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 /*=============================================================================


   NifTK: A software platform for medical image computing.


   Copyright (c) University College London (UCL). All rights reserved.


   This software is distributed WITHOUT ANY WARRANTY; without even

   the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR

   PURPOSE.


   See LICENSE.txt in the top level directory for details.


 =============================================================================*/


 #ifndef mitkOpenCVFileIOUtils_h

 #define mitkOpenCVFileIOUtils_h


 #include "niftkOpenCVUtilsExports.h"

 #include <mitkTimeStampsContainer.h>

 #include <mitkOpenCVPointTypes.h>

 #include <highgui.h>


 namespace mitk {


 extern "C++" NIFTKOPENCVUTILS_EXPORT bool CheckIfDirectoryContainsTrackingMatrices(const std::string& directory);


 extern "C++" NIFTKOPENCVUTILS_EXPORT std::vector<std::string> FindTrackingMatrixDirectories(const std::string& directory);


 extern "C++" NIFTKOPENCVUTILS_EXPORT mitk::TimeStampsContainer FindTrackingTimeStamps(std::string directory);


 extern "C++" NIFTKOPENCVUTILS_EXPORT std::vector<std::string> FindVideoFrameMapFiles(const std::string directory);


 extern "C++" NIFTKOPENCVUTILS_EXPORT bool ReadTrackerMatrix(const std::string& filename, cv::Mat& outputMatrix);


 extern "C++" NIFTKOPENCVUTILS_EXPORT bool ReadTrackerMatrix(const std::string& filename, cv::Matx44d& outputMatrix);


 extern "C++" NIFTKOPENCVUTILS_EXPORT bool SaveTrackerMatrix(const std::string& filename, cv::Mat& outputMatrix);


 extern "C++" NIFTKOPENCVUTILS_EXPORT bool SaveTrackerMatrix(const std::string& filename, cv::Matx44d& outputMatrix);


 extern "C++" NIFTKOPENCVUTILS_EXPORT cv::VideoCapture* InitialiseVideoCapture(std::string filename, bool ignoreErrors = false);


 extern "C++" NIFTKOPENCVUTILS_EXPORT std::vector< std::pair<unsigned long long, cv::Point3d> > LoadTimeStampedPoints(const std::string& directory);


 extern "C++" NIFTKOPENCVUTILS_EXPORT void LoadTimeStampedPoints(std::vector< std::pair<unsigned long long, cv::Point3d> >& points,

     std::vector <mitk::ProjectedPointPair >& screenPoints, const std::string& fileName);


 extern "C++" NIFTKOPENCVUTILS_EXPORT void LoadTimeStampedPoints(std::vector< std::pair<unsigned long long, cv::Point2d> >& points,

     const std::string& fileName);


 extern "C++" NIFTKOPENCVUTILS_EXPORT void SaveTimeStampedPoints(const std::vector< std::pair<unsigned long long, cv::Point3d> >& points, const std::string& fileName);


 extern "C++" NIFTKOPENCVUTILS_EXPORT void SavePickedObjects ( const std::vector < mitk::PickedObject > & points, std::ostream& os );


 extern "C++" NIFTKOPENCVUTILS_EXPORT void LoadPickedObjects (  std::vector < mitk::PickedObject > & points, std::istream& is );


 extern "C++" NIFTKOPENCVUTILS_EXPORT std::vector<cv::Mat> LoadMatricesFromDirectory (const std::string& fullDirectoryName);


 extern "C++" NIFTKOPENCVUTILS_EXPORT std::vector<cv::Mat> LoadOpenCVMatricesFromDirectory (const std::string& fullDirectoryName);


 extern "C++" NIFTKOPENCVUTILS_EXPORT std::vector<cv::Mat> LoadMatricesFromExtrinsicFile (const std::string& fullFileName);


 extern "C++" NIFTKOPENCVUTILS_EXPORT void LoadStereoCameraParametersFromDirectory (const std::string& directory,

