bsfm::drawing Namespace Reference

Functions
void	AnnotateFeatures (const FeatureList &features, Image &image, unsigned int radius, unsigned int line_thickness)
void	DrawImageFeatures (const FeatureList &features, const Image &image, const std::string &window_name, unsigned int radius, unsigned int line_thickness)
void	DrawImageFeatureMatches (const Image &image1, const Image &image2, const FeatureMatchList &feature_matches, const std::string &window_name, unsigned int line_thickness)

Function Documentation

void bsfm::drawing::AnnotateFeatures	(	const FeatureList &	features,
		Image &	image,
		unsigned int	radius,
		unsigned int	line_thickness
	)

Definition at line 49 of file drawing_utils.cpp.

                                                                        {
  // Create a random number generator for random colors.
  math::RandomGenerator rng(math::RandomGenerator::Seed());

  // Get OpenCV mat from the input image.
  cv::Mat cv_image;
  image.ToCV(cv_image);

  for (const auto& feature : features) {
    cv::Point cv_feature;
    cv_feature.x = feature.u_;
    cv_feature.y = feature.v_;

    const cv::Scalar color(rng.Double(), rng.Double(), rng.Double());
    cv::circle(cv_image, cv_feature, radius, color, line_thickness);
  }

  // Store the OpenCV mat in the image.
  image.FromCV(cv_image);
}

void bsfm::drawing::DrawImageFeatureMatches	(	const Image &	image1,
		const Image &	image2,
		const FeatureMatchList &	feature_matches,
		const std::string &	window_name,
		unsigned int	line_thickness
	)

Definition at line 88 of file drawing_utils.cpp.

                                                          {
  // Create a random number generator for random colors.
  math::RandomGenerator rng(math::RandomGenerator::Seed());

  // Get OpenCV mats from the input images.
  cv::Mat cv_image1, cv_image2;
  image1.ToCV(cv_image1);
  image2.ToCV(cv_image2);

  // Create an OpenCV mat of the two images side by side.
  cv::Mat combined_image;
  cv::hconcat(cv_image1, cv_image2, combined_image);

  // Draw lines between feature locations in the combined image.
  for (const auto& feature_match : feature_matches) {
    cv::Point feature1;
    feature1.x = feature_match.feature1_.u_;
    feature1.y = feature_match.feature1_.v_;

    cv::Point feature2;
    feature2.x = feature_match.feature2_.u_;
    feature2.y = feature_match.feature2_.v_;
    feature2 += cv::Point(image2.Width(), 0);

    // Color channel values between [0, 1).
    const cv::Scalar color(rng.Double(), rng.Double(), rng.Double());
    cv::line(combined_image, feature1, feature2, color, line_thickness);

    // Draw circles around each feature.
    cv::circle(combined_image, feature1, line_thickness * 3 /*radius*/, color,
               line_thickness * 2);
    cv::circle(combined_image, feature2, line_thickness * 3 /*radius*/, color,
               line_thickness * 2);
  }

  // Draw the new image in a named window.
  cv::namedWindow(window_name.c_str(), CV_WINDOW_AUTOSIZE);
  cv::imshow(window_name.c_str(), combined_image);
  cv::waitKey(0);
}

void bsfm::drawing::DrawImageFeatures	(	const FeatureList &	features,
		const Image &	image,
		const std::string &	window_name,
		unsigned int	radius,
		unsigned int	line_thickness
	)

Definition at line 71 of file drawing_utils.cpp.

                                                    {
  // Annotate features on a copy of the image.
  Image copy(image);
  AnnotateFeatures(features, copy, radius, line_thickness);

  // Convert the copied image to OpenCV format.
  cv::Mat cv_copy;
  copy.ToCV(cv_copy);

  // Draw the copied and annotated image in a named window.
  cv::namedWindow(window_name.c_str(), CV_WINDOW_AUTOSIZE);
  cv::imshow(window_name.c_str(), cv_copy);
  cv::waitKey(0);
}