├── .gitignore ├── Duke ├── Duke.pro ├── Resource │ ├── en.qm │ └── zh.qm ├── Set.ui ├── baslercamera.cpp ├── baslercamera.h ├── blobdetector.cpp ├── blobdetector.h ├── camera.cpp ├── camera.h ├── cameracalibration.cpp ├── cameracalibration.h ├── dahengcamera.cpp ├── dahengcamera.h ├── dotmatch.cpp ├── dotmatch.h ├── en.ts ├── focusassistant.cpp ├── focusassistant.h ├── focusassistant.ui ├── glwidget.cpp ├── glwidget.h ├── graycodes.cpp ├── graycodes.h ├── imageviewer.cpp ├── imageviewer.h ├── imageviewer.ui ├── main.cpp ├── mainwindow.cpp ├── mainwindow.h ├── mainwindow.ui ├── manualmatch.cpp ├── manualmatch.h ├── manualmatch.ui ├── meshcreator.cpp ├── meshcreator.h ├── mfreconstruct.cpp ├── mfreconstruct.h ├── multifrequency.cpp ├── multifrequency.h ├── plyloader.cpp ├── plyloader.h ├── pointcloudimage.cpp ├── pointcloudimage.h ├── projector.cpp ├── projector.h ├── reconstruct.cpp ├── reconstruct.h ├── set.cpp ├── set.h ├── stereorect.cpp ├── stereorect.h ├── utilities.cpp ├── utilities.h ├── virtualcamera.cpp ├── virtualcamera.h └── zh.ts ├── README.md └── build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug ├── debug ├── en.qm ├── moc_dahengcamera.cpp ├── moc_dotmatch.cpp ├── moc_glwidget.cpp ├── moc_imageviewer.cpp ├── moc_mfreconstruct.cpp ├── moc_plyloader.cpp ├── moc_project.cpp └── moc_stereorect.cpp ├── ui_Set.h ├── ui_imageviewer.h ├── ui_mainwindow.h ├── ui_manualmatch.h └── ui_project.h /.gitignore: -------------------------------------------------------------------------------- 1 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/pointcloudimage.obj 2 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/qrc_res.cpp 3 | *.obj 4 | *.manifest 5 | *.res 6 | *.pdb 7 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/Makefile 8 | *.Release 9 | *.ilk 10 | *.rc 11 | *.exe 12 | *.Debug 13 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_camera.cpp 14 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_mainwindow.cpp 15 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_set.cpp 16 | Duke/deployment.pri 17 | Duke/Duke.pro.user 18 | *.qrc 19 | *.png 20 | Duke/Duke.pro 21 | Duke/Duke.pro 22 | Duke/Duke.pro 23 | Duke/Duke.pro 24 | Duke/Duke.pro 25 | *.ini 26 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_mytransform.cpp 27 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_pregistration.cpp 28 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_registration.cpp 29 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_transform.cpp 30 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_transformwithhorn.cpp 31 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_multifrequency.cpp 32 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/ui_mainwindow.h 33 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/ui_Set.h 34 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_baslercamera.cpp 35 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/ui_mainwindow.h 36 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/ui_mainwindow.h 37 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_focusassistant.cpp 38 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/ui_focusassistant.h 39 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/ui_mainwindow.h 40 | Duke/dotmatch.cpp.autosave 41 | build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_manualmatch.cpp -------------------------------------------------------------------------------- /Duke/Duke.pro: -------------------------------------------------------------------------------- 1 | TEMPLATE = app 2 | 3 | TARGET = Duke 4 | 5 | QT += quick widgets opengl 6 | 7 | SOURCES += \ 8 | graycodes.cpp \ 9 | main.cpp \ 10 | mainwindow.cpp \ 11 | meshcreator.cpp \ 12 | pointcloudimage.cpp \ 13 | projector.cpp \ 14 | reconstruct.cpp \ 15 | set.cpp \ 16 | utilities.cpp \ 17 | virtualcamera.cpp \ 18 | plyloader.cpp \ 19 | glwidget.cpp \ 20 | cameracalibration.cpp \ 21 | dotmatch.cpp \ 22 | multifrequency.cpp \ 23 | blobdetector.cpp \ 24 | dahengcamera.cpp \ 25 | baslercamera.cpp \ 26 | focusassistant.cpp \ 27 | manualmatch.cpp \ 28 | imageviewer.cpp \ 29 | stereorect.cpp \ 30 | mfreconstruct.cpp 31 | 32 | RESOURCES += \ 33 | Resource/res.qrc 34 | 35 | INCLUDEPATH += E:\opencv\build\include\ 36 | D:\VC\inc\ 37 | D:\mrpt\libs\base\include\ 38 | D:\mrpt\libs\scanmatching\include\ 39 | D:\mrpt\include\mrpt\mrpt-config\ 40 | D:\glm\ 41 | E:\freeglut-2.8.1\include\ 42 | D:\genicam\library\cpp\include\ 43 | D:\pylon\include\ 44 | 45 | LIBS += -LD:\mrpt\lib\ 46 | -LE:\freeglut-2.8.1\lib\x86\Debug\ 47 | -LE:\opencv\build\x86\vc10\lib\ 48 | -LD:\VC\lib\ 49 | -LD:\genicam\library\cpp\lib\win32_i86\ 50 | -LD:\pylon\lib\Win32\ 51 | -lopencv_core249d\ 52 | -lopencv_highgui249d\ 53 | -lopencv_imgproc249d\ 54 | -lopencv_features2d249d\ 55 | -lopencv_calib3d249d\ 56 | -lopencv_nonfree249d\ 57 | -lopencv_flann249d\ 58 | -lHVDAILT\ 59 | -lHVExtend\ 60 | -lHVUtil\ 61 | -lRaw2Rgb\ 62 | -llibmrpt-base122-dbg\ 63 | -llibmrpt-scanmatching122-dbg\ 64 | -lfreeglut\ 65 | -lGCBase_MD_VC100_v2_3\ 66 | -lPylonBase_MD_VC100\ 67 | -lPylonBootstrapper\ 68 | -lPylonGigE_MD_VC100_TL\ 69 | -lPylonUsb_MD_VC100_TL\ 70 | -lPylonUtility_MD_VC100\ 71 | 72 | 73 | # Default rules for deployment. 74 | include(deployment.pri) 75 | 76 | HEADERS += \ 77 | graycodes.h \ 78 | mainwindow.h \ 79 | meshcreator.h \ 80 | pointcloudimage.h \ 81 | projector.h \ 82 | reconstruct.h \ 83 | set.h \ 84 | utilities.h \ 85 | virtualcamera.h \ 86 | plyloader.h \ 87 | glwidget.h \ 88 | cameracalibration.h \ 89 | dotmatch.h \ 90 | multifrequency.h \ 91 | blobdetector.h \ 92 | dahengcamera.h \ 93 | baslercamera.h \ 94 | focusassistant.h \ 95 | manualmatch.h \ 96 | imageviewer.h \ 97 | stereorect.h \ 98 | mfreconstruct.h 99 | 100 | FORMS += \ 101 | mainwindow.ui \ 102 | Set.ui \ 103 | focusassistant.ui \ 104 | manualmatch.ui \ 105 | imageviewer.ui 106 | 107 | TRANSLATIONS += en.ts zh.ts 108 | 109 | -------------------------------------------------------------------------------- /Duke/Resource/en.qm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DrawZeroPoint/Structure-Light-Reconstructor/4a79a80336fa52f06e4eb871e8dffe79e222a53e/Duke/Resource/en.qm -------------------------------------------------------------------------------- /Duke/Resource/zh.qm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DrawZeroPoint/Structure-Light-Reconstructor/4a79a80336fa52f06e4eb871e8dffe79e222a53e/Duke/Resource/zh.qm -------------------------------------------------------------------------------- /Duke/Set.ui: -------------------------------------------------------------------------------- 1 | 2 | 3 | SetDialog 4 | 5 | 6 | 7 | 0 8 | 0 9 | 455 10 | 356 11 | 12 | 13 | 14 | Settings 15 | 16 | 17 | font: 9pt "Calibri"; 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | Qt::Horizontal 26 | 27 | 28 | 29 | 40 30 | 20 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 0 40 | 0 41 | 42 | 43 | 44 | false 45 | 46 | 47 | 48 | 49 | 50 | Qt::Horizontal 51 | 52 | 53 | QDialogButtonBox::Apply|QDialogButtonBox::Cancel|QDialogButtonBox::Ok 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 3 63 | 64 | 65 | 66 | Calibration Board 67 | 68 | 69 | 70 | 71 | 10 72 | 10 73 | 411 74 | 161 75 | 76 | 77 | 78 | 79 | 0 80 | 0 81 | 82 | 83 | 84 | Geometry 85 | 86 | 87 | 88 | 10 89 | 90 | 91 | 92 | 93 | 94 | 95 | Cell Width(mm): 96 | 97 | 98 | 99 | 100 | 101 | 102 | 20 103 | 104 | 105 | 106 | 107 | 108 | 109 | Cell Height(mm): 110 | 111 | 112 | 113 | 114 | 115 | 116 | 20 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | Cell Number(Horizontal): 128 | 129 | 130 | 131 | 132 | 133 | 134 | 10 135 | 136 | 137 | 138 | 139 | 140 | 141 | Cell Number(Vertical): 142 | 143 | 144 | 0 145 | 146 | 147 | 148 | 149 | 150 | 151 | 8 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | Qt::Horizontal 161 | 162 | 163 | 164 | 6 165 | 20 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | Board Width(mm): 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 0 184 | 0 185 | 186 | 187 | 188 | 1000 189 | 190 | 191 | 200 192 | 193 | 194 | 195 | 196 | 197 | 198 | Board Height(mm): 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 0 207 | 0 208 | 209 | 210 | 211 | 1000 212 | 213 | 214 | 200 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | Camera 226 | 227 | 228 | 229 | 230 | 10 231 | 9 232 | 411 233 | 121 234 | 235 | 236 | 237 | 238 | 0 239 | 0 240 | 241 | 242 | 243 | Camera Resolution 244 | 245 | 246 | 247 | 248 | 20 249 | 40 250 | 89 251 | 16 252 | 253 | 254 | 255 | 1280X1024 256 | 257 | 258 | true 259 | 260 | 261 | 262 | 263 | 264 | 265 | Projector 266 | 267 | 268 | 269 | 270 | 9 271 | 9 272 | 413 273 | 111 274 | 275 | 276 | 277 | Project Region 278 | 279 | 280 | 281 | 282 | 20 283 | 20 284 | 176 285 | 80 286 | 287 | 288 | 289 | 290 | 0 291 | 0 292 | 293 | 294 | 295 | Projector Resolution 296 | 297 | 298 | 299 | 300 | 301 | 302 | 303 | Horizontal(pixel): 304 | 305 | 306 | 307 | 308 | 309 | 310 | 1280 311 | 312 | 313 | 1280 314 | 315 | 316 | 317 | 318 | 319 | 320 | Vertical(pixel): 321 | 322 | 323 | 324 | 325 | 326 | 327 | 1024 328 | 329 | 330 | 1024 331 | 332 | 333 | 334 | 335 | 336 | 337 | 338 | 339 | 340 | 341 | 210 342 | 20 343 | 176 344 | 80 345 | 346 | 347 | 348 | 349 | 0 350 | 0 351 | 352 | 353 | 354 | Scan Resolution 355 | 356 | 357 | 358 | 359 | 360 | 361 | 362 | Horizontal(pixel): 363 | 364 | 365 | 366 | 367 | 368 | 369 | 1280 370 | 371 | 372 | 1280 373 | 374 | 375 | 376 | 377 | 378 | 379 | Vertical(pixel): 380 | 381 | 382 | 383 | 384 | 385 | 386 | 1024 387 | 388 | 389 | 1024 390 | 391 | 392 | 393 | 394 | 395 | 396 | 397 | 398 | 399 | 400 | 401 | Reconstruction 402 | 403 | 404 | 405 | 406 | 407 | 408 | 0 409 | 0 410 | 411 | 412 | 413 | Threshold 414 | 415 | 416 | 417 | 418 | 419 | 10 420 | 421 | 422 | 423 | 424 | Black Threshold 425 | 426 | 427 | 428 | 429 | 430 | 431 | 40 432 | 433 | 434 | 435 | 436 | 437 | 438 | White Threshold 439 | 440 | 441 | 442 | 443 | 444 | 445 | 446 | 447 | 448 | 449 | 450 | Qt::Horizontal 451 | 452 | 453 | 454 | 244 455 | 20 456 | 457 | 458 | 459 | 460 | 461 | 462 | 463 | 464 | 465 | 466 | 467 | 0 468 | 0 469 | 470 | 471 | 472 | 473 | 474 | 475 | 476 | 477 | 478 | Code Pattern 479 | 480 | 481 | 482 | 483 | 484 | Use Gray 485 | 486 | 487 | false 488 | 489 | 490 | 491 | 492 | 493 | 494 | Use Gray with epipolar rectify 495 | 496 | 497 | true 498 | 499 | 500 | 501 | 502 | 503 | 504 | Use MultiFrequency 505 | 506 | 507 | false 508 | 509 | 510 | 511 | 512 | 513 | 514 | 515 | 516 | 517 | 10 518 | 519 | 520 | 521 | 522 | Auto Contrast 523 | 524 | 525 | 526 | 527 | 528 | 529 | Ray Sampling 530 | 531 | 532 | 533 | 534 | 535 | 536 | Export Obj 537 | 538 | 539 | false 540 | 541 | 542 | false 543 | 544 | 545 | 546 | 547 | 548 | 549 | Export Ply 550 | 551 | 552 | true 553 | 554 | 555 | 556 | 557 | 558 | 559 | Display Color 560 | 561 | 562 | false 563 | 564 | 565 | 566 | 567 | 568 | 569 | 570 | 571 | Qt::Horizontal 572 | 573 | 574 | 575 | 221 576 | 20 577 | 578 | 579 | 580 | 581 | 582 | 583 | 584 | 585 | 586 | 587 | 588 | 589 | 590 | 591 | 592 | 593 | buttonBox 594 | accepted() 595 | SetDialog 596 | accept() 597 | 598 | 599 | 248 600 | 254 601 | 602 | 603 | 157 604 | 274 605 | 606 | 607 | 608 | 609 | buttonBox 610 | rejected() 611 | SetDialog 612 | reject() 613 | 614 | 615 | 316 616 | 260 617 | 618 | 619 | 286 620 | 274 621 | 622 | 623 | 624 | 625 | 626 | -------------------------------------------------------------------------------- /Duke/baslercamera.cpp: -------------------------------------------------------------------------------- 1 | #include "baslercamera.h" 2 | #include 3 | 4 | BaslerCamera::BaslerCamera(QObject *parent) : 5 | QObject(parent) 6 | { 7 | // Automagically call PylonInitialize and PylonTerminate to ensure the pylon runtime system. 8 | // is initialized during the lifetime of this object 9 | Pylon::PylonAutoInitTerm autoInitTerm; 10 | 11 | } 12 | 13 | void BaslerCamera::openCamera() 14 | { 15 | CTlFactory& tlFactory = CTlFactory::GetInstance(); 16 | 17 | // Get all attached devices and exit application if no device is found. 18 | DeviceInfoList_t devices; 19 | if ( tlFactory.EnumerateDevices(devices) == 0 ) 20 | { 21 | QMessageBox::warning(NULL,tr("Basler Camera"),tr("Basler cameras were not found.")); 22 | } 23 | 24 | // Create an array of instant cameras for the found devices and avoid exceeding a maximum number of devices. 25 | cameras.Initialize(min( devices.size(), c_maxCamerasToUse)); 26 | 27 | // Create and attach all Pylon Devices. 28 | for ( size_t i = 0; i < cameras.GetSize(); ++i) 29 | { 30 | cameras[i].Attach( tlFactory.CreateDevice( devices[i])); 31 | } 32 | 33 | // Starts grabbing for all cameras starting with index 0. The grabbing 34 | // is started for one camera after the other. That's why the images of all 35 | // cameras are not taken at the same time. 36 | // However, a hardware trigger setup can be used to cause all cameras to grab images synchronously. 37 | // According to their default configuration, the cameras are 38 | // set up for free-running continuous acquisition. 39 | cameras.StartGrabbing(); 40 | 41 | for( int i = 0; i < cameras.IsGrabbing(); ++i) 42 | { 43 | cameras.RetrieveResult( 5000, ptrGrabResult, TimeoutHandling_ThrowException); 44 | 45 | // When the cameras in the array are created the camera context value 46 | // is set to the index of the camera in the array. 47 | // The camera context is a user settable value. 48 | // This value is attached to each grab result and can be used 49 | // to determine the camera that produced the grab result. 50 | // Now, the image data can be processed. 51 | pImageBuffer = (uint8_t *) ptrGrabResult->GetBuffer(); 52 | } 53 | } 54 | 55 | void BaslerCamera::closeCamera() 56 | { 57 | cameras.StopGrabbing(); 58 | cameras.Close(); 59 | } 60 | -------------------------------------------------------------------------------- /Duke/baslercamera.h: -------------------------------------------------------------------------------- 1 | #ifndef BASLERCAMERA_H 2 | #define BASLERCAMERA_H 3 | 4 | //Qt 5 | #include 6 | //Pylon 7 | #include 8 | 9 | // Namespace for using pylon objects. 10 | using namespace Pylon; 11 | 12 | // Namespace for using cout. 13 | using namespace std; 14 | 15 | // Number of images to be grabbed. 