1 #include "opencv2/core.hpp"
2 #include <opencv2/core/utility.hpp>
3 #include "opencv2/imgproc.hpp"
4 #include "opencv2/calib3d.hpp"
5 #include "opencv2/features2d.hpp"
6 #include "opencv2/highgui.hpp"
19 printf("\nSigh: This program is not complete/will be replaced. \n"
20 "So: Use this just to see hints of how to use things like Rodrigues\n"
21 " conversions, finding the fundamental matrix, using descriptor\n"
22 " finding and matching in features2d and using camera parameters\n"
23 "Usage: build3dmodel -i <intrinsics_filename>\n"
24 "\t[-d <detector>] [-de <descriptor_extractor>] -m <model_name>\n\n");
29 static bool readCameraMatrix(const string& filename,
30 Mat& cameraMatrix, Mat& distCoeffs,
31 Size& calibratedImageSize )
33 FileStorage fs(filename, FileStorage::READ);
34 fs["image_width"] >> calibratedImageSize.width;
35 fs["image_height"] >> calibratedImageSize.height;
36 fs["distortion_coefficients"] >> distCoeffs;
37 fs["camera_matrix"] >> cameraMatrix;
39 if( distCoeffs.type() != CV_64F )
40 distCoeffs = Mat_<double>(distCoeffs);
41 if( cameraMatrix.type() != CV_64F )
42 cameraMatrix = Mat_<double>(cameraMatrix);
47 static bool readModelViews( const string& filename, vector<Point3f>& box,
48 vector<string>& imagelist,
49 vector<Rect>& roiList, vector<Vec6f>& poseList )
56 FileStorage fs(filename, FileStorage::READ);
61 FileNode all = fs["views"];
62 if( all.type() != FileNode::SEQ )
64 FileNodeIterator it = all.begin(), it_end = all.end();
66 for(; it != it_end; ++it)
69 imagelist.push_back((string)n["image"]);
70 FileNode nr = n["roi"];
71 roiList.push_back(Rect((int)nr[0], (int)nr[1], (int)nr[2], (int)nr[3]));
72 FileNode np = n["pose"];
73 poseList.push_back(Vec6f((float)np[0], (float)np[1], (float)np[2],
74 (float)np[3], (float)np[4], (float)np[5]));
83 vector<Point3f> points;
84 vector<vector<int> > didx;
90 static void writeModel(const string& modelFileName, const string& modelname,
91 const PointModel& model)
93 FileStorage fs(modelFileName, FileStorage::WRITE);
95 fs << modelname << "{" <<
96 "points" << "[:" << model.points << "]" <<
99 for( size_t i = 0; i < model.didx.size(); i++ )
100 fs << "[:" << model.didx[i] << "]";
101 fs << "]" << "descriptors" << model.descriptors;
105 static void unpackPose(const Vec6f& pose, Mat& R, Mat& t)
107 Mat rvec = (Mat_<double>(3,1) << pose[0], pose[1], pose[2]);
108 t = (Mat_<double>(3,1) << pose[3], pose[4], pose[5]);
113 static Mat getFundamentalMat( const Mat& R1, const Mat& t1,
114 const Mat& R2, const Mat& t2,
115 const Mat& cameraMatrix )
117 Mat_<double> R = R2*R1.t(), t = t2 - R*t1;
118 double tx = t.at<double>(0,0), ty = t.at<double>(1,0), tz = t.at<double>(2,0);
119 Mat E = (Mat_<double>(3,3) << 0, -tz, ty, tz, 0, -tx, -ty, tx, 0)*R;
120 Mat iK = cameraMatrix.inv();
124 static bool checked = false;
127 vector<Point3f> objpoints(100);
129 randu(O, Scalar::all(-10), Scalar::all(10));
130 vector<Point2f> imgpoints1, imgpoints2;
131 projectPoints(Mat(objpoints), R1, t1, cameraMatrix, Mat(), imgpoints1);
132 projectPoints(Mat(objpoints), R2, t2, cameraMatrix, Mat(), imgpoints2);
133 double* f = (double*)F.data;
