Code tutorial

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Utils.h b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Utils.h
new file mode 100644 (file)
index 0000000..b6a227f
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/Utils.h
@@ -0,0 +1,75 @@
+/*
+ * Utils.h
+ *
+ *  Created on: Mar 28, 2014
+ *      Author: Edgar Riba
+ */
+
+#ifndef UTILS_H_
+#define UTILS_H_
+
+#include <iostream>
+#include <time.h>
+#include <cv.h>
+
+
+// Draw a text with the question point
+void drawQuestion(cv::Mat image, cv::Point3f point, cv::Scalar color);
+
+// Draw a text in the left of the image
+void drawText(cv::Mat image, std::string text, cv::Scalar color);
+void drawText2(cv::Mat image, std::string text, cv::Scalar color);
+void drawFPS(cv::Mat image, double fps, cv::Scalar color);
+void drawConfidence(cv::Mat image, double confidence, cv::Scalar color);
+
+// Draw a text with the number of registered points
+void drawCounter(cv::Mat image, int n, int n_max, cv::Scalar color);
+
+// Draw the points and the coordinates
+void drawPoints(cv::Mat image, std::vector<cv::Point2f> &list_points_2d, std::vector<cv::Point3f> &list_points_3d, cv::Scalar color);
+
+// Draw only the points
+void draw2DPoints(cv::Mat image, std::vector<cv::Point2f> &list_points, cv::Scalar color);
+
+// Draw the object mesh
+void drawObjectMesh(cv::Mat image, const Mesh *mesh, PnPProblem *pnpProblem, cv::Scalar color);
+
+// Draw an arrow into the image
+void drawArrow(cv::Mat image, cv::Point2i p, cv::Point2i q, cv::Scalar color, int arrowMagnitude = 9, int thickness=1, int line_type=8, int shift=0);
+
+// Draw the 3D coordinate axes
+void draw3DCoordinateAxes(cv::Mat image, const std::vector<cv::Point2f> &list_points2d);
+
+// Compute the 2D points with the esticv::Mated pose
+std::vector<cv::Point2f> verification_points(PnPProblem *p);
+
+bool equal_point(const cv::Point2f &p1, const cv::Point2f &p2);
+
+double get_translation_error(const cv::Mat &t_true, const cv::Mat &t);
+double get_rotation_error(const cv::Mat &R_true, const cv::Mat &R);
+double get_variance(const std::vector<cv::Point3f> list_points3d);
+cv::Mat rot2quat(cv::Mat &rotationMatrix);
+cv::Mat quat2rot(cv::Mat &q);
+cv::Mat euler2rot(const cv::Mat & euler);
+cv::Mat rot2euler(const cv::Mat & rotationMatrix);
+cv::Mat quat2euler(const cv::Mat & q);
+
+class Timer
+{
+public:
+  Timer();
+    void start() { tstart = (double)clock()/CLOCKS_PER_SEC; }
+    void stop()  { tstop = (double)clock()/CLOCKS_PER_SEC; }
+    void reset()  { tstart = 0;  tstop = 0;}
+
+    double getTimeMilli() const { return (tstop-tstart)*1000; }
+    double getTimeSec()   const {  return tstop-tstart; }
+
+private:
+    double tstart, tstop, ttime;
+};
+
+
+
+
+#endif /* UTILS_H_ */