16 | static const uint32_t c_countOfImagesToGrab = 10; 17 | 18 | static const size_t c_maxCamerasToUse = 2; 19 | 20 | 21 | class BaslerCamera : public QObject 22 | { 23 | Q_OBJECT 24 | public: 25 | BaslerCamera(QObject *parent = 0); 26 | 27 | const uint8_t *pImageBuffer; 28 | // This smart pointer will receive the grab result data. 29 | CGrabResultPtr ptrGrabResult; 30 | 31 | void openCamera(); 32 | void closeCamera(); 33 | 34 | private: 35 | CInstantCameraArray cameras; 36 | 37 | }; 38 | 39 | #endif // BASLERCAMERA_H 40 | -------------------------------------------------------------------------------- /Duke/blobdetector.cpp: -------------------------------------------------------------------------------- 1 | #include "blobdetector.h" 2 | 3 | int thresholdStep = 10; 4 | int minThreshold = 50; 5 | int maxThreshold = 220; 6 | int minRepeatability = 2; 7 | int minDistBetweenBlobs = 10; 8 | 9 | bool filterByColor = true; 10 | int blobColor = 0; 11 | 12 | bool filterByArea = true; 13 | int minArea = 25; 14 | int maxArea = 5000; 15 | 16 | bool filterByCircularity = false; 17 | float minCircularity = 0.8f; 18 | float maxCircularity = std::numeric_limits::max(); 19 | 20 | bool filterByInertia = true; 21 | //minInertiaRatio = 0.6; 22 | float minInertiaRatio = 0.1f; 23 | float maxInertiaRatio = std::numeric_limits::max(); 24 | 25 | bool filterByConvexity = true; 26 | //minConvexity = 0.8; 27 | float minConvexity = 0.95f; 28 | float maxConvexity = std::numeric_limits::max(); 29 | 30 | BlobDetector::BlobDetector() 31 | { 32 | } 33 | 34 | void BlobDetector::findBlobs(const cv::Mat &binaryImage, vector ¢ers) const 35 | { 36 | centers.clear(); 37 | 38 | vector < vector > contours; 39 | Mat tmpBinaryImage = binaryImage.clone(); 40 | findContours(tmpBinaryImage, contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE); 41 | 42 | for (size_t contourIdx = 0; contourIdx < contours.size(); contourIdx++) 43 | { 44 | Point2d center; 45 | Moments moms = moments(Mat(contours[contourIdx])); 46 | if (filterByArea) 47 | { 48 | double area = moms.m00; 49 | if (area < minArea || area >= maxArea) 50 | continue; 51 | } 52 | 53 | if (filterByCircularity) 54 | { 55 | double area = moms.m00; 56 | double perimeter = arcLength(Mat(contours[contourIdx]), true); 57 | double ratio = 4 * CV_PI * area / (perimeter * perimeter); 58 | if (ratio < minCircularity || ratio >= maxCircularity) 59 | continue; 60 | } 61 | 62 | if (filterByInertia) 63 | { 64 | double denominator = sqrt(pow(2 * moms.mu11, 2) + pow(moms.mu20 - moms.mu02, 2)); 65 | const double eps = 1e-2; 66 | double ratio; 67 | if (denominator > eps) 68 | { 69 | double cosmin = (moms.mu20 - moms.mu02) / denominator; 70 | double sinmin = 2 * moms.mu11 / denominator; 71 | double cosmax = -cosmin; 72 | double sinmax = -sinmin; 73 | 74 | double imin = 0.5 * (moms.mu20 + moms.mu02) - 0.5 * (moms.mu20 - moms.mu02) * cosmin - moms.mu11 * sinmin; 75 | double imax = 0.5 * (moms.mu20 + moms.mu02) - 0.5 * (moms.mu20 - moms.mu02) * cosmax - moms.mu11 * sinmax; 76 | ratio = imin / imax; 77 | } 78 | else 79 | { 80 | ratio = 1; 81 | } 82 | 83 | if (ratio < minInertiaRatio || ratio >= maxInertiaRatio) 84 | continue; 85 | } 86 | 87 | if (filterByConvexity) 88 | { 89 | vector < Point > hull; 90 | convexHull(Mat(contours[contourIdx]), hull); 91 | double area = contourArea(Mat(contours[contourIdx])); 92 | double hullArea = contourArea(Mat(hull)); 93 | double ratio = area / hullArea; 94 | if (ratio < minConvexity || ratio >= maxConvexity) 95 | continue; 96 | } 97 | 98 | center = Point2d(moms.m10 / moms.m00, moms.m01 / moms.m00); 99 | 100 | if (filterByColor) 101 | { 102 | if (binaryImage.at (cvRound(center.y), cvRound(center.x)) != blobColor) 103 | continue; 104 | } 105 | 106 | centers.push_back(center); 107 | } 108 | } 109 | -------------------------------------------------------------------------------- /Duke/blobdetector.h: -------------------------------------------------------------------------------- 1 | #ifndef BLOBDETECTOR_H 2 | #define BLOBDETECTOR_H 3 | 4 | #include 5 | 6 | using namespace cv; 7 | 8 | class BlobDetector 9 | { 10 | public: 11 | BlobDetector(); 12 | void findBlobs(const cv::Mat &binaryImage, vector ¢ers) const; 13 | private: 14 | 15 | }; 16 | 17 | #endif // BLOBDETECTOR_H 18 | -------------------------------------------------------------------------------- /Duke/camera.cpp: -------------------------------------------------------------------------------- 1 | #include "camera.h" 2 | #include 3 | #include 4 | 5 | #define MY_ZERO 0.000000001 6 | 7 | const HV_RESOLUTION Resolution = RES_MODE0; 8 | const HV_SNAP_MODE SnapMode = CONTINUATION; 9 | const HV_BAYER_CONVERT_TYPE ConvertType = BAYER2RGB_NEIGHBOUR1; 10 | 11 | const long Gain = 10; 12 | const long ExposureTint_Upper = 60; 13 | const long ExposureTint_Lower = 1000; 14 | const long ShutterDelay = 0; 15 | const long ADCLevel = ADC_LEVEL2; 16 | const int XStart = 0; 17 | const int YStart = 0; 18 | const long lVBlanking = 0; 19 | const HV_SNAP_SPEED SnapSpeed = HIGH_SPEED; 20 | 21 | Camera::Camera() 22 | { 23 | Width = 640; 24 | Height = 480; 25 | rawBuffer_1 = NULL; 26 | rawBuffer_2 = NULL; 27 | m_pImageBuffer = NULL; 28 | m_lHBlanking = 0; 29 | m_lVBlanking = 0; 30 | HVSTATUS status = STATUS_OK; 31 | 32 | status = BeginHVDevice(1, &camera_1);//打开数字摄像机 1 33 | if(status==STATUS_OK) 34 | m_bOpen = true; 35 | else 36 | return; 37 | status = BeginHVDevice(2, &camera_2);//打开数字摄像机 2 38 | 39 | HVSetResolution(camera_1, Resolution);// 设置数字摄像机分辨率 40 | HVSetResolution(camera_2, Resolution); 41 | HVSetSnapMode(camera_1, SnapMode);//采集模式，包括 CONTINUATION(连续)、TRIGGER(外触发) 42 | HVSetSnapMode(camera_2, SnapMode); 43 | HVADCControl(camera_1, ADC_BITS, ADCLevel);//设置ADC的级别 44 | HVADCControl(camera_2, ADC_BITS, ADCLevel); 45 | 46 | HVTYPE type = UNKNOWN_TYPE;//获取设备类型 47 | int size = sizeof(HVTYPE); 48 | HVGetDeviceInfo(camera_1,DESC_DEVICE_TYPE, &type, &size); 49 | 50 | HVSetBlanking(camera_1, m_lHBlanking, m_lVBlanking);//设置消隐 51 | HVSetBlanking(camera_2, m_lHBlanking, m_lVBlanking); 52 | HVSetOutputWindow(camera_1, XStart, YStart, Width, Height); 53 | HVSetOutputWindow(camera_2, XStart, YStart, Width, Height); 54 | HVSetSnapSpeed(camera_1, SnapSpeed);//设置采集速度 55 | HVSetSnapSpeed(camera_2, SnapSpeed); 56 | 57 | SetExposureTime(Width, ExposureTint_Upper, ExposureTint_Lower, m_lHBlanking, SnapSpeed, Resolution);//设置曝光时间 58 | 59 | // m_pBmpInfo即指向m_chBmpBuf缓冲区，用户可以自己分配BTIMAPINFO缓冲区 60 | m_pBmpInfo = (BITMAPINFO *)m_chBmpBuf; 61 | // 初始化BITMAPINFO 结构，此结构在保存bmp文件、显示采集图像时使用 62 | m_pBmpInfo->bmiHeader.biSize = sizeof(BITMAPINFOHEADER); 63 | // 图像宽度，一般为输出窗口宽度 64 | m_pBmpInfo->bmiHeader.biWidth = Width; 65 | // 图像宽度，一般为输出窗口高度 66 | m_pBmpInfo->bmiHeader.biHeight = Height; 67 | 68 | m_pBmpInfo->bmiHeader.biPlanes = 1; 69 | m_pBmpInfo->bmiHeader.biBitCount = 24; 70 | m_pBmpInfo->bmiHeader.biCompression = BI_RGB; 71 | m_pBmpInfo->bmiHeader.biSizeImage = 0; 72 | m_pBmpInfo->bmiHeader.biXPelsPerMeter = 0; 73 | m_pBmpInfo->bmiHeader.biYPelsPerMeter = 0; 74 | m_pBmpInfo->bmiHeader.biClrUsed = 0; 75 | m_pBmpInfo->bmiHeader.biClrImportant = 0; 76 | 77 | rawBuffer_1 = new BYTE[Width * Height]; 78 | rawBuffer_2 = new BYTE[Width * Height]; 79 | m_pImageBuffer = new BYTE[Width * Height * 3]; 80 | 81 | QTimer *timer = new QTimer(); 82 | timer->start(30); 83 | connect(timer, SIGNAL(timeout()), this, SLOT(CaptureFrame())); 84 | } 85 | 86 | Camera::~Camera() 87 | { 88 | HVSTATUS status = STATUS_OK; 89 | // 关闭数字摄像机，释放数字摄像机内部资源 90 | status = EndHVDevice(camera_1); 91 | status = EndHVDevice(camera_2); 92 | OnSnapexStop(); 93 | OnSnapexClose(); 94 | // 回收图像缓冲区 95 | delete []rawBuffer_1; 96 | delete []rawBuffer_2; 97 | delete []m_pImageBuffer; 98 | } 99 | 100 | void Camera::OnSnapexOpen() 101 | { 102 | HVSTATUS status = STATUS_OK; 103 | status = HVOpenSnap(camera_1, SnapThreadCallback, this); 104 | status = HVOpenSnap(camera_2, SnapThreadCallback, this); 105 | } 106 | 107 | void Camera::OnSnapexStart() 108 | { 109 | HVSTATUS status = STATUS_OK; 110 | BYTE *ppBuf_1[1]; 111 | BYTE *ppBuf_2[1]; 112 | ppBuf_1[0] = rawBuffer_1; 113 | ppBuf_2[0] = rawBuffer_2; 114 | status = HVStartSnap(camera_1, ppBuf_1,1); 115 | status = HVStartSnap(camera_2, ppBuf_2,1); 116 | } 117 | 118 | void Camera::OnSnapexStop() 119 | { 120 | HVSTATUS status = STATUS_OK; 121 | status = HVStopSnap(camera_1); 122 | status = HVStopSnap(camera_2); 123 | } 124 | 125 | void Camera::OnSnapexClose() 126 | { 127 | HVSTATUS status = STATUS_OK; 128 | status = HVCloseSnap(camera_1); 129 | status = HVCloseSnap(camera_2); 130 | } 131 | 132 | int CALLBACK Camera::SnapThreadCallback(HV_SNAP_INFO *pInfo) 133 | { 134 | return 1; 135 | } 136 | 137 | void Camera::CaptureFrame() 138 | { 139 | image_1 = new QImage(rawBuffer_1, Width, Height, QImage::Format_Indexed8); 140 | image_2 = new QImage(rawBuffer_2, Width, Height, QImage::Format_Indexed8); 141 | } 142 | 143 | int Camera::OnSnapChange() 144 | { 145 | return 1; 146 | } 147 | 148 | HVSTATUS Camera::SetExposureTime(int nWindWidth, long lTintUpper, long lTintLower, long HBlanking, HV_SNAP_SPEED SnapSpeed, HV_RESOLUTION Resolution) 149 | { 150 | HVTYPE type = UNKNOWN_TYPE; 151 | int size = sizeof(HVTYPE); 152 | HVGetDeviceInfo(camera_1,DESC_DEVICE_TYPE, &type, &size); 153 | 154 | int nOutputWid = nWindWidth; 155 | 156 | double dExposure = 0.0; 157 | double dTint = max((double)lTintUpper/(double)lTintLower,MY_ZERO); 158 | 159 | double lClockFreq = 0.0; 160 | 161 | lClockFreq = (SnapSpeed == HIGH_SPEED)? 24000000:12000000; 162 | long lTb = HBlanking; 163 | lTb += 9; 164 | lTb -= 19; 165 | if(lTb <= 0) lTb =0; 166 | if(((double)nOutputWid + 244.0 + lTb ) > 552) 167 | dExposure = (dTint* lClockFreq + 180.0)/((double)nOutputWid + 244.0 + lTb); 168 | else 169 | dExposure = ((dTint * lClockFreq)+ 180.0) / 552 ; 170 | 171 | if((dExposure-(int)dExposure) >0.5) 172 | dExposure += 1.0; 173 | if(dExposure <= 0) 174 | dExposure = 1; 175 | else if(dExposure > 16383) 176 | dExposure = 16383; 177 | 178 | return HVAECControl(camera_1, AEC_EXPOSURE_TIME, (long)dExposure); 179 | } 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | -------------------------------------------------------------------------------- /Duke/camera.h: -------------------------------------------------------------------------------- 1 | #ifndef CAMERA_H 2 | #define CAMERA_H 3 | 4 | #include 5 | #include 6 | #include "Windows.h"//加载此头文件以解决大恒相机头文件类型未定义问题 7 | #include 8 | #include 9 | 10 | #define WM_SNAP_CHANGE (WM_USER + 100) 11 | 12 | class Camera : public QWidget 13 | { 14 | Q_OBJECT 15 | public: 16 | Camera(); 17 | ~Camera(); 18 | 19 | BYTE *rawBuffer_1; 20 | BYTE *rawBuffer_2;///< 采集图像原始数据缓冲区 21 | QImage *image_1; 22 | QImage *image_2; 23 | 24 | int Width; 25 | int Height; 26 | BOOL m_bOpen; ///< 初始化标志 27 | 28 | void OnSnapexOpen(); 29 | void OnSnapexStart(); 30 | void OnSnapexStop(); 31 | void OnSnapexClose(); 32 | int OnSnapChange(); 33 | private slots: 34 | void CaptureFrame(); 35 | private: 36 | HHV camera_1; 37 | HHV camera_2;///< 数字摄像机句柄 38 | 39 | BOOL m_bStart; ///< 启动标志 40 | long m_lHBlanking; ///< 水平消隐 41 | long m_lVBlanking; ///< 垂直消隐 42 | BITMAPINFO *m_pBmpInfo; ///< BITMAPINFO 结构指针，显示图像时使用 43 | 44 | BYTE *m_pImageBuffer; ///< Bayer转换后缓冲区 45 | char m_chBmpBuf[2048]; ///< BIMTAPINFO 存储缓冲区，m_pBmpInfo即指向此缓冲区 46 | /// 采集回调函数，用户也可以定义为全局函数，如果作为类的成员函数，必须为静态成员函数。 47 | static int CALLBACK SnapThreadCallback(HV_SNAP_INFO *pInfo); 48 | /// 设置曝光时间 49 | HVSTATUS SetExposureTime(int nWindWidth, long lTintUpper, long lTintLower, long HBlanking, HV_SNAP_SPEED SnapSpeed, HV_RESOLUTION Resolution); 50 | }; 51 | 52 | #endif // CAMERA_H 53 | -------------------------------------------------------------------------------- /Duke/cameracalibration.cpp: -------------------------------------------------------------------------------- 1 | #include "cameracalibration.h" 2 | #include "utilities.h" 3 | 4 | #include 5 | 6 | CameraCalibration::CameraCalibration() 7 | { 8 | squareSize.width = 0; 9 | squareSize.height = 0; 10 | numOfCamImgs = 14; 11 | camCalibrated = false; 12 | } 13 | 14 | CameraCalibration::~CameraCalibration() 15 | { 16 | unloadCameraImgs(); 17 | } 18 | 19 | void CameraCalibration::exportTxtFiles(const char *path, int CAMCALIB_OUT_PARAM) 20 | { 21 | cv::Mat out; 22 | switch (CAMCALIB_OUT_PARAM) 23 | { 24 | case CAMCALIB_OUT_MATRIX: 25 | out = camMatrix; 26 | break; 27 | case CAMCALIB_OUT_DISTORTION: 28 | out = distortion; 29 | break; 30 | case CAMCALIB_OUT_ROTATION: 31 | out = rotationMatrix; 32 | break; 33 | case CAMCALIB_OUT_TRANSLATION: 34 | out = translationVector; 35 | break; 36 | case CAMCALIB_OUT_FUNDAMENTAL: 37 | out = fundamentalMatrix; 38 | break; 39 | case CAMCALIB_OUT_STATUS: 40 | out = statusMatrix; 41 | break; 42 | case CAMCALIB_OUT_H1: 43 | out = H1; 44 | break; 45 | case CAMCALIB_OUT_H2: 46 | out = H2; 47 | break; 48 | #ifdef TEST_STEREO 49 | case STEREOCALIB_OUT_MATRIXL: 50 | out = camMatrixL; 51 | break; 52 | case STEREOCALIB_OUT_MATRIXR: 53 | out = camMatrixR; 54 | break; 55 | case STEREOCALIB_OUT_DISL: 56 | out = distortionL; 57 | break; 58 | case STEREOCALIB_OUT_DISR: 59 | out = distortionR; 60 | break; 61 | case STEREOCALIB_OUT_R: 62 | out = R; 63 | break; 64 | case STEREOCALIB_OUT_T: 65 | out = T; 66 | break; 67 | case STEREOCALIB_OUT_F: 68 | out = F; 69 | break; 70 | #endif 71 | } 72 | Utilities::exportMat(path, out); 73 | } 74 | 75 | 76 | void CameraCalibration::loadCameraImgs(QString fpath) 77 | { 78 | if (calibImgs.size()) 79 | calibImgs.clear(); 80 | 81 | for(int i = 0; i < numOfCamImgs-1; i++) 82 | { 83 | //这里假定每个相机的标定图片数为13，folderPath应包括前缀L、R 84 | QString path = fpath; 85 | path += QString::number(i+1) + ".png"; 86 | cv::Mat img = cv::imread(path.toStdString()); 87 | if(img.empty()){ 88 | QMessageBox::warning(NULL, QObject::tr("Images Not Found"), QObject::tr("The camera calibration images are not found.")); 89 | return; 90 | } 91 | calibImgs.push_back(img); 92 | } 93 | 94 | QString path = fpath; 95 | path += "1.png";//用第1幅图作为外部参数标定图像 96 | extrImg = cv::imread(path.toStdString()); 97 | if(extrImg.empty()){ 98 | QMessageBox::warning(NULL, QObject::tr("Image Not Found"), QObject::tr("The images for extrinsicts calibration are missing.")); 99 | return; 100 | } 101 | if(!calibImgs[0].empty()) 102 | camImageSize = calibImgs[0].size(); 103 | } 104 | 105 | void CameraCalibration::unloadCameraImgs() 106 | { 107 | for(int i = 0; i < calibImgs.size(); i++) 108 | calibImgs[i].release(); 109 | extrImg.release(); 110 | } 111 | 112 | 113 | void CameraCalibration::undistortCameraImgPoints(cv::vector points_in,cv::vector &points_out) 114 | { 115 | cv::undistortPoints(points_in,points_out,camMatrix,distortion); 116 | float fX = camMatrix.at(0,0); 117 | float fY = camMatrix.at(1,1); 118 | float cX = camMatrix.at(0,2); 119 | float cY = camMatrix.at(1,2); 120 | 121 | for(int j=0; j &camCorners, cv::vector *objCorners) 130 | { 131 | cv::Mat img_grey; 132 | cv::Mat img_copy; 133 | img.copyTo(img_copy); 134 | 135 | if(!useSymmetric){ 136 | numOfCornersX = 4; 137 | numOfCornersY = 11; 138 | } 139 | else{ 140 | numOfCornersX = 11;//这里按标准双目标定板确定横向和纵向方格数目，进一步应改为从set获取 141 | numOfCornersY = 9; 142 | } 143 | 144 | bool found = false; 145 | cv::cvtColor(img, img_grey, CV_RGB2GRAY); 146 | img.copyTo(img_copy); 147 | 148 | ///这里尝试采用opencv自带的找圆心功能 149 | cv::Size patternsize(numOfCornersX, numOfCornersY); 150 | 151 | cv::bitwise_not(img_grey, img_grey);//黑底白色圆圈的标定板需要反相处理 152 | 153 | if(!useSymmetric) 154 | found = cv::findCirclesGrid(img_grey, patternsize, camCorners,cv::CALIB_CB_ASYMMETRIC_GRID); 155 | else 156 | found = cv::findCirclesGrid(img_grey, patternsize, camCorners,cv::CALIB_CB_SYMMETRIC_GRID); 157 | 158 | if(!found){ 159 | return false; 160 | } 161 | ///要实现全自动可以屏蔽下面的while循环 162 | #ifdef DEBUG 163 | cv::drawChessboardCorners(img_copy, patternsize, camCorners, found); 164 | int key = cv::waitKey(1); 165 | while(found) 166 | { 167 | cv::imshow("Calibration", img_copy); 168 | key = cv::waitKey(1); 169 | if(key==27) 170 | found=false; 171 | if(key==13) 172 | break; 173 | } 174 | #endif 175 | 176 | if(found){ 177 | if(squareSize.height == 0){ 178 | squareSize.height = 20; 179 | squareSize.width = 20; 180 | } 181 | if(!useSymmetric){ 182 | for (int i = 0; i < numOfCornersY; i++){ 183 | for (int j = 0; j < numOfCornersX; j++){ 184 | objCorners->push_back(cv::Point3f(float((2*j + i % 2)*squareSize.width),float(i*squareSize.width),0)); 185 | } 186 | } 187 | } 188 | else{ 189 | for(int i = 0; ipush_back(p); 196 | } 197 | } 198 | } 199 | return true; 200 | } 201 | else 202 | return false; 203 | } 204 | 205 | 206 | int CameraCalibration::extractImageCorners()//返回值大于0说明处理不成功，等于零表示处理成功 207 | { 208 | if(calibImgs.size() == 0) 209 | return numOfCamImgs+1; 210 | imgBoardCornersCam.clear(); 211 | objBoardCornersCam.clear(); 212 | 213 | for(size_t i = 0; i < calibImgs.size(); i++){ 214 | cv::vector cCam; 215 | cv::vector cObj; 216 | bool found = findCornersInCamImg(calibImgs[i], cCam, &cObj ); 217 | 218 | if(!found){ 219 | QString cam = (isleft)?