The current bag-of-words loop closure framework only supports BRIEF descriptors. It should support all the feature descriptors supported in the Tracker, including those implemented as part of issue #39. For each descriptor, this requires
Creating a vocabulary for DBoW2 for each new descriptor, like cfg/ukbench10K_FASTBRIEF32.yml.gz
Implementing an interface to DBoW2, as is done in src/fastbrief.h and src/fastbrief.cpp
The interface for binary descriptors should use a form of int * as the type for TDescriptor for speed. (Do not use std::bitvec, as is done in the DBoW2 demo for BRIEF descriptors.)
The current bag-of-words loop closure framework only supports BRIEF descriptors. It should support all the feature descriptors supported in the
Tracker, including those implemented as part of issue #39. For each descriptor, this requiresDBoW2for each new descriptor, likecfg/ukbench10K_FASTBRIEF32.yml.gzDBoW2, as is done insrc/fastbrief.handsrc/fastbrief.cppThe interface for binary descriptors should use a form of
int *as the type forTDescriptorfor speed. (Do not usestd::bitvec, as is done in theDBoW2demo for BRIEF descriptors.)