Fix arguments parsing. Add possibility to choose between different fe…

…atures type. Add keypoints matching visualization. Auto format code.
opencv · Feb 18, 2019 · 3c92d40 · 3c92d40
1 parent 3c70d96
commit 3c92d40
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Showing 18 changed files with 1,490 additions and 1,334 deletions.
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp
@@ -1,7 +1,7 @@
 #include "CsvReader.h"
 
 /** The default constructor of the CSV reader Class */
-CsvReader::CsvReader(const string &path, const char &separator){
+CsvReader::CsvReader(const string &path, char separator){
     _file.open(path.c_str(), ifstream::in);
     _separator = separator;
 }

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.h
@@ -11,30 +11,30 @@ using namespace cv;
 
 class CsvReader {
 public:
-  /**
-  * The default constructor of the CSV reader Class.
-  * The default separator is ' ' (empty space)
-  *
-  * @param path - The path of the file to read
-  * @param separator - The separator character between words per line
-  * @return
-  */
-  CsvReader(const string &path, const char &separator = ' ');
+    /**
+    * The default constructor of the CSV reader Class.
+    * The default separator is ' ' (empty space)
+    *
+    * @param path - The path of the file to read
+    * @param separator - The separator character between words per line
+    * @return
+    */
+    CsvReader(const string &path, char separator = ' ');
 
-  /**
-  * Read a plane text file with .ply format
-  *
-  * @param list_vertex - The container of the vertices list of the mesh
-  * @param list_triangle - The container of the triangles list of the mesh
-  * @return
-  */
-  void readPLY(vector<Point3f> &list_vertex, vector<vector<int> > &list_triangles);
+    /**
+    * Read a plane text file with .ply format
+    *
+    * @param list_vertex - The container of the vertices list of the mesh
+    * @param list_triangle - The container of the triangles list of the mesh
+    * @return
+    */
+    void readPLY(vector<Point3f> &list_vertex, vector<vector<int> > &list_triangles);
 
 private:
-  /** The current stream file for the reader */
-  ifstream _file;
-  /** The separator character between words for each line */
-  char _separator;
+    /** The current stream file for the reader */
+    ifstream _file;
+    /** The separator character between words for each line */
+    char _separator;
 };
 
 #endif
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.cpp
@@ -1,48 +1,45 @@
 #include "CsvWriter.h"
 
 CsvWriter::CsvWriter(const string &path, const string &separator){
-  _file.open(path.c_str(), ofstream::out);
-  _isFirstTerm = true;
-  _separator = separator;
+    _file.open(path.c_str(), ofstream::out);
+    _isFirstTerm = true;
+    _separator = separator;
 }
 
 CsvWriter::~CsvWriter() {
-  _file.flush();
-  _file.close();
+    _file.flush();
+    _file.close();
 }
 
 void CsvWriter::writeXYZ(const vector<Point3f> &list_points3d)
 {
-  string x, y, z;
-  for(unsigned int i = 0; i < list_points3d.size(); ++i)
-  {
-    x = FloatToString(list_points3d[i].x);
-    y = FloatToString(list_points3d[i].y);
-    z = FloatToString(list_points3d[i].z);
-
-    _file << x << _separator << y << _separator << z << std::endl;
-  }
+    for(size_t i = 0; i < list_points3d.size(); ++i)
+    {
+        string x = FloatToString(list_points3d[i].x);
+        string y = FloatToString(list_points3d[i].y);
+        string z = FloatToString(list_points3d[i].z);
 
+        _file << x << _separator << y << _separator << z << std::endl;
+    }
 }
 
