本文整理汇总了C++中mrpt::utils::CImage::getAsIplImage方法的典型用法代码示例。如果您正苦于以下问题：C++ CImage::getAsIplImage方法的具体用法？C++ CImage::getAsIplImage怎么用？C++ CImage::getAsIplImage使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类mrpt::utils::CImage的用法示例。
在下文中一共展示了CImage::getAsIplImage方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: selectGoodFeaturesKLT
/************************************************************************************************
* selectGoodFeaturesKLT *
************************************************************************************************/
void CFeatureExtraction::selectGoodFeaturesKLT(
const mrpt::utils::CImage &inImg,
CFeatureList &feats,
unsigned int init_ID,
unsigned int nDesiredFeatures,
void *mask_ ) const
{
const unsigned int MAX_COUNT = 300;
//#define VERBOSE_TIMING
#ifdef VERBOSE_TIMING
CTicTac tictac;
#endif
MRPT_START
#if MRPT_HAS_OPENCV
// Reinterpret opencv formal arguments
CvMatrix *mask = reinterpret_cast<CvMatrix*>(mask_);
// -----------------------------------------------------------------
// Create OpenCV Local Variables
// -----------------------------------------------------------------
int count = 0;
int nPts;
CvImage img, cGrey;
#ifdef VERBOSE_TIMING
tictac.Tic();
#endif
img.attach( (IplImage*)inImg.getAsIplImage(), false ); // Attach Image as IplImage and do not use ref counter
#ifdef VERBOSE_TIMING
cout << "[KLT] Attach: " << tictac.Tac()*1000.0f << endl;
#endif
if( img.channels() == 1 )
cGrey = img; // Input image is already 'grayscale'
else
{
cGrey.create( cvGetSize( img ), 8, 1);
cvCvtColor( img, cGrey, CV_BGR2GRAY ); // Convert input image into 'grayscale'
}
nDesiredFeatures <= 0 ? nPts = MAX_COUNT : nPts = nDesiredFeatures;
std::vector<CvPoint2D32f> points(nPts);
CvImage eig, temp; // temporary and auxiliary images
#ifdef VERBOSE_TIMING
tictac.Tic();
#endif
eig.create( cvGetSize( cGrey ), 32, 1 );
temp.create( cvGetSize( cGrey ), 32, 1 );
#ifdef VERBOSE_TIMING
cout << "[KLT] Create: " << tictac.Tac()*1000.0f << endl;
#endif
count = nPts; // Number of points to find
#if 0 // Temporary debug
{
static int i=0;
cvSaveImage( format("debug_map_%05i.bmp",++i).c_str(), cGrey);
}
#endif
// -----------------------------------------------------------------
// Select good features with subpixel accuracy (USING HARRIS OR KLT)
// -----------------------------------------------------------------
if( options.featsType == featHarris )
{
#ifdef VERBOSE_TIMING
tictac.Tic();
#endif
cvGoodFeaturesToTrack( cGrey, eig, temp, &points[0], &count, // input and output data
(double)options.harrisOptions.threshold, // for rejecting weak local maxima ( with min_eig < threshold*max(eig_image) )
(double)options.harrisOptions.min_distance, // minimum distance between features
mask ? (*mask) : static_cast<const CvMat*>(NULL), // ROI
(double)options.harrisOptions.radius, // size of the block of pixels used
1, // use Harris
options.harrisOptions.k ); // k factor for the Harris algorithm
#ifdef VERBOSE_TIMING
cout << "[KLT] Find feats: " << tictac.Tac()*1000.0f << endl;
#endif
}
else
{
#ifdef VERBOSE_TIMING
tictac.Tic();
#endif
cvGoodFeaturesToTrack( cGrey, eig, temp, &points[0], &count, // input and output data
(double)options.KLTOptions.threshold, // for rejecting weak local maxima ( with min_eig < threshold*max(eig_image) )
(double)options.KLTOptions.min_distance, // minimum distance between features
mask ? (*mask) : static_cast<const CvMat*>(NULL), // ROI
options.KLTOptions.radius, // size of the block of pixels used
0, // use Kanade Lucas Tomasi
//.........这里部分代码省略.........