createPointCloudModelBak.cpp File Reference

#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 createPointCloudModelBak.cpp:

Go to the source code of this file.

Typedefs
typedef DVision::Bundle::CameraFile::Camera	Camera
typedef DVision::PMVS::PLYFile	PLYFile
typedef DVision::PMVS::PLYFile::PLYPoint	PLYPoint
Functions
void	createCamera (const cv::Mat &im, float width, float height, Camera &camera)
void	createPLYpoints (const cv::Mat &img, float width, float height, const DVision::SurfSet &surfset, std::vector< PLYPoint > &plypoints)
int	main (int argc, char **argv)
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 = 400

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Typedef Documentation

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

Definition at line 65 of file createPointCloudModelBak.cpp.

typedef DVision::PMVS::PLYFile PLYFile

Usage: createPlanarModel <training image>=""> <object name>=""> <width (m)> <height (m)> <output model="" dir>=""> [surf threshold]

training image: undistorted image of the object object name width, height: real width and height of the object in metres output model dir: directory to store the files of the model in (must exist)

Definition at line 63 of file createPointCloudModelBak.cpp.

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

Definition at line 64 of file createPointCloudModelBak.cpp.

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Function Documentation

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

Creates a virtual camera that would watch the object in front of it The virtual camera is suposed to be oriented as the object, at a distance of 1 metre

Parameters:

im	image
width
height	real dimensions of the given image
camera	virtual camera

void createPLYpoints	(	const cv::Mat &	img,
		float	width,
		float	height,
		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
surfset	surfs extracted from img
plypoint	created 3d points

int main	(	int	argc,
		char **	argv
	)

Definition at line 116 of file createPointCloudModelBak.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

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Variable Documentation

const int DEFAULT_HESSIAN_THRESHOLD = 400 [static]

Definition at line 112 of file createPointCloudModelBak.cpp.