Update tutorial

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt

@@ -1,11 +1,6 @@
 cmake_minimum_required(VERSION 2.8)
 project( PNP_DEMO )
 
-ADD_DEFINITIONS(
-    -std=c++11
-    # Other flags
-)
-
 find_package( OpenCV REQUIRED )
 
 include_directories(

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp

@@ -1,4 +1,5 @@
 #include "CsvReader.h"
+#include "Utils.h"
 
 /** The default constructor of the CSV reader Class */
 CsvReader::CsvReader(const std::string &path, const char &separator){
@@ -27,8 +28,8 @@ void CsvReader::readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::
         {
             getline(liness, tmp_str, _separator);
             getline(liness, n);
-            if(tmp_str == "vertex") num_vertex = StringToNumber(n);
-            if(tmp_str == "face") num_triangles = StringToNumber(n);
+            if(tmp_str == "vertex") num_vertex = StringToInt(n);
+            if(tmp_str == "face") num_triangles = StringToInt(n);
         }
         if(tmp_str == "end_header") end_header = true;
     }
@@ -45,9 +46,9 @@ void CsvReader::readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::
              getline(liness, z);
 
              cv::Point3f tmp_p;
-             tmp_p.x = StringToNumber(x);
-             tmp_p.y = StringToNumber(y);
-             tmp_p.z = StringToNumber(z);
+             tmp_p.x = StringToInt(x);
+             tmp_p.y = StringToInt(y);
+             tmp_p.z = StringToInt(z);
              list_vertex.push_back(tmp_p);
 
              count++;
@@ -67,9 +68,9 @@ void CsvReader::readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::
              getline(liness, id2);
 
              std::vector<int> tmp_triangle(3);
-             tmp_triangle[0] = StringToNumber(id0);
-             tmp_triangle[1] = StringToNumber(id1);
-             tmp_triangle[2] = StringToNumber(id2);
+             tmp_triangle[0] = StringToInt(id0);
+             tmp_triangle[1] = StringToInt(id1);
+             tmp_triangle[2] = StringToInt(id2);
              list_triangles.push_back(tmp_triangle);
 
              count++;

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h

@@ -5,7 +5,6 @@
 #include <fstream>
 
 #include <opencv2/core/core.hpp>
-#include "Mesh.h"
 
 using namespace std;
 using namespace cv;

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp

@@ -1,5 +1,5 @@
-#include <string>
 #include "CsvWriter.h"
+#include "Utils.h"
 
 CsvWriter::CsvWriter(const std::string &path, const std::string &separator){
   _file.open(path.c_str(), std::ofstream::out);
@@ -17,9 +17,9 @@ void CsvWriter::writeXYZ(const std::vector<cv::Point3f> &list_points3d)
   std::string x, y, z;
   for(unsigned int i = 0; i < list_points3d.size(); ++i)
   {
-    x = std::to_string(list_points3d[i].x);
-    y = std::to_string(list_points3d[i].y);
-    z = std::to_string(list_points3d[i].z);
+    x = FloatToString(list_points3d[i].x);
+    y = FloatToString(list_points3d[i].y);
+    z = FloatToString(list_points3d[i].z);
 
     _file << x << _separator << y << _separator << z << std::endl;
   }
@@ -31,18 +31,18 @@ void CsvWriter::writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const
   std::string u, v, x, y, z, descriptor_str;
   for(int i = 0; i < list_points3d.size(); ++i)
   {
-    u = std::to_string(list_points2d[i].x);
-    v = std::to_string(list_points2d[i].y);
-    x = std::to_string(list_points3d[i].x);
-    y = std::to_string(list_points3d[i].y);
-    z = std::to_string(list_points3d[i].z);
+    u = FloatToString(list_points2d[i].x);
+    v = FloatToString(list_points2d[i].y);
+    x = FloatToString(list_points3d[i].x);
+    y = FloatToString(list_points3d[i].y);
+    z = FloatToString(list_points3d[i].z);
 
