DescriptorExtractor* createDescriptorExtractor(const std::string& descriptorType)
{
DescriptorExtractor* extractor = 0;
if(descriptorType == "SIFT") {
extractor = new SiftDescriptorExtractor();/*( double magnification=SIFT::DescriptorParams::GET_DEFAULT_MAGNIFICATION(), bool isNormalize=true, bool recalculateAngles=true, int nOctaves=SIFT::CommonParams::DEFAULT_NOCTAVES, int nOctaveLayers=SIFT::CommonParams::DEFAULT_NOCTAVE_LAYERS, int firstOctave=SIFT::CommonParams::DEFAULT_FIRST_OCTAVE, int angleMode=SIFT::CommonParams::FIRST_ANGLE )*/
}
else if(descriptorType == "BRIEF") {
extractor = new BriefDescriptorExtractor();
}
else if(descriptorType == "BRISK") {
extractor = new cv::BRISK();/*brisk default: (int thresh=30, int octaves=3, float patternScale=1.0f)*/
}
else if(descriptorType == "FREAK") {
extractor = new cv::FREAK();
}
else if(descriptorType == "SURF") {
extractor = new SurfDescriptorExtractor();/*( int nOctaves=4, int nOctaveLayers=2, bool extended=false )*/
}
else if(descriptorType == "SURF128") {
extractor = new SurfDescriptorExtractor();/*( int nOctaves=4, int nOctaveLayers=2, bool extended=false )*/
extractor->set("extended", 1);
}
#if CV_MAJOR_VERSION > 2 || CV_MINOR_VERSION >= 3
else if(descriptorType == "ORB") {
extractor = new OrbDescriptorExtractor();
}
#endif
else if(descriptorType == "SIFTGPU") {
ROS_DEBUG("%s is to be used as extractor, creating SURF descriptor extractor as fallback.", descriptorType.c_str());
extractor = new SurfDescriptorExtractor();/*( int nOctaves=4, int nOctaveLayers=2, bool extended=false )*/
}
else {
ROS_ERROR("No valid descriptor-matcher-type given: %s. Using SURF", descriptorType.c_str());
extractor = createDescriptorExtractor("SURF");
}
assert(extractor != 0 && "No extractor could be created");
return extractor;
}
