Creates a rectangular cuboid model. More...

#include "ros/ros.h"
#include <iostream>
#include <iomanip>
#include <vector>
#include <string>
#include <sstream>
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include "../MetaFile.h"
#include "DUtils.h"
#include "DUtilsCV.h"
#include "DVision.h"

Include dependency graph for createCubeModel.cpp:

Go to the source code of this file.

Classes
struct	tParams
struct	tParamsPatch
Typedefs
typedef DVision::Bundle::CameraFile::Camera	Camera
typedef DVision::PMVS::PLYFile	PLYFile
typedef DVision::PMVS::PLYFile::PLYPoint	PLYPoint
Functions
void	calculatePatchTransformations (std::vector< cv::Mat > &oTps, float W, float H, float D)
void	createCamera (const cv::Mat &im, float width, float height, const cv::Mat &oTp, Camera &camera)
void	createPLYpoints (const cv::Mat &img, float width, float height, const cv::Mat &oTp, const DVision::SurfSet &surfset, std::vector< PLYPoint > &plypoints)
void	cropImage (cv::Mat &im, float &current_width, float &current_height, float max_width, float max_height)
int	main (int argc, char *argv[])
bool	parseParams (int argc, char *argv[], tParams &params)
void	saveFace (const std::string &model_dir, int face_idx, const cv::Mat &img, const DVision::SurfSet &surfs, const std::vector< PLYPoint > &plypoints, const Camera &camera)
Variables
static const int	DEFAULT_HESSIAN_THRESHOLD = 300

Detailed Description

Creates a rectangular cuboid model.

Creates a recognition model of an object composed of several planes that form a rectangular cuboid. The model is defined by its faces and its width, height and depth.

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.

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:: 2010

Definition in file createCubeModel.cpp.

Typedef Documentation

typedef DVision::Bundle::CameraFile::Camera Camera

Definition at line 78 of file createCubeModel.cpp.

typedef DVision::PMVS::PLYFile PLYFile

Usage: createCubeModel <object name>=""> <Wo> <Ho> <Do> <output model="" dir>=""> {<patch a>=""> <wa> <ha> | - } [ ... [ {<patch f>=""> <wf> <hf> | - } ] ]

object name Wo, Ho, Do: real dimensions of the rectangular cuboid in metres (width, height and depth) output model dir: directory to store the model files patch X: path to the undistorted image of face X. wX, hX: real dimensions in metres of the image given for the face

The order of the faces and their orientation is documented here: http://www.roboearth.org/wiki/Re_vision:_Creating_object_recognition_models

Note: A patch can be skipped with a hyphen - Note: If the real dimensions of a patch are bigger than those of the corresponding face of the object, the image is cropped (anchor in the center) to make its dimensions consistent with the object. If the real dimensions of the patch are smaller than those of the object, the patch is assumed to be in the center of the corresponding face of the object.

Definition at line 76 of file createCubeModel.cpp.

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

Definition at line 77 of file createCubeModel.cpp.

Function Documentation

void calculatePatchTransformations	(	std::vector< cv::Mat > &	oTps,
		float	W,
		float	H,
		float	D
	)

Computes the transformations to convert points from the general object reference to each patch local reference

Parameters:

oTps	vector with the 6 transformations in order (from A to F)
W
H
D	real dimensions of the object

Definition at line 360 of file createCubeModel.cpp.

void createCamera	(	const cv::Mat &	im,
		float	width,
		float	height,
		const cv::Mat &	oTp,
		Camera &	camera
	)

Creates a virtual camera that would watch a patch in the given pose The virtual camera is suposed to be oriented as the patch, at a distance of 1 metre

Parameters:

im	image
width
height	real dimensions of the given image
oTp	pose of patch in the object frame
camera	virtual camera

Definition at line 422 of file createCubeModel.cpp.

void createPLYpoints	(	const cv::Mat &	img,
		float	width,
		float	height,
		const cv::Mat &	oTp,
		const DVision::SurfSet &	surfset,
		std::vector< PLYPoint > &	plypoints
	)

Generates the 3D points of the given surf features. The 3D points are given in the object reference, located in the center of the object, x pointing right, y pointing down, z going away the camera.

Parameters:

img	source color image
width
height	dimensions of the real object in metres. One dimension can be zero
oTp	transformation from the object frame to this patch frame
surfset	surfs extracted from img
plypoint	created 3d points

Definition at line 439 of file createCubeModel.cpp.

void cropImage	(	cv::Mat &	im,
		float &	current_width,
		float &	current_height,
		float	max_width,
		float	max_height
	)

Crops the given image so that it does not exceed the maximum dimensions

Parameters:

im	image
current_width	(in/out)
current_height	(in/out) current dimensions in metres of the image. They are updated with the final width and height
max_width
max_height	desired dimensions in metres

Definition at line 386 of file createCubeModel.cpp.

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

Definition at line 182 of file createCubeModel.cpp.

bool parseParams	(	int	argc,
		char *	argv[],
		tParams &	params
	)

Parses the parameters given to the program

Parameters:

argc
argv
params	parameters obtained

Returns:: true iif params are ok

Definition at line 301 of file createCubeModel.cpp.

void saveFace	(	const std::string &	model_dir,
		int	face_idx,
		const cv::Mat &	img,
		const DVision::SurfSet &	surfs,
		const std::vector< PLYPoint > &	plypoints,
		const Camera &	camera
	)

Generates under the directory model_dir the files of one face of the model

Parameters:

model_dir	output model directory
face_idx	index of this face
img	face image
surfs	surfs from img
plypoints	3d coords of the surfs keypoints
camera	intrinsic parameters of camera

Definition at line 499 of file createCubeModel.cpp.

Variable Documentation

const int DEFAULT_HESSIAN_THRESHOLD = 300 [static]

Definition at line 178 of file createCubeModel.cpp.

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

Function Documentation

Variable Documentation