("L"):("R"); 220 | if(QMessageBox::warning(NULL,NULL,tr("Couldn't find circles in image ") + cam + QString::number(i+1) 221 | + ", Recapture?", 222 | QMessageBox::Yes, 223 | QMessageBox::Cancel) == QMessageBox::Yes){ 224 | return i+1; 225 | } 226 | else 227 | return numOfCamImgs+1;//返回未能读取的图像序号 228 | } 229 | 230 | if(cCam.size()){ 231 | imgBoardCornersCam.push_back(cCam); 232 | objBoardCornersCam.push_back(cObj); 233 | if(isleft) 234 | imgBoardCornersCamL.push_back(cCam); 235 | else 236 | imgBoardCornersCamR.push_back(cCam); 237 | } 238 | } 239 | 240 | /***********为求解基础矩阵，采样点来自第十二组图片（L12，R12）的角点数据*************/ 241 | if (isleft){ 242 | for (int i = 0; i < numOfCornersX*numOfCornersY; i++){ 243 | findFunLeft.push_back(imgBoardCornersCam[11][i]); 244 | } 245 | } 246 | else{ 247 | for (int i = 0; i < numOfCornersX*numOfCornersY; i++){ 248 | findFunRight.push_back(imgBoardCornersCam[11][i]); 249 | } 250 | } 251 | return 0; 252 | } 253 | 254 | int CameraCalibration::calibrateCamera() 255 | { 256 | //check if corners for camera calib has been extracted 257 | if(imgBoardCornersCam.size() != numOfCamImgs-1){ 258 | if(!extractImageCorners()){ 259 | return 0; 260 | } 261 | } 262 | 263 | cv::vector camRotationVectors; 264 | cv::vector camTranslationVectors; 265 | 266 | rms = cv::calibrateCamera(objBoardCornersCam, imgBoardCornersCam, camImageSize, camMatrix, distortion, camRotationVectors,camTranslationVectors,0); 267 | //rms = cv::calibrateCamera(objBoardCornersCam, imgBoardCornersCam, camImageSize, camMatrix,distortion, camRotationVectors, camTranslationVectors, CV_CALIB_FIX_K4|CV_CALIB_FIX_K5); 268 | if(isleft){ 269 | undistortCameraImgPoints(findFunLeft,findFunLeft); 270 | camMatrixL = camMatrix; 271 | distortionL = distortion; 272 | } 273 | else{ 274 | undistortCameraImgPoints(findFunRight,findFunRight); 275 | camMatrixR = camMatrix; 276 | distortionR = distortion; 277 | } 278 | camCalibrated = true; 279 | return 1; 280 | } 281 | 282 | 283 | bool CameraCalibration::findCameraExtrisics() 284 | { 285 | cv::vector imgPoints; 286 | cv::vector objPoints3D; 287 | findCornersInCamImg(extrImg, imgPoints, &objPoints3D); 288 | cv::Mat rVec; 289 | //find extrinsics rotation & translation 290 | bool r = cv::solvePnP(objPoints3D,imgPoints,camMatrix,distortion,rVec,translationVector); 291 | cv::Rodrigues(rVec,rotationMatrix); 292 | return r; 293 | } 294 | 295 | void CameraCalibration::findFundamental() 296 | { 297 | fundamentalMatrix = cv::findFundamentalMat(findFunLeft, findFunRight, statusMatrix, cv::FM_RANSAC); 298 | //cv::stereoRectifyUncalibrated(findFunLeft, findFunRight, fundamentalMatrix, camImageSize, H1, H2); 299 | cv::stereoRectifyUncalibrated(cv::Mat(findFunLeft), cv::Mat(findFunRight), fundamentalMatrix, camImageSize, H1, H2); 300 | findFunLeft.clear(); 301 | findFunRight.clear(); 302 | #ifdef TEST_STEREO 303 | rms = stereoCalibrate(objBoardCornersCam,imgBoardCornersCamL,imgBoardCornersCamR,camMatrixL,distortionL,camMatrixR,distortionR 304 | ,camImageSize,R,T,E,F); 305 | #endif 306 | } 307 | 308 | void CameraCalibration::setSquareSize(cv::Size size_in_mm) 309 | { 310 | squareSize = size_in_mm; 311 | } 312 | 313 | cv::Size CameraCalibration::getSquareSize() 314 | { 315 | return squareSize; 316 | } 317 | 318 | void CameraCalibration::setNumberOfCameraImgs(int num) 319 | { 320 | numOfCamImgs = num; 321 | } 322 | 323 | int CameraCalibration::getNumberOfCameraImgs() 324 | { 325 | return numOfCamImgs; 326 | } 327 | 328 | -------------------------------------------------------------------------------- /Duke/cameracalibration.h: -------------------------------------------------------------------------------- 1 | #ifndef CAMERACALIBRATION_H 2 | #define CAMERACALIBRATION_H 3 | 4 | #include 5 | #include 6 | #include 7 | 8 | #include 9 | //#define DEBUG 10 | #define TEST_STEREO 11 | 12 | #define CAMCALIB_OUT_MATRIX 1 13 | #define CAMCALIB_OUT_DISTORTION 2 14 | #define CAMCALIB_OUT_ROTATION 3 15 | #define CAMCALIB_OUT_TRANSLATION 4 16 | #define CAMCALIB_OUT_FUNDAMENTAL 5 17 | #define CAMCALIB_OUT_STATUS 6 18 | #define CAMCALIB_OUT_H1 7 19 | #define CAMCALIB_OUT_H2 8 20 | #define STEREOCALIB_OUT_MATRIXL 9 21 | #define STEREOCALIB_OUT_MATRIXR 10 22 | #define STEREOCALIB_OUT_DISL 11 23 | #define STEREOCALIB_OUT_DISR 12 24 | #define STEREOCALIB_OUT_R 13 25 | #define STEREOCALIB_OUT_T 14 26 | #define STEREOCALIB_OUT_F 15 27 | 28 | using namespace cv; 29 | 30 | class CameraCalibration :public QObject 31 | { 32 | public: 33 | CameraCalibration(); 34 | ~CameraCalibration(); 35 | 36 | int calibrateCamera(); 37 | 38 | void loadCameraImgs(QString fpath); 39 | void unloadCameraImgs(); 40 | 41 | bool findCameraExtrisics(); 42 | void findFundamental(); 43 | 44 | void setSquareSize(cv::Size size); 45 | cv::Size getSquareSize(); 46 | 47 | void setNumberOfCameraImgs(int num); 48 | int getNumberOfCameraImgs(); 49 | void exportTxtFiles(const char *pathNfileName, int CAMCALIB_OUT_PARAM); 50 | void printData(); 51 | int extractImageCorners(); 52 | 53 | cv::Mat camMatrix; 54 | cv::Mat distortion; 55 | cv::Mat rotationMatrix; 56 | cv::Mat translationVector; 57 | cv::Mat fundamentalMatrix; 58 | cv::Mat H1; 59 | cv::Mat H2; 60 | cv::Mat statusMatrix; 61 | 62 | /****stereoCalib****/ 63 | Mat camMatrixL; 64 | Mat camMatrixR; 65 | Mat distortionL; 66 | Mat distortionR; 67 | Mat R; 68 | Mat T; 69 | Mat E; 70 | Mat F; 71 | cv::vector> imgBoardCornersCamL; 72 | cv::vector> imgBoardCornersCamR; 73 | 74 | cv::vector> imgBoardCornersCam; 75 | 76 | cv::vector findFunLeft;//存储基础矩阵计算用的左相机图像角点 77 | cv::vector findFunRight; 78 | 79 | bool isleft; 80 | bool useSymmetric;//采用对称标定板或非对称标定板 81 | double rms; 82 | 83 | private: 84 | //bool findCornersInCamImg(cv::Mat camImg,cv::vector *camCorners,cv::vector *objCorners); 85 | bool findCornersInCamImg(cv::Mat camImg,cv::vector &camCorners,cv::vector *objCorners); 86 | /*******无效功能 87 | void drawOutsideOfRectangle(cv::Mat img,cv::vector rectanglePoints, float color); 88 | cv::vector manualMarkCheckBoard(cv::Mat img); 89 | float markWhite(cv::Mat img); 90 | void manualMarkCalibBoardCorners(cv::Mat img,cv::vector &imgPoints_out, cv::vector &objPoints_out); 91 | void perspectiveTransformation(cv::vector corners_in,cv::Mat homoMatrix, cv::vector &points_out); 92 | ********/ 93 | void undistortCameraImgPoints(cv::vector points_in,cv::vector &points_out); 94 | 95 | cv::vector> objBoardCornersCam; 96 | 97 | cv::Vector calibImgs; 98 | cv::Mat extrImg; 99 | 100 | cv::Size squareSize; 101 | int numOfCornersX; 102 | int numOfCornersY; 103 | int numOfCamImgs; 104 | cv::Size camImageSize; 105 | bool camCalibrated; 106 | }; 107 | 108 | #endif // CAMERACALIBRATION_H 109 | -------------------------------------------------------------------------------- /Duke/dahengcamera.cpp: -------------------------------------------------------------------------------- 1 | #include "dahengcamera.h" 2 | #include "qmessagebox.h" 3 | 4 | const int XStart = 0;//图像左上角点在相机幅面1280X1024上相对于幅面左上角点坐标 5 | const int YStart = 0; 6 | const HV_RESOLUTION Resolution = RES_MODE0; 7 | const HV_SNAP_MODE SnapMode = CONTINUATION; 8 | const HV_BAYER_CONVERT_TYPE ConvertType = BAYER2RGB_NEIGHBOUR1; 9 | const HV_SNAP_SPEED SnapSpeed = HIGH_SPEED; 10 | int ADCLevel = ADC_LEVEL2; 11 | 12 | DaHengCamera::DaHengCamera(QObject *parent) : 13 | QObject(parent) 14 | { 15 | cameraOpened=false; 16 | } 17 | 18 | DaHengCamera::~DaHengCamera() 19 | { 20 | if(cameraOpened){ 21 | OnSnapexStop(); 22 | OnSnapexClose(); 23 | HVSTATUS status = STATUS_OK; 24 | // 关闭数字摄像机，释放数字摄像机内部资源 25 | status = EndHVDevice(m_hhv_1); 26 | status = EndHVDevice(m_hhv_2); 27 | // 回收图像缓冲区 28 | delete []m_pRawBuffer_1; 29 | delete []m_pRawBuffer_2; 30 | } 31 | } 32 | 33 | ///---------------------相机-----------------------/// 34 | void DaHengCamera::daHengExposure(int leftexposure, int rightexposure) 35 | { 36 | switch (leftexposure) { 37 | case 0: 38 | ADCLevel = ADC_LEVEL3; 39 | break; 40 | case 1: 41 | ADCLevel = ADC_LEVEL2; 42 | break; 43 | case 2: 44 | ADCLevel = ADC_LEVEL1; 45 | break; 46 | case 3: 47 | ADCLevel = ADC_LEVEL0; 48 | break; 49 | } 50 | HVADCControl(m_hhv_1, ADC_BITS, ADCLevel); 51 | switch (rightexposure) { 52 | case 0: 53 | ADCLevel = ADC_LEVEL3; 54 | break; 55 | case 1: 56 | ADCLevel = ADC_LEVEL2; 57 | break; 58 | case 2: 59 | ADCLevel = ADC_LEVEL1; 60 | break; 61 | case 3: 62 | ADCLevel = ADC_LEVEL0; 63 | break; 64 | } 65 | HVADCControl(m_hhv_2, ADC_BITS, ADCLevel); 66 | } 67 | 68 | void DaHengCamera::openDaHengCamera(int camerawidth, int cameraheight) 69 | { 70 | cam_w = camerawidth; 71 | cam_h = cameraheight; 72 | if (!cameraOpened){ 73 | HVSTATUS status_1 = STATUS_OK; 74 | HVSTATUS status_2 = STATUS_OK; 75 | m_pRawBuffer_1 = NULL; 76 | m_pRawBuffer_2 = NULL; 77 | 78 | status_1 = BeginHVDevice(1, &m_hhv_1); 79 | status_2 = BeginHVDevice(2, &m_hhv_2); 80 | if(status_1==STATUS_OK&&status_2==STATUS_OK) 81 | cameraOpened = true; 82 | else{ 83 | cameraOpened = false; 84 | QMessageBox::warning(NULL, tr("Cameras not found"), tr("Make sure two Daheng cameras have connected to the computer.")); 85 | return; 86 | } 87 | HVSetResolution(m_hhv_1, Resolution);//Set the resolution of cameras 88 | HVSetResolution(m_hhv_2, Resolution); 89 | 90 | HVSetSnapMode(m_hhv_1, SnapMode);//Snap mode include CONTINUATION、TRIGGER 91 | HVSetSnapMode(m_hhv_2, SnapMode); 92 | 93 | HVADCControl(m_hhv_1, ADC_BITS, ADCLevel);//设置ADC的级别 94 | HVADCControl(m_hhv_2, ADC_BITS, ADCLevel); 95 | 96 | HVTYPE type = UNKNOWN_TYPE;//获取设备类型 97 | int size = sizeof(HVTYPE); 98 | HVGetDeviceInfo(m_hhv_1,DESC_DEVICE_TYPE, &type, &size);//由于两相机型号相同，故只获取一个 99 | 100 | HVSetOutputWindow(m_hhv_1, XStart, YStart, camerawidth, cameraheight); 101 | HVSetOutputWindow(m_hhv_2, XStart, YStart, camerawidth, cameraheight); 102 | 103 | HVSetSnapSpeed(m_hhv_1, SnapSpeed);//设置采集速度 104 | HVSetSnapSpeed(m_hhv_2, SnapSpeed); 105 | 106 | m_pRawBuffer_1 = new BYTE[camerawidth * cameraheight]; 107 | m_pRawBuffer_2 = new BYTE[camerawidth * cameraheight]; 108 | } 109 | OnSnapexOpen(); 110 | OnSnapexStart(); 111 | } 112 | 113 | void DaHengCamera::daHengSnapShot(int camNo) 114 | { 115 | //m_pRawBuffer_1 = new BYTE[cam_w * cam_h]; 116 | //m_pRawBuffer_2 = new BYTE[cam_w * cam_h]; 117 | (camNo==1)?(HVSnapShot(m_hhv_1, &m_pRawBuffer_1, 1)):(HVSnapShot(m_hhv_2, &m_pRawBuffer_2, 1)); 118 | } 119 | 120 | void DaHengCamera::OnSnapexOpen() 121 | { 122 | HVSTATUS status = STATUS_OK; 123 | status = HVOpenSnap(m_hhv_1, SnapThreadCallback, this); 124 | status = HVOpenSnap(m_hhv_2, SnapThreadCallback, this); 125 | } 126 | 127 | void DaHengCamera::OnSnapexStart() 128 | { 129 | HVSTATUS status = STATUS_OK; 130 | //ppBuf_1[0] = m_pRawBuffer_1; 131 | //ppBuf_2[0] = m_pRawBuffer_2; 132 | status = HVStartSnap(m_hhv_1, &m_pRawBuffer_1,1); 133 | status = HVStartSnap(m_hhv_2, &m_pRawBuffer_2,1); 134 | } 135 | 136 | void DaHengCamera::OnSnapexStop() 137 | { 138 | HVSTATUS status = STATUS_OK; 139 | status = HVStopSnap(m_hhv_1); 140 | status = HVStopSnap(m_hhv_2); 141 | } 142 | 143 | void DaHengCamera::OnSnapexClose() 144 | { 145 | HVSTATUS status = STATUS_OK; 146 | status = HVCloseSnap(m_hhv_1); 147 | status = HVCloseSnap(m_hhv_2); 148 | } 149 | 150 | void DaHengCamera::closeCamera() 151 | { 152 | OnSnapexStop(); 153 | OnSnapexClose(); 154 | } 155 | 156 | int CALLBACK DaHengCamera::SnapThreadCallback(HV_SNAP_INFO *pInfo) 157 | { 158 | return 1; 159 | } 160 | -------------------------------------------------------------------------------- /Duke/dahengcamera.h: -------------------------------------------------------------------------------- 1 | #ifndef DAHENGCAMERA_H 2 | #define DAHENGCAMERA_H 3 | 4 | #include 5 | 6 | #include "Windows.h"//加载此头文件以解决大恒相机头文件类型未定义问题 7 | #include 8 | #include 9 | 10 | class DaHengCamera : public QObject 11 | { 12 | Q_OBJECT 13 | public: 14 | DaHengCamera(QObject *parent = 0); 15 | ~DaHengCamera(); 16 | 17 | bool cameraOpened; 18 | 19 | void daHengExposure(int leftexposure, int rightexposure); 20 | void openDaHengCamera(int camerawidth, int cameraheight); 21 | void daHengSnapShot(int camNo); 22 | void closeCamera(); 23 | 24 | BYTE *m_pRawBuffer_1; 25 | BYTE *m_pRawBuffer_2; 26 | 27 | private: 28 | HHV m_hhv_1; 29 | HHV m_hhv_2; 30 | 31 | int cam_w; 32 | int cam_h; 33 | 34 | static int CALLBACK SnapThreadCallback(HV_SNAP_INFO *pInfo); 35 | 36 | ///---------------相机相关函数---------------/// 37 | void OnSnapexOpen(); 38 | void OnSnapexStart(); 39 | void OnSnapexStop(); 40 | void OnSnapexClose(); 41 | 42 | }; 43 | 44 | #endif // DAHENGCAMERA_H 45 | -------------------------------------------------------------------------------- /Duke/dotmatch.h: -------------------------------------------------------------------------------- 1 | #ifndef DOTMATCH_H 2 | #define DOTMATCH_H 3 | 4 | //调试用宏定义 5 | //#define DEBUG 6 | //#define USE_ADAPTIVE_THRESHOLD 7 | #define USE_FOUR_POINT 8 | //#define TEST_SURF 9 | 10 | // Qt 11 | #include 12 | 13 | // OpenCV 14 | #include 15 | #include 16 | #include 17 | #include 18 | #include 19 | #include 20 | #include 21 | #include 22 | 23 | // STL 24 | #include 25 | 26 | // SLR 27 | #include "reconstruct.h" 28 | #include "virtualcamera.h" 29 | #include "utilities.h" 30 | #include "blobdetector.h" 31 | #include "manualmatch.h" 32 | #include "stereorect.h" 33 | 34 | // MRPT 35 | #include 36 | 37 | using namespace cv; 38 | using namespace std; 39 | 40 | class DotMatch : public QObject 41 | { 42 | Q_OBJECT 43 | public: 44 | 45 | DotMatch(QObject *parent = 0, QString projectPath = NULL, bool useManual = true, bool useepi = true); 46 | ~DotMatch(); 47 | 48 | ManualMatch *mm; 49 | 50 | vector> findDot(Mat &image, bool isleft); 51 | bool matchDot(Mat &limage, Mat &rimage); 52 | void setUpManual(Mat LImage, Mat RImage);//初始化手工标记窗口 53 | void activeManual();//启动手工标记窗口 54 | void finishMatch(); 55 | int OSTU_Region(cv::Mat &image); 56 | 57 | vector> dotInOrder; 58 | 59 | //表示新点与原有点对应关系，如果该点实际为原有点 60 | //x值为该点在dotFeature中的序号 61 | //y值为该点在dotPosition（even或odd）中的序号 62 | cv::vector correspondPointEven; 63 | cv::vector correspondPointOdd; 64 | 65 | //标记并显示标志点所需数据，int值有6个，依次为 66 | //左点x，y，右点x，y，是否为已知点(0，1，0代表未知) 67 | //如果已知，对应的唯一编号 68 | vector> dotForMark; 69 | 70 | int bwThreshold; 71 | int blocksize;//二值化的一个参数，由用户给定 72 | bool firstFind; 73 | int scanSN; 74 | 75 | private: 76 | QString path; 77 | bool useManualMatch; 78 | bool useEpi;//表示是否采用极线校正，若采用，计算标记点坐标采用Q矩阵法 79 | stereoRect *sr; 80 | 81 | bool triangleCalculate(); 82 | cv::vector > calFeature(cv::vector dotP); 83 | bool dotClassify(cv::vector > featureTemp); 84 | bool FTTM(cv::vector &correspondPoint, cv::vector dotPositionCurrent, cv::vector dotPositionFormer); 85 | void updateDot(cv::vector &correspondPoint, cv::vector &dotPositionCurrent, cv::vector dotPositionFormer); 86 | vector calNeighbor(vector > input, int num); 87 | bool checkNeighbor(vector referance, vector needcheck); 88 | void calMatrix(); 89 | //void hornTransform(double &data[], cv::vector target, cv::vector move); 90 | void markPoint(); 91 | 92 | bool isBelongTo(size_t e, vector C);//判断C中是否含有元素e 93 | 94 | vector subPixel(Mat img, vector> vec); 95 | Reconstruct *rc; 96 | BlobDetector *bd; 97 | 98 | Mat fundMat; 99 | Mat Homo1; 100 | Mat Homo2; 101 | 102 | vector dotRemove;//不能成功三角计算的点需要去除，该向量存储待去除点在当次扫描中的序号 103 | 104 | Mat outR;//保存后一次到前一次扫描的旋转变换阵 105 | Mat outT;//保存相后一次到前一次扫描的平移变换阵 106 | Mat outRInv;//保存前一次到后一次扫描的旋转变换阵 107 | Mat outTInv;//保存前一次到后一次扫描的旋转变换阵 108 | Mat matRotation;//保存广义旋转矩阵 109 | Mat matTransform;//保存广义平移向量 110 | cv::vector dotPositionEven;//偶数次扫描所得点的绝对坐标 111 | cv::vector dotPositionOdd;//奇数次扫描所得点的绝对坐标 112 | cv::vector> dotFeature; 113 | vector> neighborFeature; 114 | 115 | private slots: 116 | void onfinishmanual(); 117 | 118 | signals: 119 | void receivedmanualmatch();//由槽函数onfinishmanual()发出，通知MainWindow执行finishmanualmatch()槽，在该槽中又调用了finishMatch 120 | 121 | }; 122 | 123 | class Triangle{ 124 | public: 125 | Triangle(int Vertex_0, int Vertex_1, int Vertex_2, float distance_12, float distance_02, float distance_01); 126 | 127 | static bool copmareTriangle(Triangle tri_known, Triangle tri_unknown, vector &corr, float &error);//比较两三角形是否相等 128 | static float calDistance(Point3f point_1,Point3f point_2); 129 | 130 | int ver_0; 131 | int ver_1; 132 | int ver_2; 133 | float dis_0; 134 | float dis_1; 135 | float dis_2; 136 | }; 137 | 138 | #endif // DOTMATCH_H 139 | -------------------------------------------------------------------------------- /Duke/focusassistant.cpp: -------------------------------------------------------------------------------- 1 | #include "focusassistant.h" 2 | #include "ui_focusassistant.h" 3 | 4 | FocusAssistant::FocusAssistant(QWidget *parent) : 5 | QWidget(parent), 6 | ui(new Ui::FocusAssistant) 7 | { 8 | ui->setupUi(this); 9 | 10 | displayLeft = checkstate(); 11 | connect(ui->leftCamera, SIGNAL(toggled(bool)), this, SLOT(checkchange())); 12 | connect(ui->okButton, SIGNAL(clicked()), SIGNAL(winhide())); 13 | connect(ui->okButton, SIGNAL(clicked()), this, SLOT(hide())); 14 | //connect(this, SIGNAL(destroyed()), SIGNAL(winhide())); 15 | } 16 | 17 | FocusAssistant::~FocusAssistant() 18 | { 19 | delete ui; 20 | } 21 | 22 | bool FocusAssistant::checkstate() 23 | { 24 | return (ui->leftCamera->isChecked())?