 void CsvWriter::writeUVXYZ(const vector<Point3f> &list_points3d, const vector<Point2f> &list_points2d, const Mat &descriptors)
 {
-  string u, v, x, y, z, descriptor_str;
-  for(unsigned int i = 0; i < list_points3d.size(); ++i)
-  {
-    u = FloatToString(list_points2d[i].x);
-    v = FloatToString(list_points2d[i].y);
-    x = FloatToString(list_points3d[i].x);
-    y = FloatToString(list_points3d[i].y);
-    z = FloatToString(list_points3d[i].z);
-
-    _file << u << _separator << v << _separator << x << _separator << y << _separator << z;
-
-    for(int j = 0; j < 32; ++j)
+    for(size_t i = 0; i < list_points3d.size(); ++i)
     {
-      descriptor_str = FloatToString(descriptors.at<float>(i,j));
-      _file << _separator << descriptor_str;
+        string u = FloatToString(list_points2d[i].x);
+        string v = FloatToString(list_points2d[i].y);
+        string x = FloatToString(list_points3d[i].x);
+        string y = FloatToString(list_points3d[i].y);
+        string z = FloatToString(list_points3d[i].z);
+
+        _file << u << _separator << v << _separator << x << _separator << y << _separator << z;
+
+        for(int j = 0; j < 32; ++j)
+        {
+            string descriptor_str = FloatToString(descriptors.at<float>((int)i,j));
+            _file << _separator << descriptor_str;
+        }
+        _file << std::endl;
     }
-    _file << std::endl;
-  }
 }
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvWriter.h
@@ -1,5 +1,5 @@
 #ifndef CSVWRITER_H
-#define	CSVWRITER_H
+#define CSVWRITER_H
 
 #include <iostream>
 #include <fstream>
@@ -11,15 +11,15 @@ using namespace cv;
 
 class CsvWriter {
 public:
-  CsvWriter(const string &path, const string &separator = " ");
-  ~CsvWriter();
-  void writeXYZ(const vector<Point3f> &list_points3d);
-  void writeUVXYZ(const vector<Point3f> &list_points3d, const vector<Point2f> &list_points2d, const Mat &descriptors);
+    CsvWriter(const string &path, const string &separator = " ");
+    ~CsvWriter();
+    void writeXYZ(const vector<Point3f> &list_points3d);
+    void writeUVXYZ(const vector<Point3f> &list_points3d, const vector<Point2f> &list_points2d, const Mat &descriptors);
 
 private:
-  ofstream _file;
-  string _separator;
-  bool _isFirstTerm;
+    ofstream _file;
+    string _separator;
+    bool _isFirstTerm;
 };
 
 #endif
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp
@@ -14,15 +14,15 @@
 // --------------------------------------------------- //
 
 /**  The custom constructor of the Triangle Class */
-Triangle::Triangle(int id, cv::Point3f V0, cv::Point3f V1, cv::Point3f V2)
+Triangle::Triangle(const cv::Point3f& V0, const cv::Point3f& V1, const cv::Point3f& V2) :
+    v0_(V0), v1_(V1), v2_(V2)
 {
-  id_ = id; v0_ = V0; v1_ = V1; v2_ = V2;
 }
 
 /**  The default destructor of the Class */
 Triangle::~Triangle()
 {
-  // TODO Auto-generated destructor stub
+    // TODO Auto-generated destructor stub
 }
 
 
@@ -31,14 +31,15 @@ Triangle::~Triangle()
 // --------------------------------------------------- //
 
 /**  The custom constructor of the Ray Class */
-Ray::Ray(cv::Point3f P0, cv::Point3f P1) {
-  p0_ = P0; p1_ = P1;
+Ray::Ray(const cv::Point3f& P0, const cv::Point3f& P1) :
+    p0_(P0), p1_(P1)
+{
 }
 
 /**  The default destructor of the Class */
 Ray::~Ray()
 {
-  // TODO Auto-generated destructor stub
+    // TODO Auto-generated destructor stub
 }
 
 
@@ -47,36 +48,31 @@ Ray::~Ray()
 // --------------------------------------------------- //
 
 /** The default constructor of the ObjectMesh Class */
-Mesh::Mesh() : list_vertex_(0) , list_triangles_(0)
+Mesh::Mesh() : num_vertices_(0), num_triangles_(0),
+    list_vertex_(0) , list_triangles_(0)
 {
-  id_ = 0;
-  num_vertexs_ = 0;
-  num_triangles_ = 0;
 }
 
 /** The default destructor of the ObjectMesh Class */
 Mesh::~Mesh()
 {
-  // TODO Auto-generated destructor stub
+    // TODO Auto-generated destructor stub
 }
 
