extractSurf.cpp File Reference

Extracts Surf points and associates them to real point indices. 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 extractSurf.cpp:

Go to the source code of this file.

Typedefs
typedef DVision::PixelPointFile::PixelPoint	PixelPoint
typedef DVision::SurfSet	SurfSet
Functions
void	findClosestPoints (vector< cv::KeyPoint > &keys, const vector< PixelPoint > &pixelpoints, vector< int > &indices_keys, vector< int > &indices_pp)
void	getPoints (const SurfSet &surf, const vector< PixelPoint > &pixelpoints, const vector< int > &indices_keys, const vector< int > &indices_pp, SurfSet &final_surf, vector< PixelPoint > &final_pixelpoints)
int	main (int argc, char *argv[])
void	removeSurfPoints (SurfSet &surf, const vector< unsigned int > &i_remove)
void	saveGlobalIndices (const std::string &filename, const vector< int > &indices2d, const vector< PixelPoint > &pixelpoints)
void	treatDirectory (const std::string &img_dir, const float fast_th)

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Detailed Description

Extracts Surf points and associates them to real point indices.

Standalone application for extracting Surf points and associating them to real point indices. This also generates .key.gz and the _2d3d.txt to create the final PLY files with 3D points.

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 extractSurf.cpp.

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Typedef Documentation

typedef DVision::PixelPointFile::PixelPoint PixelPoint

Definition at line 48 of file extractSurf.cpp.

typedef DVision::SurfSet SurfSet

Definition at line 49 of file extractSurf.cpp.

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Function Documentation

void findClosestPoints	(	vector< cv::KeyPoint > &	keys,
		const vector< PixelPoint > &	pixelpoints,
		vector< int > &	indices_keys,
		vector< int > &	indices_pp
	)

Definition at line 208 of file extractSurf.cpp.

void getPoints	(	const SurfSet &	surf,
		const vector< PixelPoint > &	pixelpoints,
		const vector< int > &	indices_keys,
		const vector< int > &	indices_pp,
		SurfSet &	final_surf,
		vector< PixelPoint > &	final_pixelpoints
	)

Definition at line 253 of file extractSurf.cpp.

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

Definition at line 72 of file extractSurf.cpp.

void removeSurfPoints	(	SurfSet &	surf,
		const vector< unsigned int > &	i_remove
	)

Definition at line 184 of file extractSurf.cpp.

void saveGlobalIndices	(	const std::string &	filename,
		const vector< int > &	indices2d,
		const vector< PixelPoint > &	pixelpoints
	)

void treatDirectory	(	const std::string &	img_dir,
		const float	fast_th
	)