adding the Brief descriptor, associated hamming distance functors for bruteforce matching. Also adding cout << cv::Mat functions in core.

modules/core/include/opencv2/core/core.hpp

@@ -4055,5 +4055,6 @@ public:
 
 #include "opencv2/core/operations.hpp"
 #include "opencv2/core/mat.hpp"
+#include "opencv2/core/cvout.hpp"
 
 #endif /*__OPENCV_CORE_HPP__*/

modules/core/include/opencv2/core/cvout.hpp

@@ -0,0 +1,79 @@
+#ifndef __OPENCV_CORE_CVOUT_HPP__
+#define __OPENCV_CORE_CVOUT_HPP__
+#ifdef __cplusplus
+
+#ifndef SKIP_INCLUDES
+  #include <iomanip>
+  #include <iostream>
+  #include <vector>
+#endif
+
+namespace cv
+{
+
+/** Writes a point to an output stream in Matlab notation
+ */
+inline std::ostream & operator<<(std::ostream & out, const Point2f & p)
+{
+  out << "[ " << p.x << "," << p.y << " ]";
+  return out;
+}
+
+/** Writes a point to an output stream in Matlab notation
+ */
+inline std::ostream & operator<<(std::ostream & out, const Point3f & p)
+{
+  out << "[ " << p.x << "," << p.y << "," << p.z << " ]";
+  return out;
+}
+
+/** \brief	 write points to and output stream
+ *  \param out typically cout
+ *  \param points the points to be written to the stream
+ *  \return	 the stream
+ **/
+CV_EXPORTS std::ostream & operator<<(std::ostream & out, const std::vector<Point2f> & points);
+
+/** \brief	 write points to and output stream
+ *  \param out typically cout
+ *  \param points the points to be written to the stream
+ *  \return	 the stream
+ **/
+std::ostream & operator<<(std::ostream & out, const std::vector<Point3f> & points);
+
+/** \brief allows each output of Mat in Matlab for Mat to std::cout
+ * use like
+ @verbatim
+ Mat my_mat = Mat::eye(3,3,CV_32F);
+ std::cout << my_mat;
+ @endverbatim
+ */
+CV_EXPORTS std::ostream & operator<<(std::ostream & out, const Mat & mat);
+
+/** \brief write a Mat in csv compatible for Matlab.
+ This means that the rows are seperated by newlines and the
+ columns by commas ....
+ 331.413896619595,0,122.365880226491
+ 0,249.320451610369,122.146722131871
+ 0,0,1
+
+ *	\param out output stream to write to
+ *	\param Mat write a Mat to a csv
+ */
+CV_EXPORTS std::ostream & writeCSV(std::ostream & out, const Mat & mat);
+
+/** \brief write a vector of points to an
+ output stream if possible
+ **/
+CV_EXPORTS std::ostream & writeCSV(std::ostream & out, const std::vector<Point2f> & points);
+
+/** \brief write a vector of points to an
+ output stream if possible
+ **/
+CV_EXPORTS std::ostream & writeCSV(std::ostream & out, const std::vector<Point3f> & points);
+
+} //namespace cv
+
+#endif
+
+#endif

modules/core/src/cvout.cpp

@@ -0,0 +1,139 @@
+#include "opencv2/core/core.hpp"
+
+namespace cv
+{
+
+namespace
+{
+template<typename T>
+  std::ostream & writevec(std::ostream & out, const std::vector<T> & points)
+  {
+    typedef T MT_T;
+    typedef typename std::vector<T>::const_iterator CIT;
+    /* Draw Me:
+     plot2( pts1(:,1),pts1(:,2),'r.')  */
+    std::streamsize pp = out.precision();
+    out.precision(15);
+    out << "[";
+
+    CIT it = points.begin();
+
+    for (; it != points.end(); ++it)
+    {
+
+      out << *it;
+      CIT next = it;
+      if (++next != points.end())
+      {
+        out << " ";
+      }
+    }
+    out << "]";
+    out.precision(pp);
+    return out;
+  }
+
+std::ostream & writeelem(std::ostream & out, const Mat & mat, int i, int j)
+{
+  if (mat.type() == CV_32F)
+    out << mat.at<float> (i, j);
+  else if (mat.type() == CV_64F)
+    out << mat.at<double> (i, j);
+  else if (mat.type() == CV_32S)
+    out << mat.at<int> (i, j);
+  else if (mat.type() == CV_8U)
+    out << int(mat.at<unsigned char> (i, j));
+  else if (mat.type() == CV_16U)
+    out << int(mat.at<unsigned short> (i, j));
+  else
+    out << "?";
+  return out;
+}
+
+}
+
+std::ostream & operator<<(std::ostream & out, const std::vector<Point2f> & points)
+{
+  return writevec(out, points);
+}
+std::ostream & operator<<(std::ostream & out, const std::vector<Point3f> & points)
+{
+  return writevec(out, points);
+}
+
+std::ostream & operator<<(std::ostream & out, const Mat & _mat)
+{
+  std::streamsize pp = out.precision();
+  out.precision(15);
+  std::vector<Mat> channels;
+  split(_mat, channels);
+  for (int chn = 0; chn < _mat.channels(); chn++)
+  {
+    Mat mat = channels[chn];
+    out << "[";
+    for (int i = 0; i < mat.rows; i++)
+    {
+      for (int j = 0; j < mat.cols; j++)
+      {
+        writeelem(out,mat,i,j);
+        if (j < mat.cols - 1)
+          out << " ";
+      }
+      if (i < mat.rows - 1)
+        out << ";\n";
+    }
+    out << "]";
+  }
+  out.precision(pp);
+  return out;
+}
+
+std::ostream & writeCSV(std::ostream & out, const std::vector<Point3f> & points)
+{
+  std::streamsize pp = out.precision();
+  out.precision(15);
+  std::vector<Point3f>::const_iterator it = points.begin();
+
+  for (; it != points.end(); ++it)
+  {
+    out << it->x << "," << it->y << ","<< it->z << "\n";
+  }
+  out.precision(pp);
+  return out;
+}
+
+std::ostream & writeCSV(std::ostream & out, const std::vector<Point2f> & points)
+{
+  std::streamsize pp = out.precision();
+  out.precision(15);
+  std::vector<Point2f>::const_iterator it = points.begin();
+
+  for (; it != points.end(); ++it)
+  {
+    out << it->x << "," << it->y << "\n";
+  }
+  out.precision(pp);
+  return out;
+}
+
+std::ostream & writeCSV(std::ostream & out, const Mat & mat)
+{
+  std::streamsize pp = out.precision();
+  out.precision(15);
+  for (int i = 0; i < mat.rows; i++)
+  {
+
+    for (int j = 0; j < mat.cols; j++)
+    {
+      writeelem(out,mat,i,j);
+      if (j < mat.cols - 1)
+        out << ",";
+    }
+    out << "\n";
+  }
+  out.precision(pp);
+  return out;
+}
+
+}
+