134 for( size_t i = 0; i < objpoints.size(); i++ )
136 Point2f p1 = imgpoints1[i], p2 = imgpoints2[i];
137 double diff = p2.x*(f[0]*p1.x + f[1]*p1.y + f[2]) +
138 p2.y*(f[3]*p1.x + f[4]*p1.y + f[5]) +
139 f[6]*p1.x + f[7]*p1.y + f[8];
140 CV_Assert(fabs(diff) < 1e-3);
149 static void findConstrainedCorrespondences(const Mat& _F,
150 const vector<KeyPoint>& keypoints1,
151 const vector<KeyPoint>& keypoints2,
152 const Mat& descriptors1,
153 const Mat& descriptors2,
154 vector<Vec2i>& matches,
155 double eps, double ratio)
158 int dsize = descriptors1.cols;
160 Mat Fhdr = Mat(3, 3, CV_32F, F);
161 _F.convertTo(Fhdr, CV_32F);
164 for( int i = 0; i < (int)keypoints1.size(); i++ )
166 Point2f p1 = keypoints1[i].pt;
167 double bestDist1 = DBL_MAX, bestDist2 = DBL_MAX;
168 int bestIdx1 = -1;//, bestIdx2 = -1;
169 const float* d1 = descriptors1.ptr<float>(i);
171 for( int j = 0; j < (int)keypoints2.size(); j++ )
173 Point2f p2 = keypoints2[j].pt;
174 double e = p2.x*(F[0]*p1.x + F[1]*p1.y + F[2]) +
175 p2.y*(F[3]*p1.x + F[4]*p1.y + F[5]) +
176 F[6]*p1.x + F[7]*p1.y + F[8];
179 const float* d2 = descriptors2.ptr<float>(j);
183 for( ; k <= dsize - 8; k += 8 )
185 float t0 = d1[k] - d2[k], t1 = d1[k+1] - d2[k+1];
186 float t2 = d1[k+2] - d2[k+2], t3 = d1[k+3] - d2[k+3];
187 float t4 = d1[k+4] - d2[k+4], t5 = d1[k+5] - d2[k+5];
188 float t6 = d1[k+6] - d2[k+6], t7 = d1[k+7] - d2[k+7];
189 dist += t0*t0 + t1*t1 + t2*t2 + t3*t3 +
190 t4*t4 + t5*t5 + t6*t6 + t7*t7;
192 if( dist >= bestDist2 )
196 if( dist < bestDist2 )
198 for( ; k < dsize; k++ )
200 float t = d1[k] - d2[k];
204 if( dist < bestDist1 )
206 bestDist2 = bestDist1;
207 //bestIdx2 = bestIdx1;
211 else if( dist < bestDist2 )
219 if( bestIdx1 >= 0 && bestDist1 < bestDist2*ratio )
221 Point2f p2 = keypoints1[bestIdx1].pt;
222 double e = p2.x*(F[0]*p1.x + F[1]*p1.y + F[2]) +
223 p2.y*(F[3]*p1.x + F[4]*p1.y + F[5]) +
224 F[6]*p1.x + F[7]*p1.y + F[8];
227 double threshold = bestDist1/ratio;
228 const float* d22 = descriptors2.ptr<float>(bestIdx1);
230 for( ; i1 < (int)keypoints1.size(); i1++ )
234 Point2f pt1 = keypoints1[i1].pt;
235 const float* d11 = descriptors1.ptr<float>(i1);
238 e = p2.x*(F[0]*pt1.x + F[1]*pt1.y + F[2]) +
239 p2.y*(F[3]*pt1.x + F[4]*pt1.y + F[5]) +
240 F[6]*pt1.x + F[7]*pt1.y + F[8];
244 for( int k = 0; k < dsize; k++ )
246 float t = d11[k] - d22[k];
248 if( dist >= threshold )
252 if( dist < threshold )
255 if( i1 == (int)keypoints1.size() )
256 matches.push_back(Vec2i(i,bestIdx1));
262 static Point3f findRayIntersection(Point3f k1, Point3f b1, Point3f k2, Point3f b2)
264 float a[4], b[2], x[2];
266 a[1] = a[2] = -k1.dot(k2);
268 b[0] = k1.dot(b2 - b1);
269 b[1] = k2.dot(b1 - b2);
270 Mat_<float> A(2, 2, a), B(2, 1, b), X(2, 1, x);
273 float s1 = X.at<float>(0, 0);
274 float s2 = X.at<float>(1, 0);
275 return (k1*s1 + b1 + k2*s2 + b2)*0.5f;
279 static Point3f triangulatePoint(const vector<Point2f>& ps,
280 const vector<Mat>& Rs,
281 const vector<Mat>& ts,
282 const Mat& cameraMatrix)
284 Mat_<double> K(cameraMatrix);
286 /*if( ps.size() > 2 )
288 Mat_<double> L(ps.size()*3, 4), U, evalues;
