1070 lines
40 KiB
C++
1070 lines
40 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009-2010, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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// If you find this code useful, please add a reference to the following paper in your work:
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// Gil Levi and Tal Hassner, "LATCH: Learned Arrangements of Three Patch Codes", arXiv preprint arXiv:1501.03719, 15 Jan. 2015
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//M*/
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#include "precomp.hpp"
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#include <algorithm>
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#include <vector>
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#include <iostream>
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#include <iomanip>
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namespace cv
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{
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namespace xfeatures2d
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{
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/*
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* LATCH Descriptor
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*/
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class LATCHDescriptorExtractorImpl CV_FINAL : public LATCH
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{
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public:
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enum { PATCH_SIZE = 48 };
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LATCHDescriptorExtractorImpl(int bytes = 32, bool rotationInvariance = true, int half_ssd_size = 3, double sigma = 2.0);
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virtual void read( const FileNode& ) CV_OVERRIDE;
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virtual void write( FileStorage& ) const CV_OVERRIDE;
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virtual int descriptorSize() const CV_OVERRIDE;
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virtual int descriptorType() const CV_OVERRIDE;
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virtual int defaultNorm() const CV_OVERRIDE;
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virtual void compute(InputArray image, std::vector<KeyPoint>& keypoints, OutputArray descriptors) CV_OVERRIDE;
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protected:
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typedef void(*PixelTestFn)(const Mat& input_image, const std::vector<KeyPoint>& keypoints, OutputArray, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size);
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void setSamplingPoints();
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int bytes_;
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PixelTestFn test_fn_;
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bool rotationInvariance_;
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int half_ssd_size_;
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double sigma_;
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std::vector<int> sampling_points_ ;
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};
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Ptr<LATCH> LATCH::create(int bytes, bool rotationInvariance, int half_ssd_size, double sigma)
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{
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return makePtr<LATCHDescriptorExtractorImpl>(bytes, rotationInvariance, half_ssd_size, sigma);
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}
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void CalcuateSums(int count, const std::vector<int> &points, bool rotationInvariance, const Mat &grayImage, const KeyPoint &pt, int &suma, int &sumc, float cos_theta, float sin_theta, int half_ssd_size);
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static void pixelTests1(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray _descriptors, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size)
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{
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Mat descriptors = _descriptors.getMat();
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for (int i = 0; i < (int)keypoints.size(); ++i)
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{
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uchar* desc = descriptors.ptr(i);
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const KeyPoint& pt = keypoints[i];
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int count = 0;
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//handling keypoint orientation
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float angle = pt.angle;
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angle *= (float)(CV_PI / 180.f);
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float cos_theta = cos(angle);
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float sin_theta = sin(angle);
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for (int ix = 0; ix < 1; ix++){
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desc[ix] = 0;
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for (int j = 7; j >= 0; j--){
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int suma = 0;
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int sumc = 0;
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CalcuateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size);
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desc[ix] += (uchar)((suma < sumc) << j);
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count += 6;
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}
