Update code

doc/tutorials/calib3d/real_time_pose/real_time_pose.rst

@@ -341,7 +341,7 @@ The following parameters work for this application:
    .. code-block:: cpp
 
     // RANSAC parameters
-    
+
     int iterationsCount = 500;    // number of Ransac iterations.
     float reprojectionError = 2.0;    // maximum allowed distance to consider it an inlier.
     float confidence = 0.95;    // ransac successful confidence.

modules/calib3d/src/dls.cpp

@@ -417,7 +417,7 @@ cv::Mat dls::cayley_LS_M(const std::vector<double>& a, const std::vector<double>
 {
     // TODO: input matrix pointer
     // TODO: shift coefficients one position to left
-    
+
     cv::Mat M = cv::Mat::zeros(120, 120, CV_64F);
 
     M.at<double>(0,0)=u[1]; M.at<double>(0,35)=a[1]; M.at<double>(0,83)=b[1]; M.at<double>(0,118)=c[1];
@@ -662,11 +662,3 @@ bool dls::positive_eigenvalues(const cv::Mat * eigenvalues)
     cv::MatConstIterator_<double> it = eigenvalues->begin<double>();
     return *(it) > 0 && *(it+1) > 0 && *(it+2) > 0;
 }
-
-
-
-
-
-
-
-

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

@@ -8,8 +8,8 @@ ADD_DEFINITIONS(
 
 find_package( OpenCV REQUIRED )
 
-include_directories( 
-    ${OpenCV_INCLUDE_DIRS} 
+include_directories(
+    ${OpenCV_INCLUDE_DIRS}
 )
 
 add_executable(
@@ -39,9 +39,9 @@ pnp_verification
 )
 
 add_executable(
-pnp_detection 
+pnp_detection
     src/main_detection.cpp
-    src/CsvReader.cpp 
+    src/CsvReader.cpp
     src/CsvWriter.cpp
     src/ModelRegistration.cpp
     src/Mesh.cpp

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

@@ -1,81 +1,79 @@
-#include <string>
 #include "CsvReader.h"
 
 /** The default constructor of the CSV reader Class */
 CsvReader::CsvReader(const std::string &path, const char &separator){
-	_file.open(path.c_str(), ifstream::in);
-	_separator = separator;
+    _file.open(path.c_str(), ifstream::in);
+    _separator = separator;
 }
 
 /* Read a plane text file with .ply format */
 void CsvReader::readPLY(std::vector<cv::Point3f> &list_vertex, std::vector<std::vector<int> > &list_triangles)
 {
-std::string line, tmp_str, n;
-  int num_vertex, num_triangles;
-  int count = 0;
-  bool end_header = false;
-  bool end_vertex = false;
+    std::string line, tmp_str, n;
+    int num_vertex, num_triangles;
+    int count = 0;
+    bool end_header = false;
+    bool end_vertex = false;
 
-  // Read the whole *.ply file
-  while (getline(_file, line)) {
+    // Read the whole *.ply file
+    while (getline(_file, line)) {
     stringstream liness(line);
 
     // read header
     if(!end_header)
     {
-      getline(liness, tmp_str, _separator);
-      if( tmp_str == "element" )
-      {
-          getline(liness, tmp_str, _separator);
-          getline(liness, n);
-          if(tmp_str == "vertex") num_vertex = std::stoi(n);
-          if(tmp_str == "face") num_triangles = std::stoi(n);
-      }
-      if(tmp_str == "end_header") end_header = true;
+        getline(liness, tmp_str, _separator);
+        if( tmp_str == "element" )
+        {
+            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 == "end_header") end_header = true;
     }
 
     // read file content
     else if(end_header)
     {
-      // read vertex and add into 'list_vertex'
-      if(!end_vertex && count < num_vertex)
-      {
-        string x, y, z;
-        getline(liness, x, _separator);
-        getline(liness, y, _separator);
-        getline(liness, z);
+         // read vertex and add into 'list_vertex'
+         if(!end_vertex && count < num_vertex)
+         {
+             string x, y, z;
+             getline(liness, x, _separator);
+             getline(liness, y, _separator);
+             getline(liness, z);
 
-        cv::Point3f tmp_p;
-        tmp_p.x = std::stof(x);
-        tmp_p.y = std::stof(y);
-        tmp_p.z = std::stof(z);
-        list_vertex.push_back(tmp_p);
+             cv::Point3f tmp_p;
+             tmp_p.x = StringToNumber(x);
+             tmp_p.y = StringToNumber(y);
+             tmp_p.z = StringToNumber(z);
+             list_vertex.push_back(tmp_p);
 
-        count++;
-        if(count == num_vertex)
-        {
-          count = 0;
-          end_vertex = !end_vertex;
-        }
-      }
-      // read faces and add into 'list_triangles'
-      else if(end_vertex  && count < num_triangles)
-      {
-    	  std::string num_pts_per_face, id0, id1, id2;
-        getline(liness, num_pts_per_face, _separator);
-        getline(liness, id0, _separator);
-        getline(liness, id1, _separator);
-        getline(liness, id2);
+             count++;
+             if(count == num_vertex)
+             {
+                 count = 0;
+                 end_vertex = !end_vertex;
+             }
+         }
+         // read faces and add into 'list_triangles'
+         else if(end_vertex  && count < num_triangles)
+         {
+             std::string num_pts_per_face, id0, id1, id2;
+             getline(liness, num_pts_per_face, _separator);
+             getline(liness, id0, _separator);
+             getline(liness, id1, _separator);
+             getline(liness, id2);
 
-        std::vector<int> tmp_triangle(3);
-        tmp_triangle[0] = std::stoi(id0);
-        tmp_triangle[1] = std::stoi(id1);
-        tmp_triangle[2] = std::stoi(id2);
-        list_triangles.push_back(tmp_triangle);
+             std::vector<int> tmp_triangle(3);
+             tmp_triangle[0] = StringToNumber(id0);
+             tmp_triangle[1] = StringToNumber(id1);
+             tmp_triangle[2] = StringToNumber(id2);
+             list_triangles.push_back(tmp_triangle);
 
-        count++;
+             count++;
       }
     }
   }
 }
-

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

@@ -71,5 +71,3 @@ void Model::load(const std::string path)
   storage.release();
 
 }
-
-

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

@@ -33,6 +33,3 @@ void ModelRegistration::reset()
   list_points2d_.clear();
   list_points3d_.clear();
 }
-
-
-

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

@@ -310,6 +310,3 @@ bool PnPProblem::intersect_MollerTrumbore(Ray &Ray, Triangle &Triangle, double *
   // No hit, no win
   return false;
 }
-
-
-

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

@@ -273,4 +273,3 @@ cv::Mat euler2rot(const cv::Mat & euler)
 
   return rotationMatrix;
 }
-

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

@@ -141,4 +141,3 @@ int main(int argc, char *argv[])
   data2file("computation_time.txt", comp_time);
 
 }
-