-
 /** Load a CSV with *.ply format **/
-void Mesh::load(const std::string path)
+void Mesh::load(const std::string& path)
 {
+    // Create the reader
+    CsvReader csvReader(path);
 
-  // Create the reader
-  CsvReader csvReader(path);
-
-  // Clear previous data
-  list_vertex_.clear();
-  list_triangles_.clear();
-
-  // Read from .ply file
-  csvReader.readPLY(list_vertex_, list_triangles_);
+    // Clear previous data
+    list_vertex_.clear();
+    list_triangles_.clear();
 
-  // Update mesh attributes
-  num_vertexs_ = (int)list_vertex_.size();
-  num_triangles_ = (int)list_triangles_.size();
+    // Read from .ply file
+    csvReader.readPLY(list_vertex_, list_triangles_);
 
+    // Update mesh attributes
+    num_vertices_ = (int)list_vertex_.size();
+    num_triangles_ = (int)list_triangles_.size();
 }
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.h
@@ -19,18 +19,16 @@
 class Triangle {
 public:
 
-  explicit Triangle(int id, cv::Point3f V0, cv::Point3f V1, cv::Point3f V2);
-  virtual ~Triangle();
+    explicit Triangle(const cv::Point3f& V0, const cv::Point3f& V1, const cv::Point3f& V2);
+    virtual ~Triangle();
 
-  cv::Point3f getV0() const { return v0_; }
-  cv::Point3f getV1() const { return v1_; }
-  cv::Point3f getV2() const { return v2_; }
+    cv::Point3f getV0() const { return v0_; }
+    cv::Point3f getV1() const { return v1_; }
+    cv::Point3f getV2() const { return v2_; }
 
 private:
-  /** The identifier number of the triangle */
-  int id_;
-  /** The three vertices that defines the triangle */
-  cv::Point3f v0_, v1_, v2_;
+    /** The three vertices that defines the triangle */
+    cv::Point3f v0_, v1_, v2_;
 };
 
 
@@ -41,15 +39,15 @@ class Triangle {
 class Ray {
 public:
 
-  explicit Ray(cv::Point3f P0, cv::Point3f P1);
-  virtual ~Ray();
+    explicit Ray(const cv::Point3f& P0, const cv::Point3f& P1);
+    virtual ~Ray();
 
-  cv::Point3f getP0() { return p0_; }
-  cv::Point3f getP1() { return p1_; }
+    cv::Point3f getP0() { return p0_; }
+    cv::Point3f getP1() { return p1_; }
 
 private:
-  /** The two points that defines the ray */
-  cv::Point3f p0_, p1_;
+    /** The two points that defines the ray */
+    cv::Point3f p0_, p1_;
 };
 
 
@@ -61,26 +59,24 @@ class Mesh
 {
 public:
 
-  Mesh();
-  virtual ~Mesh();
+    Mesh();
+    virtual ~Mesh();
 
-  std::vector<std::vector<int> > getTrianglesList() const { return list_triangles_; }
-  cv::Point3f getVertex(int pos) const { return list_vertex_[pos]; }
-  int getNumVertices() const { return num_vertexs_; }
+    std::vector<std::vector<int> > getTrianglesList() const { return list_triangles_; }
+    cv::Point3f getVertex(int pos) const { return list_vertex_[pos]; }
+    int getNumVertices() const { return num_vertices_; }
 
-  void load(const std::string path_file);
+    void load(const std::string& path_file);
 
 private:
-  /** The identification number of the mesh */
-  int id_;
-  /** The current number of vertices in the mesh */
-  int num_vertexs_;
-  /** The current number of triangles in the mesh */
-  int num_triangles_;
-  /* The list of triangles of the mesh */
-  std::vector<cv::Point3f> list_vertex_;
-  /* The list of triangles of the mesh */
-  std::vector<std::vector<int> > list_triangles_;
+    /** The current number of vertices in the mesh */
+    int num_vertices_;
+    /** The current number of triangles in the mesh */
+    int num_triangles_;
+    /* The list of triangles of the mesh */
+    std::vector<cv::Point3f> list_vertex_;
+    /* The list of triangles of the mesh */
+    std::vector<std::vector<int> > list_triangles_;
 };
 
 #endif /* OBJECTMESH_H_ */