(true):(false); 25 | } 26 | 27 | void FocusAssistant::checkchange() 28 | { 29 | displayLeft = checkstate(); 30 | } 31 | 32 | void FocusAssistant::playImage(QPixmap img) 33 | { 34 | ui->imageDisplay->setPixmap(img); 35 | } 36 | -------------------------------------------------------------------------------- /Duke/focusassistant.h: -------------------------------------------------------------------------------- 1 | #ifndef FOCUSASSISTANT_H 2 | #define FOCUSASSISTANT_H 3 | 4 | #include 5 | 6 | namespace Ui { 7 | class FocusAssistant; 8 | } 9 | 10 | class FocusAssistant : public QWidget 11 | { 12 | Q_OBJECT 13 | 14 | public: 15 | explicit FocusAssistant(QWidget *parent = 0); 16 | ~FocusAssistant(); 17 | 18 | bool displayLeft; 19 | void playImage(QPixmap img); 20 | 21 | private: 22 | Ui::FocusAssistant *ui; 23 | bool checkstate(); 24 | signals: 25 | void winhide(); 26 | private slots: 27 | void checkchange(); 28 | }; 29 | 30 | #endif // FOCUSASSISTANT_H 31 | -------------------------------------------------------------------------------- /Duke/focusassistant.ui: -------------------------------------------------------------------------------- 1 | 2 | 3 | FocusAssistant 4 | 5 | 6 | 7 | 0 8 | 0 9 | 835 10 | 592 11 | 12 | 13 | 14 | Focus Assistant 15 | 16 | 17 | 18 | :/splash.png:/splash.png 19 | 20 | 21 | 22 | 23 | 24 | 25 | 0 26 | 0 27 | 28 | 29 | 30 | 31 | 1024 32 | 800 33 | 34 | 35 | 36 | Live View 37 | 38 | 39 | true 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 0 52 | 0 53 | 54 | 55 | 56 | Select Camera 57 | 58 | 59 | 60 | 61 | 62 | 63 | 0 64 | 0 65 | 66 | 67 | 68 | Left Camera 69 | 70 | 71 | true 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 0 80 | 0 81 | 82 | 83 | 84 | Right Camera 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 0 96 | 0 97 | 98 | 99 | 100 | Confirm 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | Qt::Horizontal 110 | 111 | 112 | 113 | 402 114 | 20 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | -------------------------------------------------------------------------------- /Duke/glwidget.cpp: -------------------------------------------------------------------------------- 1 | #include "glwidget.h" 2 | 3 | #include 4 | #include 5 | #include 6 | #include 7 | 8 | GLfloat scale = 1; 9 | GLfloat percent = 0.1; 10 | GLfloat speed = 20; 11 | bool hasModel = false; 12 | glm::mat4 transform_camera(1.0f); // 摄像机的位置和定向，即摄像机在世界坐标系中位置 13 | glm::mat4 transform_model(1.0f); // 模型变换矩阵，即物体坐标到世界坐标 14 | glm::mat4 model_view_matrix; 15 | 16 | bool keyPressed[2] = {false, false}; 17 | 18 | GLWidget::GLWidget(QWidget *parent) : 19 | QGLWidget(QGLFormat(QGL::SampleBuffers), parent, 0, Qt::FramelessWindowHint) 20 | { 21 | setFormat(QGLFormat(QGL::DoubleBuffer | QGL::DepthBuffer)); 22 | rotationX = 0.0; 23 | rotationY = 0.0; 24 | rotationZ = 0.0; 25 | offsetX = 0.0; 26 | offsetY = 0.0; 27 | pointSize = 1; 28 | backColor = QColor::fromCmykF(0.5, 0.4, 0.4, 0.2); 29 | createGradient(); 30 | plyloader = new PlyLoader(this); 31 | } 32 | 33 | GLWidget::~GLWidget() 34 | { 35 | delete plyloader; 36 | } 37 | 38 | void GLWidget::LoadModel(QString loadpath) 39 | { 40 | hasModel = plyloader->LoadModel(loadpath); 41 | if(hasModel) 42 | updateGL(); 43 | else 44 | return; 45 | } 46 | 47 | void GLWidget::initializeGL() 48 | { 49 | glMatrixMode(GL_PROJECTION); 50 | glLoadIdentity(); 51 | gluPerspective(30, float(this->width())/this->height(), 1.0, 1.0e10); 52 | 53 | qglClearColor(backColor); 54 | glShadeModel(GL_SMOOTH); 55 | glEnable(GL_CULL_FACE); 56 | SetupLights(); 57 | glEnable(GL_DEPTH_TEST); 58 | 59 | glEnable(GL_BLEND); 60 | glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); 61 | glEnable(GL_NORMALIZE); 62 | 63 | transform_camera = glm::affineInverse(glm::lookAt(glm::vec3(0,0,40), glm::vec3(0,0,0), glm::vec3(0,-1,0))); 64 | transform_model = glm::translate(glm::vec3(-10,-10,0)); 65 | } 66 | 67 | void GLWidget::resizeGL(int width, int height) 68 | { 69 | glViewport(0, 0, this->width(), this->height()); 70 | glMatrixMode(GL_PROJECTION); 71 | glLoadIdentity(); 72 | gluPerspective(28.0,float(this->width())/this->height(), 1.0, 1.0e10); 73 | } 74 | 75 | void GLWidget::paintGL() 76 | { 77 | glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 78 | model_view_matrix = glm::affineInverse(transform_camera); 79 | glMatrixMode(GL_MODELVIEW); 80 | glLoadMatrixf(&model_view_matrix[0][0]); 81 | model_view_matrix *= transform_model; 82 | glMatrixMode(GL_MODELVIEW); 83 | glLoadMatrixf(&model_view_matrix[0][0]); 84 | draw(); 85 | } 86 | 87 | void GLWidget::draw() 88 | { 89 | GLfloat sizes[]= 90 | { 91 | scale, scale, scale 92 | }; 93 | glRotatef(rotationX, 1.0, 0.0, 0.0); 94 | glRotatef(rotationY, 0.0, 1.0, 0.0); 95 | glRotatef(rotationZ, 0.0, 0.0, 1.0); 96 | glScalef(sizes[0], sizes[1], sizes[2]); 97 | 98 | long int total = plyloader->m_totalConnectedPoints; 99 | for(int p = 0; p < total; ++p) 100 | { 101 | glPointSize(pointSize); 102 | glBegin(GL_POINTS); 103 | qglColor(QColor::fromCmyk(255,0,255,0)); 104 | glVertex3f((plyloader->mp_vertexXYZ[p*3]) * percent, 105 | (plyloader->mp_vertexXYZ[p*3 + 1]) * percent, 106 | (plyloader->mp_vertexXYZ[p*3 + 2]) * percent); 107 | glEnd(); 108 | } 109 | glFlush(); 110 | } 111 | 112 | void GLWidget::mousePressEvent(QMouseEvent *event) 113 | { 114 | lastPos = event->pos(); 115 | } 116 | 117 | void GLWidget::mouseMoveEvent(QMouseEvent *event) 118 | { 119 | 120 | GLfloat dx = GLfloat(event->x() - lastPos.x()) / width(); 121 | GLfloat dy = GLfloat(event->y() - lastPos.y()) / height(); 122 | 123 | if(event->buttons() == Qt::LeftButton){ 124 | rotationX += 180 * dy; 125 | rotationY += 180 * dx; 126 | updateGL(); 127 | } 128 | else if(event->buttons() == Qt::RightButton){ 129 | rotationX += 180 * dx; 130 | rotationZ += 180 * dy; 131 | updateGL(); 132 | } 133 | else if(event->buttons()==Qt::MiddleButton) { 134 | transform_camera *= glm::translate(glm::vec3(-speed*dx,speed*dy,0)); 135 | updateGL(); 136 | } 137 | lastPos = event->pos(); 138 | } 139 | 140 | void GLWidget::mouseDoubleClickEvent(QMouseEvent * /*event*/) 141 | { 142 | QColor color = QColorDialog::getColor(backColor, this); 143 | if(color.isValid()) 144 | { 145 | backColor = color; 146 | qglClearColor(backColor); 147 | } 148 | } 149 | 150 | void GLWidget::wheelEvent(QWheelEvent *event) 151 | { 152 | double numDegrees = - event->delta() / 3600.0; 153 | scale += numDegrees; 154 | if(scale < 10 && scale > 0) 155 | { 156 | updateGL(); 157 | } 158 | else 159 | { 160 | scale = 1; 161 | } 162 | } 163 | 164 | 165 | void GLWidget::SetupLights() 166 | { 167 | GLfloat ambientLight[] = {0.6f, 0.6f, 0.6f, 1.0f};//环境光 168 | GLfloat diffuseLight[] = {0.7f, 0.7f, 0.7f, 1.0f};//漫反射 169 | GLfloat specularLight[] = {0.9f, 0.9f, 0.9f, 1.0f};//镜面光 170 | GLfloat lightPos[] = {50.0f, 80.0f, 60.0f, 1.0f};//光源位置 171 | 172 | glEnable(GL_LIGHTING); //启用光照 173 | glLightfv(GL_LIGHT0, GL_AMBIENT, ambientLight); //设置环境光源 174 | glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuseLight); //设置漫反射光源 175 | glLightfv(GL_LIGHT0, GL_SPECULAR, specularLight); //设置镜面光源 176 | glLightfv(GL_LIGHT0, GL_POSITION, lightPos); //设置灯光位置 177 | glEnable(GL_LIGHT0); //打开第一个灯光 178 | 179 | glEnable(GL_COLOR_MATERIAL); //启用材质的颜色跟踪 180 | glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE); //指定材料着色的面 181 | glMaterialfv(GL_FRONT, GL_SPECULAR, specularLight); //指定材料对镜面光的反应 182 | glMateriali(GL_FRONT, GL_SHININESS, 100); //指定反射系数 183 | } 184 | 185 | 186 | void GLWidget::createGradient() 187 | { 188 | gradient.setCoordinateMode(QGradient::ObjectBoundingMode); 189 | gradient.setCenter(0.45, 0.50); 190 | gradient.setFocalPoint(0.40, 0.45); 191 | gradient.setColorAt(0.0, QColor(105, 146, 182)); 192 | gradient.setColorAt(0.4, QColor(81, 113, 150)); 193 | gradient.setColorAt(0.8, QColor(16, 56, 121)); 194 | } 195 | 196 | 197 | void GLWidget::drawBackground(QPainter *painter) 198 | { 199 | painter->setPen(Qt::NoPen); 200 | painter->setBrush(gradient); 201 | painter->drawRect(rect()); 202 | } 203 | 204 | void GLWidget::setPoint(int psize) 205 | { 206 | pointSize = psize; 207 | updateGL(); 208 | } 209 | 210 | 211 | void GLWidget::drag_ball(int x1, int y1, int x2, int y2, glm::mat4& Tmodel, glm::mat4& Tcamera) 212 | { 213 | float r = (float)std::min(this->height(), this->width())/3; 214 | float r2 = r*0.9f; 215 | float ax = x1 - (float)this->width()/2; 216 | float ay = y1 - (float)this->height()/2; 217 | float bx = x2 - (float)this->width()/2; 218 | float by = y2 - (float)this->height()/2; 219 | float da = std::sqrt(ax*ax+ay*ay); 220 | float db = std::sqrt(bx*bx+by*by); 221 | if(std::max(da,db)>r2){ 222 | float dx, dy; 223 | if(da>db){ 224 | dx = (r2/da-1)*ax; 225 | dy = (r2/da-1)*ay; 226 | }else{ 227 | dx = (r2/db-1)*bx; 228 | dy = (r2/db-1)*by; 229 | } 230 | ax += dx; ay +=dy; bx += dx; by += dy; 231 | } 232 | float az = std::sqrt( r*r-(ax*ax+ay*ay) ); 233 | float bz = std::sqrt( r*r-(bx*bx+by*by) ); 234 | glm::vec3 a = glm::vec3(ax,ay,az); 235 | glm::vec3 b = glm::vec3(bx,by,bz); 236 | float theta = std::acos(glm::dot(a,b)/(r*r)); 237 | glm::vec3 v2 = glm::cross(a,b); 238 | // v2是视觉坐标系的向量，v是v2在物体坐标系中的坐标 239 | glm::vec3 v = glm::vec3( 240 | glm::affineInverse(Tmodel) * Tcamera 241 | * glm::vec4(v2[0],v2[1],v2[2],0) ); 242 | Tmodel *= glm::rotate( theta*180/3.14f, v ); 243 | } 244 | -------------------------------------------------------------------------------- /Duke/glwidget.h: -------------------------------------------------------------------------------- 1 | #ifndef GLWIDGET_H 2 | #define GLWIDGET_H 3 | 4 | #include 5 | #include "plyloader.h" 6 | #include 7 | #include 8 | #include 9 | 10 | class GLWidget : public QGLWidget 11 | { 12 | Q_OBJECT 13 | public: 14 | explicit GLWidget(QWidget *parent = 0); 15 | ~GLWidget(); 16 | 17 | int pointSize; 18 | void LoadModel(QString loadpath); 19 | void setPoint(int psize); 20 | 21 | protected: 22 | void initializeGL(); 23 | void resizeGL(int width = 300, int height =300); 24 | void paintGL(); 25 | 26 | void mousePressEvent(QMouseEvent *event); 27 | void mouseMoveEvent(QMouseEvent *event); 28 | void mouseDoubleClickEvent(QMouseEvent *event); 29 | void wheelEvent(QWheelEvent *event); 30 | 31 | private: 32 | void draw(); 33 | void SetupLights(); 34 | void createGradient(); 35 | void drawBackground(QPainter *painter); 36 | GLfloat rotationX; 37 | GLfloat rotationY; 38 | GLfloat rotationZ; 39 | GLfloat offsetX; 40 | GLfloat offsetY; 41 | QPoint lastPos; 42 | PlyLoader *plyloader; 43 | 44 | QRadialGradient gradient; 45 | QColor backColor; 46 | 47 | void drag_ball(int x1, int y1, int x2, int y2, glm::mat4& Tmodel, glm::mat4& Tcamera); 48 | }; 49 | 50 | #endif // GLWIDGET_H 51 | -------------------------------------------------------------------------------- /Duke/graycodes.cpp: -------------------------------------------------------------------------------- 1 | #include "graycodes.h" 2 | 3 | GrayCodes::GrayCodes(int scanW, int scanH, bool useepi) 4 | { 5 | for (int i=0; i(i,j) = pixel_color; 77 | if(pixel_color > 0) 78 | pixel_color = 0; 79 | else 80 | pixel_color = 255; 81 | grayCodes[2*numOfColImgs-2*k+1].at(i,j) = pixel_color; 82 | } 83 | prevRem=rem; 84 | } 85 | } 86 | 87 | if (!useEpi){//如果不使用极限校正，则也生成行条纹 88 | for (int i=0;i < height;i++){ 89 | int rem=0, num=i, prevRem=i%2; 90 | for (int k=0; k(i,j) = pixel_color; 102 | if(pixel_color > 0) 103 | pixel_color = 0; 104 | else 105 | pixel_color = 255; 106 | grayCodes[2*numOfRowImgs-2*k+2*numOfColImgs+1].at(i, j) = pixel_color; 107 | } 108 | prevRem=rem; 109 | } 110 | } 111 | } 112 | ///保存格雷码 113 | //saveGray(); 114 | } 115 | 116 | int GrayCodes::grayToDec(cv::vector gray)//convert a gray code sequence to a decimal number 117 | { 118 | int dec = 0; 119 | bool tmp = gray[0]; 120 | if(tmp) 121 | dec += (int) pow((float)2, int(gray.size() - 1)); 122 | for(int i = 1; i < gray.size(); i++){ 123 | tmp=Utilities::XOR(tmp,gray[i]); 124 | if(tmp) 125 | dec+= (int) pow((float)2,int (gray.size() - i - 1) ); 126 | } 127 | return dec; 128 | } 129 | 130 | void GrayCodes::saveGray() 131 | { 132 | if (useEpi){ 133 | for (size_t i = 0; i<2+2*numOfColImgs;i++){ 134 | QString f = projectPath + "/" + QString::number(i) + ".png"; 135 | cv::imwrite(f.toStdString(),grayCodes[i]); 136 | } 137 | } 138 | } 139 | -------------------------------------------------------------------------------- /Duke/graycodes.h: -------------------------------------------------------------------------------- 1 | #ifndef GRAYCODES_H 2 | #define GRAYCODES_H 3 | 4 | #include 5 | #include 6 | using std::ofstream; 7 | #include 8 | #include 9 | #include 10 | #include "utilities.h" 11 | 12 | #define GRAY_MAX_NUM 44 13 | 14 | class GrayCodes 15 | { 16 | public: 17 | GrayCodes(int scanW, int scanH, bool useepi); 18 | ~GrayCodes(); 19 | 20 | cv::Mat grayCodes[GRAY_MAX_NUM]; 21 | QString projectPath; 22 | bool useEpi;//是否应用极线校正 23 | 24 | int getNumOfImgs(); 25 | 26 | void generateGrays(); 27 | 28 | static int grayToDec(cv::vector gray); 29 | int getNumOfRowBits(); 30 | int getNumOfColBits(); 31 | 32 | protected: 33 | 34 | void calNumOfImgs(); 35 | void allocMemForImgs(); 36 | void saveGray(); 37 | 38 | bool imgsLoaded; 39 | int numOfImgs; 40 | int numOfRowImgs; 41 | int numOfColImgs; 42 | int currentImgNum; 43 | int