Mercurial Hosting > traffic-intelligence
annotate c/cvutils.cpp @ 803:f7cf43b5ad3b dev
work in progress on stabilization
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
---|---|
date | Wed, 01 Jun 2016 01:55:45 -0400 |
parents | d3e8dd9f3ca4 |
children | 17e54690af8a |
rev | line source |
---|---|
9 | 1 #include "cvutils.hpp" |
144
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
131
diff
changeset
|
2 #include "utils.hpp" |
9 | 3 |
131 | 4 #include "opencv2/core/core.hpp" |
126
336926453b28
added conversion function from keypoint vector to point vector and cleaned headers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
12
diff
changeset
|
5 #include "opencv2/highgui/highgui.hpp" |
336926453b28
added conversion function from keypoint vector to point vector and cleaned headers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
12
diff
changeset
|
6 #include "opencv2/features2d/features2d.hpp" |
9 | 7 |
8 #include <iostream> | |
126
336926453b28
added conversion function from keypoint vector to point vector and cleaned headers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
12
diff
changeset
|
9 #include <vector> |
9 | 10 |
11 using namespace std; | |
126
336926453b28
added conversion function from keypoint vector to point vector and cleaned headers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
12
diff
changeset
|
12 using namespace cv; |
336926453b28
added conversion function from keypoint vector to point vector and cleaned headers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
12
diff
changeset
|
13 |
147
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
14 Point2f project(const Point2f& p, const Mat& homography) { |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
15 //Mat homogeneous(3, 1, CV_32FC1); |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
16 float x, y; |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
17 float w = homography.at<float>(2,0)*p.x+homography.at<float>(2,1)*p.y+homography.at<float>(2,2); |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
18 if (w != 0) { |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
19 x = (homography.at<float>(0,0)*p.x+homography.at<float>(0,1)*p.y+homography.at<float>(0,2))/w; |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
20 y = (homography.at<float>(1,0)*p.x+homography.at<float>(1,1)*p.y+homography.at<float>(1,2))/w; |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
21 } else { |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
22 x = 0; |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
23 y = 0; |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
24 } |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
25 return Point2f(x, y); |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
26 } |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
27 |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
28 Mat loadMat(const string& filename, const string& separator) { |
144
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
131
diff
changeset
|
29 vector<vector<float> > numbers = ::loadNumbers(filename, separator); |
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
131
diff
changeset
|
30 |
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
131
diff
changeset
|
31 Mat mat; |
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
131
diff
changeset
|
32 |
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
131
diff
changeset
|
33 if (!numbers.empty()) { |
803
f7cf43b5ad3b
work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
802
diff
changeset
|
34 mat = Mat(numbers.size(),numbers[0].size(), CV_64FC1); |
144
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
131
diff
changeset
|
35 for (unsigned int i=0; i<numbers.size(); i++) |
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
131
diff
changeset
|
36 for (unsigned int j=0; j<numbers[0].size(); j++) |
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
131
diff
changeset
|
37 mat.at<float>(i,j) = numbers[i][j]; |
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
131
diff
changeset
|
38 } |
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
131
diff
changeset
|
39 |
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
131
diff
changeset
|
40 return mat; |
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
131
diff
changeset
|
41 } |
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
131
diff
changeset
|
42 |
128
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
43 void keyPoints2Points(const vector<KeyPoint>& kpts, vector<Point2f>& pts, const bool& clearPts /* = true */) { |
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
44 if (clearPts) |
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
45 pts.clear(); |
127
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
126
diff
changeset
|
46 pts.reserve(kpts.size()); |
126
336926453b28
added conversion function from keypoint vector to point vector and cleaned headers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
12
diff
changeset
|
47 |
336926453b28
added conversion function from keypoint vector to point vector and cleaned headers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
12
diff
changeset
|
48 for (unsigned int i=0; i<kpts.size(); i++) |
127
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
126
diff
changeset
|
49 pts.push_back(kpts[i].pt); |
126
336926453b28
added conversion function from keypoint vector to point vector and cleaned headers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
12
diff
changeset
|
50 } |
9 | 51 |
131 | 52 const Scalar Colors::color[] = {Colors::red(), |
53 Colors::green(), | |
54 Colors::blue(), | |
55 Colors::cyan(), | |
56 Colors::magenta(), | |
57 Colors::yellow(), | |
58 Colors::white(), | |
59 Colors::black()}; | |
60 | |
427
1e3c7fe21a38
changed colors to 3.0 version
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
407
diff
changeset
|
61 // Blue, Green, Red |
131 | 62 Scalar Colors::black(void) { return Scalar(0,0,0);} |
427
1e3c7fe21a38
changed colors to 3.0 version
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
407
diff
changeset
|
63 Scalar Colors::blue(void) { return Scalar(255,0,0);} |
131 | 64 Scalar Colors::green(void) { return Scalar(0,255,0);} |
427
1e3c7fe21a38
changed colors to 3.0 version
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
407
diff
changeset
|
65 Scalar Colors::red(void) { return Scalar(0,0,255);} |
131 | 66 Scalar Colors::white(void) { return Scalar(255,255,255);} |
67 Scalar Colors::magenta(void) { return Scalar(255,0,255);} | |
427
1e3c7fe21a38
changed colors to 3.0 version
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
407
diff
changeset
|
68 Scalar Colors::yellow(void) { return Scalar(0,255,255);} |
1e3c7fe21a38
changed colors to 3.0 version
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
407
diff
changeset
|
69 Scalar Colors::cyan(void) { return Scalar(255,255,0);} |
131 | 70 |
71 Scalar Colors::color3(const int& num) { return Colors::color[num%3];} | |
72 Scalar Colors::color8(const int& num) { return Colors::color[num%Colors::nColors];} |