DUtilsCV::Drawing Class Reference

Drawing functions. More...

#include <Drawing.h>

List of all members.

Classes
class	Plot
	Allows to plot numeric data. More...
Static Public Member Functions
static void	drawKeyPoints (cv::Mat &image, const std::vector< cv::KeyPoint > &keypoints, bool colorOctave=false, bool useCartesianAngle=false)
static void	saveKeyPointImage (const std::string &filename, const cv::Mat &image, const std::vector< cv::KeyPoint > &keypoints)
static void	drawCorrespondences (cv::Mat &image, const cv::Mat &im1, const cv::Mat &im2, const std::vector< cv::KeyPoint > &kp1, const std::vector< cv::KeyPoint > &kp2, const std::vector< int > &c1, const std::vector< int > &c2)
static void	saveCorrespondenceImage (const std::string &filename, const cv::Mat &im1, const cv::Mat &im2, const std::vector< cv::KeyPoint > &kp1, const std::vector< cv::KeyPoint > &kp2, const std::vector< int > &c1, const std::vector< int > &c2)
static void	drawReferenceSystem (cv::Mat &image, const cv::Mat &cTo, const cv::Mat &A, const cv::Mat &K=cv::Mat(), float length=0.1)
static void	drawReferenceSystem (cv::Mat &image, const cv::Mat &cRo, const cv::Mat &cto, const cv::Mat &A, const cv::Mat &K=cv::Mat(), float length=0.1)
static void	drawBox (cv::Mat &image, const cv::Mat &cRo, const cv::Mat &cto, float width, float height, const cv::Mat &A, const cv::Mat &K=cv::Mat(), std::vector< cv::Point2f > *box=NULL, const Plot::Style &style=Plot::Style('r', 2))
static void	drawBox (cv::Mat &image, const cv::Mat &sHb, int cols, int rows, std::vector< cv::Point2f > *box=NULL, const Plot::Style &style=Plot::Style('r', 2))
template<class T >
static void	plot (cv::Mat &image, const std::vector< T > &x, const std::vector< T > &y, int thickness=1, const cv::Scalar &color=cv::Scalar(0), const cv::Scalar &bgcolor=cv::Scalar(255, 255, 255))

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Detailed Description

Drawing functions.

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Member Function Documentation

void Drawing::drawBox	(	cv::Mat &	image,
		const cv::Mat &	sHb,
		int	cols,
		int	rows,
		std::vector< cv::Point2f > *	box = NULL,
		const Plot::Style &	style = Plot::Style('r', 2)
	)			[static]

Draws a rectangle in the image from an homography

Parameters:

	image	image to draw
	sHb	homography from a orthonormal plane to the image
	cols
	rows	dimensions of the plane in pixels
	box	if given, the image coordinates of the box corners are returned here

void Drawing::drawBox	(	cv::Mat &	image,
		const cv::Mat &	cRo,
		const cv::Mat &	cto,
		float	width,
		float	height,
		const cv::Mat &	A,
		const cv::Mat &	K = cv::Mat(),
		std::vector< cv::Point2f > *	box = NULL,
		const Plot::Style &	style = Plot::Style('r', 2)
	)			[static]

Draws a rectangle in the image from its location in the 3D space

Parameters:

	image	image to draw
	cRo	rotation from camera to the center of the rectangle
	cto	translation from camera to the center of the rectangle
	width
	height	dimensions of the rectangle in metres
	A	intrinsic camera parameters
	K	distortion of the camera
	box	if given, the image coordinates of the box corners are returned here

void Drawing::drawCorrespondences	(	cv::Mat &	image,
		const cv::Mat &	im1,
		const cv::Mat &	im2,
		const std::vector< cv::KeyPoint > &	kp1,
		const std::vector< cv::KeyPoint > &	kp2,
		const std::vector< int > &	c1,
		const std::vector< int > &	c2
	)			[static]

Creates an image with correspondences

Parameters:

	image	return image
	im1
	im2
	kp1	keypoints from im1
	kp2	keypoints from im2
	c1	indices of correspondences from kp1
	c2	indices of correspondences from kp2

void Drawing::drawKeyPoints	(	cv::Mat &	image,
		const std::vector< cv::KeyPoint > &	keypoints,
		bool	colorOctave = false,
		bool	useCartesianAngle = false
	)			[static]

Draws keypoints on an image

Parameters:

	image
	keypoints
	useCartesianAngle	if true, the angle of the keypoints is assumed to be in Cartesian axis. If false, the vision reference is used instead (X points right, Y points up)
	colorOctave	if true, the keypoint color codes the keypoint octave (1: red, 2: green, 3: blue, other: whie)

Note:

OpenCV SURF keypoints use Cartesian coordinates

OpenCV ORB keypoints use vision coordinates

void Drawing::drawReferenceSystem	(	cv::Mat &	image,
		const cv::Mat &	cRo,
		const cv::Mat &	cto,
		const cv::Mat &	A,
		const cv::Mat &	K = cv::Mat(),
		float	length = 0.1
	)			[static]

Draws a reference system in the given image with axes x red, y green, z blue

Parameters:

	image	image to draw
	cRo	rotation from camera to the origin of the drawn reference
	cto	translation from camera to the origin of the drawn reference
	A	intrinsic camera parameters
	K	distortion of the camera
	length	length of axes

void Drawing::drawReferenceSystem	(	cv::Mat &	image,
		const cv::Mat &	cTo,
		const cv::Mat &	A,
		const cv::Mat &	K = cv::Mat(),
		float	length = 0.1
	)			[static]

Draws a reference system in the given image with axes x red, y green, z blue

Parameters:

	image	image to draw
	cTo	transformation from camera to the origin of the drawn reference
	A	intrinsic camera parameters
	K	distortion of the camera
	length	length of axes

template<class T >

static void DUtilsCV::Drawing::plot	(	cv::Mat &	image,
		const std::vector< T > &	x,
		const std::vector< T > &	y,
		int	thickness = 1,
		const cv::Scalar &	color = cv::Scalar(0),
		const cv::Scalar &	bgcolor = cv::Scalar(255, 255, 255)
	)			[inline, static]

Creates an image with data plotted

Parameters:

	image	image in which create the plot
	x	x coordinates of points (any unit)
	y	y coordinates of points (any unit)
	thickness	thickness of lines
	color	line color
	bgcolor	background color

void Drawing::saveCorrespondenceImage	(	const std::string &	filename,
		const cv::Mat &	im1,
		const cv::Mat &	im2,
		const std::vector< cv::KeyPoint > &	kp1,
		const std::vector< cv::KeyPoint > &	kp2,
		const std::vector< int > &	c1,
		const std::vector< int > &	c2
	)			[static]

Creates and saves an image with correspondences

Parameters:

	filename	file to create
	im1
	im2
	kp1	keypoints from im1
	kp2	keypoints from im2
	c1	indices of correspondences from kp1
	c2	indices of correspondences from kp2

void Drawing::saveKeyPointImage	(	const std::string &	filename,
		const cv::Mat &	image,
		const std::vector< cv::KeyPoint > &	keypoints
	)			[static]

Draws and saves keypoints on an image

Parameters:

	filename
	image
	keypoints

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The documentation for this class was generated from the following files:

• Drawing.h
• Drawing.cpp