height; 44 | int width; 45 | }; 46 | 47 | #endif // GRAYCODES_H 48 | -------------------------------------------------------------------------------- /Duke/imageviewer.cpp: -------------------------------------------------------------------------------- 1 | #include "imageviewer.h" 2 | #include "ui_imageviewer.h" 3 | 4 | #include 5 | #include 6 | 7 | bool imageseted = false; 8 | 9 | ImageViewer::ImageViewer(QWidget *parent) : 10 | QWidget(parent), 11 | ui(new Ui::ImageViewer) 12 | { 13 | ui->setupUi(this); 14 | connect(ui->actionSave_Image,SIGNAL(triggered()),this,SLOT(saveimage())); 15 | } 16 | 17 | ImageViewer::~ImageViewer() 18 | { 19 | delete ui; 20 | } 21 | 22 | void ImageViewer::showImage(QPixmap img) 23 | { 24 | ui->imageLabel->setPixmap(img); 25 | imageseted=true; 26 | } 27 | 28 | void ImageViewer::contextMenuEvent(QContextMenuEvent *) 29 | { 30 | QList actions; 31 | actions.push_back(ui->actionSave_Image); 32 | QCursor cur=this->cursor(); 33 | QMenu *menu=new QMenu(this); 34 | menu->addActions(actions); 35 | menu->exec(cur.pos()); 36 | } 37 | 38 | void ImageViewer::saveimage() 39 | { 40 | if (imageseted){ 41 | QString dir = QFileDialog::getSaveFileName(this,tr("Save Image"), 42 | "/home/untitled.png", 43 | tr("Images (*.png *.jpg)")); 44 | ui->imageLabel->pixmap()->save(dir); 45 | } 46 | } 47 | -------------------------------------------------------------------------------- /Duke/imageviewer.h: -------------------------------------------------------------------------------- 1 | #ifndef IMAGEVIEWER_H 2 | #define IMAGEVIEWER_H 3 | 4 | #include 5 | 6 | namespace Ui { 7 | class ImageViewer; 8 | } 9 | 10 | class ImageViewer : public QWidget 11 | { 12 | Q_OBJECT 13 | 14 | public: 15 | explicit ImageViewer(QWidget *parent = 0); 16 | ~ImageViewer(); 17 | 18 | void showImage(QPixmap img); 19 | 20 | protected: 21 | void contextMenuEvent(QContextMenuEvent *); 22 | 23 | private: 24 | Ui::ImageViewer *ui; 25 | 26 | private slots: 27 | void saveimage(); 28 | }; 29 | 30 | #endif // IMAGEVIEWER_H 31 | -------------------------------------------------------------------------------- /Duke/imageviewer.ui: -------------------------------------------------------------------------------- 1 | 2 | 3 | ImageViewer 4 | 5 | 6 | 7 | 0 8 | 0 9 | 829 10 | 596 11 | 12 | 13 | 14 | Form 15 | 16 | 17 | 18 | 19 | 20 | true 21 | 22 | 23 | 24 | 25 | 0 26 | 0 27 | 809 28 | 576 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 0 37 | 0 38 | 39 | 40 | 41 | 42 | 1280 43 | 1024 44 | 45 | 46 | 47 | Image 48 | 49 | 50 | true 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | :/save.png:/save.png 63 | 64 | 65 | Save Image 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | -------------------------------------------------------------------------------- /Duke/main.cpp: -------------------------------------------------------------------------------- 1 | #include "mainwindow.h" 2 | #include 3 | #include 4 | 5 | int main(int argc, char *argv[]) 6 | { 7 | QApplication a(argc, argv); 8 | QSplashScreen *splash = new QSplashScreen; 9 | splash->setPixmap(QPixmap(":/splash.png")); 10 | splash->show(); 11 | 12 | MainWindow w; 13 | w.showMaximized(); 14 | w.show(); 15 | splash->finish(&w); 16 | delete splash; 17 | return a.exec(); 18 | } 19 | 20 | /*************************************************** 21 | * 截止到2014-10-12日以前的工作汇总： 22 | * 实现功能：新建工程（即选择一个空的文件夹作为图片的存放目录） 23 | * 打开摄像头，能够实时预览图像以及对在校准过程中采集的图像进行预览，保存图像到指定文件夹 24 | * 开关投影仪，其中关投影通过投射黑色图像实现 25 | * 投射条纹图像，投射窗口由OpenCV生成 26 | * 采集扫描图像并保存 27 | * 设置工作过程中可能用到的全局变量并写入xml文件 28 | * *************************************************** 29 | * 10-13 30 | * 对文件存放路径的生成进行了调整，新建工程直接生成calib、reconstruction、scan三个文件夹 31 | * 通过选择文件夹函数selectPath选择当前存储路径projChildPath 32 | * 对配置文件set.xml的存储进行了调整，储存在工程根目录下 33 | * 自定义类调用时，应防止头文件相互包含，可以采用前置声明方式 34 | * 目前将set作为参数储存库，有些参数不需要手工设置，应在初始化时自动设置 35 | * ***************************************************** 36 | * 10-18 37 | * 完成了重建相关代码的添加，构建无错误 38 | * ***************************************************** 39 | * 10-19 40 | * 优化reconstruct类代码 41 | * ***************************************************** 42 | * 10-20 43 | * 成功将大恒相机移植到Qt环境，对rawbuffer的调取没有采用callback函数，而是通过定时器触发信号槽的形式 44 | * 对QImage*指针指向图片的操作，应首先将其转换为QPixmap，再进行缩放、变形等操作 45 | * ****************************************************** 46 | * 10-25 47 | * 改进了扫描图像的采集方式，利用单帧采集函数采集，在投影和采集之间添加延时 48 | * 49 | * 50 | * 51 | * 52 | * 53 | * 54 | * 55 | * 56 | */ 57 | -------------------------------------------------------------------------------- /Duke/mainwindow.h: -------------------------------------------------------------------------------- 1 | #ifndef MAINWINDOW_H 2 | #define MAINWINDOW_H 3 | 4 | //Qt 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | 11 | //openCV 12 | #include 13 | #include 14 | 15 | //SLR 16 | #include "blobdetector.h" 17 | #include "cameracalibration.h" 18 | #include "dotmatch.h" 19 | #include "glwidget.h" 20 | 21 | #include "projector.h" 22 | #include "reconstruct.h" 23 | #include "mfreconstruct.h" 24 | #include "meshcreator.h" 25 | 26 | #include "set.h" 27 | #include "focusassistant.h" 28 | 29 | #include "graycodes.h" 30 | #include "multifrequency.h" 31 | 32 | #include "dahengcamera.h" 33 | #include "baslercamera.h" 34 | 35 | #include "imageviewer.h" 36 | 37 | #include "stereorect.h" 38 | 39 | #define DEBUG//用来观察标记点圆心定位精度 40 | 41 | #define WM_SNAP_CHANGE (WM_USER + 100) 42 | 43 | #define CALIBIMGNUM 14 44 | 45 | #define PATHCALIB 0 46 | #define PATHSCAN 1 47 | #define PATHRECON 2 48 | 49 | namespace Ui { 50 | class MainWindow; 51 | } 52 | 53 | class MainWindow : public QMainWindow 54 | { 55 | Q_OBJECT 56 | 57 | public: 58 | MainWindow(QWidget *parent = 0); 59 | ~MainWindow(); 60 | FocusAssistant *fa; 61 | Set *setDialog; 62 | DotMatch *dm; 63 | GLWidget *displayModel; 64 | 65 | QString projectPath; 66 | QString projChildPath; 67 | 68 | int screenWidth;//主屏幕几何尺寸 69 | int screenHeight; 70 | int projectorWidth;//投影屏幕几何尺寸 71 | int projectorHeight; 72 | int scanWidth;//扫描区域尺寸 73 | int scanHeight; 74 | int cameraWidth;//相机分辨率 75 | int cameraHeight; 76 | 77 | int scanSN;//表示当前正在进行的扫描序列数，从0开始 78 | 79 | private: 80 | Ui::MainWindow *ui; 81 | CameraCalibration *calibrator; 82 | BlobDetector *blob; 83 | GrayCodes *grayCode; 84 | MultiFrequency *mf; 85 | Projector *pj; 86 | Reconstruct *reconstructor; 87 | MFReconstruct *mfr; 88 | 89 | DaHengCamera *DHC; 90 | BaslerCamera *BC; 91 | bool usebc;//是否使用Basler相机 92 | bool showFocus;//是否显示对焦辅助窗口 93 | 94 | ///表示编码及解码重建方法，依次为：经典横竖条纹格雷编码，竖条纹格雷码+极线校正，多频外差条纹+极线校正 95 | enum codePattern{GRAY_ONLY, GRAY_EPI, MULTIFREQ_EPI}; 96 | codePattern codePatternUsed; 97 | 98 | void createConnections(); 99 | void createCentralWindow(QWidget *parent); 100 | void captureImage(QString pref, int saveCount, bool dispaly); 101 | void findPoint(); 102 | void paintPoints(); 103 | void getScreenGeometry(); 104 | void closeCamera(); 105 | void generatePath(int type); 106 | 107 | ///---------------辅助功能---------------/// 108 | 109 | void progressPop(int up); 110 | void drawCross(QPainter &p, int x, int y); 111 | 112 | QLabel *msgLabel;//show message in the bottom of the window 113 | 114 | QTimer *timer; 115 | QImage image_1; 116 | QImage image_2; 117 | cv::Mat matShow_1; 118 | cv::Mat matShow_2; 119 | QPixmap pimage_1;//由图像指针得到的.png格式图像 120 | QPixmap pimage_2; 121 | 122 | bool isProjectorOpened; 123 | bool isConfigured; 124 | int saveCount;//count the photo captured. 125 | 126 | QString path_1; 127 | QString path_2; 128 | 129 | ///与set对话框有关的变量 130 | int black_ ; 131 | int white_; 132 | bool isAutoContrast; 133 | bool isRaySampling; 134 | bool isExportObj; 135 | bool isExportPly; 136 | bool haveColor; 137 | 138 | private slots: 139 | void newproject(); 140 | void openproject(); 141 | 142 | void opencamera(); 143 | void startfocusassistant(); 144 | void closefocus(); 145 | void setexposure(); 146 | void readframe(); 147 | 148 | void usebasler(); 149 | 150 | void selectPath(int PATH); 151 | 152 | void capturecalib(); 153 | void redocapture(); 154 | void projectorcontrol(); 155 | 156 | void calib(); 157 | void calibration(); 158 | 159 | void scan(); 160 | void pointmatch(); 161 | void refindmatch(); 162 | void showhidemanual(); 163 | void finishmanualmatch(); 164 | void startscan(); 165 | void test(); 166 | 167 | void reconstruct(); 168 | void startreconstruct(); 169 | 170 | void set(); 171 | void getSetInfo(); 172 | 173 | void changePointSize(int psize); 174 | void loadTestModel(); 175 | void switchlanguage(); 176 | 177 | }; 178 | 179 | #endif // MAINWINDOW_H 180 | -------------------------------------------------------------------------------- /Duke/manualmatch.cpp: -------------------------------------------------------------------------------- 1 | #include "manualmatch.h" 2 | #include "ui_manualmatch.h" 3 | 4 | #include 5 | #include 6 | #include 7 | 8 | 9 | QFont textfont("Calibri",50); 10 | QColor gcolor(0,255,0); 11 | QColor rcolor(255,0,0); 12 | 13 | ManualMatch::ManualMatch(QWidget *parent) : 14 | QWidget(parent), 15 | ui(new Ui::ManualMatch) 16 | { 17 | ui->setupUi(this); 18 | 19 | connect(ui->confirmButton,SIGNAL(clicked()),this,SLOT(confirmID())); 20 | connect(ui->finishButton,SIGNAL(clicked()),this,SLOT(finish())); 21 | connect(ui->cancelButton,SIGNAL(clicked()),this,SLOT(hide())); 22 | connect(ui->resetButton,SIGNAL(clicked()),this,SLOT(reset())); 23 | connect(ui->deleteButton,SIGNAL(clicked()),this,SLOT(deletepoint())); 24 | //connect(ui->idEdit,SIGNAL(textEdited(QString)),ui->confirmButton,SLOT(setEnabled(bool))); 25 | 26 | onMark = 0; 27 | } 28 | 29 | ManualMatch::~ManualMatch() 30 | { 31 | delete ui; 32 | } 33 | 34 | void ManualMatch::setImage() 35 | { 36 | QImage pimage_1 = QImage(leftImage.data,leftImage.cols,leftImage.rows,QImage::Format_Indexed8); 37 | QImage pimage_2 = QImage(rightImage.data,rightImage.cols,rightImage.rows,QImage::Format_Indexed8); 38 | QPixmap pcopy_1 = QPixmap::fromImage(pimage_1); 39 | QPixmap pcopy_2 = QPixmap::fromImage(pimage_2); 40 | QPainter pt_1(&pcopy_1); 41 | QPainter pt_2(&pcopy_2); 42 | pt_1.setFont(textfont); 43 | pt_2.setFont(textfont); 44 | 45 | for(size_t i = 0;i < dotInOrder.size();i++){ 46 | pt_1.setPen(gcolor); 47 | pt_2.setPen(gcolor); 48 | 49 | drawCross(pt_1, dotInOrder[i][0].x ,dotInOrder[i][0].y); 50 | drawCross(pt_2, dotInOrder[i][1].x, dotInOrder[i][1].y); 51 | 52 | int ID; 53 | if (refinedCorr.size()>i){//根据refinedCorr中的数据（如果有）显示i点ID 54 | for (size_t r = 0; r < refinedCorr.size(); r++){ 55 | if (i == refinedCorr[r].y) 56 | ID = refinedCorr[r].x; 57 | } 58 | pt_1.drawText(dotInOrder[i][0].x,dotInOrder[i][0].y,QString::number(ID)); 59 | pt_2.drawText(dotInOrder[i][1].x,dotInOrder[i][1].y,QString::number(ID)); 60 | } 61 | else{//若refinedPoint还未被赋予空间，根据correspond中的数据显示i点ID 62 | bool idexist = false;//表示ID点的对应点存在，只关系到ID的显示状态 63 | for (size_t c = 0; c < correspond.size(); c++){ 64 | if (i == correspond[c].y){ 65 | ID = correspond[c].x; 66 | idexist = true; 67 | } 68 | } 69 | if (idexist){ 70 | pt_1.drawText(dotInOrder[i][0].x,dotInOrder[i][0].y,QString::number(ID)); 71 | pt_2.drawText(dotInOrder[i][1].x,dotInOrder[i][1].y,QString::number(ID)); 72 | } 73 | else{ 74 | pt_1.drawText(dotInOrder[i][0].x,dotInOrder[i][0].y,"?"); 75 | pt_2.drawText(dotInOrder[i][1].x,dotInOrder[i][1].y,"?"); 76 | } 77 | } 78 | } 79 | 80 | ///用红色方框标记当前准备赋予编号的点 81 | pt_1.setPen(rcolor); 82 | pt_2.setPen(rcolor); 83 | pt_1.drawRect(dotInOrder[onMark][0].x-15,dotInOrder[onMark][0].y-15,30,30); 84 | pt_2.drawRect(dotInOrder[onMark][1].x-15,dotInOrder[onMark][1].y-15,30,30); 85 | 86 | ui->leftImage->setPixmap(pcopy_1); 87 | ui->rightImage->setPixmap(pcopy_2); 88 | 89 | int ID; 90 | if (!refinedCorr.empty()){ 91 | if (refinedCorr[onMark].x >= 0){//如果onMark点已经被标记过，则在idEdit中显示ID值 92 | ID = refinedCorr[onMark].x; 93 | ui->idEdit->setText(QString::number(ID)); 94 | } 95 | else 96 | ui->idEdit->clear(); 97 | } 98 | } 99 | 100 | void ManualMatch::confirmID() 101 | { 102 | if (refinedCorr.size() == 0) 103 | refinedCorr.resize(dotInOrder.size(),cv::Point2i(-1,-1)); 104 | 105 | int id = ui->idEdit->text().toInt(); 106 | cv::Point2i corr; 107 | corr.x = id; 108 | corr.y = onMark; 109 | refinedCorr.at(onMark) = corr; 110 | 111 | if (onMark == dotInOrder.size() - 1) 112 | onMark = 0; 113 | else 114 | onMark++; 115 | ui->current->setText(QString::number(onMark)); 116 | 117 | setImage();//根据新的信息重绘图像 118 | } 119 | 120 | void ManualMatch::deletepoint() 121 | { 122 | if (onMark < dotInOrder.size() - 1){ 123 | dotInOrder.erase(dotInOrder.begin() + onMark); 124 | correspond.erase(correspond.begin() + onMark); 125 | //refinedCorr.erase(refinedCorr.begin() + onMark); 126 | } 127 | else{ 128 | dotInOrder.erase(dotInOrder.end() - 1); 129 | correspond.erase(correspond.end() - 1); 130 | //refinedCorr.erase(refinedCorr.end()); 131 | } 132 | setImage(); 133 | } 134 | 135 | void ManualMatch::finish() 136 | { 137 | if (refinedCorr.size() == 0){ 138 | for (size_t i = 0;i < correspond.size(); i++){ 139 | refinedCorr.push_back(correspond[i]); 140 | } 141 | } 142 | else{ 143 | for (size_t i = 0;i < refinedCorr.size(); i++){ 144 | if (refinedCorr[i].x < 0) 145 | QMessageBox::warning(NULL,"Manual Match",tr("Point ") + QString::number(i) + tr(" hasn't been marked.")); 146 | } 147 | } 148 | this->hide(); 149 | emit outputdata(); 150 | } 151 | 152 | void ManualMatch::reset() 153 | { 154 | refinedCorr.clear(); 155 | onMark = 0; 156 | setImage(); 157 | } 158 | 159 | void ManualMatch::keyPressEvent(QKeyEvent *e) 160 | { 161 | if (e->key() == Qt::Key_Enter) 162 | confirmID(); 163 | else if (e->key() == Qt::Key_Delete) 164 | deletepoint(); 165 | } 166 | 167 | void ManualMatch::drawCross(QPainter &p, int x, int y) 168 | { 169 | int len = 25; 170 | p.drawLine(x - len, y, x + len, y); 171 | p.drawLine(x, y - len, x, y + len); 172 | } 173 | 174 | 175 | 176 | -------------------------------------------------------------------------------- /Duke/manualmatch.h: -------------------------------------------------------------------------------- 1 | #ifndef MANUALMATCH_H 2 | #define MANUALMATCH_H 3 | 4 | #include 5 | #include 6 | 7 | // OpenCV 8 | #include 9 | #include 10 | 11 | namespace Ui { 12 | class ManualMatch; 13 | } 14 | 15 | class ManualMatch : public QWidget 16 | { 17 | Q_OBJECT 18 | 19 | public: 20 | explicit ManualMatch(QWidget *parent = 0); 21 | ~ManualMatch(); 22 | 23 | cv::Mat leftImage; 24 | cv::Mat rightImage; 25 | cv::vector correspond; 26 | cv::vector refinedCorr;//x表示点ID，y值表示序号 27 | cv::vector> dotInOrder;//向量<向量<左图像标记点坐标，右图像标记点坐标>> 28 | 29 | void setImage(); 30 | 31 | private: 32 | Ui::ManualMatch *ui; 33 | 34 | void drawCross(QPainter &p, int x, int y); 35 | 36 | size_t onMark;//表示当前光标停留的待标记点 37 | 38 | protected: 39 | void keyPressEvent(QKeyEvent *e); 40 | 41 | private slots: 42 | void confirmID(); 43 | void deletepoint();//delete mismatched point 44 | void finish();//点击完成标记按钮触发的动作 45 | void reset();//点击重置标记按钮触发的动作 46 | signals: 47 | void outputdata();//由finish按钮所发出的信号，作用是通知dotmatch对refinedCorr进行处理，使用onfinishmanual()槽 48 | }; 49 | 50 | #endif // MANUALMATCH_H 51 | -------------------------------------------------------------------------------- /Duke/manualmatch.ui: -------------------------------------------------------------------------------- 1 | 2 | 3 | ManualMatch 4 | 5 | 6 | 7 | 0 8 | 0 9 | 815 10 | 575 11 | 12 | 13 | 14 | 15 | 0 16 | 0 17 | 18 | 19 | 20 | Manual Match Assistant 21 | 22 | 23 | 24 | :/splash.png:/splash.png 25 | 26 | 27 | true 