256::bitset>& descriptors) const {
  m_brief.compute(im, keys, descriptors);
}

bool Keyframe::matchBrisk(const cv::Mat& window_descriptor,
                          const cv::Mat& descriptors_old,