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();
}
}
}
}