289 Mat_<double> P(3,4), Rt(3,4), Rt_part1=Rt.colRange(0,3), Rt_part2=Rt.colRange(3,4);
291 for( size_t i = 0; i < ps.size(); i++ )
293 double x = ps[i].x, y = ps[i].y;
294 Rs[i].convertTo(Rt_part1, Rt_part1.type());
295 ts[i].convertTo(Rt_part2, Rt_part2.type());
298 for( int k = 0; k < 4; k++ )
300 L(i*3, k) = x*P(2,k) - P(0,k);
301 L(i*3+1, k) = y*P(2,k) - P(1,k);
302 L(i*3+2, k) = x*P(1,k) - y*P(0,k);
306 eigen(L.t()*L, evalues, U);
307 CV_Assert(evalues(0,0) >= evalues(3,0));
309 double W = fabs(U(3,3)) > FLT_EPSILON ? 1./U(3,3) : 0;
310 return Point3f((float)(U(3,0)*W), (float)(U(3,1)*W), (float)(U(3,2)*W));
314 Mat_<float> iK = K.inv();
315 Mat_<float> R1t = Mat_<float>(Rs[0]).t();
316 Mat_<float> R2t = Mat_<float>(Rs[1]).t();
317 Mat_<float> m1 = (Mat_<float>(3,1) << ps[0].x, ps[0].y, 1);
318 Mat_<float> m2 = (Mat_<float>(3,1) << ps[1].x, ps[1].y, 1);
319 Mat_<float> K1 = R1t*(iK*m1), K2 = R2t*(iK*m2);
320 Mat_<float> B1 = -R1t*Mat_<float>(ts[0]);
321 Mat_<float> B2 = -R2t*Mat_<float>(ts[1]);
322 return findRayIntersection(*K1.ptr<Point3f>(), *B1.ptr<Point3f>(),
323 *K2.ptr<Point3f>(), *B2.ptr<Point3f>());
328 static void triangulatePoint_test(void)
331 vector<Point3f> objpt(n), delta1(n), delta2(n);
332 Mat rvec1(3,1,CV_32F), tvec1(3,1,CV_64F);
333 Mat rvec2(3,1,CV_32F), tvec2(3,1,CV_64F);
334 Mat objptmat(objpt), deltamat1(delta1), deltamat2(delta2);
335 randu(rvec1, Scalar::all(-10), Scalar::all(10));
336 randu(tvec1, Scalar::all(-10), Scalar::all(10));
337 randu(rvec2, Scalar::all(-10), Scalar::all(10));
338 randu(tvec2, Scalar::all(-10), Scalar::all(10));
340 randu(objptmat, Scalar::all(-10), Scalar::all(10));
342 randu(deltamat1, Scalar::all(-eps), Scalar::all(eps));
343 randu(deltamat2, Scalar::all(-eps), Scalar::all(eps));
344 vector<Point2f> imgpt1, imgpt2;
345 Mat_<float> cameraMatrix(3,3);
346 double fx = 1000., fy = 1010., cx = 400.5, cy = 300.5;
347 cameraMatrix << fx, 0, cx, 0, fy, cy, 0, 0, 1;
349 projectPoints(Mat(objpt)+Mat(delta1), rvec1, tvec1, cameraMatrix, Mat(), imgpt1);
350 projectPoints(Mat(objpt)+Mat(delta2), rvec2, tvec2, cameraMatrix, Mat(), imgpt2);
352 vector<Point3f> objptt(n);
353 vector<Point2f> pts(2);
354 vector<Mat> Rv(2), tv(2);
355 Rodrigues(rvec1, Rv[0]);
356 Rodrigues(rvec2, Rv[1]);
357 tv[0] = tvec1; tv[1] = tvec2;
358 for( i = 0; i < n; i++ )
360 pts[0] = imgpt1[i]; pts[1] = imgpt2[i];
361 objptt[i] = triangulatePoint(pts, Rv, tv, cameraMatrix);
363 double err = norm(Mat(objpt), Mat(objptt), NORM_INF);
364 CV_Assert(err < 1e-1);
367 typedef pair<int, int> Pair2i;
368 typedef map<Pair2i, int> Set2i;
372 EqKeypoints(const vector<int>* _dstart, const Set2i* _pairs)
373 : dstart(_dstart), pairs(_pairs) {}
375 bool operator()(const Pair2i& a, const Pair2i& b) const
377 return pairs->find(Pair2i(dstart->at(a.first) + a.second,
378 dstart->at(b.first) + b.second)) != pairs->end();
381 const vector<int>* dstart;
385 template<typename _Tp, class _EqPredicate> static
386 int partition( const std::vector<_Tp>& _vec, std::vector<int>& labels,
387 _EqPredicate predicate=_EqPredicate())
389 int i, j, N = (int)_vec.size();
