void DetectDescribe::performDescription(const cv::Mat& image,
std::vector<cv::KeyPoint> &v, cv::Mat & descriptors,
const int _descriptorType) {
DescriptorExtractor *extractor;
LDB *ldb;
cv::SiftDescriptorExtractor extractorSift;
switch (_descriptorType) {
case 0:
ldb = new LDB();
break;
case 1:
// SIFT is created statically
break;
case 2:
extractor = new cv::SurfDescriptorExtractor();
break;
case 3:
extractor = new cv::ORB();
break;
case 4:
extractor = new cv::BriefDescriptorExtractor();
break;
case 5:
extractor = new cv::BRISK();
break;
case 6:
extractor = new cv::FREAK();
break;
default:
extractor = new cv::ORB();
}
if (_descriptorType == 0) {
cv::Mat dst;
cv::cvtColor(image, dst, CV_BGR2GRAY);
ldb->compute(dst, v, descriptors);
delete ldb;
} else if (_descriptorType == 1) {
extractorSift.compute(image, v, descriptors);
} else {
extractor->compute(image, v, descriptors);
delete extractor;
}
}
/**
* @brief This function calculates a D-LDB descriptor for the stereo pair
* @param img_left_d Left image
* @param img_right_d Right image
* @param kpts Processed keypoints
* @param descriptor Obtained descriptor
*
*/
Mat D_Ldb::compute_D_Ldb(Mat &img_left_d, Mat &img_right_d, vector<KeyPoint> &kpts, Mat &descriptor){
Mat descriptorDisp;
Mat disparity;
LDB ldb;
// Process the stereo pair and D-LDB
undistort_rectify_init(img_left_d.size());
undistort_rectify_images(img_left_d,img_right_d);
depth_image_to_cv_image();
get_color_disparity_map().copyTo(disparity);
cvtColor(disparity,disparity,COLOR_RGB2GRAY);
//imshow("Disparity", disparity);
//waitKey();
ldb.compute(img_left_d,kpts,descriptor);
ldb.compute(disparity,kpts,descriptorDisp);
cv::hconcat(descriptor,descriptorDisp,descriptor);
return descriptor;
}
