| 73 | |
| 74 | |
| 75 | void KeyFrame::computeWindowBRIEFPoint() |
| 76 | { |
| 77 | BriefExtractor extractor(BRIEF_PATTERN_FILE.c_str()); |
| 78 | for(int i = 0; i < (int)point_2d_uv.size(); i++) |
| 79 | { |
| 80 | cv::KeyPoint key; |
| 81 | key.pt = point_2d_uv[i]; |
| 82 | window_keypoints.push_back(key); |
| 83 | } |
| 84 | extractor(image, window_keypoints, window_brief_descriptors); |
| 85 | } |
| 86 | |
| 87 | void KeyFrame::computeBRIEFPoint() |
| 88 | { |