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annotate c/cvutils.cpp @ 951:2a4f174879dd
corrected bug
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Mon, 24 Jul 2017 00:28:52 -0400 |
parents | 8ac7f61c6e4f |
children | 05ccd8ef150c |
rev | line source |
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9 | 1 #include "cvutils.hpp" |
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2 #include "utils.hpp" |
9 | 3 |
131 | 4 #include "opencv2/core/core.hpp" |
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5 #include "opencv2/highgui/highgui.hpp" |
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6 #include "opencv2/features2d/features2d.hpp" |
9 | 7 |
8 #include <iostream> | |
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9 #include <vector> |
9 | 10 |
11 using namespace std; | |
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12 using namespace cv; |
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13 |
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14 Point2f project(const Point2f& p, const Mat& homography) { |
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15 //Mat homogeneous(3, 1, CV_32FC1); |
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16 float x, y; |
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17 float w = homography.at<float>(2,0)*p.x+homography.at<float>(2,1)*p.y+homography.at<float>(2,2); |
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18 if (w != 0) { |
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19 x = (homography.at<float>(0,0)*p.x+homography.at<float>(0,1)*p.y+homography.at<float>(0,2))/w; |
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20 y = (homography.at<float>(1,0)*p.x+homography.at<float>(1,1)*p.y+homography.at<float>(1,2))/w; |
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21 } else { |
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22 x = 0; |
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23 y = 0; |
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24 } |
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25 return Point2f(x, y); |
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26 } |
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27 |
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28 Point2f cameraProject(const Point2f& p, const Mat& cameraMatrix) { |
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29 //Mat homogeneous(3, 1, CV_32FC1); |
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30 float x, y; |
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31 x = cameraMatrix.at<double>(0,0)*p.x+cameraMatrix.at<double>(0,2); |
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32 y = cameraMatrix.at<double>(1,1)*p.y+cameraMatrix.at<double>(1,2); |
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33 return Point2f(x, y); |
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34 } |
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35 |
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36 Mat loadMat(const string& filename, const string& separator) { |
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37 vector<vector<float> > numbers = ::loadNumbers(filename, separator); |
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38 |
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39 Mat mat; |
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40 |
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41 if (!numbers.empty()) { |
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42 mat = Mat(numbers.size(),numbers[0].size(), CV_32FC1); |
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43 for (unsigned int i=0; i<numbers.size(); i++) |
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44 for (unsigned int j=0; j<numbers[0].size(); j++) |
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45 mat.at<float>(i,j) = numbers[i][j]; |
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46 } |
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47 |
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48 return mat; |
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49 } |
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50 |
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51 void keyPoints2Points(const vector<KeyPoint>& kpts, vector<Point2f>& pts, const bool& clearPts /* = true */) { |
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52 if (clearPts) |
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53 pts.clear(); |
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54 pts.reserve(kpts.size()); |
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55 |
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56 for (unsigned int i=0; i<kpts.size(); i++) |
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57 pts.push_back(kpts[i].pt); |
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58 } |
9 | 59 |
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60 // IplImage* allocateImage(const int& width, const int& height, const int& depth, const int& channels) { return ::allocateImage(cvSize(width, height), depth, channels);} |
9 | 61 |
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62 // IplImage* allocateImage(const CvSize& size, const int& depth, const int& channels) { |
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63 // IplImage* image = cvCreateImage(size, depth, channels); |
9 | 64 |
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65 // if (!image) { |
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66 // cerr << "Error: Couldn't allocate image. Out of memory?\n" << endl; |
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67 // exit(-1); |
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68 // } |
9 | 69 |
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70 // return image; |
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71 // } |
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72 |
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73 // int goToFrameNum(CvCapture* inputVideo, const int& currentFrameNum, const int& targetFrameNum) { |
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74 // int frameNum = currentFrameNum; |
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75 // if (currentFrameNum > targetFrameNum) { |
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76 // cerr << "Current frame number " << currentFrameNum << " is after the target frame number " << targetFrameNum << "." << endl; |
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77 // } else if (currentFrameNum < targetFrameNum) { |
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78 // IplImage* frame = cvQueryFrame(inputVideo); |
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79 // frameNum++; |
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80 // while (frame && frameNum<targetFrameNum) { |
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81 // frame = cvQueryFrame(inputVideo); |
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82 // frameNum++; |
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83 // } |
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84 // } |
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85 |
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86 // return frameNum; |
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87 // } |
131 | 88 |
89 const Scalar Colors::color[] = {Colors::red(), | |
90 Colors::green(), | |
91 Colors::blue(), | |
92 Colors::cyan(), | |
93 Colors::magenta(), | |
94 Colors::yellow(), | |
95 Colors::white(), | |
96 Colors::black()}; | |
97 | |
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98 // Blue, Green, Red |
131 | 99 Scalar Colors::black(void) { return Scalar(0,0,0);} |
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100 Scalar Colors::blue(void) { return Scalar(255,0,0);} |
131 | 101 Scalar Colors::green(void) { return Scalar(0,255,0);} |
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102 Scalar Colors::red(void) { return Scalar(0,0,255);} |
131 | 103 Scalar Colors::white(void) { return Scalar(255,255,255);} |
104 Scalar Colors::magenta(void) { return Scalar(255,0,255);} | |
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105 Scalar Colors::yellow(void) { return Scalar(0,255,255);} |
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106 Scalar Colors::cyan(void) { return Scalar(255,255,0);} |
131 | 107 |
108 Scalar Colors::color3(const int& num) { return Colors::color[num%3];} | |
109 Scalar Colors::color8(const int& num) { return Colors::color[num%Colors::nColors];} |