diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 14b44143e84debfc9db3047d3d77d6f0d1caf767..76d33bbb607e15a926ecb4784d7bc80073cb5506 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -46,6 +46,8 @@ SET(sources
descriptors/latch/descriptor_latch_load_yaml.cpp
descriptors/freak/descriptor_freak.cpp
descriptors/freak/descriptor_freak_load_yaml.cpp
+ descriptors/brief/descriptor_brief.cpp
+ descriptors/brief/descriptor_brief_load_yaml.cpp
matchers/matcher_base.cpp )
# application header files
@@ -78,7 +80,8 @@ SET(headers
descriptors/kaze/descriptor_kaze.h
descriptors/akaze/descriptor_akaze.h
descriptors/latch/descriptor_latch.h
- descriptors/freak/descriptor_freak.h
+ descriptors/freak/descriptor_freak.h
+ descriptors/brief/descriptor_brief.h
matchers/matcher_factory.h
matchers/matcher_base.h)
diff --git a/src/descriptors/brief/descriptor_brief.cpp b/src/descriptors/brief/descriptor_brief.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d19b78f3827dc19fdba1f145cf639746d5b72107
--- /dev/null
+++ b/src/descriptors/brief/descriptor_brief.cpp
@@ -0,0 +1,17 @@
+#include "descriptor_brief.h"
+
+namespace vision_utils {
+
+DescriptorBRIEF::DescriptorBRIEF(void)
+{}
+
+DescriptorBRIEF::~DescriptorBRIEF(void)
+{}
+
+} /* namespace vision_utils */
+
+// Register in the DescriptorsFactory
+namespace vision_utils
+{
+VU_REGISTER_DESCRIPTOR("BRIEF", DescriptorBRIEF);
+} /* namespace vision_utils */
diff --git a/src/descriptors/brief/descriptor_brief.h b/src/descriptors/brief/descriptor_brief.h
new file mode 100644
index 0000000000000000000000000000000000000000..a128d4a553bf3cb334f4168256491e7f0025fd02
--- /dev/null
+++ b/src/descriptors/brief/descriptor_brief.h
@@ -0,0 +1,69 @@
+#ifndef _DESCRIPTOR_BRIEF_H_
+#define _DESCRIPTOR_BRIEF_H_
+
+#include "../descriptor_base.h"
+#include "../descriptor_factory.h"
+
+// yaml-cpp library
+#ifdef USING_YAML
+ #include <yaml-cpp/yaml.h>
+#endif
+
+namespace vision_utils {
+
+// Create all pointers
+VU_PTR_TYPEDEFS(DescriptorBRIEF);
+VU_PTR_TYPEDEFS(DescriptorParamsBRIEF);
+
+/** \brief Class parameters
+ *
+ */
+struct DescriptorParamsBRIEF: public ParamsBase
+{
+ int bytes = 32; // Legth of the descriptor in bytes, valid values are: 16, 32 (default) or 64 .
+ bool use_orientation = false; // Sample patterns using keypoints orientation, disabled by default.
