root/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp

DEFINITIONS

1. list_points3d_in_
2. add_correspondence
3. add_outlier
4. add_descriptor
5. add_keypoint
6. save
7. load

/*
 * Model.cpp
 *
 *  Created on: Apr 9, 2014
 *      Author: edgar
 */

#include "Model.h"
#include "CsvWriter.h"

Model::Model() : list_points2d_in_(0), list_points2d_out_(0), list_points3d_in_(0)
{
  n_correspondences_ = 0;
}

Model::~Model()
{
  // TODO Auto-generated destructor stub
}

void Model::add_correspondence(const cv::Point2f &point2d, const cv::Point3f &point3d)
{
  list_points2d_in_.push_back(point2d);
  list_points3d_in_.push_back(point3d);
  n_correspondences_++;
}

void Model::add_outlier(const cv::Point2f &point2d)
{
  list_points2d_out_.push_back(point2d);
}

void Model::add_descriptor(const cv::Mat &descriptor)
{
  descriptors_.push_back(descriptor);
}

void Model::add_keypoint(const cv::KeyPoint &kp)
{
  list_keypoints_.push_back(kp);
}


/** Save a CSV file and fill the object mesh */
void Model::save(const std::string path)
{
  cv::Mat points3dmatrix = cv::Mat(list_points3d_in_);
  cv::Mat points2dmatrix = cv::Mat(list_points2d_in_);
  //cv::Mat keyPointmatrix = cv::Mat(list_keypoints_);

  cv::FileStorage storage(path, cv::FileStorage::WRITE);
  storage << "points_3d" << points3dmatrix;
  storage << "points_2d" << points2dmatrix;
  storage << "keypoints" << list_keypoints_;
  storage << "descriptors" << descriptors_;

  storage.release();
}

/** Load a YAML file using OpenCv functions **/
void Model::load(const std::string path)
{
  cv::Mat points3d_mat;

  cv::FileStorage storage(path, cv::FileStorage::READ);
  storage["points_3d"] >> points3d_mat;
  storage["descriptors"] >> descriptors_;

  points3d_mat.copyTo(list_points3d_in_);

  storage.release();

}