--- /dev/null
+/*
+ * 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();
+
+}
+
+