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annotate c/cvutils.cpp @ 802:d3e8dd9f3ca4 dev

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current dev for drone stabilization
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 31 May 2016 17:59:35 -0400
parents 1e3c7fe21a38
children f7cf43b5ad3b
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1 #include "cvutils.hpp"
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2 #include "utils.hpp"
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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"
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8 #include <iostream>
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9 #include <vector>
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11 using namespace std;
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12 using namespace cv;
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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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28 Mat loadMat(const string& filename, const string& separator) {
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29 vector<vector<float> > numbers = ::loadNumbers(filename, separator);
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31 Mat mat;
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33 if (!numbers.empty()) {
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34 mat = Mat(numbers.size(),numbers[0].size(), CV_32FC1);
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35 for (unsigned int i=0; i<numbers.size(); i++)
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36 for (unsigned int j=0; j<numbers[0].size(); j++)
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37 mat.at<float>(i,j) = numbers[i][j];
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38 }
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40 return mat;
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41 }
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43 void keyPoints2Points(const vector<KeyPoint>& kpts, vector<Point2f>& pts, const bool& clearPts /* = true */) {
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44 if (clearPts)
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45 pts.clear();
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46 pts.reserve(kpts.size());
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48 for (unsigned int i=0; i<kpts.size(); i++)
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49 pts.push_back(kpts[i].pt);
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50 }
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52 const Scalar Colors::color[] = {Colors::red(),
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53 Colors::green(),
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54 Colors::blue(),
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55 Colors::cyan(),
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56 Colors::magenta(),
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57 Colors::yellow(),
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58 Colors::white(),
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59 Colors::black()};
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61 // Blue, Green, Red
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62 Scalar Colors::black(void) { return Scalar(0,0,0);}
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63 Scalar Colors::blue(void) { return Scalar(255,0,0);}
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64 Scalar Colors::green(void) { return Scalar(0,255,0);}
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65 Scalar Colors::red(void) { return Scalar(0,0,255);}
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66 Scalar Colors::white(void) { return Scalar(255,255,255);}
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67 Scalar Colors::magenta(void) { return Scalar(255,0,255);}
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68 Scalar Colors::yellow(void) { return Scalar(0,255,255);}
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69 Scalar Colors::cyan(void) { return Scalar(255,255,0);}
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71 Scalar Colors::color3(const int& num) { return Colors::color[num%3];}
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72 Scalar Colors::color8(const int& num) { return Colors::color[num%Colors::nColors];}