cv::Ptr<Camera> Camera::read( const cv::FileNode& node )
{
std::string myName=node.name( );
if( myName != "Camera" )
{
std::string error = "Camera FileNode is not correct!\nExpected \"Camera\", got ";
error += node.name();
CV_Error( CV_StsError, error.c_str() );
}
//nothing to do as we are a fake camera...
return cv::Ptr<Camera>( NULL );
}
void read_from_yaml(cv::FileNode node, bool& b)
{
ntk_throw_exception_if(node.empty(), "Could not read " + node.name() + " from yaml file.");
int i = cvReadInt(*node, -1);
ntk_assert(i >= 0 && i <= 1, "Invalid boolean value");
b = i;
}
void SequenceAnalyzer::read( const cv::FileNode& node, SequenceAnalyzer& me )
{
std::string myName=node.name( );
if( myName != "SequenceAnalyzer" )
{
std::string error = "FileNode is not correct!\nExpected \"SequenceAnalyzer\", got ";
error += node.name();
CV_Error( CV_StsError, error.c_str() );
}
if( node.empty( ) || !node.isMap( ) )
CV_Error( CV_StsError, "SequenceAnalyzer FileNode is not correct!" );
int nb_pictures = ( int ) node[ "nbPictures" ];
//initialisation of all empty vectors
for( int i=0; i<nb_pictures; i++ )
{
Ptr<PointsToTrack> ptt;
if( i<me.images_.size() )
{
ptt = Ptr<PointsToTrack>(
new PointsToTrackWithImage( i, me.images_[i] ));
}
else
{
ptt = Ptr<PointsToTrack>( new PointsToTrack( i ));
}
me.points_to_track_.push_back( ptt );
Ptr<PointsMatcher> p_m = Ptr<PointsMatcher>( new PointsMatcher(
*me.match_algorithm_ ) );
p_m->add( ptt );
me.matches_.push_back( p_m );
}
cv::FileNode node_TrackPoints = node[ "TrackPoints" ];
//tracks are stored in the following form:
//list of track where a track is stored like this:
// nbPoints idImage1 point1 idImage2 point2 ...
if( node_TrackPoints.empty( ) || !node_TrackPoints.isSeq() )
CV_Error( CV_StsError, "SequenceAnalyzer FileNode is not correct!" );
cv::FileNodeIterator it = node_TrackPoints.begin( ),
it_end = node_TrackPoints.end( );
while( it != it_end )
{
cv::FileNode it_track = ( *it )[ 0 ];
int nbPoints,track_consistance;
it_track[ "nbPoints" ] >> nbPoints;
it_track[ "track_consistance" ] >> track_consistance;
bool has_3d_point = false;
it_track[ "has_3d_position" ] >> has_3d_point;
TrackOfPoints track;
if( has_3d_point )
{
cv::Vec3d point;
point[ 0 ] = it_track[ "point3D_triangulated" ][ 0 ];
point[ 1 ] = it_track[ "point3D_triangulated" ][ 1 ];
point[ 2 ] = it_track[ "point3D_triangulated" ][ 2 ];
track.point3D = Ptr<cv::Vec3d>( new cv::Vec3d( point ) );
}
int color;
it_track[ "color" ] >> color;
track.setColor( *((unsigned int*)&color) );
cv::FileNodeIterator itPoints = it_track[ "list_of_points" ].begin( ),
itPoints_end = it_track[ "list_of_points" ].end( );
while( itPoints != itPoints_end )
{
int idImage;
cv::KeyPoint kpt;
idImage = ( *itPoints )[ 0 ];
itPoints++;
kpt.pt.x = ( *itPoints )[ 0 ];
kpt.pt.y = ( *itPoints )[ 1 ];
kpt.size = ( *itPoints )[ 2 ];
kpt.angle = ( *itPoints )[ 3 ];
kpt.response = ( *itPoints )[ 4 ];
kpt.octave = ( *itPoints )[ 5 ];
kpt.class_id = ( *itPoints )[ 6 ];
unsigned int point_index = me.points_to_track_[ idImage ]->
addKeypoint( kpt );
track.addMatch( idImage,point_index );
itPoints++;
}
track.track_consistance = track_consistance;
me.tracks_.push_back( track );
it++;
}
}
void read_from_yaml(cv::FileNode node, cv::Mat& matrix)
{
CvMat* m = (CvMat*)node.readObj();
ntk_throw_exception_if(!m, std::string("Could not read field ") + node.name() + " from yml file.");
matrix = m;
}
void read_from_yaml(cv::FileNode node, double& b)
{
ntk_throw_exception_if(node.empty(), "Could not read " + node.name() + " from yaml file.");
b = cvReadReal(*node, 0);
}
void read_from_yaml(cv::FileNode node, int& i)
{
ntk_throw_exception_if(node.empty(), "Could not read " + node.name() + " from yaml file.");
i = cvReadInt(*node, -1);
}
void Regression::verify(cv::FileNode node, cv::InputArray array, double eps, ERROR_TYPE err)
{
int expected_kind = (int)node["kind"];
int expected_type = (int)node["type"];
ASSERT_EQ(expected_kind, array.kind()) << " Argument \"" << node.name() << "\" has unexpected kind";
ASSERT_EQ(expected_type, array.type()) << " Argument \"" << node.name() << "\" has unexpected type";
cv::FileNode valnode = node["val"];
if (isVector(array))
{
int expected_length = (int)node["len"];
ASSERT_EQ(expected_length, (int)array.total()) << " Vector \"" << node.name() << "\" has unexpected length";
int idx = node["idx"];
cv::Mat actual = array.getMat(idx);
if (valnode.isNone())
{
ASSERT_LE((size_t)26, actual.total() * (size_t)actual.channels())
<< " \"" << node.name() << "[" << idx << "]\" has unexpected number of elements";
verify(node, actual, eps, cv::format("%s[%d]", node.name().c_str(), idx), err);
}
else
{
cv::Mat expected;
valnode >> expected;
if(expected.empty())
{
ASSERT_TRUE(actual.empty())
<< " expected empty " << node.name() << "[" << idx<< "]";
}
else
{
ASSERT_EQ(expected.size(), actual.size())
<< " " << node.name() << "[" << idx<< "] has unexpected size";
cv::Mat diff;
cv::absdiff(expected, actual, diff);
if (err == ERROR_ABSOLUTE)
{
if (!cv::checkRange(diff, true, 0, 0, eps))
{
if(expected.total() * expected.channels() < 12)
std::cout << " Expected: " << std::endl << expected << std::endl << " Actual:" << std::endl << actual << std::endl;
double max;
cv::minMaxIdx(diff.reshape(1), 0, &max);
FAIL() << " Absolute difference (=" << max << ") between argument \""
<< node.name() << "[" << idx << "]\" and expected value is greater than " << eps;
}
}
else if (err == ERROR_RELATIVE)
{
double maxv, maxa;
int violations = countViolations(expected, actual, diff, eps, &maxv, &maxa);
if (violations > 0)
{
FAIL() << " Relative difference (" << maxv << " of " << maxa << " allowed) between argument \""
<< node.name() << "[" << idx << "]\" and expected value is greater than " << eps << " in " << violations << " points";
}
}
}
}
}
else
{
if (valnode.isNone())