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}
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}
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}
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static void pixelTests2(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray _descriptors, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size)
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{
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Mat descriptors = _descriptors.getMat();
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for (int i = 0; i < (int)keypoints.size(); ++i)
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{
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uchar* desc = descriptors.ptr(i);
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const KeyPoint& pt = keypoints[i];
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int count = 0;
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//handling keypoint orientation
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float angle = pt.angle;
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angle *= (float)(CV_PI / 180.f);
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float cos_theta = cos(angle);
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float sin_theta = sin(angle);
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for (int ix = 0; ix < 2; ix++){
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desc[ix] = 0;
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for (int j = 7; j >= 0; j--){
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int suma = 0;
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int sumc = 0;
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CalcuateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size);
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desc[ix] += (uchar)((suma < sumc) << j);
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count += 6;
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}
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}
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}
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}
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static void pixelTests4(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray _descriptors, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size)
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{
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Mat descriptors = _descriptors.getMat();
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for (int i = 0; i < (int)keypoints.size(); ++i)
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{
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uchar* desc = descriptors.ptr(i);
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const KeyPoint& pt = keypoints[i];
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int count = 0;
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//handling keypoint orientation
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float angle = pt.angle;
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angle *= (float)(CV_PI / 180.f);
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float cos_theta = cos(angle);
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float sin_theta = sin(angle);
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for (int ix = 0; ix < 4; ix++){
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desc[ix] = 0;
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for (int j = 7; j >= 0; j--){
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int suma = 0;
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int sumc = 0;
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CalcuateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size);
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desc[ix] += (uchar)((suma < sumc) << j);
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count += 6;
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}
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}
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}
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}
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static void pixelTests8(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray _descriptors, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size)
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{
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Mat descriptors = _descriptors.getMat();
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for (int i = 0; i < (int)keypoints.size(); ++i)
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{
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uchar* desc = descriptors.ptr(i);
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const KeyPoint& pt = keypoints[i];
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int count = 0;
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//handling keypoint orientation
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float angle = pt.angle;
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angle *= (float)(CV_PI / 180.f);
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float cos_theta = cos(angle);
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float sin_theta = sin(angle);
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for (int ix = 0; ix < 8; ix++){
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desc[ix] = 0;
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for (int j = 7; j >= 0; j--){
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int suma = 0;
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int sumc = 0;
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CalcuateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size);
