kauevestena

#include <stdio.h>		// Needed for printf etc
#include <objbase.h>	// Needed for COM functionality
#include "xsens_cmt_static.h"
#include <conio.h>		// included for _getch and _kbhit
#include <string.h>
#include <time.h>
#include <iostream>
#include <math.h>
#include <cv.h>

kauevestena

//you shall need opencv and/or armadillo libs
//you may need to load 'kStringManip.h'

Mat loadMatrixFromXML(string filename)
{
        Mat m;
        FileStorage fs(filename, FileStorage::READ);
        fs[subsBefChar(filename,".")] >> m;
            fs.release();
        return m;

kauevestena

string subsAfLChar(string input,string character)
{
//return the string after the last occur. of the specified character
int pos = input.rfind(character);
if(pos != -1)
{
    return input.substr(pos+1,string::npos);
}
else {return "";}
}

kauevestena

std::vector<cv::Point2f> objectPoints_(int h_,int v_,double lenght)
{
//function to return a list of object points, giving the parameters of a checkerboard
std::vector<cv::Point2f> object_points;
cv::Point2f temp;

for (int i=0;i<v_;i++)
{
    for (int j=0;j<h_;j++)
    {

kauevestena

string dateTimeString()
{
//return a string with the date and time
  time_t rawtime;

  time (&rawtime);;

  return ctime(&rawtime);
}

kauevestena

    void filterMatches(const std::vector<cv::DMatch> matches,const std::vector<cv::KeyPoint>&keypoints1,const std::vector<cv::KeyPoint>& keypoints2,std::vector<cv::DMatch>& goodMatches,double dist,double confidence_interval)
    {
        goodMatches.clear();
        // converting keypoints to just 2D points
        std::vector<cv::Point2f> points1, points2;
        for (std::vector<cv::DMatch>::const_iterator it= matches.begin();it!= matches.end(); ++it)
        {
            // from de matches, extract just the keypoints of the left frame
            float x= keypoints1[it->queryIdx].pt.x;
            float y= keypoints1[it->queryIdx].pt.y;