added all descriptors and deleted old folder

src/examples/test_descriptor.cpp

@@ -33,7 +33,7 @@
 #include "../descriptors/brief/descriptor_brief.h"
 #include "../descriptors/daisy/descriptor_daisy.h"
 #include "../descriptors/lucid/descriptor_lucid.h"
-//#include "../descriptors/dense/descriptor_dense.h"
+
 
 int main(void)
 {
@@ -113,8 +113,6 @@ int main(void)
     	des_ptr = std::static_pointer_cast<DescriptorDAISY>(des_ptr);
     else if (des_name.compare("LUCID") == 0)
     	des_ptr = std::static_pointer_cast<DescriptorLUCID>(des_ptr);
-    //    else if (des_name.compare("DENSE") == 0)
-    //    	des_ptr = std::static_pointer_cast<DescriptorDENSE>(des_ptr);
 
     std::cout << std::endl << "... Testing " << det_ptr->getName() << " with " <<  des_ptr->getName() << " ..." << std::endl;
 

src/feature_descriptor/feature_descriptor.cpp

-#include "feature_descriptor.h"
-
-FeatureDescriptor::FeatureDescriptor(const std::string& _type, const DescriptorParams& _params)
-{
-    setAllTypes();
-
-	is_init_ = init(_type, _params);
-
-	if (!is_init_)
-	{
-		std::cerr
-				<< "[Feature Descriptor]: Something went wrong during initialization! Feature Descriptor not initialized."
-				<< std::endl;
-	}
-}
-
-FeatureDescriptor::FeatureDescriptor()
-{
-    setAllTypes();
-}
-
-FeatureDescriptor::~FeatureDescriptor() {
-}
-
-void FeatureDescriptor::setAllTypes(void)
-{
-    // Define all types
-    std::vector<std::string> types;
-    types += "ORB", "SIFT", "SURF", "KAZE", "AKAZE", "BRISK", "LATCH", "FREAK", "BRIEF", "DAISY", "LUCID";
-    types_.set(types);
-    type_ = "ORB"; // Default value
-}
-
-bool FeatureDescriptor::init(const std::string& _type, const DescriptorParams& _params)
-{
-    if (is_init_)
-    {
-        std::cerr << "[FeatureDescriptor]: Descriptor already initialized." << std::endl;
-        return false;
-    }
-
-    // TODO: Set parameters for each detector type
-    if (_type.compare(types_(0))==0)
-    {
-        feature_descriptor_ = cv::ORB::create();
-        type_ = types_(0);
-    }
-    else if (_type.compare(types_(1))==0)
-    {
-        feature_descriptor_ = cv::xfeatures2d::SIFT::create();
-        type_ = types_(1);
-    }
-    else if (_type.compare(types_(2))==0)
-    {
-        feature_descriptor_ = cv::xfeatures2d::SURF::create();
-        type_ = types_(2);
-    }
-    else if (_type.compare(types_(3))==0)
-    {
-        feature_descriptor_ = cv::KAZE::create();
-        type_ = types_(3);
-    }
-    else if (_type.compare(types_(4))==0)
-    {
-        feature_descriptor_ = cv::AKAZE::create();
-        type_ = types_(4);
-    }
-    else if (_type.compare(types_(5))==0)
-    {
-        feature_descriptor_ = cv::BRISK::create();
-        type_ = types_(0);
-    }
-    else if (_type.compare(types_(6))==0)
-    {
-        feature_descriptor_ = cv::xfeatures2d::LATCH::create();
-        type_ = types_(6);
-    }
-    else if (_type.compare(types_(7))==0)
-    {
-        feature_descriptor_ = cv::xfeatures2d::FREAK::create();
-        type_ = types_(7);
-    }
-    else if (_type.compare(types_(8))==0)
-    {
-        feature_descriptor_ = cv::xfeatures2d::BriefDescriptorExtractor::create();
-        type_ = types_(8);
-    }
-    else if (_type.compare(types_(9))==0)
-    {
-        feature_descriptor_ = cv::xfeatures2d::DAISY::create();
-        type_ = types_(9);
-            }
-    else if (_type.compare(types_(10))==0)
-    {
-        feature_descriptor_ = cv::xfeatures2d::LUCID::create(1,2);
-        type_ = types_(10);
-            }
-    else
-    {
-        std::cerr << "[Feature Descriptor]: descriptor type " << _type << " doesn't exist !" << std::endl;
-        return false;
-    }
-
-    is_init_ = true;
-    return true;
-}
-
-cv::Mat FeatureDescriptor::getDescriptor(const cv::Mat& _image, KeyPointVector& _kpts)
-{
-    if (!is_init_)
-        std::cerr << "[FeatureDescriptor::getDescriptor]: Descriptor non initialized." << std::endl;
-
-    cv::Mat descriptors;
-
-    clock_t tStart = clock();
-    if (!_kpts.empty())
-    	feature_descriptor_->compute(_image, _kpts, descriptors);
-    comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
-
-    return descriptors;
-}

src/feature_descriptor/feature_descriptor.h

-#ifndef _FEATURE_DESCRIPTOR_H
-#define _FEATURE_DESCRIPTOR_H
-
-#include "../vision_utils.h"
-
-typedef cv::Ptr<cv::DescriptorExtractor> FeatureDescriptorPtr;
-
-/**
- * \brief Feature descriptor parameters class
- */
-class DescriptorParams: public ParamsBase {
-public:
-    DescriptorParams(void) {
-    }
-    ;
-    ~DescriptorParams(void) {
-    }
-    ;
-};
-
-class FeatureDescriptor: public VUBase {
-
-public:
-
-	FeatureDescriptor(const std::string& _type, const DescriptorParams& _params);
-	FeatureDescriptor(void);
-
-	~FeatureDescriptor(void);
-
-	/**
-	 * \brief Get descriptors
-	 */
-	cv::Mat getDescriptor(const cv::Mat& _image,
-			KeyPointVector& _kpts);
-
-private:
-
-	FeatureDescriptorPtr feature_descriptor_; // Feature point descriptor
-
-    /**
-     * \brief Set all types
-     */
-    void setAllTypes(void);
-
-	/**
-	 * \brief Initialize descriptor
-	 */
-	bool init(const std::string &_type, const DescriptorParams &_params);
-};
-
-#endif