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desc[ix] += (uchar)((suma < sumc) << j);
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count += 6;
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}
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}
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}
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}
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static void pixelTests16(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray _descriptors, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size)
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{
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Mat descriptors = _descriptors.getMat();
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for (int i = 0; i < (int)keypoints.size(); ++i)
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{
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uchar* desc = descriptors.ptr(i);
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const KeyPoint& pt = keypoints[i];
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int count = 0;
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//handling keypoint orientation
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float angle = pt.angle;
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angle *= (float)(CV_PI / 180.f);
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float cos_theta = cos(angle);
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float sin_theta = sin(angle);
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for (int ix = 0; ix < 16; ix++){
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desc[ix] = 0;
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for (int j = 7; j >= 0; j--){
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int suma = 0;
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int sumc = 0;
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CalcuateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size);
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desc[ix] += (uchar)((suma < sumc) << j);
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count += 6;
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}
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}
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}
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}
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static void pixelTests32(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray _descriptors, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size)
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{
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Mat descriptors = _descriptors.getMat();
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for (int i = 0; i < (int)keypoints.size(); ++i)
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{
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uchar* desc = descriptors.ptr(i);
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const KeyPoint& pt = keypoints[i];
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int count = 0;
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float angle = pt.angle;
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angle *= (float)(CV_PI / 180.f);
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float cos_theta = cos(angle);
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float sin_theta = sin(angle);
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for (int ix = 0; ix < 32; ix++){
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desc[ix] = 0;
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for (int j = 7; j >= 0; j--){
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int suma = 0;
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int sumc = 0;
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CalcuateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size);
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desc[ix] += (uchar)((suma < sumc) << j);
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count += 6;
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}
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}
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}
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}
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static void pixelTests64(const Mat& grayImage, const std::vector<KeyPoint>& keypoints, OutputArray _descriptors, const std::vector<int> &points, bool rotationInvariance, int half_ssd_size)
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{
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Mat descriptors = _descriptors.getMat();
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for (int i = 0; i < (int)keypoints.size(); ++i)
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{
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uchar* desc = descriptors.ptr(i);
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const KeyPoint& pt = keypoints[i];
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int count = 0;
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//handling keypoint orientation
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float angle = pt.angle;
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angle *= (float)(CV_PI / 180.f);
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float cos_theta = cos(angle);
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float sin_theta = sin(angle);
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for (int ix = 0; ix < 64; ix++){
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desc[ix] = 0;
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for (int j = 7; j >= 0; j--){