390 const _Tp* vec = &_vec[0];
395 std::vector<int> _nodes(N*2);
396 int (*nodes)[2] = (int(*)[2])&_nodes[0];
398 // The first O(N) pass: create N single-vertex trees
399 for(i = 0; i < N; i++)
405 // The main O(N^2) pass: merge connected components
406 for( i = 0; i < N; i++ )
411 while( nodes[root][PARENT] >= 0 )
412 root = nodes[root][PARENT];
414 for( j = 0; j < N; j++ )
416 if( i == j || !predicate(vec[i], vec[j]))
420 while( nodes[root2][PARENT] >= 0 )
421 root2 = nodes[root2][PARENT];
426 int rank = nodes[root][RANK], rank2 = nodes[root2][RANK];
428 nodes[root2][PARENT] = root;
431 nodes[root][PARENT] = root2;
432 nodes[root2][RANK] += rank == rank2;
435 CV_Assert( nodes[root][PARENT] < 0 );
439 // compress the path from node2 to root
440 while( (parent = nodes[k][PARENT]) >= 0 )
442 nodes[k][PARENT] = root;
446 // compress the path from node to root
448 while( (parent = nodes[k][PARENT]) >= 0 )
450 nodes[k][PARENT] = root;
457 // Final O(N) pass: enumerate classes
461 for( i = 0; i < N; i++ )
464 while( nodes[root][PARENT] >= 0 )
465 root = nodes[root][PARENT];
466 // re-use the rank as the class label
467 if( nodes[root][RANK] >= 0 )
468 nodes[root][RANK] = ~nclasses++;
469 labels[i] = ~nodes[root][RANK];
475 static void build3dmodel( const Ptr<FeatureDetector>& detector,
476 const Ptr<DescriptorExtractor>& descriptorExtractor,
477 const vector<Point3f>& /*modelBox*/,
478 const vector<string>& imageList,
479 const vector<Rect>& roiList,
480 const vector<Vec6f>& poseList,
481 const Mat& cameraMatrix,
484 int progressBarSize = 10;
486 const double Feps = 5;
487 const double DescriptorRatio = 0.7;
489 vector<vector<KeyPoint> > allkeypoints;
491 vector<float> alldescriptorsVec;
492 vector<Vec2i> pairwiseMatches;
494 int descriptorSize = 0;
496 Set2i pairs, keypointsIdxMap;
498 model.points.clear();
503 size_t nimages = imageList.size();
504 size_t nimagePairs = (nimages - 1)*nimages/2 - nimages;
506 printf("\nComputing descriptors ");
508 // 1. find all the keypoints and all the descriptors
509 for( size_t i = 0; i < nimages; i++ )
511 Mat img = imread(imageList[i], 1), gray;
512 cvtColor(img, gray, COLOR_BGR2GRAY);
514 vector<KeyPoint> keypoints;
515 detector->detect(gray, keypoints);
516 descriptorExtractor->compute(gray, keypoints, descriptorbuf);
517 Point2f roiofs = roiList[i].tl();
518 for( size_t k = 0; k < keypoints.size(); k++ )
519 keypoints[k].pt += roiofs;
520 allkeypoints.push_back(keypoints);
522 Mat buf = descriptorbuf;
523 if( !buf.isContinuous() || buf.type() != CV_32F )
526 descriptorbuf.convertTo(buf, CV_32F);
528 descriptorSize = buf.cols;
530 size_t prev = alldescriptorsVec.size();
531 size_t delta = buf.rows*buf.cols;
532 alldescriptorsVec.resize(prev + delta);
533 std::copy(buf.ptr<float>(), buf.ptr<float>() + delta,
534 alldescriptorsVec.begin() + prev);
535 dstart.push_back(dstart.back() + (int)keypoints.size());
538 unpackPose(poseList[i], R, t);
542 if( (i+1)*progressBarSize/nimages > i*progressBarSize/nimages )
549 Mat alldescriptors((int)alldescriptorsVec.size()/descriptorSize, descriptorSize, CV_32F,
550 &alldescriptorsVec[0]);
