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00024 #ifndef __D_CV_DRAWING__
00025 #define __D_CV_DRAWING__
00026
00027 #include <vector>
00028 #include <opencv/cv.h>
00029
00030 namespace DUtilsCV
00031 {
00032
00033 class Drawing
00034 {
00035 public:
00036
00042 static void drawKeyPoints(cv::Mat &image,
00043 const std::vector<cv::KeyPoint> &keypoints);
00044
00051 static void saveKeyPointImage(const std::string &filename,
00052 const cv::Mat &image, const std::vector<cv::KeyPoint> &keypoints);
00053
00064 static void drawCorrespondences(cv::Mat &image, const cv::Mat &im1,
00065 const cv::Mat &im2, const std::vector<cv::KeyPoint> &kp1,
00066 const std::vector<cv::KeyPoint> &kp2,
00067 const std::vector<int> &c1, const std::vector<int> &c2);
00068
00079 static void saveCorrespondenceImage(const std::string &filename,
00080 const cv::Mat &im1,
00081 const cv::Mat &im2, const std::vector<cv::KeyPoint> &kp1,
00082 const std::vector<cv::KeyPoint> &kp2,
00083 const std::vector<int> &c1, const std::vector<int> &c2);
00084
00094 static void drawReferenceSystem(cv::Mat &image, const cv::Mat &cTo,
00095 const cv::Mat &A, const cv::Mat &K = cv::Mat(),
00096 float length = 0.1);
00097
00108 static void drawReferenceSystem(cv::Mat &image, const cv::Mat &cRo,
00109 const cv::Mat &cto, const cv::Mat &A, const cv::Mat &K = cv::Mat(),
00110 float length = 0.1);
00111
00122 static void drawBox(cv::Mat &image, const cv::Mat &cRo,
00123 const cv::Mat &cto, float width, float height,
00124 const cv::Mat &A, const cv::Mat &K = cv::Mat());
00125
00133 static void drawBox(cv::Mat &image, const cv::Mat &sHb, int cols, int rows);
00134
00135 };
00136
00137 }
00138
00139 #endif