   cv::Mat* leftCameraIntrinsic, cv::Mat* leftCameraDistortion,

   cv::Mat* rightCameraIntrinsic, cv::Mat* rightCameraDisortion,

   cv::Mat* rightToLeftRotationMatrix, cv::Mat* rightToLeftTranslationVector,

   cv::Mat* leftCameraToTracker);


 extern "C++" NIFTKOPENCVUTILS_EXPORT void LoadCameraIntrinsicsFromPlainText ( const std::string& filename,

   cv::Mat* cameraIntrinsic, cv::Mat* cameraDistortion);


 extern "C++" NIFTKOPENCVUTILS_EXPORT void LoadStereoTransformsFromPlainText ( const std::string& filename,

   cv::Mat* rightToLeftRotationMatrix, cv::Mat* rightToLeftTranslationVector);


 extern "C++" NIFTKOPENCVUTILS_EXPORT void LoadHandeyeFromPlainText ( const std::string& filename,

     cv::Mat* leftCameraToTracker);


 extern "C++" NIFTKOPENCVUTILS_EXPORT mitk::PickedPointList::Pointer LoadPickedPointListFromDirectory (

     const std::string& directoryName ,

     unsigned int frameNumber = 0 ,

     unsigned long long timestamp = 0,

     std::string channel = "world",

     cv::Scalar scalar = cv::Scalar ( 255, 255, 255 ) );


 } // end namespace


 #endif


mitk::LoadHandeyeFromPlainText
void LoadHandeyeFromPlainText(const std::string &filename, cv::Mat *leftCameraToTracker)
Load the handeye matrix from a plain text file cv::Mat.
Definition: mitkOpenCVFileIOUtils.cxx:799

mitk::LoadTimeStampedPoints
std::vector< std::pair< unsigned long long, cv::Point3d > > LoadTimeStampedPoints(const std::string &directory)
Loads points from a directory, where each point is in a separate file, and the filename is a timestam...
Definition: mitkOpenCVFileIOUtils.cxx:273

mitk::FindVideoFrameMapFiles
std::vector< std::string > FindVideoFrameMapFiles(const std::string directory)
Recursively hunts for all files that look like they are a video frame map file, (.+)(framemap.log).
Definition: mitkOpenCVFileIOUtils.cxx:100

mitk::LoadStereoTransformsFromPlainText
void LoadStereoTransformsFromPlainText(const std::string &filename, cv::Mat *rightToLeftRotationMatrix, cv::Mat *rightToLeftTranslationVector)
Load stereo camera parameters from a plain text file cv::Mat.
Definition: mitkOpenCVFileIOUtils.cxx:773

mitk::LoadStereoCameraParametersFromDirectory
void LoadStereoCameraParametersFromDirectory(const std::string &directory, cv::Mat *leftCameraIntrinsic, cv::Mat *leftCameraDistortion, cv::Mat *rightCameraIntrinsic, cv::Mat *rightCameraDistortion, cv::Mat *rightToLeftRotationMatrix, cv::Mat *rightToLeftTranslationVector, cv::Mat *leftCameraToTracker)
Load stereo camera parameters from a directory.
Definition: mitkOpenCVFileIOUtils.cxx:667

mitkTimeStampsContainer.h

mitk::LoadMatricesFromDirectory
std::vector< cv::Mat > LoadMatricesFromDirectory(const std::string &fullDirectoryName)
Read a set of matrices, stored as plain text, 4x4 matrices from a directory and put them in a vector ...
Definition: mitkOpenCVFileIOUtils.cxx:544

mitk::SaveTimeStampedPoints
void SaveTimeStampedPoints(const std::vector< std::pair< unsigned long long, cv::Point3d > > &points, const std::string &fileName)
Saves points to a flat text file.
Definition: mitkOpenCVFileIOUtils.cxx:442

