Extending the set of descriptors used in RTAB-Map

Posted by tango_explorer on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Extending-the-set-of-descriptors-used-in-RTAB-Map-tp3329.html

Hi,

I'm trying to extend the set of descriptors currently used in RTAB-Map. In my scenario, the descriptor code is agnostic about what type of keypoints provided. I took a look at your features2d class, and your extension of ORB. Would following your example with GFTT-ORB suffice or is there any tip/advice you can give to make life easier and interfacing it with the rest of the code?

Also, I'm a bit new to heavy coding(coding that isn't for homework), what exactly does your RTABMAP_EXP do, and why is it in every class definition?

Thanks in advance for your help.