28 | 29 | 30 | 31 | 6 32 | 33 | 34 | 10 35 | 36 | 37 | 6 38 | 39 | 40 | 10 41 | 42 | 43 | 10 44 | 45 | 46 | 15 47 | 48 | 49 | 50 | 51 | 20 52 | 53 | 54 | 55 | 56 | 57 | 0 58 | 0 59 | 60 | 61 | 62 | 63 | 640 64 | 512 65 | 66 | 67 | 68 | QFrame::Box 69 | 70 | 71 | Left Image 72 | 73 | 74 | true 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 0 83 | 0 84 | 85 | 86 | 87 | 88 | 640 89 | 512 90 | 91 | 92 | 93 | QFrame::Box 94 | 95 | 96 | Right Image 97 | 98 | 99 | true 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 0 109 | 110 | 111 | 100 112 | 113 | 114 | 100 115 | 116 | 117 | 118 | 119 | 10 120 | 121 | 122 | 123 | 124 | 125 | 0 126 | 0 127 | 128 | 129 | 130 | <html><head/><body><p>Current Point Num:</p></body></html> 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 0 139 | 0 140 | 141 | 142 | 143 | 0 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 0 152 | 0 153 | 154 | 155 | 156 | Set ID 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 0 165 | 0 166 | 167 | 168 | 169 | 170 | 60 171 | 16777215 172 | 173 | 174 | 175 | false 176 | 177 | 178 | 179 | 180 | 181 | 182 | Confirm 183 | 184 | 185 | 186 | 187 | 188 | 189 | Delete 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | Qt::Horizontal 199 | 200 | 201 | 202 | 40 203 | 20 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 10 212 | 213 | 214 | 215 | 216 | Finish 217 | 218 | 219 | 220 | 221 | 222 | 223 | Reset 224 | 225 | 226 | 227 | 228 | 229 | 230 | Cancel 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | -------------------------------------------------------------------------------- /Duke/meshcreator.cpp: -------------------------------------------------------------------------------- 1 | #include "meshcreator.h" 2 | 3 | MeshCreator::MeshCreator(PointCloudImage *in) 4 | { 5 | cloud = in; 6 | w = cloud->getWidth(); 7 | h = cloud->getHeight(); 8 | pixelNum = new int[w*h]; 9 | } 10 | 11 | MeshCreator::~MeshCreator(void) 12 | { 13 | delete pixelNum; 14 | } 15 | 16 | void MeshCreator::exportObjMesh(QString path) 17 | { 18 | int count = 1; 19 | bool return_val; 20 | cv::Point3f point; 21 | std::ofstream out1; 22 | std::string cstr = path.toStdString(); 23 | out1.open(cstr); 24 | 25 | for(int i = 0; i getPoint(i, j, point); 28 | if(return_val){ 29 | pixelNum[access(i, j)]=count; 30 | out1<<"v "<< point.x<< " "<< point.y<< " "< 0&&i < w - 1) 56 | v3 = pixelNum[access(i+1,j-1)]; 57 | else 58 | v3=0; 59 | 60 | if(v1!=0 && v2!=0 && v3!=0) 61 | out1<<"f "<< v1<<"/"<getPoint(i, j, point)){ 79 | pixelNum[access(i, j)] = vertexCount; 80 | vertexCount++; 81 | } 82 | else 83 | pixelNum[access(i, j)]=0; 84 | } 85 | } 86 | int facesCount = 0;//find faces num 87 | for(int i=0; i 0) && (i < w-1)) 104 | v3=pixelNum[access(i+1,j-1)]; 105 | else 106 | v3=0; 107 | 108 | if(v1!=0 && v2!=0 && v3!=0) 109 | facesCount++; 110 | } 111 | } 112 | 113 | //ply headers 114 | out1<<"ply\n"; 115 | out1<<"format ascii 1.0\n"; 116 | out1<<"element vertex " << vertexCount << "\n"; 117 | out1<<"property float x\n"; 118 | out1<<"property float y\n"; 119 | out1<<"property float z\n"; 120 | out1<<"property uchar red\n"; 121 | out1<<"property uchar green\n"; 122 | out1<<"property uchar blue\n"; 123 | out1<<"element face " << facesCount << "\n"; 124 | out1<<"property list uchar int vertex_indices\n"; 125 | out1<<"end_header\n"; 126 | 127 | for(int i=0; igetPoint(i, j, point, color); 130 | if(return_val){ 131 | out1<< point.x << " " << point.y << " " << point.z << " "<< color[2] << " " << color[1] << " " << color[0] << "\n"; 132 | //out1<< point.x << " " << point.y << " " << point.z << " "<< (int) color[2] << " " << (int) color[1] << " " << (int) color[0] << "\n"; 133 | } 134 | else 135 | pixelNum[access(i, j)]=0; 136 | } 137 | } 138 | 139 | for(int i = 0; i < w;i++){ 140 | for(int j = 0; j < h; j++){ 141 | int v1 = pixelNum[access(i, j)], v2, v3; 142 | 143 | if(i < w - 1) 144 | v2 = pixelNum[access(i + 1, j)]; 145 | else 146 | v2 = 0; 147 | 148 | if(j 0 && i< w - 1) 157 | v3 = pixelNum[access(i + 1, j - 1)]; 158 | else 159 | v3 = 0; 160 | 161 | if(v1!=0 && v2!=0 && v3!=0) 162 | out1 << "3 " << v1 << " " << v3 << " " << v2 << "\n"; 163 | } 164 | } 165 | out1.close(); 166 | } 167 | 168 | int MeshCreator::access(int i, int j) 169 | { 170 | return i * h + j; 171 | } 172 | 173 | -------------------------------------------------------------------------------- /Duke/meshcreator.h: -------------------------------------------------------------------------------- 1 | #ifndef MESHCREATOR_H 2 | #define MESHCREATOR_H 3 | 4 | #include "pointcloudimage.h" 5 | #include 6 | 7 | class MeshCreator 8 | { 9 | public: 10 | MeshCreator(PointCloudImage *in); 11 | ~MeshCreator(void); 12 | void exportObjMesh(QString path); 13 | void exportPlyMesh(QString path); 14 | private: 15 | int *pixelNum; 16 | PointCloudImage *cloud; 17 | int MeshCreator::access(int i,int j); 18 | int MeshCreator::access(int i,int j, int z); 19 | 20 | int w; 21 | int h; 22 | }; 23 | 24 | #endif // MESHCREATOR_H 25 | -------------------------------------------------------------------------------- /Duke/mfreconstruct.cpp: -------------------------------------------------------------------------------- 1 | #include "mfreconstruct.h" 2 | #include 3 | 4 | bool processl = true; 5 | float PI = 3.1416; 6 | 7 | MFReconstruct::MFReconstruct(QObject *parent) : 8 | QObject(parent) 9 | { 10 | mask = NULL; 11 | decRows = NULL; 12 | decCols = NULL; 13 | points3DProjView = NULL; 14 | cameras = new VirtualCamera[2];//生成virtualcamera的两个实例，保存在数组cameras[2] 15 | camsPixels = new cv::vector*[2]; 16 | calibFolder = new QString[2]; 17 | scanFolder = new QString[2]; 18 | imgPrefix = new QString[2]; 19 | pathSet = false; 20 | imgSuffix = ".png";//这里暂时认为图片后缀为.png 21 | numOfColBits = 12; 22 | numberOfImgs = 14; 23 | } 24 | 25 | 26 | void MFReconstruct::getParameters(int scansn, int scanw, int scanh, 27 | int camw, int camh, int blackt, int whitet, QString savePath) 28 | { 29 | scanSN = scansn; 30 | scan_w = scanw; 31 | scan_h = scanh; 32 | cameraWidth = camw; 33 | cameraHeight = camh; 34 | blackThreshold = blackt; 35 | whiteThreshold = whitet; 36 | savePath_ = savePath;//equal to projectPath 37 | 38 | sr = new stereoRect(savePath, cv::Size(camw,camh)); 39 | sr->getParameters(); 40 | 41 | for (int i = 0; i < 2; i++){ 42 | camsPixels[i] = NULL; 43 | QString pathI; 44 | if (i == 0){ 45 | pathI = savePath + "/scan/left/";//Load Images for reconstruction 46 | } 47 | else{ 48 | pathI = savePath + "/scan/right/"; 49 | } 50 | scanFolder[i] = pathI; 51 | if (i == 0){ 52 | imgPrefix[i] = QString::number(scanSN) + "/L"; 53 | calibFolder[i] = savePath + "/calib/left/"; 54 | } 55 | else{ 56 | imgPrefix[i] = QString::number(scanSN) +"/R"; 57 | calibFolder[i] = savePath + "/calib/right/"; 58 | } 59 | } 60 | pathSet = true; 61 | 62 | if (!loadCameras()) 63 | QMessageBox::warning(NULL,tr("Get Param"),tr("Load Calibration files failed.")); 64 | } 65 | 66 | 67 | bool MFReconstruct::loadCameras()//Load calibration data into camera[i] 68 | { 69 | bool loaded; 70 | for(int i = 0; i < 2; i++) 71 | { 72 | QString path; 73 | path = calibFolder[i]; 74 | #ifndef USE_STEREOCALIB_DATA 75 | path += "cam_matrix.txt"; 76 | loaded = cameras[i].loadCameraMatrix(path);//defined in visualcamera 77 | if(!loaded) 78 | break; 79 | 80 | path = calibFolder[i]; 81 | path += "cam_distortion.txt"; 82 | cameras[i].loadDistortion(path);//注意loaddistortion方法加载一个5X1矩阵 83 | #else 84 | path += "cam_stereo.txt"; 85 | loaded = cameras[i].loadCameraMatrix(path);//defined in visualcamera 86 | if(!loaded) 87 | break; 88 | path = calibFolder[i]; 89 | path += "distortion_stereo.txt"; 90 | cameras[i].loadDistortion(path); 91 | #endif 92 | path = calibFolder[i]; 93 | path += "cam_rotation_matrix.txt"; 94 | cameras[i].loadRotationMatrix(path); 95 | 96 | path = calibFolder[i]; 97 | path += "cam_trans_vectror.txt"; 98 | cameras[i].loadTranslationVector(path); 99 | 100 | path = savePath_; 101 | path += "/calib/fundamental_stereo.txt";//测试表明，采用立体标定得到的F效果好于单独标定得到的 102 | cameras[i].loadFundamentalMatrix(path); 103 | 104 | cameras[i].height = cameraHeight; 105 | cameras[i].width = cameraWidth; 106 | } 107 | return loaded; 108 | } 109 | 110 | 111 | bool MFReconstruct::loadCamImgs(QString folder, QString prefix, QString suffix)//load camera images 112 | { 113 | cv::Mat tmp; 114 | if(!camImgs.empty()) 115 | unloadCamImgs(); 116 | 117 | sr->calParameters(); 118 | 119 | for(int i = 0; i < numberOfImgs; i++){ 120 | QString path; 121 | path = folder;//这里folder要达到left/right一层 122 | path += prefix + QString::number(i) + suffix; 123 | tmp.release(); 124 | 125 | tmp = cv::imread(path.toStdString(),0);//flag=0 Return a grayscale image 126 | 127 | if (processl){//第一次调用loadImg时认为是加载左相机图像 128 | sr->doStereoRectify(tmp,true); 129 | //cv::imwrite(path.toStdString(),tmp); 130 | } 131 | else{ 132 | sr->doStereoRectify(tmp,false); 133 | //cv::imwrite(path.toStdString(),tmp); 134 | } 135 | 136 | if(tmp.empty()){ 137 | QMessageBox::warning(NULL,tr("Load Images"),tr("Scan Images not found!")); 138 | break; 139 | } 140 | else{ 141 | camImgs.push_back(tmp); 142 | } 143 | } 144 | processl = !processl;//每调用一次加载图像都对是否处理左图像取反 145 | return !tmp.empty(); 146 | } 147 | 148 | 149 | void MFReconstruct::unloadCamImgs()//unload camera images 150 | { 151 | if(camImgs.size()){ 152 | for(int i = 0; i[cameraHeight * cameraWidth];//将每个相机图像中的每个像素在投影区域中的横坐标记录 166 | 167 | ///camera在loadCamImgs中进行了赋值 168 | camera = &cameras[i]; 169 | runSucess = loadCamImgs(scanFolder[i], imgPrefix[i], imgSuffix); 170 | camPixels = camsPixels[i]; 171 | 172 | ///截至这一步，实例camera的position、width、height属性已被赋值，camera对应cameras[i] 173 | 174 | if(!runSucess)//如果加载图片失败，中断 175 | break; 176 | else{ 177 | computeShadows(); 178 | decodePatterns(); 179 | unloadCamImgs(); 180 | } 181 | } 182 | if(runSucess){ 183 | points3DProjView = new PointCloudImage(scan_w, scan_h, false); //最后一个bool值代表是否上色，这里改为false 184 | triangulation(camsPixels[0],cameras[0],camsPixels[1],cameras[1]); 185 | } 186 | return runSucess; 187 | } 188 | 189 | 190 | void MFReconstruct::computeShadows() 191 | { 192 | int w = cameraWidth; 193 | int h = cameraHeight; 194 | mask.release(); 195 | mask = cv::Mat(h, w, CV_8U,cv::Scalar(0));//注意h=行数rows，w=列数cols 196 | for(int col = 0; col < w; col++){ 197 | for(int row = 0; row < h; row++){ 198 | float blackVal, whiteVal; 199 | blackVal = (float) Utilities::matGet2D(camImgs[1], row, col);//camImgs[1]表示全黑图像 200 | whiteVal = (float) Utilities::matGet2D(camImgs[0], row, col);//camImgs[0]表示全白图像 201 | if(whiteVal - blackVal > blackThreshold)//同一像素点在全黑、全白投影下反差大于blackThreshold，说明该点不在阴影里 202 | Utilities::matSet2D(mask, row, col, 1); 203 | else 204 | Utilities::matSet2D(mask, row, col, 0); 205 | } 206 | } 207 | } 208 | 209 | 210 | void MFReconstruct::decodePatterns() 211 | { 212 | int w = cameraWidth; 213 | int h = cameraHeight; 214 | float phase;//表示图像上(w,h)点在绝对相位展开图上的相位值 215 | cv::Mat out(h,w,CV_8U); 216 | for(int row = 0; row < h; row++){ 217 | for(int col = 0; col < w; col++){ 218 | ///mask是根据相机拍摄的图片生成的，因此其大小就是w*h 219 | if(mask.at(row, col)){//if the pixel is not shadow reconstruct 220 | getPhase(row, col, phase); 221 | camPixels[(row*cameraWidth+col)].push_back(phase); 222 | out.at(row,col) = phase; 223 | } 224 | } 225 | } 226 | //out.convertTo(out,CV_8UC1); 227 | cv::imwrite(savePath_.toStdString()+"/p.png",out); 228 | } 229 | 230 | 231 | void MFReconstruct::getPhase(int row, int col, float &phase) 232 | { 233 | double P[3];//三组相对相位 234 | float P12, P23, P123;//展开相位 235 | 236 | ///prosses column images 237 | for(int count = 0; count < 3; count++){//3表示共进行3次4步相移 238 | int G1, G2, G3, G4;//点在四步相移图像中的灰度值 239 | G1 = Utilities::matGet2D(camImgs[4*count + 2], row, col); 240 | G2 = Utilities::matGet2D(camImgs[4*count + 3], row, col); 241 | G3 = Utilities::matGet2D(camImgs[4*count + 4], row, col); 242 | G4 = Utilities::matGet2D(camImgs[4*count + 5], row, col); 243 | 244 | ///计算相对相位，注意结果是弧度制还是角度制，加PI使取值范围为 245 | /// 0~2PI 246 | if (G4 == G2 && G1 > G3) 247 | P[count] = 0; 248 | else if (G4 == G2 && G1 < G3) 249 | P[count] = PI; 250 | else if (G1 == G3 && G4 > G2) 251 | P[count] = 3*PI/2; 252 | else if (G1 == G3 && G4 < G2) 253 | P[count] = PI/2; 254 | else if (G1 == G3 && G4 == G2) 255 | Utilities::matSet2D(mask, row, col, 0); 256 | else if (G1 < G3) 257 | P[count] = atan(float((G4-G2)/(G1-G3))) + PI; 258 | else if (G1 > G3 && G4 > G2) 259 | P[count] = atan(float((G4-G2)/(G1-G3))) + 2*PI; 260 | else 261 | P[count] = atan(float((G4-G2)/(G1-G3))); 262 | } 263 | 264 | ///将相对相位利用外差原理进行相位展开 265 | P12 = (P[0] > P[1])?(P[0] - P[1]):(P[0] - P[1] + 2*PI); 266 | P23 = (P[1] > P[2])?(P[1] - P[2]):(P[1] - P[2] + 2*PI); 267 | P123 = (P12 > P23)?(P12 - P23):(P12 - P23 + 2*PI); 268 | phase = P123/(2*PI)*255; 269 | } 270 | 271 | 272 | void MFReconstruct::triangulation(cv::vector *cam1Pixels, VirtualCamera camera1, cv::vector *cam2Pixels, VirtualCamera camera2) 273 | { 274 | int width = cameraWidth; 275 | int height = cameraHeight; 276 | 277 | cv::Mat matCoordTrans(3,4,CV_32F);//定义变换矩阵将当前次扫描坐标系对齐至首次扫描坐标系 278 | if (scanSN > 0){ 279 | ///加载刚体变换矩阵 280 | QString loadPath = savePath_ + "/scan/transfer_mat" + QString::number(scanSN) + ".txt"; 281 | camera1.loadMatrix(matCoordTrans, 3, 4, loadPath.toStdString()); 282 | } 283 | 284 | for (int i = 0; i < height;i++){//遍历图像高度方向 285 | for (int j = 0;j < width;j++){//遍历图像宽度方向 286 | cv::vector cam1Pix = cam1Pixels[i * width + j];//注意这里cam1Pix是一个向量 287 | if (cam1Pix.size() == 0) 288 | continue; 289 | for (int k = 0;k < width;k++){ 290 | cv::vector cam2Pix = cam2Pixels[i * width + k]; 291 | 292 | if (cam2Pix.size() == 0) 293 | continue; 294 | 295 | if (fabs(cam1Pix[0] - cam2Pix[0]) < 0.1){//说明左相机(j,i)点与右相机(k,i)点匹配 296 | ///以左图像该点二维坐标、对应点视差构建该点二维齐次坐标 297 | cv::Point2f camPixelUDL = Utilities::undistortPoints(cv::Point2f(j, i),camera1); 298 | cv::Point2f camPixelUDR = Utilities::undistortPoints(cv::Point2f(k, i),camera2); 299 | double point2D[] = {camPixelUDL.x, camPixelUDL.y, camPixelUDL.x - camPixelUDR.x, 1};//二维坐标 300 | cv::Mat p2D = cv::Mat(4,1,CV_64F,point2D);//构建坐标矩阵 301 | cv::Mat p3D; 302 | p3D = sr->Q * p2D;//此处调试以观察是否正确计算 303 | double x = p3D.at(0,0); 304 | double y = p3D.at(1,0); 305 | double z = p3D.at(2,0); 306 | double w = p3D.at(3,0); 307 | double ax = x/w; 308 | double ay = y/w; 309 | double az = z/w; 310 | 311 | cv::Point3f interPoint(ax,ay,az); 312 | cv::Point3f refinedPoint; 313 | 314 | ///以下判断为多次重建得到的点云拼接做准备 315 | if (scanSN > 0){ 316 | float point[] = {interPoint.x, interPoint.y, interPoint.z, 1}; 317 | cv::Mat pointMat(4, 1, CV_32F, point); 318 | cv::Mat refineMat(3, 1, CV_32F); 319 | refineMat = matCoordTrans * pointMat; 320 | refinedPoint.x = refineMat.at(0, 0); 321 | refinedPoint.y = refineMat.at(1, 0); 322 | refinedPoint.z = refineMat.at(2, 0); 323 | } 324 | else 325 | refinedPoint = interPoint; 326 | points3DProjView->addPoint(i, j, refinedPoint); 327 | break;//若左图像某点与右图像点已发生了匹配，则不再检索右图像其余点 328 | } 329 | else 330 | continue; 331 | } 332 | } 333 | } 334 | } 335 | 336 | -------------------------------------------------------------------------------- /Duke/mfreconstruct.h: -------------------------------------------------------------------------------- 1 | #ifndef MFRECONSTRUCT_H 2 | #define MFRECONSTRUCT_H 3 | 4 | #include 5 | 6 | #include 7 | 8 | #include "virtualcamera.h" 9 | #include "pointcloudimage.h" 10 | #include "stereorect.h" 11 | 12 | class MFReconstruct : public QObject 13 | { 14 | Q_OBJECT 