Code tutorial

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/CsvWriter.h

+#ifndef CSVWRITER_H
+#define	CSVWRITER_H
+
+#include <fstream>
+#include <iostream>
+
+#include <opencv2/core/core.hpp>
+
+class CsvWriter {
+public:
+  CsvWriter(const std::string &path, const std::string &separator = " ");
+  ~CsvWriter();
+  void writeXYZ(const std::vector<cv::Point3f> &list_points3d);
+  void writeUVXYZ(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, const cv::Mat &descriptors);
+
+private:
+  std::ofstream _file;
+  std::string _separator;
+  bool _isFirstTerm;
+};
+
+#endif

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

+/*
+ * Utils.cpp
+ *
+ *  Created on: Mar 28, 2014
+ *      Author: Edgar Riba
+ */
+
+#include <iostream>
+#include <boost/lexical_cast.hpp>
+
+#include "PnPProblem.h"
+#include "ModelRegistration.h"
+#include "Utils.h"
+
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/nonfree/features2d.hpp>
+
+
+// For text
+int fontFace = cv::FONT_ITALIC;
+double fontScale = 0.75;
+double thickness_font = 2;
+
+// For circles
+int lineType = 8;
+int radius = 4;
+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 text = " Where is point (" + x + ","  + y + "," + z + ") ?";
+  cv::putText(image, text, cv::Point(25,50), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// Draw a text with the number of entered points
+void drawText(cv::Mat image, std::string text, cv::Scalar color)
+{
+  cv::putText(image, text, cv::Point(25,50), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// Draw a text with the number of entered points
+void drawText2(cv::Mat image, std::string text, cv::Scalar color)
+{
+  cv::putText(image, text, cv::Point(25,75), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// 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 text = fps_str + " FPS";
+  cv::putText(image, text, cv::Point(500,50), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// 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 text = conf_str + " %";
+  cv::putText(image, text, cv::Point(500,75), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// 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 text = n_str + " of " + n_max_str + " points";
+  cv::putText(image, text, cv::Point(500,50), fontFace, fontScale, color, thickness_font, 8);
+}
+
+// Draw the points and the coordinates
+void drawPoints(cv::Mat image, std::vector<cv::Point2f> &list_points_2d, std::vector<cv::Point3f> &list_points_3d, cv::Scalar color)
+{
+  for (unsigned int i = 0; i < list_points_2d.size(); ++i)
+  {
+    cv::Point2f point_2d = list_points_2d[i];
+    cv::Point3f point_3d = list_points_3d[i];
+
+    // 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 text = "P" + idx + " (" + x + "," + y + "," + z +")";
+
+    point_2d.x = point_2d.x + 10;
+    point_2d.y = point_2d.y - 10;
+    cv::putText(image, text, point_2d, fontFace, fontScale*0.5, color, thickness_font, 8);
+  }
+}
+
+// Draw only the points
+void draw2DPoints(cv::Mat image, std::vector<cv::Point2f> &list_points, cv::Scalar color)
+{
+  for( size_t i = 0; i < list_points.size(); i++)
+  {
+    cv::Point2f point_2d = list_points[i];
+
+    // Draw Selected points
+    cv::circle(image, point_2d, radius, color, -1, lineType );
+  }
+}
+
+void drawArrow(cv::Mat image, cv::Point2i p, cv::Point2i q, cv::Scalar color, int arrowMagnitude, int thickness, int line_type, int shift)
+{
+  //Draw the principle line
+  cv::line(image, p, q, color, thickness, line_type, shift);
+  const double PI = 3.141592653;
+  //compute the angle alpha
+  double angle = atan2((double)p.y-q.y, (double)p.x-q.x);
+  //compute the coordinates of the first segment
+  p.x = (int) ( q.x +  arrowMagnitude * cos(angle + PI/4));
+  p.y = (int) ( q.y +  arrowMagnitude * sin(angle + PI/4));
+  //Draw the first segment
+  cv::line(image, p, q, color, thickness, line_type, shift);
+  //compute the coordinates of the second segment
+  p.x = (int) ( q.x +  arrowMagnitude * cos(angle - PI/4));
+  p.y = (int) ( q.y +  arrowMagnitude * sin(angle - PI/4));
+  //Draw the second segment
