CFeatureExtraction_logPolarImg.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/vision/CFeatureExtraction.h>

// Universal include for all versions of OpenCV
#include <mrpt/otherlibs/do_opencv_includes.h>

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

/************************************************************************************************
                                computeLogPolarImageDescriptors
************************************************************************************************/
void CFeatureExtraction::internal_computeLogPolarImageDescriptors(
    const mrpt::img::CImage& in_img, CFeatureList& in_features) const
{
    MRPT_START
#if MRPT_HAS_OPENCV

    ASSERT_(options.LogPolarImagesOptions.radius > 1);
    ASSERT_(options.LogPolarImagesOptions.num_angles > 1);
    ASSERT_(options.LogPolarImagesOptions.rho_scale > 0);

    const unsigned int radius = options.LogPolarImagesOptions.radius;
    const unsigned int patch_h = options.LogPolarImagesOptions.num_angles;
    const double rho_scale = options.LogPolarImagesOptions.rho_scale;
    const unsigned int patch_w =
        rho_scale * std::log(static_cast<double>(radius));

    mrpt::img::CImage logpolar_frame(
        patch_w, patch_h, in_img.getChannelCount());

    // Compute intensity-domain spin images
    for (CFeatureList::iterator it = in_features.begin();
         it != in_features.end(); ++it)
    {
        // Overwrite scale with the descriptor scale:
        (*it)->scale = radius;

        // Use OpenCV to convert:
        cvLogPolar(
            in_img.getAs<IplImage>(), logpolar_frame.getAs<IplImage>(),
            cvPoint2D32f((*it)->x, (*it)->y), rho_scale,
            CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS);

        // Get the image as a matrix and save as patch:
        logpolar_frame.getAsMatrix((*it)->descriptors.LogPolarImg);

    }  // end for it

#else
    THROW_EXCEPTION("This method needs MRPT compiled with OpenCV support");
#endif
    MRPT_END
}