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you''re already close. your create function won't work, but there is a Mat constructor for this, like:

Mat descriptors;
for ( each keypoint ) {
    uchar *bytes_ = ???
    Mat descriptor_row(512, 1, CV_8U, bytes_ );
    descriptors.push_back(descriptor_row);
}

then, match with BFMatcher/HAMMING or FlannBasedMatcher/LSHIndex