15 | public: 16 | explicit MFReconstruct(QObject *parent = 0); 17 | void getParameters(int scansn, int scanw, int scanh, int camw, int camh, int blackt, int whitet, QString savePath); 18 | bool runReconstruction(); 19 | 20 | PointCloudImage *points3DProjView; 21 | 22 | private: 23 | int scanSN;//表示当前重建的扫描数据序列号，也是输出模型的序列号 24 | 25 | QString savePath_;//same as projectPath 26 | QString *calibFolder; 27 | QString *scanFolder; 28 | QString *imgPrefix; 29 | QString imgSuffix; 30 | 31 | int numberOfImgs; 32 | int numOfColBits; 33 | 34 | int blackThreshold; 35 | int whiteThreshold; 36 | 37 | cv::Mat mask;//matrix with vals 0 and 1 , CV_8U , uchar 38 | cv::Mat decRows; 39 | cv::Mat decCols; 40 | cv::vector camImgs; 41 | 42 | cv::vector **camsPixels; 43 | cv::vector *camPixels; 44 | 45 | bool pathSet; 46 | int cameraWidth; 47 | int cameraHeight; 48 | int scan_w; 49 | int scan_h; 50 | 51 | VirtualCamera *camera;//general functions use this instead of camera1 or camera2 52 | VirtualCamera *cameras; 53 | stereoRect *sr; 54 | 55 | bool loadCameras(); 56 | bool loadCamImgs(QString folder, QString prefix, QString suffix); 57 | void unloadCamImgs(); 58 | void computeShadows(); 59 | void decodePatterns(); 60 | void getPhase(int row, int col, float &phase); 61 | void triangulation(cv::vector *cam1Pixels, VirtualCamera cameras1, cv::vector *cam2Pixels, VirtualCamera cameras2); 62 | 63 | signals: 64 | 65 | public slots: 66 | 67 | }; 68 | 69 | #endif // MFRECONSTRUCT_H 70 | -------------------------------------------------------------------------------- /Duke/multifrequency.cpp: -------------------------------------------------------------------------------- 1 | #include "multifrequency.h" 2 | 3 | int frequency[3] = {70,64,59}; 4 | int testCount = 0;//用来做多频外插投影的测试 5 | 6 | MultiFrequency::MultiFrequency(QObject *parent, int projwidth, int projheight) : 7 | QObject(parent) 8 | { 9 | projW = projwidth; 10 | projH = projheight; 11 | imgsLoaded = false; 12 | } 13 | 14 | void MultiFrequency::generateMutiFreq() 15 | { 16 | MultiFreqImages[0] = cv::Mat(projH,projW,CV_8U,cvScalar(255)); 17 | MultiFreqImages[1] = cv::Mat(projH,projW,CV_8U,cvScalar(0)); 18 | for (size_t i = 2; i < MULTI_NUM + 2; i++)//+2表示全白全黑图像 19 | { 20 | MultiFreqImages[i] = cv::Mat(projH, projW, CV_8U); 21 | } 22 | for (size_t f = 0; f < 3; f++){ 23 | for (size_t phi = 0; phi < 4; phi++){ 24 | cv::Mat temp(projH,projW,CV_8U); 25 | for (size_t w = 0; w < projW; w++){ 26 | for (size_t h = 0; h < projH; h++){ 27 | temp.at(h,w) = 135+79*cos(float(PI*2*w*frequency[f]/projW+PI*phi/2)); 28 | } 29 | } 30 | MultiFreqImages[4*f + phi + 2] = temp; 31 | } 32 | } 33 | } 34 | 35 | 36 | int MultiFrequency::getNumOfImgs() 37 | { 38 | return 14; 39 | } 40 | -------------------------------------------------------------------------------- /Duke/multifrequency.h: -------------------------------------------------------------------------------- 1 | #ifndef MULTIFREQUENCY_H 2 | #define MULTIFREQUENCY_H 3 | 4 | #define MULTI_NUM 12 5 | #define PI 3.1416 6 | 7 | #include 8 | #include 9 | #include 10 | 11 | class MultiFrequency : public QObject 12 | { 13 | Q_OBJECT 14 | public: 15 | MultiFrequency(QObject *parent = 0, int projwidth = 1280, int projheight = 1024); 16 | void generateMutiFreq(); 17 | int getNumOfImgs(); 18 | cv::Mat MultiFreqImages[MULTI_NUM + 2]; 19 | 20 | private: 21 | bool imgsLoaded; 22 | int projW; 23 | int projH; 24 | }; 25 | 26 | #endif // MULTIFREQUENCY_H 27 | -------------------------------------------------------------------------------- /Duke/plyloader.cpp: -------------------------------------------------------------------------------- 1 | #include "plyloader.h" 2 | #include 3 | 4 | PlyLoader::PlyLoader(QObject *parent) : 5 | QObject(parent) 6 | { 7 | } 8 | 9 | bool PlyLoader::LoadModel(QString filename) 10 | { 11 | if (filename != NULL) 12 | { 13 | /* 14 | QFile file(filename); 15 | if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) 16 | return -1; 17 | */ 18 | string name = filename.toStdString(); 19 | FILE *file = NULL; 20 | file = fopen(name.data(),"r"); 21 | fseek(file, 0, SEEK_END);//获取文件全部数据 22 | mp_vertexXYZ = (float*)malloc(10000000);//long int ftell (FILE *stream); Returns the current value of the position indicator of the stream. 23 | fseek(file, 0, SEEK_SET);//操作符指向文件流开头 24 | 25 | if (file) 26 | { 27 | int i = 0; 28 | char buffer[3000]; 29 | fgets(buffer, 300, file);//char *fgets (char *str, int num, FILE *stream); Get string from stream 30 | // READ HEADER 31 | // Find number of vertexes 32 | while (strncmp("element vertex", buffer,strlen("element vertex")) != 0 )//int strncmp (const char *str1, const char *str2, size_t num); Compare characters of two strings 33 | { 34 | fgets(buffer, 300, file); //如果一直没有找到element vertex字符串，就一直从文件流中取出300个元素，直到找到为止 35 | } 36 | strcpy(buffer, buffer + strlen("element vertex"));//char *strcpy ( char *destination, const char *source ); Copy string 37 | sscanf(buffer, "%i", &this->m_totalConnectedPoints);//int sscanf ( const char * s, const char * format, ...); Read formatted data from string 38 | // go to end_header 39 | while (strncmp( "end_header", buffer,strlen("end_header")) != 0 ) 40 | { 41 | fgets(buffer, 600, file); 42 | } 43 | 44 | // read vertices 45 | i =0; 46 | for (int iterator = 0; iterator < this->m_totalConnectedPoints; iterator++) 47 | { 48 | fgets(buffer, 600, file); 49 | sscanf(buffer,"%f %f %f", &mp_vertexXYZ[i], &mp_vertexXYZ[i+1], &mp_vertexXYZ[i+2]); 50 | i += 3; 51 | } 52 | fclose(file); 53 | } 54 | return true; 55 | } 56 | else 57 | return false; 58 | } 59 | -------------------------------------------------------------------------------- /Duke/plyloader.h: -------------------------------------------------------------------------------- 1 | #ifndef PLYLOADER_H 2 | #define PLYLOADER_H 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | using namespace std; 11 | 12 | class PlyLoader : public QObject 13 | { 14 | Q_OBJECT 15 | public: 16 | explicit PlyLoader(QObject *parent = 0); 17 | bool LoadModel(QString filename); 18 | float* mp_vertexXYZ; 19 | int m_totalConnectedPoints; 20 | }; 21 | 22 | #endif // PLYLOADER_H 23 | -------------------------------------------------------------------------------- /Duke/pointcloudimage.cpp: -------------------------------------------------------------------------------- 1 | #include "pointcloudimage.h" 2 | 3 | PointCloudImage::PointCloudImage(int imageW,int imageH, bool colorFlag) 4 | { 5 | w = imageW; 6 | h = imageH; 7 | points = cv::Mat(h, w, CV_32FC3); 8 | if(colorFlag == true) 9 | color = cv::Mat(h, w, CV_8UC3,cv::Scalar(0));//由于相机所摄为灰度图像，因此将32FC3改为8UC3 10 | else 11 | color = NULL; 12 | numOfPointsForPixel = cv::Mat(h, w, CV_8U, cv::Scalar(0)); 13 | } 14 | 15 | PointCloudImage::~PointCloudImage(void) 16 | { 17 | } 18 | 19 | bool PointCloudImage::setPoint(int i_w, int j_h, cv::Point3f point, cv::Vec3i colorgray) 20 | { 21 | if(i_w>=w || j_h>=h) 22 | return false; 23 | setPoint(i_w,j_h,point); 24 | Utilities::matSet3D(color,i_w,j_h,colorgray); 25 | return true; 26 | } 27 | 28 | bool PointCloudImage::setPoint(int i_w, int j_h, cv::Point3f point) 29 | { 30 | if(i_w>=w || j_h>=h) 31 | return false; 32 | 33 | Utilities::matSet3D(points, i_w, j_h, (cv::Vec3f)point); 34 | Utilities::matSet2D(numOfPointsForPixel, j_h, i_w, 1); 35 | 36 | return true; 37 | } 38 | 39 | bool PointCloudImage::getPoint(int i_w, int j_h, cv::Point3f &pointOut, cv::Vec3i &colorOut) 40 | { 41 | if(i_w>=w || j_h>=h) 42 | return false; 43 | uchar num = numOfPointsForPixel.at(j_h,i_w); 44 | if(num > 0){ 45 | pointOut = (cv::Point3f) (Utilities::matGet3D(points,i_w,j_h) / (float) num); 46 | if(!color.empty()) 47 | colorOut = (cv::Point3i) (Utilities::matGet3D(color,i_w,j_h) / (float) num); 48 | else 49 | colorOut = (cv::Point3i) (100,100,100);//如果color为空，则人为赋一个值 50 | return true; 51 | } 52 | else 53 | return false; 54 | } 55 | 56 | bool PointCloudImage::getPoint(int i_w, int j_h, cv::Point3f &pointOut) 57 | { 58 | if(i_w>=w || j_h>=h) 59 | return false; 60 | uchar num = numOfPointsForPixel.at(j_h,i_w); 61 | if(num > 0){ 62 | pointOut = (cv::Point3f) (Utilities::matGet3D(points, i_w, j_h) / (float) num); 63 | return true; 64 | } 65 | else 66 | return false; 67 | } 68 | 69 | bool PointCloudImage::addPoint(int i_w, int j_h, cv::Point3f point, cv::Vec3i colorgray) 70 | { 71 | if(i_w >= w || j_h >= h)//由于i_w为[0,w)取值,因此其不可能等于w，若出现等于，直接判定false 72 | return false; 73 | uchar num = numOfPointsForPixel.at(j_h, i_w); 74 | if(num == 0) 75 | return setPoint(i_w, j_h, point, colorgray); 76 | addPoint(i_w, j_h, point); 77 | if(!color.empty()){ 78 | cv::Vec3i c = Utilities::matGet3D(color, i_w, j_h); 79 | Utilities::matSet3D(color, i_w, j_h, colorgray + c); 80 | } 81 | else 82 | return false; 83 | return true; 84 | } 85 | 86 | bool PointCloudImage::addPoint(int i_w, int j_h, cv::Point3f point) 87 | { 88 | if(i_w>=w || j_h>=h) 89 | return false; 90 | uchar num = numOfPointsForPixel.at(j_h,i_w); 91 | if(num == 0) 92 | return setPoint(i_w,j_h,point); 93 | cv::Point3f p = Utilities::matGet3D(points,i_w,j_h); 94 | Utilities::matSet3D(points,i_w,j_h,(cv::Vec3f)(point + p)); 95 | numOfPointsForPixel.at(j_h,i_w) = num + 1; 96 | return true; 97 | } 98 | 99 | void PointCloudImage::exportXYZ(char path[], bool exportOffPixels, bool colorFlag) 100 | { 101 | std::ofstream out; 102 | out.open(path); 103 | cv::Point3f p; 104 | cv::Vec3i c; 105 | for(int i = 0; i(j,i); 108 | if(!exportOffPixels && num == 0) 109 | continue; 110 | getPoint(i,j,p,c); 111 | if(exportOffPixels && num == 0){ 112 | p = cv::Point3f(0,0,0); 113 | c = cv::Point3i(0,0,0); 114 | } 115 | out<(j,i); 133 | if(num > max){ 134 | max = num; 135 | maxX=i; 136 | maxY=j; 137 | } 138 | } 139 | } 140 | 141 | for(int i=0; i(j,i); 144 | Utilities::matSet2D(projToCamRays, j, i, num/(float)(max * 255.0)); 145 | } 146 | } 147 | cv::imwrite("reconstruction/projToCamRays.png",projToCamRays); 148 | std::ofstream out1; 149 | std::stringstream txt; 150 | txt< 5 | #include 6 | #include "utilities.h" 7 | 8 | class PointCloudImage 9 | { 10 | public: 11 | PointCloudImage(int imageW,int imageH, bool color); 12 | ~PointCloudImage(void); 13 | 14 | bool setPoint(int i_w, int j_h, cv::Point3f point, cv::Vec3i colorgray);//灰度，改cv::Vec3f colorBGR，下同，vec3b表示3维uchar向量 15 | bool setPoint(int i_w, int j_h, cv::Point3f point); 16 | 17 | bool getPoint(int i_w, int j_h, cv::Point3f &pointOut); 18 | bool getPoint(int i_w, int j_h, cv::Point3f &pointOut, cv::Vec3i &colorgray); 19 | 20 | bool addPoint(int i_w, int j_h, cv::Point3f point, cv::Vec3i colorgray); 21 | bool addPoint(int i_w, int j_h, cv::Point3f point); 22 | 23 | void exportNumOfPointsPerPixelImg(char path[]); 24 | void exportXYZ(char *path,bool exportOffPixels=true, bool colorFlag=true); 25 | 26 | int getWidth(); 27 | int getHeight(); 28 | 29 | private: 30 | int w; 31 | int h; 32 | cv::Mat points; 33 | cv::Mat numOfPointsForPixel; 34 | cv::Mat color; 35 | }; 36 | 37 | #endif // POINTCLOUDIMAGE_H 38 | -------------------------------------------------------------------------------- /Duke/projector.cpp: -------------------------------------------------------------------------------- 1 | #include "projector.h" 2 | #include 3 | #include 4 | #include 5 | 6 | int proj_w; 7 | int proj_h; 8 | 9 | Projector::Projector(QWidget *parent, int scanW, int scanH, int projW, int projH, int xos, int yos) 10 | : QWidget(parent) 11 | { 12 | width = scanW; 13 | height = scanH; 14 | proj_w = projW; 15 | proj_h = projH; 16 | xoffset = xos; 17 | yoffset = yos; 18 | crossVisible = true; 19 | label = new QLabel; 20 | QHBoxLayout *lo = new QHBoxLayout; 21 | lo->addWidget(label); 22 | //setLayout(lo); 23 | } 24 | 25 | Projector::~Projector() 26 | { 27 | } 28 | 29 | void Projector::paintEvent(QPaintEvent *event) 30 | { 31 | QPainter painter(this); 32 | if(crossVisible)//QEvent::User 1000 33 | { 34 | painter.setPen(QPen(Qt::yellow, 5)); 35 | //else 36 | //painter.setPen(QPen(Qt::white, 5)); 37 | painter.drawLine(proj_w/2 - 60, proj_h/2, proj_w/2 + 60, proj_h/2); 38 | painter.drawLine(proj_w/2, proj_h/2 - 60, proj_w/2, proj_h/2 + 60); 39 | } 40 | if(imageAva){ 41 | painter.drawImage(0,0,pshow); 42 | } 43 | } 44 | 45 | void Projector::opencvWindow() 46 | { 47 | cv::namedWindow("w"); 48 | //cvResizeWindow("w",width,height); 49 | cv::moveWindow("w", xoffset, yoffset); 50 | } 51 | 52 | void Projector::showMatImg(cv::Mat img) 53 | { 54 | cv::imshow("w", img); 55 | } 56 | 57 | void Projector::showImg(cv::Mat img) 58 | { 59 | pshow = QImage(img.data,img.cols,img.rows,QImage::Format_Indexed8); 60 | imageAva = true; 61 | this->update(); 62 | //QPixmap p = QPixmap::fromImage(pshow); 63 | //label->setPixmap(p); 64 | } 65 | 66 | void Projector::destoryWindow() 67 | { 68 | cvDestroyWindow("w"); 69 | } 70 | 71 | void Projector::displaySwitch(bool isWhite) 72 | { 73 | if(isWhite) 74 | this->setPalette(Qt::white); 75 | else 76 | this->setPalette(Qt::black); 77 | } 78 | 79 | void Projector::setCrossVisable(bool flag) 80 | { 81 | crossVisible = flag; 82 | this->update(); 83 | } 84 | -------------------------------------------------------------------------------- /Duke/projector.h: -------------------------------------------------------------------------------- 1 | #ifndef PROJECTOR_H 2 | #define PROJECTOR_H 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | #include 11 | 12 | #include 13 | 14 | class Projector : public QWidget 15 | { 16 | public: 17 | Projector(QWidget *parent, int scanW, int scanH, int projW, int projH, int xos, int yos); 18 | ~Projector(); 19 | void showMatImg(cv::Mat img); 20 | void showImg(cv::Mat img);//直接利用窗口显示由Mat转换而来的Qt图像 21 | 22 | void displaySwitch(bool isWhite); 23 | void opencvWindow(); 24 | void destoryWindow();//delete the projector window created by cv after showImg 25 | 26 | void setCrossVisable(bool flag); 27 | void paintEvent(QPaintEvent *event); 28 | 29 | private: 30 | QLabel *label; 31 | 32 | QImage pshow; 33 | bool crossVisible; 34 | bool imageAva; 35 | int xoffset; 36 | int yoffset; 37 | int height; 38 | int width; 39 | }; 40 | 41 | #endif // PROJECTOR_H 42 | -------------------------------------------------------------------------------- /Duke/reconstruct.h: -------------------------------------------------------------------------------- 1 | #ifndef RECONSTRUCT_H 2 | #define RECONSTRUCT_H 3 | 4 | #include 5 | #include 6 | #include "graycodes.h" 7 | #include "virtualcamera.h" 8 | #include "pointcloudimage.h" 9 | #include "set.h" 10 | #include "stereorect.h" 11 | 12 | //#define USE_STEREOCALIB_DATA 13 | 14 | class Reconstruct 15 | { 16 | public: 17 | Reconstruct(bool useEpi); 18 | ~Reconstruct(); 19 | 20 | bool loadCameras(); 21 | 22 | bool runReconstruction(); 23 | bool runReconstruction_GE(); 24 | 25 | VirtualCamera *cameras; 26 | QString *calibFolder; 27 | PointCloudImage *points3DProjView; 28 | void setBlackThreshold(int val); 29 | void setWhiteThreshold(int val); 30 | void setCalibPath(QString path1st, int cam_no ); 31 | void saveShadowImg(const char path[]); 32 | void saveDecodedRowImg(const char path[]); 33 | void saveDecodedColImg(const char path[]); 34 | 35 | void enableRaySampling(); 36 | void disableRaySampling(); 37 | 38 | void cam2WorldSpace(VirtualCamera cam, cv::Point3f &p); 39 | 40 | void getParameters(int scanw, int scanh, int camw, int camh, bool autocontrast, bool havecolor, QString savePath); 41 | QString savePath_;//same as projectPath 42 | int scanSN;//表示当前重建的扫描数据序列号，也是输出模型的序列号 