From 38c2cc85219486c608038baed267e56a9c5983e2 Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Wed, 30 Jul 2014 12:56:55 +0200
Subject: [PATCH] Code tutorial

---
 .../real_time_pose_estimation/src/Model.cpp        | 75 ++++++++++++++++++++++
 1 file changed, 75 insertions(+)
 create mode 100644 samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp

diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp
new file mode 100644
index 0000000..258e8dd
--- /dev/null
+++ b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Model.cpp
@@ -0,0 +1,75 @@
+/*
+ * 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();
+
+}
+
+
-- 
2.7.4