@Override
public void process(T image) {
// detect features and setup describe and orientation
detector.detect(image);
describe.setImage(image);
if (orientation != null) orientation.setImage(image);
// go through each set of features
for (int i = 0; i < info.length; i++) {
FoundPointSO points = detector.getFeatureSet(i);
SetInfo<TD> setInfo = info[i];
setInfo.reset();
// describe each detected feature
for (int j = 0; j < points.getNumberOfFeatures(); j++) {
Point2D_F64 p = points.getLocation(j);
double radius = points.getRadius(j);
double ori = points.getOrientation(j);
if (orientation != null) {
orientation.setObjectRadius(radius);
ori = orientation.compute(p.x, p.y);
}
TD d = setInfo.descriptors.grow();
if (describe.process(p.x, p.y, ori, radius, d)) {
setInfo.location.grow().set(p);
} else {
setInfo.descriptors.removeTail();
}
}
}
}
private void extractImageFeatures(
MultiSpectral<T> color, T gray, FastQueue<TupleDesc> descs, List<Point2D_F64> locs) {
detector.detect(gray);
if (describe.getImageType().getFamily() == ImageType.Family.SINGLE_BAND)
describe.setImage(gray);
else describe.setImage(color);
orientation.setImage(gray);
if (detector.hasScale()) {
for (int i = 0; i < detector.getNumberOfFeatures(); i++) {
double yaw = 0;
Point2D_F64 pt = detector.getLocation(i);
double scale = detector.getScale(i);
if (describe.requiresOrientation()) {
orientation.setScale(scale);
yaw = orientation.compute(pt.x, pt.y);
}
TupleDesc d = descs.grow();
if (describe.process(pt.x, pt.y, yaw, scale, d)) {
locs.add(pt.copy());
} else {
descs.removeTail();
}
}
} else {
orientation.setScale(1);
for (int i = 0; i < detector.getNumberOfFeatures(); i++) {
double yaw = 0;
Point2D_F64 pt = detector.getLocation(i);
if (describe.requiresOrientation()) {
yaw = orientation.compute(pt.x, pt.y);
}
TupleDesc d = descs.grow();
if (describe.process(pt.x, pt.y, yaw, 1, d)) {
locs.add(pt.copy());
} else {
descs.removeTail();
}
}
}
}
