2D Image Visualization

Code for drawing into camera images. More...

Files
file	vis.cpp
	Implementations for vis.h.
file	vis.h
	Code for drawing debugging info into camera images.
Typedefs
typedef list< std::pair < std::pair< double, double > , std::pair< double, double > > >	LineList
Functions
void	drawKeypoints (const vector< cv::KeyPoint > &keypoints, cv::Mat &image)
void	drawKeypoints (const ImageCoordinateVec &keypoints, cv::Mat &image)
template<class G >
void	vslam::drawLandmarkReprojections (cv::Mat &image, typename graph_traits< G >::vertex_descriptor vd, const G &g, const Points< G > &points)
void	drawLineSegments (LineList &lines, cv::Mat &image)
template<class G >
void	vslam::drawMatchedNodeKeypoints (const cv::Mat &image, typename graph_traits< G >::vertex_descriptor vd_img, typename graph_traits< G >::vertex_descriptor matched_vd, const G &g, cv::Mat out_image)
	Given an edge and frame in the edge, draws keypoints which have matches in the edge.
template<class G >
void	vslam::drawMatches (const cv::Mat &srci, typename graph_traits< G >::vertex_descriptor srcv, const cv::Mat &desti, typename graph_traits< G >::vertex_descriptor destv, const G &g)
template<class G >
void	vslam::drawMatches2 (cv::Mat &srci, typename graph_traits< G >::vertex_descriptor srcv, cv::Mat &desti, typename graph_traits< G >::vertex_descriptor destv, const G &g)
template<class G >
void	vslam::drawMatches3 (cv::Mat &srci, typename graph_traits< G >::vertex_descriptor srcv, cv::Mat &desti, typename graph_traits< G >::vertex_descriptor destv, const G &g, const Points< G > &points)
void	vslam::drawMyKpt (cv::Mat &image, cv::Point pt, cv::Scalar color)
template<class G >
void	vslam::drawNodeKeypoints (typename graph_traits< G >::vertex_descriptor vd, const G &g, const cv::Mat &image, cv::Mat &out_image)
void	drawPixelsOnPlaneThroughProjCentre (Eigen::Hyperplane< double, 3 > plane, double step, cv::Mat &image)
void	drawPixelsOnPlaneThroughProjCentre (Eigen::Hyperplane< double, 3 > plane, double step, const Vector2d &ic, cv::Mat &image)
void	drawRaySegment (const Vector3d &line, const Vector3d &point_hom, cv::Mat &img)
void	drawRaysOnEpipolarPlane (const Matrix3d &E, const ImageMatchVec &matches, cv::Mat &img1, cv::Mat &img2)
	Draws parts of epipolar curves near the corresponding keypoints.
template<class G >
void	vslam::edgeVisualization (const cv::Mat &img1, const cv::Mat &img2, G &graph, typename graph_traits< G >::vertex_descriptor vd1, typename graph_traits< G >::vertex_descriptor vd2)
	not used.
double	getInPlaneThetaByPhi (const Eigen::Hyperplane< double, 3 > &epipolar_plane, double x)
void	tmpname (const Eigen::Hyperplane< double, 3 > &plane, double max_len, double x1, double x2, LineList &lines)
void	tmpname (const Eigen::Hyperplane< double, 3 > &plane, double max_len, double x1, double x2, bool left_side, LineList &lines)

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Detailed Description

Code for drawing into camera images.

This module directly correspond to files vis.h and vis.cpp

See also:

vis.h

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Typedef Documentation

typedef list<std::pair<std::pair<double, double>, std::pair<double, double> > > LineList

Definition at line 28 of file vis.cpp.