     _file << u << _separator << v << _separator << x << _separator << y << _separator << z;
 
     for(int j = 0; j < 32; ++j)
     {
       std::cout << descriptors.at<float>(i,j) << std::endl;
-      descriptor_str = std::to_string(descriptors.at<float>(i,j));
+      descriptor_str = FloatToString(descriptors.at<float>(i,j));
       _file << _separator << descriptor_str;
     }
     _file << std::endl;

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp

@@ -6,7 +6,6 @@
  */
 
 #include <iostream>
-#include <boost/lexical_cast.hpp>
 
 #include "PnPProblem.h"
 #include "ModelRegistration.h"
@@ -30,9 +29,9 @@ double thickness_circ = -1;
 // Draw a text with the question point
 void drawQuestion(cv::Mat image, cv::Point3f point, cv::Scalar color)
 {
-  std::string x = boost::lexical_cast< std::string >((int)point.x);
-  std::string y = boost::lexical_cast< std::string >((int)point.y);
-  std::string z = boost::lexical_cast< std::string >((int)point.z);
+  std::string x = IntToString((int)point.x);
+  std::string y = IntToString((int)point.y);
+  std::string z = IntToString((int)point.z);
 
   std::string text = " Where is point (" + x + ","  + y + "," + z + ") ?";
   cv::putText(image, text, cv::Point(25,50), fontFace, fontScale, color, thickness_font, 8);
@@ -53,7 +52,7 @@ void drawText2(cv::Mat image, std::string text, cv::Scalar color)
 // Draw a text with the frame ratio
 void drawFPS(cv::Mat image, double fps, cv::Scalar color)
 {
-  std::string fps_str = boost::lexical_cast< std::string >((int)fps);
+  std::string fps_str = IntToString((int)fps);
   std::string text = fps_str + " FPS";
   cv::putText(image, text, cv::Point(500,50), fontFace, fontScale, color, thickness_font, 8);
 }
@@ -61,7 +60,7 @@ void drawFPS(cv::Mat image, double fps, cv::Scalar color)
 // Draw a text with the frame ratio
 void drawConfidence(cv::Mat image, double confidence, cv::Scalar color)
 {
-  std::string conf_str = boost::lexical_cast< std::string >((int)confidence);
+  std::string conf_str = IntToString((int)confidence);
   std::string text = conf_str + " %";
   cv::putText(image, text, cv::Point(500,75), fontFace, fontScale, color, thickness_font, 8);
 }
@@ -69,8 +68,8 @@ void drawConfidence(cv::Mat image, double confidence, cv::Scalar color)
 // Draw a text with the number of entered points
 void drawCounter(cv::Mat image, int n, int n_max, cv::Scalar color)
 {
-  std::string n_str = boost::lexical_cast< std::string >(n);
-  std::string n_max_str = boost::lexical_cast< std::string >(n_max);
+  std::string n_str = IntToString(n);
+  std::string n_max_str = IntToString(n_max);
   std::string text = n_str + " of " + n_max_str + " points";
   cv::putText(image, text, cv::Point(500,50), fontFace, fontScale, color, thickness_font, 8);
 }
@@ -86,10 +85,10 @@ void drawPoints(cv::Mat image, std::vector<cv::Point2f> &list_points_2d, std::ve
     // Draw Selected points
     cv::circle(image, point_2d, radius, color, -1, lineType );
 
-    std::string idx = boost::lexical_cast< std::string >(i+1);
-    std::string x = boost::lexical_cast< std::string >((int)point_3d.x);
-    std::string y = boost::lexical_cast< std::string >((int)point_3d.y);
-    std::string z = boost::lexical_cast< std::string >((int)point_3d.z);
+    std::string idx = IntToString(i+1);
+    std::string x = IntToString((int)point_3d.x);
+    std::string y = IntToString((int)point_3d.y);
+    std::string z = IntToString((int)point_3d.z);
     std::string text = "P" + idx + " (" + x + "," + y + "," + z +")";
 
     point_2d.x = point_2d.x + 10;
@@ -273,3 +272,24 @@ cv::Mat euler2rot(const cv::Mat & euler)
 
   return rotationMatrix;
 }
+
+int StringToInt ( const std::string &Text )
+{
+   std::istringstream ss(Text);
+   int result;
+   return ss >> result ? result : 0;
+}
+
+std::string FloatToString ( float Number )
+{
+  std::ostringstream ss;
+  ss << Number;
+  return ss.str();
+}
+
+std::string IntToString ( int Number )
+{
+  std::ostringstream ss;
+  ss << Number;
+  return ss.str();
+}