mitk
Definition: ReceptorMemberCommandTest.cxx:25

mitk::InitialiseVideoCapture
cv::VideoCapture * InitialiseVideoCapture(std::string filename, bool ignoreErrors)
Attempts to open a video capture and checks for errors. see trac 3718. This attempts to avoid problem...
Definition: mitkOpenCVFileIOUtils.cxx:244

mitk::LoadMatricesFromExtrinsicFile
std::vector< cv::Mat > LoadMatricesFromExtrinsicFile(const std::string &fullFileName)
Load a set of matrices from a file describing the extrinsic parameters of a standard camera calibrati...
Definition: mitkOpenCVFileIOUtils.cxx:621

mitk::ReadTrackerMatrix
bool ReadTrackerMatrix(const std::string &filename, cv::Mat &outputMatrix)
Extracted from mitkVideoTrackerMatching, reads a 4x4 matrix into a cv::Mat, and if the matrix can't b...
Definition: mitkOpenCVFileIOUtils.cxx:124

mitkOpenCVPointTypes.h
Derived point types to contain data for projection and analysis.

mitk::LoadPickedObjects
void LoadPickedObjects(std::vector< mitk::PickedObject > &points, std::istream &is)
Loads a vector of picked objects.
Definition: mitkOpenCVFileIOUtils.cxx:503

points
GLuint GLdouble GLdouble GLint GLint const GLdouble * points
Definition: glew.h:3085

mitk::FindTrackingMatrixDirectories
std::vector< std::string > FindTrackingMatrixDirectories(const std::string &directory)
Recursively hunts for all directories that look like they contain tracking matrices, .txt.
Definition: mitkOpenCVFileIOUtils.cxx:55

mitk::LoadOpenCVMatricesFromDirectory
std::vector< cv::Mat > LoadOpenCVMatricesFromDirectory(const std::string &fullDirectoryName)
Read a set of matrices, stored in openCV xml matrix format from a directory and put them in a vector ...
Definition: mitkOpenCVFileIOUtils.cxx:581

mitk::LoadCameraIntrinsicsFromPlainText
void LoadCameraIntrinsicsFromPlainText(const std::string &filename, cv::Mat *CameraIntrinsic, cv::Mat *CameraDistortion)
Load camera intrinsics from a plain text file and return results as cv::Mat.
Definition: mitkOpenCVFileIOUtils.cxx:743

mitk::TimeStampsContainer
Helper class that contains a vector of timestamps, that are assumed to be strictly increasing...
Definition: mitkTimeStampsContainer.h:30

mitk::SavePickedObjects
void SavePickedObjects(const std::vector< mitk::PickedObject > &points, std::ostream &os)
Saves a vector of picked objects.
Definition: mitkOpenCVFileIOUtils.cxx:465

mitk::CheckIfDirectoryContainsTrackingMatrices
bool CheckIfDirectoryContainsTrackingMatrices(const std::string &directory)
Iterates through a directory to see if it contains any files that have a timestamp as a name...
Definition: mitkOpenCVFileIOUtils.cxx:33

mitk::SaveTrackerMatrix
bool SaveTrackerMatrix(const std::string &filename, cv::Mat &outputMatrix)
Saves a 4x4 matrix;.
Definition: mitkOpenCVFileIOUtils.cxx:189

mitk::LoadPickedPointListFromDirectory
mitk::PickedPointList::Pointer LoadPickedPointListFromDirectory(const std::string &directory, unsigned int frameNumber, unsigned long long timestamp, std::string channel, cv::Scalar scalar)
Create an mitk::PickedPointList object from a directory of mitk point files directory contains files ...
Definition: mitkOpenCVFileIOUtils.cxx:814

string
GLsizei const GLcharARB ** string
Definition: glew.h:5194

mitk::FindTrackingTimeStamps
mitk::TimeStampsContainer FindTrackingTimeStamps(std::string directory)
Returns an mitk::TimeStampsContainer containing all the timestamps of tracking matrices.
Definition: mitkOpenCVFileIOUtils.cxx:76