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This commit is contained in:
edgarriba 2014-08-05 17:27:20 +02:00
parent 0d2bc9b0a1
commit 7b0be9cf8f
9 changed files with 57 additions and 77 deletions
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2
doc/tutorials/calib3d/real_time_pose/real_time_pose.rst
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@ -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.

10
modules/calib3d/src/dls.cpp
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@ -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;
}

8
samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt
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@ -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

104
samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
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@ -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++;
}
}
}
}

2
samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp
View File

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

3
samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/ModelRegistration.cpp
View File

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

3
samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp
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@ -310,6 +310,3 @@ bool PnPProblem::intersect_MollerTrumbore(Ray &Ray, Triangle &Triangle, double *
// No hit, no win
return false;
}

1
samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp
View File

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

1
samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/test_pnp.cpp
View File

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