552 printf("\nOk. total images = %d. total keypoints = %d\n",
553 (int)nimages, alldescriptors.rows);
555 printf("\nFinding correspondences ");
559 vector<Point2f> pts_k(2);
560 vector<Mat> Rs_k(2), ts_k(2);
561 //namedWindow("img1", 1);
562 //namedWindow("img2", 1);
564 // 2. find pairwise correspondences
565 for( size_t i = 0; i < nimages; i++ )
566 for( size_t j = i+1; j < nimages; j++ )
568 const vector<KeyPoint>& keypoints1 = allkeypoints[i];
569 const vector<KeyPoint>& keypoints2 = allkeypoints[j];
570 Mat descriptors1 = alldescriptors.rowRange(dstart[i], dstart[i+1]);
571 Mat descriptors2 = alldescriptors.rowRange(dstart[j], dstart[j+1]);
573 Mat F = getFundamentalMat(Rs[i], ts[i], Rs[j], ts[j], cameraMatrix);
575 findConstrainedCorrespondences( F, keypoints1, keypoints2,
576 descriptors1, descriptors2,
577 pairwiseMatches, Feps, DescriptorRatio );
579 //pairsFound += (int)pairwiseMatches.size();
581 //Mat img1 = imread(format("%s/frame%04d.jpg", model.name.c_str(), (int)i), 1);
582 //Mat img2 = imread(format("%s/frame%04d.jpg", model.name.c_str(), (int)j), 1);
584 //double avg_err = 0;
585 for( size_t k = 0; k < pairwiseMatches.size(); k++ )
587 int i1 = pairwiseMatches[k][0], i2 = pairwiseMatches[k][1];
589 pts_k[0] = keypoints1[i1].pt;
590 pts_k[1] = keypoints2[i2].pt;
591 Rs_k[0] = Rs[i]; Rs_k[1] = Rs[j];
592 ts_k[0] = ts[i]; ts_k[1] = ts[j];
593 Point3f objpt = triangulatePoint(pts_k, Rs_k, ts_k, cameraMatrix);
595 vector<Point3f> objpts;
596 objpts.push_back(objpt);
597 vector<Point2f> imgpts1, imgpts2;
598 projectPoints(Mat(objpts), Rs_k[0], ts_k[0], cameraMatrix, Mat(), imgpts1);
599 projectPoints(Mat(objpts), Rs_k[1], ts_k[1], cameraMatrix, Mat(), imgpts2);
601 double e1 = norm(imgpts1[0] - keypoints1[i1].pt);
602 double e2 = norm(imgpts2[0] - keypoints2[i2].pt);
608 //model.points.push_back(objpt);
609 pairs[Pair2i(i1+dstart[i], i2+dstart[j])] = 1;
610 pairs[Pair2i(i2+dstart[j], i1+dstart[i])] = 1;
611 keypointsIdxMap[Pair2i((int)i,i1)] = 1;
612 keypointsIdxMap[Pair2i((int)j,i2)] = 1;
613 //CV_Assert(e1 < 5 && e2 < 5);
614 //Scalar color(rand()%256,rand()%256, rand()%256);
615 //circle(img1, keypoints1[i1].pt, 2, color, -1, CV_AA);
616 //circle(img2, keypoints2[i2].pt, 2, color, -1, CV_AA);
618 //printf("avg err = %g\n", pairwiseMatches.size() ? avg_err/(2*pairwiseMatches.size()) : 0.);
619 //imshow("img1", img1);
620 //imshow("img2", img2);
623 if( (i+1)*progressBarSize/nimagePairs > i*progressBarSize/nimagePairs )
630 printf("\nOk. Total pairs = %d\n", pairsFound );
632 // 3. build the keypoint clusters
633 vector<Pair2i> keypointsIdx;
634 Set2i::iterator kpidx_it = keypointsIdxMap.begin(), kpidx_end = keypointsIdxMap.end();
636 for( ; kpidx_it != kpidx_end; ++kpidx_it )
637 keypointsIdx.push_back(kpidx_it->first);
639 printf("\nClustering correspondences ");
642 int nclasses = partition( keypointsIdx, labels, EqKeypoints(&dstart, &pairs) );
644 printf("\nOk. Total classes (i.e. 3d points) = %d\n", nclasses );
646 model.descriptors.create((int)keypointsIdx.size(), descriptorSize, CV_32F);
647 model.didx.resize(nclasses);
648 model.points.resize(nclasses);
