changeReferenceSystem.cpp File Reference

Changes reference system of points and cameras. More...

#include <iostream>
#include <fstream>
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <string>
#include <vector>
#include "Mask.h"
#include "DUtils.h"
#include "DUtilsCV.h"
#include "DVision.h"

Include dependency graph for changeReferenceSystem.cpp:

Go to the source code of this file.

Typedefs
typedef DVision::PMVS::CameraFile::Camera	Camera
typedef DVision::PMVS::CameraFile	CameraFile
typedef DVision::PMVS::PatchFile::Patch	Patch
typedef DVision::PMVS::PatchFile	PatchFile
typedef DVision::PixelPointFile::PixelPoint	PixelPoint
typedef DVision::PMVS::PLYFile	PLYFile
typedef DVision::PMVS::PLYFile::PLYPoint	PLYPoint
Functions
cv::Mat	calculateTransformation (const vector< PLYPoint > &plypoints)
int	main (int argc, char *argv[])
void	test (const Camera &camera, const PLYPoint &p)
void	transformCameras (vector< Camera > &cameras, const cv::Mat &oTw)
void	transformPoint (double &x, double &y, double &z, double s, const cv::Mat &oTw)
void	transformPoints (vector< PLYPoint > &plypoints, vector< Patch > &sparse_points, const cv::Mat &oTw)

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Detailed Description

Changes reference system of points and cameras.

Standalone application for changing the reference system of a point cloud and a set of cameras

This file is part of the RoboEarth ROS WP1 package.

It file was originally created for RoboEarth. The research leading to these results has received funding from the European Union Seventh Framework Programme FP7/2007-2013 under grant agreement no248942 RoboEarth.

Copyright (C) 2011 by Dorian Galvez-Lopez, University of Zaragoza

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.

Author:

Dorian Galvez-Lopez

Version:

1.0

Date:

2011

Definition in file changeReferenceSystem.cpp.

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Typedef Documentation

typedef DVision::PMVS::CameraFile::Camera Camera

Definition at line 51 of file changeReferenceSystem.cpp.

typedef DVision::PMVS::CameraFile CameraFile

Definition at line 50 of file changeReferenceSystem.cpp.

typedef DVision::PMVS::PatchFile::Patch Patch

Definition at line 49 of file changeReferenceSystem.cpp.

typedef DVision::PMVS::PatchFile PatchFile

Definition at line 48 of file changeReferenceSystem.cpp.

typedef DVision::PixelPointFile::PixelPoint PixelPoint

Definition at line 47 of file changeReferenceSystem.cpp.

typedef DVision::PMVS::PLYFile PLYFile

Definition at line 52 of file changeReferenceSystem.cpp.

typedef DVision::PMVS::PLYFile::PLYPoint PLYPoint

Definition at line 53 of file changeReferenceSystem.cpp.

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Function Documentation

cv::Mat calculateTransformation

(

const vector< PLYPoint > &

plypoints

)

Calculates the transformation needed to describe the points in the object reference system

Parameters:

plypoints

Returns:

a 4x4 transformation matrix

Definition at line 183 of file changeReferenceSystem.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 110 of file changeReferenceSystem.cpp.

void test	(	const Camera &	camera,
		const PLYPoint &	p
	)

Definition at line 97 of file changeReferenceSystem.cpp.

void transformCameras	(	vector< Camera > &	cameras,
		const cv::Mat &	oTw
	)

Applys a transformation to the cameras so that the projection of the new 3D points be the same as before

Parameters:

cameras
oTw

Definition at line 320 of file changeReferenceSystem.cpp.

void transformPoint	(	double &	x,
		double &	y,
		double &	z,
		double	s,
		const cv::Mat &	oTw
	)

Applies the given transformation to the given 3d point

Parameters:

x
y
z
s	scale (homogeneous coordinates)
oTw	transformation from (w)orld to (o)bject

Definition at line 300 of file changeReferenceSystem.cpp.

void transformPoints	(	vector< PLYPoint > &	plypoints,
		vector< Patch > &	sparse_points,
		const cv::Mat &	oTw
	)

Applys a transformation to the points to move them to the object reference system

Parameters:

plypoints
oTw	transformation from (w)orld to (o)bject

Definition at line 279 of file changeReferenceSystem.cpp.