+};
+
+/** \brief DETECTOR class
+ *
+ */
+class DescriptorBRIEF : public DescriptorBase {
+
+ public:
+ DescriptorBRIEF();
+ virtual ~DescriptorBRIEF(void);
+
+ // Factory method
+ static DescriptorBasePtr create(const std::string& _unique_name, const ParamsBasePtr _params);
+
+ private:
+
+ void defineDescriptor(const ParamsBasePtr _params);
+};
+
+/*
+ * brief Define detector
+ */
+inline void DescriptorBRIEF::defineDescriptor(const ParamsBasePtr _params)
+{
+ DescriptorParamsBRIEFPtr params_ptr = std::static_pointer_cast<DescriptorParamsBRIEF>(_params);
+
+ descriptor_ = cv::xfeatures2d::BriefDescriptorExtractor::create(params_ptr->bytes,
+ params_ptr->use_orientation);
+}
+
+
+/*
+ * brief Create object in factory
+ */
+inline DescriptorBasePtr DescriptorBRIEF::create(const std::string& _unique_name, const ParamsBasePtr _params)
+{
+ DescriptorBRIEFPtr det_ptr = std::make_shared<DescriptorBRIEF>();
+ det_ptr->setName(_unique_name);
+ det_ptr->defineDescriptor(_params);
+ return det_ptr;
+}
+
+} /* namespace vision_utils */
+
+#endif /* _DESCRIPTOR_BRIEF_H_ */
diff --git a/src/descriptors/brief/descriptor_brief_load_yaml.cpp b/src/descriptors/brief/descriptor_brief_load_yaml.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6e79ed44e7edaada9d5ff28b2dc2618e12243ce5
--- /dev/null
+++ b/src/descriptors/brief/descriptor_brief_load_yaml.cpp
@@ -0,0 +1,46 @@
+#include "descriptor_brief.h"
+
+#ifdef USING_YAML
+
+// yaml-cpp library
+#include <yaml-cpp/yaml.h>
+
+namespace vision_utils
+{
+
+namespace
+{
+
+static ParamsBasePtr createParamsBRIEFDescriptor(const std::string & _filename_dot_yaml)
+{
+ DescriptorParamsBRIEFPtr params_ptr = std::make_shared<DescriptorParamsBRIEF>();
+
+ using std::string;
+ using YAML::Node;
+ Node yaml_params = YAML::LoadFile(_filename_dot_yaml);
+ if (!yaml_params.IsNull())
+ {
+ Node d_yaml = yaml_params["descriptor"];
+ if(d_yaml["type"].as<string>() == "BRIEF")
+ {
+ params_ptr->bytes = d_yaml["bytes"].as<int>();
+ params_ptr->use_orientation = d_yaml["use_orientation"].as<bool>();
+ }else
+ {
+ std::cerr << "Bad configuration file. Wrong type " << d_yaml["type"].as<string>() << std::endl;
+ return nullptr;
+ }
+ }
+
+ return params_ptr;
+}
+
+// Register in the SensorFactory
+const bool registered_desBRIEF_params = ParamsFactory::get().registerCreator("BRIEF DES", createParamsBRIEFDescriptor);
+
+} /* namespace [unnamed] */
+
+} /* namespace vision_utils */
+
+#endif /* IF USING_YAML */
+
diff --git a/src/examples/test_descriptor.cpp b/src/examples/test_descriptor.cpp
index 438073dbe6f184b5c52df54dcfe667f20f888e41..3b3046215b7cb1d9150cb19eb93cb527799eb58e 100644
--- a/src/examples/test_descriptor.cpp
+++ b/src/examples/test_descriptor.cpp
@@ -30,7 +30,7 @@
#include "../descriptors/akaze/descriptor_akaze.h"
#include "../descriptors/latch/descriptor_latch.h"
#include "../descriptors/freak/descriptor_freak.h"
-//#include "../descriptors/brief/descriptor_brief.h"
+#include "../descriptors/brief/descriptor_brief.h"
//#include "../descriptors/daisy/descriptor_daisy.h"
//#include "../descriptors/lucid/descriptor_lucid.h"
@@ -106,8 +106,8 @@ int main(void)
des_ptr = std::static_pointer_cast<DescriptorLATCH>(des_ptr);
else if (des_name.compare("FREAK") == 0)
des_ptr = std::static_pointer_cast<DescriptorFREAK>(des_ptr);
-// else if (des_name.compare("BRIEF") == 0)
-// des_ptr = std::static_pointer_cast<DescriptorBRIEF>(des_ptr);
+ else if (des_name.compare("BRIEF") == 0)
+ des_ptr = std::static_pointer_cast<DescriptorBRIEF>(des_ptr);
// else if (des_name.compare("DAISY") == 0)
// des_ptr = std::static_pointer_cast<DescriptorDAISY>(des_ptr);
// else if (des_name.compare("LUCID") == 0)
diff --git a/src/examples/yaml/BRIEF.yaml b/src/examples/yaml/BRIEF.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..63204a554e958540457ef925b0e4d2d47ef65dd6
--- /dev/null
+++ b/src/examples/yaml/BRIEF.yaml
@@ -0,0 +1,6 @@
+sensor:
+ type: "USB_CAM"
+descriptor:
+ type: "BRIEF"
+ bytes: 32
+ use_orientation: false
\ No newline at end of file