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int suma = 0;
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int sumc = 0;
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CalcuateSums(count, points, rotationInvariance, grayImage, pt, suma, sumc, cos_theta, sin_theta, half_ssd_size);
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desc[ix] += (uchar)((suma < sumc) << j);
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count += 6;
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}
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}
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}
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}
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void CalcuateSums(int count, const std::vector<int> &points, bool rotationInvariance, const Mat &grayImage, const KeyPoint &pt, int &suma, int &sumc, float cos_theta, float sin_theta, int half_ssd_size)
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{
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int ax = points[count];
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int ay = points[count + 1];
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int bx = points[count + 2];
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int by = points[count + 3];
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int cx = points[count + 4];
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int cy = points[count + 5];
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int ax2 = ax;
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int ay2 = ay;
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int bx2 = bx;
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int by2 = by;
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int cx2 = cx;
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int cy2 = cy;
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if (rotationInvariance){
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ax2 =(int)(((float)ax)*cos_theta - ((float)ay)*sin_theta);
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ay2 = (int)(((float)ax)*sin_theta + ((float)ay)*cos_theta);
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bx2 = (int)(((float)bx)*cos_theta - ((float)by)*sin_theta);
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by2 = (int)(((float)bx)*sin_theta + ((float)by)*cos_theta);
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cx2 = (int)(((float)cx)*cos_theta - ((float)cy)*sin_theta);
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cy2 = (int)(((float)cx)*sin_theta + ((float)cy)*cos_theta);
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if (ax2 > 24)
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ax2 = 24;
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if (ax2<-24)
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ax2 = -24;
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if (ay2>24)
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ay2 = 24;
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if (ay2<-24)
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ay2 = -24;
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if (bx2>24)
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bx2 = 24;
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if (bx2<-24)
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bx2 = -24;
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if (by2>24)
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by2 = 24;
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if (by2<-24)
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by2 = -24;
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if (cx2>24)
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cx2 = 24;
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if (cx2<-24)
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cx2 = -24;
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if (cy2>24)
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cy2 = 24;
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if (cy2 < -24)
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cy2 = -24;
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}
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ax2 += (int)(pt.pt.x + 0.5);
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ay2 += (int)(pt.pt.y + 0.5);
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bx2 += (int)(pt.pt.x + 0.5);
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by2 += (int)(pt.pt.y + 0.5);
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cx2 += (int)(pt.pt.x + 0.5);
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cy2 += (int)(pt.pt.y + 0.5);
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int K = half_ssd_size;
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for (int iy = -K; iy <= K; iy++)
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{
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const uchar * Mi_a = grayImage.ptr<uchar>(ay2 + iy);
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const uchar * Mi_b = grayImage.ptr<uchar>(by2 + iy);
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const uchar * Mi_c = grayImage.ptr<uchar>(cy2 + iy);
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for (int ix = -K; ix <= K; ix++)
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{
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double difa = Mi_a[ax2 + ix] - Mi_b[bx2 + ix];
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suma += (int)((difa)*(difa));
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double difc = Mi_c[cx2 + ix] - Mi_b[bx2 + ix];
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sumc += (int)((difc)*(difc));
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}
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}
