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