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Function Documentation

void drawKeypoints	(	const vector< cv::KeyPoint > &	keypoints,
		cv::Mat &	image
	)

Definition at line 171 of file vis.cpp.

void drawKeypoints	(	const ImageCoordinateVec &	keypoints,
		cv::Mat &	image
	)

Definition at line 179 of file vis.cpp.

template<class G >

void vslam::drawLandmarkReprojections	(	cv::Mat &	image,
		typename graph_traits< G >::vertex_descriptor	vd,
		const G &	g,
		const Points< G > &	points
	)

Definition at line 204 of file vis.h.

void drawLineSegments	(	LineList &	lines,
		cv::Mat &	image
	)

Definition at line 63 of file vis.cpp.

template<class G >

void vslam::drawMatchedNodeKeypoints	(	const cv::Mat &	image,
		typename graph_traits< G >::vertex_descriptor	vd_img,
		typename graph_traits< G >::vertex_descriptor	matched_vd,
		const G &	g,
		cv::Mat	out_image
	)

Given an edge and frame in the edge, draws keypoints which have matches in the edge.

Parameters:

vd_img	pose for which image is given
matched_vd	non-image pose.

Definition at line 106 of file vis.h.

template<class G >

void vslam::drawMatches	(	const cv::Mat &	srci,
		typename graph_traits< G >::vertex_descriptor	srcv,
		const cv::Mat &	desti,
		typename graph_traits< G >::vertex_descriptor	destv,
		const G &	g
	)

Definition at line 131 of file vis.h.

template<class G >

void vslam::drawMatches2	(	cv::Mat &	srci,
		typename graph_traits< G >::vertex_descriptor	srcv,
		cv::Mat &	desti,
		typename graph_traits< G >::vertex_descriptor	destv,
		const G &	g
	)

Definition at line 151 of file vis.h.

template<class G >

void vslam::drawMatches3	(	cv::Mat &	srci,
		typename graph_traits< G >::vertex_descriptor	srcv,
		cv::Mat &	desti,
		typename graph_traits< G >::vertex_descriptor	destv,
		const G &	g,
		const Points< G > &	points
	)

Definition at line 169 of file vis.h.

void vslam::drawMyKpt	(	cv::Mat &	image,
		cv::Point	pt,
		cv::Scalar	color
	)		[inline]

Definition at line 195 of file vis.h.

template<class G >

void vslam::drawNodeKeypoints	(	typename graph_traits< G >::vertex_descriptor	vd,
		const G &	g,
		const cv::Mat &	image,
		cv::Mat &	out_image
	)

Definition at line 94 of file vis.h.

void drawPixelsOnPlaneThroughProjCentre	(	Eigen::Hyperplane< double, 3 >	plane,
		double	step,
		cv::Mat &	image
	)

Definition at line 74 of file vis.cpp.

void drawPixelsOnPlaneThroughProjCentre	(	Eigen::Hyperplane< double, 3 >	plane,
		double	step,
		const Vector2d &	ic,
		cv::Mat &	image
	)

Definition at line 84 of file vis.cpp.

void drawRaySegment	(	const Vector3d &	line,
		const Vector3d &	point_hom,
		cv::Mat &	img
	)

Definition at line 122 of file vis.cpp.

void drawRaysOnEpipolarPlane	(	const Matrix3d &	E,
		const ImageMatchVec &	matches,
		cv::Mat &	img1,
		cv::Mat &	img2
	)

Draws parts of epipolar curves near the corresponding keypoints.

Definition at line 135 of file vis.cpp.

template<class G >

void vslam::edgeVisualization	(	const cv::Mat &	img1,
		const cv::Mat &	img2,
		G &	graph,
		typename graph_traits< G >::vertex_descriptor	vd1,
		typename graph_traits< G >::vertex_descriptor	vd2
	)

not used.

Visualizes edge for the purposes of debugging.

Draws parts of epipolar curves near the corresponding keypoint and visualizes unmatched keypoints.

Definition at line 75 of file vis.h.

double getInPlaneThetaByPhi	(	const Eigen::Hyperplane< double, 3 > &	epipolar_plane,
		double	x
	)

Definition at line 19 of file vis.cpp.

void tmpname	(	const Eigen::Hyperplane< double, 3 > &	plane,
		double	max_len,
		double	x1,
		double	x2,
		LineList &	lines
	)

Definition at line 30 of file vis.cpp.

void tmpname	(	const Eigen::Hyperplane< double, 3 > &	plane,
		double	max_len,
		double	x1,
		double	x2,
		bool	left_side,
		LineList &	lines
	)

Definition at line 46 of file vis.cpp.