本文整理汇总了C++中mrpt::utils::CImage::get_unsafe方法的典型用法代码示例。如果您正苦于以下问题：C++ CImage::get_unsafe方法的具体用法？C++ CImage::get_unsafe怎么用？C++ CImage::get_unsafe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::get_unsafe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: if
//.........这里部分代码省略.........
// convert to TKeyPointList (opencv compatible)
m_convert_featureList_to_keypointList( img_data.pyr_feats[octave], feats_vector );
m_profiler.leave(sProfileName.c_str()); // end detect
}
else
THROW_EXCEPTION(" [sVO -- Stg2: Detect] ERROR: Unknown detection method")
// ***********************************
// Non-maximal suppression
// ***********************************
if( params_detect.non_maximal_suppression )
{
if( params_detect.nmsMethod == TDetectParams::nmsmStandard )
{
const size_t imgH = input_im.rows;
const size_t imgW = input_im.cols;
vector<bool> dummy;
m_non_max_sup(
kps_to_detect[octave], // params_detect.orb_nfeats
feats_vector,
desc_aux,
img_data.pyr_feats_kps[octave],
img_data.pyr_feats_desc[octave],
imgH, imgW,
dummy );
}
else if( params_detect.nmsMethod == TDetectParams::nmsmAdaptive )
{
m_adaptive_non_max_sup(
kps_to_detect[octave], // params_detect.orb_nfeats*/
feats_vector,
desc_aux,
img_data.pyr_feats_kps[octave],
img_data.pyr_feats_desc[octave] );
}
else
THROW_EXCEPTION(" [sVO -- Stg2: Detect] Invalid non-maximal-suppression method." );
} // end-if-non-max-sup
else
{
feats_vector.swap(img_data.pyr_feats_kps[octave]);
img_data.pyr_feats_desc[octave] = desc_aux; // this should be fast (just copy the header)
}
// update indexes here
m_update_indexes( img_data, octave, true );
// gui info
m_next_gui_info->stats_feats_per_octave[octave] =
nFeatsPassingKLTPerOctave[octave] = img_data.pyr_feats_kps[octave].size();
} // end-for-octaves
if( params_gui.show_gui && params_gui.draw_all_raw_feats )
{
// (It's almost as efficient to directly draw these small feature marks at this point
// rather than send all the info to the gui thread and then draw there. A quick test shows
// a gain of 75us -> 50us only, so don't optimize unless efficiency pushes really hard).
m_profiler.enter("stg2.draw_feats");
for (size_t octave=0;octave<nOctaves;octave++)
{
const TKeyPointList & f1 = img_data.pyr_feats_kps[octave];
const size_t n1 = f1.size();
const bool org_img_color = gui_image.isColor();
unsigned char* ptr1 = gui_image.get_unsafe(0,0);
const size_t img1_stride = gui_image.getRowStride();
for(size_t i=0;i<n1;++i)
{
const int x=f1[i].pt.x; const int y=f1[i].pt.y;
unsigned char* ptr = ptr1 + img1_stride*y + (org_img_color ? 3*x:x);
if (org_img_color) {
*ptr++ = 0x00;
*ptr++ = 0x00;
*ptr++ = 0xFF;
}
else {
*ptr = 0xFF;
}
} // end-for
} // end-for
m_profiler.leave("stg2.draw_feats");
} // end-if
// for the GUI thread
string sPassKLT = "", sDetect = "";
for( size_t i=0;i<nOctaves;i++ )
{
sPassKLT += mrpt::format( "%u/",static_cast<unsigned int>(nFeatsPassingKLTPerOctave[i]) );
sDetect += mrpt::format( "%u/",static_cast<unsigned int>(img_data.pyr_feats_kps[i].size()) );
}
string aux = mrpt::format( "\n%s feats (%s passed KLT)", sDetect.c_str(), sPassKLT.c_str() );
m_next_gui_info->text_msg_from_detect += aux;
m_profiler.leave("_stg2");
}