Code tutorial

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

@@ -0,0 +1,54 @@
+/*
+ * Model.h
+ *
+ *  Created on: Apr 9, 2014
+ *      Author: edgar
+ */
+
+#ifndef MODEL_H_
+#define MODEL_H_
+
+#include <iostream>
+#include <opencv2/core/core.hpp>
+#include <opencv2/features2d/features2d.hpp>
+
+class Model
+{
+public:
+  Model();
+  virtual ~Model();
+
+  std::vector<cv::Point2f> get_points2d_in() const { return list_points2d_in_; }
+  std::vector<cv::Point2f> get_points2d_out() const { return list_points2d_out_; }
+  std::vector<cv::Point3f> get_points3d() const { return list_points3d_in_; }
+  std::vector<cv::KeyPoint> get_keypoints() const { return list_keypoints_; }
+  cv::Mat get_descriptors() const { return descriptors_; }
+  int get_numDescriptors() const { return descriptors_.rows; }
+
+
+  void add_correspondence(const cv::Point2f &point2d, const cv::Point3f &point3d);
+  void add_outlier(const cv::Point2f &point2d);
+  void add_descriptor(const cv::Mat &descriptor);
+  void add_keypoint(const cv::KeyPoint &kp);
+
+
+  void save(const std::string path);
+  void load(const std::string path);
+
+
+private:
+  /** The current number of correspondecnes */
+  int n_correspondences_;
+  /** The list of 2D points on the model surface */
+  std::vector<cv::KeyPoint> list_keypoints_;
+  /** The list of 2D points on the model surface */
+  std::vector<cv::Point2f> list_points2d_in_;
+  /** The list of 2D points outside the model surface */
+  std::vector<cv::Point2f> list_points2d_out_;
+  /** The list of 3D points on the model surface */
+  std::vector<cv::Point3f> list_points3d_in_;
+  /** The list of 2D points descriptors */
+  cv::Mat descriptors_;
+};
+
+#endif /* OBJECTMODEL_H_ */