650 vector<vector<Pair2i> > clusters(nclasses);
651 for( size_t i = 0; i < keypointsIdx.size(); i++ )
652 clusters[labels[i]].push_back(keypointsIdx[i]);
654 // 4. now compute 3D points corresponding to each cluster and fill in the model data
655 printf("\nComputing 3D coordinates ");
658 for( int k = 0; k < nclasses; k++ )
660 int i, n = (int)clusters[k].size();
664 model.didx[k].resize(n);
665 for( i = 0; i < n; i++ )
667 int imgidx = clusters[k][i].first, ptidx = clusters[k][i].second;
668 Mat dstrow = model.descriptors.row(globalDIdx);
669 alldescriptors.row(dstart[imgidx] + ptidx).copyTo(dstrow);
671 model.didx[k][i] = globalDIdx++;
672 pts_k[i] = allkeypoints[imgidx][ptidx].pt;
673 Rs_k[i] = Rs[imgidx];
674 ts_k[i] = ts[imgidx];
676 Point3f objpt = triangulatePoint(pts_k, Rs_k, ts_k, cameraMatrix);
677 model.points[k] = objpt;
679 if( (i+1)*progressBarSize/nclasses > i*progressBarSize/nclasses )
686 Mat img(768, 1024, CV_8UC3);
687 vector<Point2f> imagePoints;
688 namedWindow("Test", 1);
690 // visualize the cloud
691 for( size_t i = 0; i < nimages; i++ )
693 img = imread(format("%s/frame%04d.jpg", model.name.c_str(), (int)i), 1);
694 projectPoints(Mat(model.points), Rs[i], ts[i], cameraMatrix, Mat(), imagePoints);
696 for( int k = 0; k < (int)imagePoints.size(); k++ )
697 circle(img, imagePoints[k], 2, Scalar(0,255,0), -1, LINE_AA, 0);
701 if( c == 'q' || c == 'Q' )
707 int main(int argc, char** argv)
709 const char* intrinsicsFilename = 0;
710 const char* modelName = 0;
711 const char* detectorName = "SURF";
712 const char* descriptorExtractorName = "SURF";
714 vector<Point3f> modelBox;
715 vector<string> imageList;
716 vector<Rect> roiList;
717 vector<Vec6f> poseList;
725 for( int i = 1; i < argc; i++ )
727 if( strcmp(argv[i], "-i") == 0 )
728 intrinsicsFilename = argv[++i];
729 else if( strcmp(argv[i], "-m") == 0 )
730 modelName = argv[++i];
731 else if( strcmp(argv[i], "-d") == 0 )
732 detectorName = argv[++i];
733 else if( strcmp(argv[i], "-de") == 0 )
734 descriptorExtractorName = argv[++i];
738 printf("Incorrect option\n");
743 if( !intrinsicsFilename || !modelName )
745 printf("Some of the required parameters are missing\n");
750 triangulatePoint_test();
752 Mat cameraMatrix, distCoeffs;
753 Size calibratedImageSize;
754 readCameraMatrix(intrinsicsFilename, cameraMatrix, distCoeffs, calibratedImageSize);
756 Ptr<FeatureDetector> detector = FeatureDetector::create(detectorName);
757 Ptr<DescriptorExtractor> descriptorExtractor = DescriptorExtractor::create(descriptorExtractorName);
759 string modelIndexFilename = format("%s_segm/frame_index.yml", modelName);
760 if(!readModelViews( modelIndexFilename, modelBox, imageList, roiList, poseList))
762 printf("Can not read the model. Check the parameters and the working directory\n");
768 model.name = modelName;
769 build3dmodel( detector, descriptorExtractor, modelBox,
770 imageList, roiList, poseList, cameraMatrix, model );
771 string outputModelName = format("%s_model.yml.gz", modelName);
774 printf("\nDone! Now saving the model ...\n");
775 writeModel(outputModelName, modelName, model);