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}
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LATCHDescriptorExtractorImpl::LATCHDescriptorExtractorImpl(int bytes, bool rotationInvariance, int half_ssd_size, double sigma) :
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bytes_(bytes), test_fn_(NULL), rotationInvariance_(rotationInvariance), half_ssd_size_(half_ssd_size), sigma_(sigma)
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{
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switch (bytes)
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{
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case 1:
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test_fn_ = pixelTests1;
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break;
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case 2:
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test_fn_ = pixelTests2;
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break;
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case 4:
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test_fn_ = pixelTests4;
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break;
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case 8:
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test_fn_ = pixelTests8;
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break;
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case 16:
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test_fn_ = pixelTests16;
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break;
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case 32:
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test_fn_ = pixelTests32;
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break;
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case 64:
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test_fn_ = pixelTests64;
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break;
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default:
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CV_Error(Error::StsBadArg, "descriptorSize must be 1,2, 4, 8, 16, 32, or 64");
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}
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setSamplingPoints();
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}
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int LATCHDescriptorExtractorImpl::descriptorSize() const
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{
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return bytes_;
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}
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int LATCHDescriptorExtractorImpl::descriptorType() const
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{
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return CV_8UC1;
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}
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int LATCHDescriptorExtractorImpl::defaultNorm() const
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{
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return NORM_HAMMING;
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}
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void LATCHDescriptorExtractorImpl::read(const FileNode& fn)
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{
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int dSize = fn["descriptorSize"];
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switch (dSize)
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{
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case 1:
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test_fn_ = pixelTests1;
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break;
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case 2:
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test_fn_ = pixelTests2;
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break;
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case 4:
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test_fn_ = pixelTests4;
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break;
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case 8:
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test_fn_ = pixelTests8;
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break;
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case 16:
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test_fn_ = pixelTests16;
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break;
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case 32:
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test_fn_ = pixelTests32;
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break;
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case 64:
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test_fn_ = pixelTests64;
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break;
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default:
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CV_Error(Error::StsBadArg, "descriptorSize must be 1,2, 4, 8, 16, 32, or 64");
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}
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bytes_ = dSize;
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}
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void LATCHDescriptorExtractorImpl::write(FileStorage& fs) const
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{
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fs << "descriptorSize" << bytes_;
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}
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void LATCHDescriptorExtractorImpl::compute(InputArray _image,
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std::vector<KeyPoint>& keypoints,
