15 #include <mrpt/otherlibs/do_opencv_includes.h> 30 profiler,
"internal_computeLogPolarImageDescriptors");
32 ASSERT_(options.LogPolarImagesOptions.radius > 1);
33 ASSERT_(options.LogPolarImagesOptions.num_angles > 1);
34 ASSERT_(options.LogPolarImagesOptions.rho_scale > 0);
36 const unsigned int radius = options.LogPolarImagesOptions.radius;
37 const unsigned int patch_h = options.LogPolarImagesOptions.num_angles;
38 const double rho_scale = options.LogPolarImagesOptions.rho_scale;
39 const unsigned int patch_w =
40 rho_scale * std::log(static_cast<double>(radius));
46 for (
auto& f : in_features)
49 f.keypoint.octave = radius;
52 #if MRPT_OPENCV_VERSION_NUM < 0x300 54 cv::Mat& out = logpolar_frame.asCvMatRef();
59 in_img.
asCvMatRef(), logpolar_frame.asCvMatRef(),
61 cv::Point2f(f.keypoint.pt.x, f.keypoint.pt.y), rho_scale,
62 CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS);
65 f.descriptors.LogPolarImg.emplace();
66 logpolar_frame.getAsMatrix(*f.descriptors.LogPolarImg);
#define THROW_EXCEPTION(msg)
A safe way to call enter() and leave() of a mrpt::system::CTimeLogger upon construction and destructi...
cv::Mat & asCvMatRef()
Get a reference to the internal cv::Mat, which can be resized, etc.
TImageChannels getChannelCount() const
Returns the number of channels, typically 1 (GRAY) or 3 (RGB)
#define ASSERT_(f)
Defines an assertion mechanism.
Classes for computer vision, detectors, features, etc.
A list of visual features, to be used as output by detectors, as input/output by trackers, etc.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A class for storing images as grayscale or RGB bitmaps.