Code tutorial

pull/3042/head
edgarriba 11 years ago
parent 31bec45998
commit 38c2cc8521
  1. 75
      samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp

@ -0,0 +1,75 @@
/*
* Model.cpp
*
* Created on: Apr 9, 2014
* Author: edgar
*/
#include "Model.h"
#include "CsvWriter.h"
Model::Model() : list_points2d_in_(0), list_points2d_out_(0), list_points3d_in_(0)
{
n_correspondences_ = 0;
}
Model::~Model()
{
// TODO Auto-generated destructor stub
}
void Model::add_correspondence(const cv::Point2f &point2d, const cv::Point3f &point3d)
{
list_points2d_in_.push_back(point2d);
list_points3d_in_.push_back(point3d);
n_correspondences_++;
}
void Model::add_outlier(const cv::Point2f &point2d)
{
list_points2d_out_.push_back(point2d);
}
void Model::add_descriptor(const cv::Mat &descriptor)
{
descriptors_.push_back(descriptor);
}
void Model::add_keypoint(const cv::KeyPoint &kp)
{
list_keypoints_.push_back(kp);
}
/** Save a CSV file and fill the object mesh */
void Model::save(const std::string path)
{
cv::Mat points3dmatrix = cv::Mat(list_points3d_in_);
cv::Mat points2dmatrix = cv::Mat(list_points2d_in_);
//cv::Mat keyPointmatrix = cv::Mat(list_keypoints_);
cv::FileStorage storage(path, cv::FileStorage::WRITE);
storage << "points_3d" << points3dmatrix;
storage << "points_2d" << points2dmatrix;
storage << "keypoints" << list_keypoints_;
storage << "descriptors" << descriptors_;
storage.release();
}
/** Load a YAML file using OpenCv functions **/
void Model::load(const std::string path)
{
cv::Mat points3d_mat;
cv::FileStorage storage(path, cv::FileStorage::READ);
storage["points_3d"] >> points3d_mat;
storage["descriptors"] >> descriptors_;
points3d_mat.copyTo(list_points3d_in_);
storage.release();
}
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