CFeatureExtraction_LATCH.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

/*---------------------------------------------------------------
    CLASS: CFeatureExtraction
    FILE: CFeatureExtraction_LATCH.cpp
    AUTHOR: Raghavender Sahdev <raghavendersahdev@gmail.com>
  ---------------------------------------------------------------*/

#include "vision-precomp.h"  // Precompiled headers

#include <mrpt/io/CMemoryStream.h>
#include <mrpt/system/os.h>
#include <mrpt/vision/CFeatureExtraction.h>  // important import
// Universal include for all versions of OpenCV
#include <mrpt/3rdparty/do_opencv_includes.h>

#ifdef HAVE_OPENCV_NONFREE  // MRPT_HAS_OPENCV_NONFREE
#include <opencv2/nonfree/nonfree.hpp>
#endif

#ifdef HAVE_OPENCV_XFEATURES2D
#include <opencv2/xfeatures2d.hpp>
#endif
#ifdef HAVE_OPENCV_LINE_DESCRIPTOR
#include <opencv2/line_descriptor.hpp>
using namespace cv::line_descriptor;
#endif

using namespace mrpt::vision;
using namespace mrpt::img;
using namespace mrpt::math;
using namespace mrpt::img;
using namespace mrpt;
using namespace std;

#if defined(HAVE_OPENCV_XFEATURES2D) && defined(HAVE_OPENCV_LINE_DESCRIPTOR)
#define HAVE_OPENCV_WITH_LATCH 1
#else
#define HAVE_OPENCV_WITH_LATCH 0
#endif

void CFeatureExtraction::internal_computeLATCHDescriptors(
    const mrpt::img::CImage& in_img, CFeatureList& in_features)
{
    MRPT_START

    mrpt::system::CTimeLoggerEntry tle(
        profiler, "internal_computeLATCHDescriptors");

#if (!HAVE_OPENCV_WITH_LATCH)
    THROW_EXCEPTION(
        "This function requires OpenCV modules: xfeatures2d,line_descriptor");
#else
    using namespace cv;

    if (in_features.empty()) return;

    const size_t n_feats = in_features.size();
    // Make sure we operate on a gray-scale version of the image:
    const CImage inImg_gray(in_img, FAST_REF_OR_CONVERT_TO_GRAY);

    // convert from CFeatureList to vector<KeyPoint>
    vector<KeyPoint> cv_feats(n_feats);
    for (size_t k = 0; k < n_feats; ++k)
    {
        KeyPoint& kp = cv_feats[k];
        kp.pt.x = in_features[k].keypoint.pt.x;
        kp.pt.y = in_features[k].keypoint.pt.y;
        kp.angle = in_features[k].orientation;
        kp.size = in_features[k].keypoint.octave;  // ?
    }  // end-for

    const Mat& cvImg = inImg_gray.asCvMatRef();
    Mat cv_descs;  // OpenCV descriptor output

    Ptr<xfeatures2d::LATCH> latch = xfeatures2d::LATCH::create(
        options.LATCHOptions.bytes, options.LATCHOptions.rotationInvariance,
        options.LATCHOptions.half_ssd_size);
    latch->compute(cvImg, cv_feats, cv_descs);

    // -----------------------------------------------------------------
    // MRPT Wrapping
    // -----------------------------------------------------------------
    int i = 0;
    for (auto& ft : in_features)
    {
        // Get the LATCH descriptor
        ft.descriptors.LATCH.emplace();
        ft.descriptors.LATCH->resize(cv_descs.cols);
        for (int m = 0; m < cv_descs.cols; ++m)
            (*ft.descriptors.LATCH)[m] = cv_descs.at<int>(i, m);

        i++;
    }

#endif
    MRPT_END
}  // end internal_computeLatchDescriptors