Re: Extending the set of descriptors used in RTAB-Map

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Extending-the-set-of-descriptors-used-in-RTAB-Map-tp3329p3339.html

Hi,

In RTAB-Map, as not all descriptors work with any keypoint detectors, we provided some hard coded combinations like GFTT/BRIEF or FAST/BRIEF. So you can indeed base your code on these classes: https://github.com/introlab/rtabmap/blob/af1cdadabd97e179d30421666b2974f973b6e898/corelib/include/rtabmap/core/Features2d.h#L356-L412

You may added new approaches here and there to be used with parameter "Kp/DetectorStrategy" and "Vis/FeatureType" parameters.

RTABMAP_EXP is used for DLLs in windows, to tell if we are exporting or importing objects to/from dlls.

cheers,
Mathieu