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.h

@@ -9,9 +9,9 @@
 #define UTILS_H_
 
 #include <iostream>
-#include <time.h>
 #include <cv.h>
 
+#include "PnPProblem.h"
 
 // Draw a text with the question point
 void drawQuestion(cv::Mat image, cv::Point3f point, cv::Scalar color);
@@ -53,6 +53,9 @@ cv::Mat quat2rot(cv::Mat &q);
 cv::Mat euler2rot(const cv::Mat & euler);
 cv::Mat rot2euler(const cv::Mat & rotationMatrix);
 cv::Mat quat2euler(const cv::Mat & q);
+int StringToInt ( const std::string &Text );
+std::string FloatToString ( float Number );
+std::string IntToString ( int Number );
 
 class Timer
 {
@@ -69,7 +72,4 @@ private:
     double tstart, tstop, ttime;
 };
 
-
-
-
 #endif /* UTILS_H_ */

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp

@@ -1,6 +1,5 @@
 #include <iostream>
 #include <time.h>
-#include <boost/lexical_cast.hpp>
 
 #include "cv.h"
 #include "highgui.h"
@@ -238,7 +237,7 @@ int main(int argc, char *argv[])
 
       // -- Step 3: Estimate the pose using RANSAC approach
       pnp_detection.estimatePoseRANSAC( list_points3d_model_match, list_points2d_scene_match,
-                                        cv::DLS, inliers_idx,
+                                        cv::ITERATIVE, inliers_idx,
                                         iterationsCount, reprojectionError, confidence );
 
       // -- Step 4: Catch the inliers keypoints to draw
@@ -330,9 +329,9 @@ int main(int argc, char *argv[])
     // Draw some debug text
     int inliers_int = inliers_idx.rows;
     int outliers_int = good_matches.size() - inliers_int;
-    std::string inliers_str = boost::lexical_cast< std::string >(inliers_int);
-    std::string outliers_str = boost::lexical_cast< std::string >(outliers_int);
-    std::string n = boost::lexical_cast< std::string >(good_matches.size());
+    std::string inliers_str = IntToString(inliers_int);
+    std::string outliers_str = IntToString(outliers_int);
+    std::string n = IntToString(good_matches.size());
     std::string text = "Found " + inliers_str + " of " + n + " matches";
     std::string text2 = "Inliers: " + inliers_str + " - Outliers: " + outliers_str;
 

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp

@@ -1,5 +1,4 @@
 #include <iostream>
-#include <boost/lexical_cast.hpp>
 
 #include "Mesh.h"
 #include "Model.h"
@@ -261,12 +260,12 @@ int main(int argc, char *argv[])
   std::vector<cv::Point2f> list_points_out = model.get_points2d_out();
 
   // Draw some debug text
-  std::string num = boost::lexical_cast< std::string >(list_points_in.size());
+  std::string num = IntToString(list_points_in.size());
   std::string text = "There are " + num + " inliers";
   drawText(img_vis, text, green);
 
   // Draw some debug text
-  num = boost::lexical_cast< std::string >(list_points_out.size());
+  num = IntToString(list_points_out.size());
   text = "There are " + num + " outliers";
   drawText2(img_vis, text, red);
 

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_verification.cpp

@@ -1,5 +1,4 @@
 #include <iostream>
-#include <boost/lexical_cast.hpp>
 
 #include "cv.h"
 #include "highgui.h"