delete old files

examples/vSLAMexample/FeatureDetector.cpp

@@ -1,88 +0,0 @@
-#include "FeatureDetector.h"
-#include "landmarkUtils.h"
-#include <fstream>
-#include <stdio.h>
-
-using namespace cv;
-using namespace std;
-using namespace gtsam;
-
-FeatureDetector::FeatureDetector(const char* colorDescFile)
-{
-    readLandMarkColors(colorDescFile, vColors_);
-}
-
-int FeatureDetector::findColorId(const RGBColor& color)
-{
-    for (size_t i = 0; i<vColors_.size(); i++)
-        if (vColors_[i] == color)
-            return i;
-    return -1;
-}
-
-std::vector<Feature2D> FeatureDetector::detect(const cv::Mat& image)
-{
-    vFeatures_.clear();
-
-    RGBColor BLACK(0,0,0);
-    map<int, int> numPixels; // <colorId, numpixel found>
-    for (int y = 0; y<image.rows; y++) {
-        for (int x = 0; x<image.cols; x++)
-        {
-            if (image.at<RGBColor>(y,x) == BLACK)
-                continue;
-
-            RGBColor color = image.at<RGBColor>(y,x);
-            int t = color[2]; color[2] = color[0]; color[0] = t;
-            int colorId = findColorId(color);
-
-            if (colorId == -1)
-                continue;
-
-            map<int, int>::iterator it = numPixels.find(colorId)  ;
-            if (it == numPixels.end())
-            {
-                numPixels[colorId] = 1;
-                vFeatures_.push_back(Feature2D(colorId, Point2(x,y)));
-            }
-            else
-            {
-                size_t k = 0;
-                for (; k<vFeatures_.size(); k++)
-                    if (vFeatures_[k].m_id == colorId)
-                        break;
-                vFeatures_[k].m_p = (vFeatures_[k].m_p*numPixels[colorId] + Point2(x,y))/(numPixels[colorId]+1);
-                numPixels[colorId]++;
-            }
-        }
-    }
-
-    return vFeatures_;
-}
-
-void FeatureDetector::write(const char* filename) const
-{
-    ofstream file(filename);
-    file << vFeatures_.size() << endl;
-    for (size_t i = 0; i<vFeatures_.size(); i++)
-        file << vFeatures_[i].m_id << " " << vFeatures_[i].m_p.x() << " " << vFeatures_[i].m_p.y() << endl;
-    file.close();
-}
-
-std::vector<Feature2D>& FeatureDetector::read(const char* filename)
-{
-    ifstream file(filename);
-    int numFeatures;
-    file >> numFeatures ;
-
-    vFeatures_.clear();
-    for (size_t i = 0; i < numFeatures; i++)
-    {
-        int id; double x, y;
-        file >> id >> x >> y;
-        vFeatures_.push_back(Feature2D(id, Point2(x, y)));
-    }
-
-    file.close();
-    return vFeatures_;
-}

examples/vSLAMexample/FeatureDetector.h

@@ -1,23 +0,0 @@
-#ifndef FEATUREDETECTOR_H
-#define FEATUREDETECTOR_H
-
-#include "Feature2D.h"
-#include <vector>
-#include "cv.h"
-#include "landmarkUtils.h"
-
-
-/**
-  * A simple Feature Detector to detect color-coded features in the image.
-  * A list of colors must be provided. Feature id is the id of its associated color.
-  */
-class FeatureDetector
-{
-private:
-    std::vector<Feature2D> vFeatures_;
-
-public:
-    std::vector<Feature2D>& read(const char* filename);
-};
-
-#endif // FEATUREDETECTOR_H