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OutputArray _descriptors)
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{
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Mat image = _image.getMat();
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if ( image.empty() )
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return;
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if ( keypoints.empty() )
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return;
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Mat grayImage;
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switch (image.type())
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{
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case CV_8UC1:
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grayImage = image;
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break;
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case CV_8UC3:
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cvtColor(image, grayImage, COLOR_BGR2GRAY);
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break;
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case CV_8UC4:
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cvtColor(image, grayImage, COLOR_BGRA2GRAY);
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break;
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default:
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CV_Error(Error::StsBadArg, "Image should be 8UC1, 8UC3 or 8UC4");
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}
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if (sigma_ != 0.)
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GaussianBlur(grayImage, grayImage, cv::Size(3, 3), sigma_, sigma_);
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|
|
//Remove keypoints very close to the border
|
|
KeyPointsFilter::runByImageBorder(keypoints, image.size(), PATCH_SIZE / 2 + half_ssd_size_);
|
|
|
|
bool _1d = false;
|
|
Mat descriptors;
|
|
|
|
_1d = _descriptors.kind() == _InputArray::STD_VECTOR && _descriptors.type() == CV_8U;
|
|
if( _1d )
|
|
{
|
|
_descriptors.create((int)keypoints.size()*bytes_, 1, CV_8U);
|
|
descriptors = _descriptors.getMat().reshape(1, (int)keypoints.size());
|
|
}
|
|
else
|
|
{
|
|
_descriptors.create((int)keypoints.size(), bytes_, CV_8U);
|
|
descriptors = _descriptors.getMat();
|
|
}
|
|
|
|
//_descriptors.create((int)keypoints.size(), bytes_, CV_8U);
|
|
// prepare descriptors as mat
|
|
//Mat descriptors = _descriptors.getMat();
|
|
|
|
|
|
test_fn_(grayImage, keypoints, descriptors, sampling_points_, rotationInvariance_, half_ssd_size_);
|
|
}
|
|
|
|
|
|
void LATCHDescriptorExtractorImpl::setSamplingPoints(){
|
|
int sampling_points_arr[]= { 13, -6, 19, 19, 23, -4,
|
|
4, 16, 24, -11, 4, -21,
|
|
22, -14, -2, -20, 23, 5,
|
|
17, -10, 2, 10, 14, -18,
|
|
-22, 2, -12, 12, -22, 21,
|
|
11, 6, 7, 15, 3, -11,
|
|
-7, 16, -10, -14, -3, 9,
|
|
-5, 1, -16, 16, -9, -21,
|
|
-19, 2, -2, -9, -22, 24,
|
|
19, 12, -1, -19, 15, -9,
|
|
7, -2, 22, -23, 13, 20,
|
|
-3, 9, -17, -1, -5, -19,
|
|
-3, -14, 5, -21, 10, 19,
|
|
12, -9, 24, 20, 20, -20,
|
|
-5, 18, 19, 11, -6, -16,
|
|
22, 7, 1, -8, -10, 6,
|
|
19, -4, 3, 8, -2, 19,
|
|
-17, 10, -11, -12, -21, -17,
|
|
24, -13, 18, -14, 14, -19,
|
|
-24, -15, 15, -14, -23, -11,
|
|
-6, 22, -1, -11, 6, -14,
|
|
16, 18, 10, -23, 20, 4,
|
|
23, 8, 4, 7, 17, -19,
|
|
-2, -21, -11, -18, -3, 7,
|
|
-23, 10, -11, 5, -16, 19,
|
|
-24, 4, 15, -16, -19, -5,
|
|
-19, -4, -1, 5, -20, 2,
|
|
20, 12, 11, -24, 9, 22,
|
|
9, 13, -6, -23, 10, 15,
|
|
-22, -8, -4, -5, -15, 20,
|
|
-6, -13, 1, 16, -6, 23,
|
|
-18, -3, -8, -15, -18, 5,
|
|
14, -12, 9, 13, 19, 12,
|
|
-22, 16, -1, 19, 16, -12,
|
|
1, 8, -1, -4, -3, 7,
|
|
3, 15, 23, -23, 5, -9,
|
|
2, -7, 14, -13, 6, 20,
|
|
-18, 11, 16, -10, -12, 4,
|
|
-15, 2, -9, 21, -21, 20,
|
|
-3, 5, -22, 23, -7, -22,
|
|
-17, 13, 24, -14, -24, -24,
|
|
24, 15, 3, -22, -16, 7,
|
|
-14, -20, 1, -7, -12, -2,
|
|
19, 17, 0, 18, -12, -7,
|
|
-12, 10, 8, 5, -21, -18,
|
|
-15, 9, 13, 3, -18, -17,
|
|
0, 5, 11, -22, 8, 18,
|
|
21, 2, -22, -17, 15, 3,
|
|
-22, -15, 18, 23, -23, 21,
|
|
-24, 16, 10, -3, -8, -1,
|
|
-19, 19, 22, 23, -14, -2,
|
|
20, 15, -2, -19, 19, -15,
|
|
-10, 12, 0, -9, -9, -16,
|
|
13, -22, 16, 16, 0, -14,
|
|
-8, -13, -1, 20, -5, -22,
|
|
-7, -23, -4, 10, -1, 20,
|
|
16, -1, -13, -16, 24, -18,
|
|
-18, 12, 8, 19, -24, -14,
|
|
-15, 24, 6, 2, -21, -22,
|
|
20, -2, 8, 0, 17, -10,
|
|
-19, 21, -7, 20, -14, 3,
|
|
19, 17, 0, -16, -18, -19,
|
|
-17, -19, 12, -23, -12, -8,
|
|
9, 10, 9, -23, 21, -24,
|
|
9, 19, -15, -18, 7, -19,
|
|
5, 3, -3, -16, 4, -2,
|
|
15, -10, -24, 16, 24, 11,
|
|
17, 16, -9, 1, 18, -15,
|
|
11, -5, 0, 24, -20, -12,
|
|
-14, -19, 24, -16, -9, -6,
|
|
22, -14, 2, -22, 16, 11,
|
|
23, -1, 4, -10, 20, 22,
|
|
-10, -9, 17, 13, -13, -13,
|
|
-15, 13, 11, 9, -13, 9,
|
|
22, 15, 2, 18, -12, -10,
|
|
3, 23, 18, 15, 20, -24,
|
|
7, -6, 16, 11, 8, 1,
|
|
13, 16, 24, -20, 9, -4,
|
|
-8, -3, 17, 24, -19, 17,
|
|
11, 6, -5, 22, 14, -10,
|
|
-5, -11, -15, -10, -22, 9,
|
|
7, 18, -12, 8, 13, -24,
|
|
9, 0, 2, 3, 7, 12,
|
|
21, 14, 0, -8, -17, 2,
|
|
22, 20, -5, 16, 19, -23,
|
|
22, -18, -19, -3, 24, -15,
|
|
18, 0, -11, 16, 17, 11,
|
|
22, 15, -11, 7, 20, -9,
|
|
-16, 10, 2, 1, -19, 20,
|
|
-19, -4, 2, -3, -24, 17,
|
|
-3, 21, 22, -12, -1, 3,
|
|
-3, -20, -7, 23, -1, -9,
|
|
-11, 3, -20, -5, -9, -8,
|
|
19, -17, 21, 21, 21, -13,
|
|
-10, 6, 2, -2, -17, -21,
|
|
19, 24, 20, 6, 24, -11,
|
|
10, -23, -1, -9, 8, -5,
|
|
22, -20, -3, 24, 19, 5,
|
|
-24, 6, 0, -13, -23, -15,
|
|
10, 20, -22, -4, 9, -20,
|
|
-24, 10, 5, -15, -24, -20,
|
|
22, 6, 8, -7, 11, 22,
|
|
-18, 7, -9, 19, -12, -5,
|
|
-9, 21, -20, -17, -17, 22,
|
|
-23, 6, -22, -12, -17, 7,
|
|
-18, 3, 1, 24, -24, 20,
|
|
-10, -9, 2, 15, 18, 18,
|
|
16, -13, -18, 11, 9, -6,
|
|
24, 24, -24, 22, 12, -12,