+  cv::line(image, p, q, color, thickness, line_type, shift);
+}
+
+void draw3DCoordinateAxes(cv::Mat image, const std::vector<cv::Point2f> &list_points2d)
+{
+  cv::Scalar red(0, 0, 255);
+  cv::Scalar green(0,255,0);
+  cv::Scalar blue(255,0,0);
+  cv::Scalar black(0,0,0);
+
+  const double PI = 3.141592653;
+  int length = 50;
+
+  cv::Point2i origin = list_points2d[0];
+  cv::Point2i pointX = list_points2d[1];
+  cv::Point2i pointY = list_points2d[2];
+  cv::Point2i pointZ = list_points2d[3];
+
+  drawArrow(image, origin, pointX, red, 9, 2);
+  drawArrow(image, origin, pointY, blue, 9, 2);
+  drawArrow(image, origin, pointZ, green, 9, 2);
+  cv::circle(image, origin, radius/2, black, -1, lineType );
+
+}
+
+// Draw the object mesh
+void drawObjectMesh(cv::Mat image, const Mesh *mesh, PnPProblem *pnpProblem, cv::Scalar color)
+{
+  std::vector<std::vector<int> > list_triangles = mesh->getTrianglesList();
+  for( size_t i = 0; i < list_triangles.size(); i++)
+  {
+    std::vector<int> tmp_triangle = list_triangles.at(i);
+
+    cv::Point3f point_3d_0 = mesh->getVertex(tmp_triangle[0]);
+    cv::Point3f point_3d_1 = mesh->getVertex(tmp_triangle[1]);
+    cv::Point3f point_3d_2 = mesh->getVertex(tmp_triangle[2]);
+
+    cv::Point2f point_2d_0 = pnpProblem->backproject3DPoint(point_3d_0);
+    cv::Point2f point_2d_1 = pnpProblem->backproject3DPoint(point_3d_1);
+    cv::Point2f point_2d_2 = pnpProblem->backproject3DPoint(point_3d_2);
+
+    cv::line(image, point_2d_0, point_2d_1, color, 1);
+    cv::line(image, point_2d_1, point_2d_2, color, 1);
+    cv::line(image, point_2d_2, point_2d_0, color, 1);
+  }
+}
+
+bool equal_point(const cv::Point2f &p1, const cv::Point2f &p2)
+{
+  return ( (p1.x == p2.x) && (p1.y == p2.y) );
+}
+
+double get_translation_error(const cv::Mat &t_true, const cv::Mat &t)
+{
+  return cv::norm( t_true - t );
+}
+
+double get_rotation_error(const cv::Mat &R_true, const cv::Mat &R)
+{
+  cv::Mat error_vec, error_mat;
+  error_mat = R_true * cv::Mat(R.inv()).mul(-1);
+  cv::Rodrigues(error_mat, error_vec);
+
+  return cv::norm(error_vec);
+}
+
+cv::Mat rot2euler(const cv::Mat & rotationMatrix)
+{
+  cv::Mat euler(3,1,CV_64F);
+
+  double m00 = rotationMatrix.at<double>(0,0);
+  double m01 = rotationMatrix.at<double>(0,1);
+  double m02 = rotationMatrix.at<double>(0,2);
+  double m10 = rotationMatrix.at<double>(1,0);
+  double m11 = rotationMatrix.at<double>(1,1);
+  double m12 = rotationMatrix.at<double>(1,2);
+  double m20 = rotationMatrix.at<double>(2,0);
+  double m21 = rotationMatrix.at<double>(2,1);
+  double m22 = rotationMatrix.at<double>(2,2);
+
+  double x, y, z;
+
+  // Assuming the angles are in radians.
+  if (m10 > 0.998) { // singularity at north pole
+    x = 0;
+    y = CV_PI/2;
+    z = atan2(m02,m22);
+  }
+  else if (m10 < -0.998) { // singularity at south pole
+    x = 0;
+    y = -CV_PI/2;
+    z = atan2(m02,m22);
+  }
+  else
+  {
+    x = atan2(-m12,m11);
+    y = asin(m10);
+    z = atan2(-m20,m00);
+  }
+
+  euler.at<double>(0) = x;
+  euler.at<double>(1) = y;
+  euler.at<double>(2) = z;
+
+  return euler;
+}
+
+cv::Mat euler2rot(const cv::Mat & euler)
+{
+  cv::Mat rotationMatrix(3,3,CV_64F);
+
+  double x = euler.at<double>(0);
+  double y = euler.at<double>(1);
+  double z = euler.at<double>(2);
+
+  // Assuming the angles are in radians.
+  double ch = cos(z);
+  double sh = sin(z);
+  double ca = cos(y);
+  double sa = sin(y);
+  double cb = cos(x);
+  double sb = sin(x);
+
+  double m00, m01, m02, m10, m11, m12, m20, m21, m22;
+
+  m00 = ch * ca;
+  m01 = sh*sb - ch*sa*cb;
+  m02 = ch*sa*sb + sh*cb;
+  m10 = sa;
+  m11 = ca*cb;
+  m12 = -ca*sb;
+  m20 = -sh*ca;
+  m21 = sh*sa*cb + ch*sb;
+  m22 = -sh*sa*sb + ch*cb;
+
+  rotationMatrix.at<double>(0,0) = m00;
+  rotationMatrix.at<double>(0,1) = m01;
+  rotationMatrix.at<double>(0,2) = m02;
+  rotationMatrix.at<double>(1,0) = m10;
+  rotationMatrix.at<double>(1,1) = m11;
+  rotationMatrix.at<double>(1,2) = m12;
+  rotationMatrix.at<double>(2,0) = m20;
+  rotationMatrix.at<double>(2,1) = m21;
+  rotationMatrix.at<double>(2,2) = m22;
+
+  return rotationMatrix;
+}
+