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
}