|
|
20, 7, -21, 15, 22, -5,
|
|
-9, -7, 23, -13, -17, -20,
|
|
-9, -6, 23, 0, -22, 13,
|
|
-15, -18, 1, -22, -17, 10,
|
|
0, 4, 4, -8, 18, -8,
|
|
-7, -6, -20, 18, -20, -3,
|
|
-20, -14, 4, -9, -17, -8,
|
|
-18, -7, 3, 8, -16, 5,
|
|
7, -12, 10, 19, 20, 21,
|
|
-22, 24, 4, 8, -22, 2,
|
|
-19, -18, -18, 22, -2, 13,
|
|
10, 9, -15, 15, 21, 16,
|
|
16, 11, -24, -2, 24, 21,
|
|
-7, -12, 1, 14, 9, 17,
|
|
20, 17, 7, 7, 5, -24,
|
|
-13, -8, 21, 18, -15, 11,
|
|
-22, 8, 12, -8, -18, 23,
|
|
14, 10, 6, -24, 17, -10,
|
|
8, 13, 21, 17, 24, -3,
|
|
-21, -24, 18, 11, -8, 5,
|
|
-10, -23, -2, 23, -13, 5,
|
|
11, 7, -1, -21, -10, -4,
|
|
21, -22, -15, 6, 6, -4,
|
|
16, -7, -7, -23, 19, 6,
|
|
-1, 21, 23, -14, -2, -17,
|
|
22, -13, -22, 4, 14, 3,
|
|
-10, 3, 14, -11, -22, 8,
|
|
11, 13, -24, 10, 24, 21,
|
|
12, 2, 13, -16, 15, 1,
|
|
-1, -4, 20, -22, -6, -19,
|
|
-14, -20, 2, -11, -20, 24,
|
|
-23, -10, 12, 1, -24, 2,
|
|
-24, -23, -16, 13, -1, -11,
|
|
-8, 6, 19, -13, -23, 23,
|
|
-18, -24, 23, -16, -21, 16,
|
|
-12, 19, -10, 6, -6, -16,
|
|
0, -15, -13, 24, -2, 9,
|
|
19, -4, 0, 21, 21, 16,
|
|
-10, -24, -24, -20, -13, -5,
|
|
24, 7, -13, 7, 18, 19,
|
|
0, 22, -21, 20, 0, 18,
|
|
23, 10, -13, -14, 16, 10,
|
|
-10, -12, 8, 10, -13, 24,
|
|
-22, -6, -17, 14, -6, 11,
|
|
17, 17, -7, 17, 17, -12,
|
|
22, -1, -2, -3, -24, 22,
|
|
12, 0, 1, -11, 12, -16,
|
|
-20, -6, -11, 17, -5, -19,
|
|
18, 7, -8, 3, 23, -11,
|
|
24, -7, -18, 24, 20, -1,
|
|
-10, 4, -4, -22, -14, -8,
|
|
15, -8, -16, 20, 17, 23,
|
|
12, 15, 15, -19, 5, 4,
|
|
-16, 21, 3, -3, -17, -15,
|
|
-18, 14, -20, -22, -18, 12,
|
|
21, 13, -18, 0, 12, -12,
|
|
-20, 23, 15, -10, -14, -16,
|
|
-24, 16, 12, -5, -16, 13,
|
|
-11, -13, -4, -9, -2, -18,
|
|
3, -12, -24, 0, -2, -3,
|
|
-14, -14, 22, 9, -21, 17,
|
|
18, 10, 2, 23, 15, 6,
|
|
-8, -18, 15, 23, -11, 23,
|
|
-24, 13, 4, 16, -24, -13,
|
|
9, 0, 21, -23, 6, -24,
|
|
-22, 13, 21, 19, -21, -10,
|
|
-21, 19, 7, -2, -7, 1,
|
|
2, -21, 8, 20, 11, -12,
|
|
19, -19, -2, 24, 17, 1,
|
|
-3, -7, 3, 17, -4, -13,
|
|
-23, -5, -15, -14, -7, 11,
|
|
-15, -23, 24, 22, -17, 18,
|
|
5, -7, 11, -22, 18, -5,
|
|
20, -11, -20, 0, 11, 4,
|
|
18, 18, -9, 7, 19, 17,
|
|
1, -17, 24, -24, 4, 3,
|
|
-19, -23, 9, 23, -10, 9,
|
|
7, -2, -13, 5, 16, -5,
|
|
8, -13, -9, -23, 12, 13,
|
|
6, -21, -1, 0, -4, 18,
|
|
9, -17, -24, -22, 9, 17,
|
|
-19, 2, 20, -14, -22, 23,
|
|
22, 11, -9, -14, 8, -4,
|
|
12, -22, -2, 13, 8, 21,
|
|
9, -8, 14, 18, 5, -9,
|
|
16, -13, -7, -7, 21, -12,
|
|
13, -12, -10, 11, 7, 11,
|
|
3, 8, 5, -6, 2, 14,
|
|
24, -22, 8, 23, -7, -10,
|
|
22, 11, 6, 20, -6, -9,
|
|
10, -5, -2, -1, 12, 15,
|
|
-14, 14, -23, 6, -13, -3,
|
|
-9, 2, 22, -1, -24, -10,
|
|
-17, 22, 6, -9, -12, -13,
|
|
-12, 1, -4, 9, -14, -2,
|
|
13, 2, 23, -2, 12, 5,
|
|
16, -14, -4, -22, 18, 17,
|
|
-13, -8, 7, -5, -21, -17,
|
|
3, -1, -3, -2, -10, 19,
|
|
18, 6, -14, 24, 20, 10,
|
|
-7, -20, -23, 10, -4, -8,
|
|
-20, -9, -10, 16, -14, -21,
|
|
9, 17, -12, 21, 16, 24,
|
|
19, -22, -11, -12, 24, -20,
|
|
5, -15, 14, 12, 3, -13,
|
|
-6, 20, 4, 22, 3, -20,
|
|
-23, -12, 7, 12, -23, 16,
|
|
22, 3, -4, 18, 22, 8,
|
|
1, 1, 16, 9, -5, 18,
|
|
21, -7, -5, -15, 24, -6,
|
|
-13, 14, -12, 23, -17, 18,
|
|
12, 18, -1, 0, 20, 7,
|
|
14, -7, -15, -17, 18, -2,
|
|
-18, -12, -11, 14, -15, -21,
|
|
-2, -21, 4, -16, 10, -2,
|
|
22, -23, -19, -17, 19, 16,
|
|
8, 22, 7, -22, 22, -22,
|
|
8, -17, -17, 0, 12, 22,
|
|
13, 8, -6, 19, 19, -6,
|
|
19, -4, -23, -10, 23, -13,
|
|
-16, -19, -6, 18, -19, 23,
|
|
5, -18, -4, -12, -18, -24,
|
|
-10, 9, 6, 4, -16, -24,
|
|
-7, -15, 0, 3, -1, 24,
|
|
-5, 12, 10, -24, 24, 22,
|
|
-13, 9, 1, 18, 15, 7,
|
|
-18, -3, -11, -22, -18, -5,
|
|
-9, 7, 14, 24, -6, -1,
|
|
-1, -24, 22, 19, -1, 13,
|
|
-19, 3, -15, -16, -12, 1,
|
|
0, 12, 21, 21, 13, -22,
|
|
-19, -9, 14, 12, -23, 17,
|
|
13, -11, 22, 3, 24, -14,
|
|
-19, 5, -1, 20, 18, 15,
|
|
19, -19, -16, 24, 23, 7,
|
|
-20, -13, 22, 21, -23, -3,
|
|
-20, 19, 16, -2, -20, -19,
|
|
18, 18, -12, -16, 14, -5,
|
|
21, -16, -23, -5, 19, 8,
|
|
-12, 12, -20, -5, -7, -6,
|
|
-10, -24, -3, 18, -11, -5,
|
|
8, 14, 2, -3, 9, 6,
|
|
24, 2, -2, -6, 24, -12,
|
|
7, -8, 0, 8, -3, 21,
|
|
22, 1, 17, -12, 14, -23,
|
|
19, -18, -1, 23, -21, -10,
|
|
-6, -1, 14, -22, -9, -9,
|
|
20, -24, -16, -11, 21, 19,
|
|
-24, 9, -8, 17, -19, -7,
|
|
-12, -3, 19, -24, -15, 0,
|
|
-1, -21, -9, 22, -21, -4,
|
|
23, 4, -3, 11, 9, 4,
|
|
-10, 10, 10, 4, -8, 7,
|
|
5, -15, 21, -23, 9, -12,
|
|
-17, -21, -2, -15, -17, -15,
|
|
21, 12, 9, 23, 1, -9,
|
|
21, 20, 19, -6, 5, -1,
|
|
-16, -21, 19, -3, -12, 15,
|
|
14, 3, -2, 2, -20, -17,
|
|
-3, -16, -15, -13, -21, 11,
|
|
-18, 21, -5, -17, 5, 11,
|
|
23, 7, -9, 17, 20, -6,
|
|
11, -14, -21, 23, 19, -21,
|
|
-9, -6, 23, -24, -16, 7,
|
|
-22, 21, 7, 12, -19, -12,
|
|
-3, 19, 23, 10, -3, -18,
|
|
-2, 22, -8, -16, -5, 23,
|
|
14, 21, 22, -19, 6, -9,
|
|
-6, -24, -12, -13, -23, 9,
|
|
4, -21, 14, -4, 23, 18,
|
|
9, 7, -6, 6, 22, 0,
|
|
14, -13, 8, 24, 16, -14,
|
|
2, -20, 4, -13, 11, -11,
|
|
14, -12, 23, 7, 10, 21,
|
|
14, -4, 14, 22, 13, -14,
|
|
11, -12, 21, 19, 20, -8,
|
|
3, -20, 23, -13, 23, 23,
|
|
4, 18, -2, 10, -11, 20,
|
|
1, 21, 6, 15, 14, -3,
|
|
16, 24, 8, -11, 18, 23,
|
|
21, -3, 15, -23, 5, -5,
|
|
7, 9, -12, -4, 14, 18,
|
|
1, -24, 11, -9, -1, 10,
|
|
-16, -10, -7, 22, -14, 5,
|
|
-22, 18, -15, -24, -1, 8,
|
|
-17, 16, 4, 0, -17, 24,
|
|
-9, -8, 17, -3, -13, 21,
|
|
24, 10, 12, 12, 3, -15,
|
|
21, 6, -1, -5, 19, 19,
|
|
-21, -15, 12, 14, -24, -15,
|
|
-24, 10, 5, -11, -16, -6,
|
|
16, -8, -5, -20, 15, -7,
|
|
-4, 20, -5, 12, -9, 20,
|
|
-18, 12, 10, -14, -14, 24,
|
|
17, -12, -1, 13, 18, 19,
|
|
-13, 22, 2, 9, -14, 19,
|
|
13, -12, 5, 18, 4, -24,
|
|
-23, -5, -1, -11, 19, 13,
|
|
14, -11, -21, -8, 22, -22,
|
|
-24, 21, -8, -21, 5, 14,
|
|
11, -4, -9, -10, 16, 2,
|
|
19, -12, -8, 14, 22, -23,
|
|
-22, -13, 1, -4, -17, 4,
|
|
-21, 10, 5, 3, -19, 18,
|
|
-3, -18, 13, 15, 19, -23,
|
|
-2, 12, 23, -19, -1, -10,
|
|
15, -7, 0, -20, 7, 0,
|
|
-17, -1, -5, 15, -16, -20,
|
|
11, -21, 2, -15, 4, 2,
|
|
-3, 5, 4, -2, -3, -14,
|
|
13, 22, -15, 19, 9, -17,
|
|
-4, 18, 21, 7, -2, 5,
|
|
15, 22, 7, -23, 19, 14,
|
|
11, 14, 24, -23, 11, 6,
|
|
17, 21, -8, -13, 15, 11,
|
|
-12, -23, 10, 8, -8, -11,
|
|
12, -5, -16, -19, 18, -6,
|
|
-20, -24, -1, -22, -24, -9,
|
|
-17, -12, 9, 19, -16, 24,
|
|
14, -9, -6, 7, 20, -23,
|
|
7, 19, 24, 0, 9, 23,
|
|
-23, 22, 11, 7, -24, 22,
|
|
-21, 0, -8, 14, -20, 23,
|
|
14, -8, -16, -15, 18, 11,
|
|
2, -6, 24, 7, 6, 24,
|
|
-14, 24, -4, 3, -21, 2,
|
|
23, 10, 24, -24, 10, 10,
|
|
11, 5, -2, 15, 12, 7,
|
|
24, 11, -5, 6, 21, 12,
|
|
12, 22, -1, 13, -15, -18,
|
|
14, -23, 20, 1, 19, 23,
|
|
-19, -22, 4, -2, -19, 20,
|
|
8, 2, -9, 10, 23, 21,
|
|
-11, -11, -1, 15, 9, 23,
|
|
20, 1, 9, 9, 13, 21,
|
|
9, -22, -5, -16, 5, -11,
|
|
-17, -23, -7, 9, -24, 23,
|
|
7, -9, 23, 2, 20, -16,
|
|
15, -18, -22, 18, 16, 14,
|
|
-13, -18, -23, -8, -22, 13,
|
|
12, -9, 12, 20, 14, -12,
|
|
-18, -5, -15, 3, -19, 8,
|
|
-16, -13, 10, 10, -15, 17,
|
|
-9, 5, -23, 16, -9, 3,
|
|
-16, -19, 14, 21, -19, -22,
|
|
-1, 5, 23, 13, 1, -24,
|
|
-10, 19, -1, -23, -19, -23,
|
|
4, -19, 8, 4, 7, 18,
|
|
17, 12, 1, 7, -6, 18,
|
|
11, -24, 8, 18, 16, -14,
|
|
-22, 11, -11, -2, -20, 14,
|
|
-5, 9, 9, -23, 16, 24,
|
|
-12, -8, 14, -6, -11, 5,
|
|
23, -6, -16, -5, 21, -15,
|
|
21, -22, -24, -2, 13, -8,
|
|
17, 19, 24, -4, 10, 6,
|
|
-14, -21, -8, 13, -5, -1,
|
|
-21, -12, 23, -24, -21, -17,
|
|
12, 11, 21, 15, 13, 23,
|
|
-9, 16, -23, -2, -6, 2,
|
|
19, 4, 18, -24, 23, 6,
|
|
8, -23, 15, -2, 7, 20,
|
|
24, 10, 8, 24, 4, -3,
|
|
-23, 5, 19, -3, -23, 23,
|
|
-19, -20, 3, 15, -12, 6,
|
|
-10, 23, 0, 3, 18, -22,
|
|
12, 8, -24, 19, 22, 2,
|
|
12, 0, -4, -24, 21, 16,
|
|
-9, -3, 14, 14, -14, 4,
|
|
18, 11, -9, -14, 21, -23,
|
|
11, 22, 1, 4, 17, -3,
|
|
13, -22, -17, 23, 11, 15,
|
|
11, -14, 3, 9, -4, -12,
|
|
-6, 16, 2, 5, 20, 6,
|
|
10, -1, 7, 21, 12, 7,
|
|
-21, 12, -14, -21, -23, 13,
|
|
16, 24, 0, -10, -14, -16,
|
|
-12, -6, 23, 8, -10, 9,
|
|
14, -18, 2, 24, -9, -5,
|
|
16, 17, 0, -1, 10, 21,
|
|
7, 0, -12, -15, 13, -11,
|
|
14, -20, -22, -13, 0, 1,
|
|
-21, -15, 6, -23, -16, -20,
|
|
-9, 24, 2, -17, -5, 4,
|
|
-21, 18, 18, -22, -21, -6,
|
|
8, -3, 5, 17, 18, 10,
|
|
3, 0, 11, 22, -4, -12,
|
|
-24, 10, 18, 20, -21, -24,
|
|
-8, -19, 6, -24, 17, 7,
|
|
1, 8, 19, 8, 13, -23,
|
|
-21, -24, 21, 2, -21, -15,
|
|
20, 17, 21, -3, 21, 18,
|
|
-18, -10, 17, -18, -18, 10,
|
|
5, -6, 19, 10, 11, 22,
|
|
6, 24, 8, 13, 3, -8,
|
|
-3, -12, -13, 4, -21, 23,
|
|
-10, 5, -2, -22, 5, -9,
|
|
20, -17, -24, 16, 5, -3,
|
|
2, 5, 6, -24, 5, 21,
|
|
-15, 22, 1, 7, -16, 0,
|
|
-19, -21, -7, 10, 0, -23,
|
|
-15, -6, -2, -18, -20, -8,
|
|
-16, 19, 1, 15, 18, 4,
|
|
5, 4, -21, -14, 4, 2,
|
|
2, 19, 0, -8, 5, 7,
|
|
-16, -18, 22, 2, -18, 22,
|
|
-23, 2, 15, -21, -19, -10,
|
|
-15, 12, -8, -14, -20, -11,
|
|
-11, 3, 1, 20, -24, 20,
|
|
2, 3, -1, 24, 17, 19,
|
|
-22, 2, 9, -23, -20, -3,
|
|
-11, -11, 11, -20, -13, -23,
|
|
5, -1, 16, -7, 3, 9,
|
|
23, -2, 14, 23, 13, -2,
|
|
20, -12, 12, 18, 22, 1,
|
|
16, -19, 11, 8, 7, 23,
|
|
9, 9, 2, -20, 15, -23,
|
|
10, 0, -10, 23, 9, 4,
|
|
-24, -18, 3, 15, -16, -7,
|
|
19, -17, -17, 1, 23, 11,
|
|
22, -7, 0, 24, 0, -3,
|
|
-24, -22, 15, 9, -8, -4,
|
|
20, -14, -8, -14, 19, 9,
|
|
24, -2, -8, -4, 24, 14,
|
|
17, -1, 10, -23, 1, 15,
|
|
9, -1, 0, -24, 13, -12,
|
|
-5, 10, -18, -6, -23, 11,
|
|
-20, 21, 18, 4, -9, -7,
|
|
24, 15, 7, -3, -2, 11,
|
|
-10, -24, 11, 2, -10, 13,
|
|
17, -17, -14, -18, 21, -14,
|
|
-9, -17, -4, -9, -10, -2,
|
|
22, -21, 8, -11, 1, 23,
|
|
-3, -15, -21, -20, -14, 19,
|
|
3, -10, -11, 22, 3, -21,
|
|
-23, -15, 0, 9, -19, 12,
|
|
-24, -3, -5, 22, -23, 15,
|
|
16, -9, -19, -18, 11, -1,
|
|
-18, 6, 0, -24, 18, -23,
|
|
15, -11, -24, 4, 16, 1,
|
|
10, -21, 23, 1, 2, -10,
|
|
18, -2, 1, 5, -7, -23,
|
|
24, -16, -11, -22, 24, -19,
|
|
19, 12, -23, 2, 12, 0,
|
|
17, 9, 12, -12, 8, 11,
|
|
-16, -16, 19, 0, -19, -21,
|
|
15, 20, 20, -24, 9, 3,
|
|
24, 1, 6, 21, 18, -19,
|
|
-22, 21, -2, -14, 19, 22,
|
|
0, -17, 18, -12, -2, 10,
|
|
-21, -8, -9, -7, -18, -15,
|
|
-19, -1, -7, -21, -23, -15,
|
|
-23, -5, 13, 21, -18, 1,
|
|
12, 6, 15, -12, 10, -20,
|
|
16, -13, -20, -6, 14, 13,
|
|
-9, -2, 11, -14, -13, -5,
|
|
15, -4, 13, 17, 22, -3,
|
|
19, -17, -2, 11, -23, 22,
|
|
12, 16, 12, -4, 18, 9,
|
|
0, 9, 11, -20, 11, 1,
|
|
12, -11, 22, -9, 24, -23,
|
|
-14, -13, -3, 5, 4, 12,
|
|
14, 12, -14, 3, 15, 17,
|
|
-11, -24, 18, -23, -5, 3,
|
|
18, 9, 9, 20, 9, 3,
|
|
-21, -10, 8, -1, -24, -23,
|
|
13, 4, -3, -19, 19, 1,
|
|
18, -18, 2, -21, 10, 13,
|
|
-10, -17, 0, 12, 8, 19,
|
|
21, 8, 2, -23, -19, 8,
|
|
5, -4, -12, 18, 14, -12,
|
|
19, -19, 14, 5, 9, 21,
|
|
-21, -21, -8, 1, -1, 14,
|
|
13, 6, 16, -24, 15, 14,
|
|
-5, 21, -14, -8, -2, 11,
|
|
-14, -21, -23, 19, -6, -6,
|
|
10, -10, -23, -2, 16, 16,
|
|
13, -14, 3, -15, 13, -23,
|
|
-15, -13, 17, 12, -19, 19,
|
|
-5, 18, -12, 10, -4, -16,
|
|
-22, -15, -9, -18, -10, 16,
|
|
-7, -5, 13, -18, -18, -23,
|
|
-23, 22, -3, -24, 14, 20,
|
|
12, 16, 21, -11, 19, 19,
|
|
12, -18, -3, -17, 9, -14,
|
|
-19, -11, 14, -13, -21, 23,
|
|
8, -6, -18, 12, 17, 1,
|
|
-4, -1, 4, 19, -12, -7,
|
|
21, 3, -24, 21, 13, 8,
|
|
17, 23, 2, 15, 21, -4,
|
|
4, 16, -15, -20, 1, 6,
|
|
16, -22, 6, 11, 18, -12,
|
|
-24, -1, -18, 8, -13, -2,
|
|
16, -6, -1, -7, -20, -20,
|
|
9, -10, -15, 6, 17, 16,
|
|
-19, 17, 19, 0, -18, -8,
|
|
15, -23, 12, -6, 1, 11,
|
|
21, -15, 6, 19, 10, -24,
|
|
-16, 23, -1, -8, -17, -14,
|
|
11, 2, -1, 7, 14, -2,
|
|
11, 20, -1, -4, -3, -23,
|
|
-19, 20, -11, -2, -20, -24,
|
|
11, -12, 5, -21, -2, -13};
|
|
|
|
sampling_points_.assign(&sampling_points_arr[0],&sampling_points_arr[0]+sizeof(sampling_points_arr)/4); }
|
|
|
|
}
|
|
|
|
} // namespace cv
|