43 | 44 | private: 45 | bool EPI;//是否使用极线校正 46 | int numOfCams; 47 | VirtualCamera *camera;//general functions use this instead of camera1 or camera2 48 | stereoRect *sr; 49 | 50 | cv::vector **camsPixels; 51 | cv::vector **camsPixels_GE; 52 | cv::vector *camPixels; //general functions use this instead of cam1Pixels or cam2Pixels 53 | cv::vector *camPixels_GE; 54 | 55 | bool loadCamImgs(QString folder, QString prefix, QString suffix); 56 | 57 | void unloadCamImgs();//对不同编码模式都适用的卸载图像方法 58 | void computeShadows(); 59 | 60 | ///不同编码模式对应的图像点身份获取方法 61 | bool getProjPixel(int row, int col, cv::Point &p_out);//GRAY_ONLY 62 | bool getProjPixel_GE(int row, int col, int &xDec);//GRAY_EPI 63 | 64 | void decodePaterns(); 65 | void decodePatterns_GE(); 66 | 67 | void triangulation(cv::vector *cam1Pixels, VirtualCamera cameras1, cv::vector *cam2Pixels, VirtualCamera cameras2); 68 | void triangulation_ge(cv::vector *cam1Pixels, VirtualCamera camera1, cv::vector *cam2Pixels, VirtualCamera camera2); 69 | 70 | QString *scanFolder; 71 | QString *imgPrefix; 72 | QString imgSuffix; 73 | int numberOfImgs; 74 | int numOfColBits; 75 | int numOfRowBits; 76 | int blackThreshold; 77 | int whiteThreshold; 78 | 79 | cv::vector camImgs;//用来存放条纹图像序列，不同编码方式通用 80 | cv::vector colorImgs; 81 | 82 | cv::Mat mask;//matrix with vals 0 and 1 , CV_8U , uchar 83 | cv::Mat color; 84 | cv::Mat decRows; 85 | cv::Mat decCols; 86 | bool pathSet; 87 | bool autoContrast_; 88 | bool raySampling_; 89 | bool haveColor; 90 | int cameraWidth; 91 | int cameraHeight; 92 | 93 | //access 94 | int Reconstruct::ac(int x,int y) 95 | { 96 | return x*scan_h + y; 97 | } 98 | 99 | int scan_w; 100 | int scan_h; 101 | }; 102 | 103 | #endif // RECONSTRUCT_H 104 | -------------------------------------------------------------------------------- /Duke/set.cpp: -------------------------------------------------------------------------------- 1 | #include "set.h" 2 | #include 3 | #include 4 | #include //对于connect函数是必要的，否则出现C2664类型转换错误 5 | #include 6 | 7 | #include "ui_Set.h" 8 | 9 | 10 | Set::Set(QMainWindow *parent) : QDialog(parent), 11 | set(new Ui::SetDialog) 12 | { 13 | set->setupUi(this); 14 | createConfigurationFile(); 15 | connect(set->buttonBox->button(QDialogButtonBox::Ok), SIGNAL(clicked()), this, SLOT(createConfigurationFile())); 16 | connect(set->buttonBox->button(QDialogButtonBox::Ok), SIGNAL(clicked()), SIGNAL(outputSet())); 17 | connect(set->buttonBox->button(QDialogButtonBox::Ok),SIGNAL(clicked()), this, SLOT(hide())); 18 | connect(set->buttonBox->button(QDialogButtonBox::Apply), SIGNAL(clicked()), this, SLOT(createConfigurationFile())); 19 | connect(set->buttonBox->button(QDialogButtonBox::Apply), SIGNAL(clicked()), SIGNAL(outputSet())); 20 | connect(set->buttonBox->button(QDialogButtonBox::Cancel),SIGNAL(clicked()),this,SLOT(hide())); 21 | } 22 | 23 | void Set::test(bool flag) 24 | { 25 | if(flag == true) 26 | QMessageBox::information(NULL, tr("Test"), tr("Successed!")); 27 | else 28 | QMessageBox::warning(NULL, tr("Test"), tr("Failed!")); 29 | } 30 | 31 | void Set::createConfigurationFile()//如果是槽函数，那么void声明不可少 32 | { 33 | board_w = set->boardWidth->value(); 34 | board_h = set->boardHeight->value(); 35 | proj_w = set->projResH->value(); 36 | proj_h = set->projResV->value(); 37 | scan_w = set->scanResH->value(); 38 | scan_h = set->scanResV->value(); 39 | if (set->resMode0->isChecked()){ 40 | cam_w = 1280; 41 | cam_h = 1024; 42 | } 43 | cell_w = set->cellWidth->value(); 44 | cell_h = set->cellHeight->value(); 45 | black_threshold = set->blackThresholdEdit->value(); 46 | white_threshold = set->whiteThresholdEdit->value(); 47 | if(set->autoContrastCheck->isChecked()) 48 | autoContrast = true; 49 | else 50 | autoContrast = false; 51 | if(set->raySamplingCheck->isChecked()) 52 | raySampling = true; 53 | else 54 | raySampling = false; 55 | if(set->exportObjCheck->isChecked()) 56 | exportObj = 1; 57 | else 58 | exportObj = 0; 59 | if(set->exportPlyCheck->isChecked()) 60 | exportPly = 1; 61 | else 62 | exportPly = 0; 63 | if (set->GrayOnly->isChecked()) 64 | usedPattern = 0; 65 | else if (set->grayEpi->isChecked()) 66 | usedPattern = 1; 67 | else 68 | usedPattern = 2; 69 | haveColor = (set->haveColorCheck->isChecked())?(true):(false); 70 | //createSetFile(); 71 | } 72 | 73 | void Set::createSetFile() 74 | { 75 | int autoc, autocs, ray; 76 | autoc = boolToInt(autoContrast); 77 | ray = boolToInt(raySampling); 78 | 79 | const QString &fileName = saveSetPath +"/set.xml"; 80 | QFile file(fileName); 81 | file.open(QIODevice::WriteOnly); 82 | QXmlStreamWriter xmlWriter(&file); 83 | xmlWriter.setAutoFormatting(true); 84 | xmlWriter.writeStartDocument();//写入 85 | xmlWriter.writeStartElement("Settings"); 86 | xmlWriter.writeStartElement("ProjectorResolution"); 87 | xmlWriter.writeTextElement("Width",QString::number(proj_w, 10)); 88 | xmlWriter.writeTextElement("Height",QString::number(proj_h, 10)); 89 | xmlWriter.writeEndElement(); 90 | xmlWriter.writeStartElement("CalibrationBoard"); 91 | xmlWriter.writeTextElement("BoardWidth",QString::number(board_w, 10)); 92 | xmlWriter.writeTextElement("BoardHeight",QString::number(board_h, 10)); 93 | xmlWriter.writeEndElement(); 94 | xmlWriter.writeStartElement("ProjectorWindow"); 95 | xmlWriter.writeStartElement("ScanResolution"); 96 | xmlWriter.writeTextElement("Width",QString::number(scan_w, 10)); 97 | xmlWriter.writeTextElement("Height",QString::number(scan_h, 10)); 98 | xmlWriter.writeEndElement();//由于start两次所以end两次 99 | xmlWriter.writeEndElement(); 100 | xmlWriter.writeStartElement("Reconstruction"); 101 | xmlWriter.writeTextElement("AutoContrast",0); 102 | xmlWriter.writeTextElement("SaveAutoContrastImages",0); 103 | xmlWriter.writeTextElement("RaySampling",0); 104 | xmlWriter.writeTextElement("BlackThreshold",QString::number(black_threshold, 10)); 105 | xmlWriter.writeTextElement("WhiteThreshold",QString::number(white_threshold, 10)); 106 | xmlWriter.writeEndElement(); 107 | xmlWriter.writeStartElement("Export"); 108 | xmlWriter.writeTextElement("Obj",QString::number(exportObj, 10)); 109 | xmlWriter.writeTextElement("Ply",QString::number(exportPly, 10)); 110 | xmlWriter.writeEndElement(); 111 | xmlWriter.writeEndDocument();//写入 112 | file.close(); 113 | if(file.error()){ 114 | test(false); 115 | } 116 | } 117 | 118 | int Set::boolToInt(bool input) 119 | { 120 | if(input) 121 | return 1; 122 | else 123 | return 0; 124 | } 125 | 126 | void Set::switchLang() 127 | { 128 | set->retranslateUi(this); 129 | } 130 | -------------------------------------------------------------------------------- /Duke/set.h: -------------------------------------------------------------------------------- 1 | #ifndef SET_H 2 | #define SET_H 3 | #include 4 | #include 5 | #include 6 | #include 7 | 8 | #include 9 | #include 10 | #include 11 | #include 12 | 13 | namespace Ui { 14 | class SetDialog; 15 | } 16 | 17 | class Set : public QDialog 18 | { 19 | Q_OBJECT 20 | public: 21 | Set(QMainWindow *parent = 0); 22 | 23 | QString saveSetPath; 24 | int proj_h; 25 | int proj_w; 26 | int scan_w; 27 | int scan_h; 28 | int cam_w; 29 | int cam_h; 30 | int cell_w; 31 | int cell_h; 32 | 33 | int black_threshold; 34 | int white_threshold; 35 | int board_w; 36 | int board_h; 37 | int projectorWinPos_x; 38 | int projectorWinPos_y; 39 | bool autoContrast; 40 | bool raySampling; 41 | bool haveColor;//是否使点云显示原色 42 | int exportObj; 43 | int exportPly; 44 | int usedPattern; 45 | 46 | void switchLang(); 47 | 48 | private: 49 | Ui::SetDialog *set; 50 | int boolToInt(bool input); 51 | 52 | signals: 53 | void outputSet(); 54 | 55 | private slots: 56 | void test(bool flag); 57 | void createConfigurationFile(); 58 | void createSetFile(); 59 | }; 60 | 61 | #endif // SET_H 62 | -------------------------------------------------------------------------------- /Duke/stereorect.cpp: -------------------------------------------------------------------------------- 1 | #include "stereorect.h" 2 | 3 | stereoRect::stereoRect(QString projectPath, cv::Size size) 4 | { 5 | ppath = projectPath; 6 | img_size = size; 7 | } 8 | 9 | void stereoRect::getParameters() 10 | { 11 | QString path; 12 | path = ppath + "/calib/left/cam_stereo.txt"; 13 | loadMatrix(M1, 3, 3, path); 14 | path = ppath + "/calib/left/distortion_stereo.txt"; 15 | loadMatrix(D1, 5, 1, path); 16 | path = ppath + "/calib/right/cam_stereo.txt"; 17 | loadMatrix(M2, 3, 3, path); 18 | path = ppath + "/calib/right/distortion_stereo.txt"; 19 | loadMatrix(D2, 5, 1, path); 20 | path = ppath + "/calib/R_stereo.txt"; 21 | loadMatrix(R, 3, 3, path); 22 | path = ppath + "/calib/T_stereo.txt"; 23 | loadMatrix(T, 3, 1, path); 24 | } 25 | 26 | void stereoRect::doStereoRectify(cv::Mat &img, bool isleft) 27 | { 28 | cv::Mat imgr; 29 | if (isleft) 30 | cv::remap(img, imgr, map11, map12, cv::INTER_LINEAR); 31 | else 32 | cv::remap(img, imgr, map21, map22, cv::INTER_LINEAR); 33 | img = imgr; 34 | } 35 | 36 | void stereoRect::calParameters() 37 | { 38 | ///该矫正函数在使用时注意两点： 39 | /// 1、flag不要设为CV_CALIB_ZERO_DISPARITY，而是设为0 40 | /// 2、所有输入矩阵都采用CV_64F格式，否则出现类型不匹配错误 41 | cv::stereoRectify(M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, 0, -1); 42 | cv::initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_16SC2, map11, map12); 43 | cv::initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_16SC2, map21, map22); 44 | } 45 | 46 | void stereoRect::loadMatrix(cv::Mat &matrix, int rows, int cols, QString file) 47 | { 48 | std:: ifstream in1; 49 | in1.open(file.toStdString()); 50 | if(!in1) 51 | return; 52 | if(!matrix.empty()) 53 | matrix.release(); 54 | matrix = cv::Mat(rows, cols, CV_64F); 55 | for(int i = 0; i < rows; i++){ 56 | for(int j = 0; j < cols; j++){ 57 | float val; 58 | in1>>val; 59 | Utilities::matSet2D(matrix, i, j, val); 60 | } 61 | } 62 | } 63 | -------------------------------------------------------------------------------- /Duke/stereorect.h: -------------------------------------------------------------------------------- 1 | #ifndef STEREORECT_H 2 | #define STEREORECT_H 3 | 4 | #include 5 | 6 | #include 7 | #include 8 | #include 9 | #include 10 | 11 | #include "utilities.h" 12 | 13 | class stereoRect : public QObject 14 | { 15 | Q_OBJECT 16 | public: 17 | stereoRect(QString projectPath, cv::Size size); 18 | void doStereoRectify(cv::Mat &img, bool isleft); 19 | void getParameters(); 20 | void calParameters(); 21 | cv::Mat R1, P1, R2, P2, Q;//输出参数 22 | 23 | private: 24 | QString ppath; 25 | cv::Size img_size; 26 | cv::Mat M1, D1, M2, D2, R, T;//输入参数 27 | cv::Mat map11, map12, map21, map22;//中间参数 28 | void loadMatrix(cv::Mat &matrix, int rows, int cols, QString file); 29 | }; 30 | #endif // STEREORECT_H 31 | -------------------------------------------------------------------------------- /Duke/utilities.cpp: -------------------------------------------------------------------------------- 1 | #include "utilities.h" 2 | 3 | Utilities::Utilities(void) 4 | { 5 | } 6 | 7 | Utilities::~Utilities(void) 8 | { 9 | } 10 | 11 | bool Utilities::XOR(bool val1, bool val2) 12 | { 13 | if(val1==val2) 14 | return 0; 15 | else 16 | return 1; 17 | } 18 | 19 | void Utilities::normalize(cv::Vec3f &vec) 20 | { 21 | double mag = sqrt( vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2]); 22 | 23 | vec[0] /= (float) max(0.000001, mag); 24 | vec[1] /= (float) max(0.000001, mag); 25 | vec[2] /= (float) max(0.000001, mag); 26 | 27 | return; 28 | } 29 | 30 | void Utilities::normalize3dtable(double vec[3]) 31 | { 32 | double mag = sqrt( vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2]); 33 | 34 | vec[0] /= max(0.000001, mag); 35 | vec[1] /= max(0.000001, mag); 36 | vec[2] /= max(0.000001, mag); 37 | } 38 | 39 | //convert image pixel to image 3d space point 40 | void Utilities::pixelToImageSpace(double p[3], CvScalar fc, CvScalar cc) 41 | { 42 | p[0]=(p[0]-cc.val[0])/fc.val[0]; 43 | p[1]=(p[1]-cc.val[1])/fc.val[1]; 44 | p[2]=1; 45 | } 46 | 47 | cv::Point3f Utilities::pixelToImageSpace(cv::Point2f p, VirtualCamera cam) 48 | { 49 | cv::Point3f point; 50 | 51 | point.x = (p.x-cam.cc.x) / cam.fc.x; 52 | point.y = (p.y-cam.cc.y) / cam.fc.y; 53 | point.z = 1; 54 | 55 | return point; 56 | } 57 | 58 | cv::Point2f Utilities::undistortPoints(cv::Point2f p, VirtualCamera cam) 59 | { 60 | double k[5]={0,0,0,0,0}, fx, fy, ifx, ify, cx, cy; 61 | int iters = 1; 62 | k[0] = cam.distortion.at(0); 63 | k[1] = cam.distortion.at(1); 64 | k[2] = cam.distortion.at(2); 65 | k[3] = cam.distortion.at(3); 66 | k[4]=0; 67 | iters = 5; 68 | fx = cam.fc.x; 69 | fy = cam.fc.y; 70 | ifx = 1./fx; 71 | ify = 1./fy; 72 | cx = cam.cc.x; 73 | cy = cam.cc.y; 74 | 75 | double x, y, x0, y0; 76 | 77 | x=p.x; 78 | y=p.y; 79 | 80 | x0 = x = (x - cx)*ifx; 81 | y0 = y = (y - cy)*ify; 82 | 83 | for(int jj = 0; jj < iters; jj++ ) 84 | { 85 | double r2 = x*x + y*y; 86 | double icdist = 1./(1 + ((k[4]*r2 + k[1])*r2 + k[0])*r2); 87 | double deltaX = 2*k[2]*x*y + k[3]*(r2 + 2*x*x); 88 | double deltaY = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y; 89 | x = (x0 - deltaX)*icdist; 90 | y = (y0 - deltaY)*icdist; 91 | } 92 | 93 | return cv::Point2f((float)(x*fx)+cx,(float)(y*fy)+cy); 94 | } 95 | 96 | //calculate the intersection point of a ray and a plane, given the normal and a point of the plane, and a point and the vector of the ray 97 | CvScalar Utilities::planeRayInter(CvScalar planeNormal,CvScalar planePoint, CvScalar rayVector, CvScalar rayPoint ) 98 | { 99 | double l; 100 | CvScalar point; 101 | 102 | CvScalar pSub; 103 | 104 | pSub.val[0] = - rayPoint.val[0] + planePoint.val[0]; 105 | pSub.val[1] = - rayPoint.val[1] + planePoint.val[1]; 106 | pSub.val[2] = - rayPoint.val[2] + planePoint.val[2]; 107 | 108 | double dotProd1 = pSub.val[0] * planeNormal.val[0] + pSub.val[1] * planeNormal.val[1] + pSub.val[2] * planeNormal.val[2]; 109 | double dotProd2 = rayVector.val[0] * planeNormal.val[0] + rayVector.val[1] * planeNormal.val[1] + rayVector.val[2] * planeNormal.val[2]; 110 | 111 | if(fabs(dotProd2)<0.00001) 112 | { 113 | point.val[0]=0; 114 | point.val[1]=0; 115 | point.val[2]=0; 116 | return point; 117 | } 118 | l = dotProd1 / dotProd2; 119 | point.val[0] = rayPoint.val[0] + l * rayVector.val[0]; 120 | point.val[1] = rayPoint.val[1] + l * rayVector.val[1]; 121 | point.val[2] = rayPoint.val[2] + l * rayVector.val[2]; 122 | return point; 123 | } 124 | 125 | double Utilities::matGet2D(cv::Mat m, int row, int col)//输入量先行后列，即先y后x，先h后w 126 | { 127 | int type = m.type(); 128 | switch(type) 129 | { 130 | case CV_8U: 131 | return m.at(row,col);//opencv中的at函数是先行后列，即按照矩阵的一般顺序取值的 132 | break; 133 | case CV_8S: 134 | return m.at(row,col); 135 | break; 136 | case CV_16U: 137 | return m.at(row,col); 138 | break; 139 | case CV_16S: 140 | return m.at(row,col); 141 | break; 142 | case CV_32S: 143 | return m.at(row,col); 144 | break; 145 | case CV_32F: 146 | return m.at(row,col); 147 | break; 148 | case CV_64F: 149 | return m.at(row,col); 150 | break; 151 | } 152 | } 153 | 154 | double Utilities::matGet3D(cv::Mat m, int x, int y, int i) 155 | { 156 | int type = m.type(); 157 | switch(type) 158 | { 159 | case CV_8U: 160 | case CV_MAKETYPE(CV_8U,3): 161 | return m.at(y,x,i); 162 | break; 163 | case CV_8S: 164 | case CV_MAKETYPE(CV_8S,3): 165 | return m.at(y,x,i); 166 | break; 167 | case CV_16U: 168 | case CV_MAKETYPE(CV_16U,3): 169 | return m.at(y,x,i); 170 | break; 171 | case CV_16S: 172 | case CV_MAKETYPE(CV_16S,3): 173 | return m.at(y,x,i); 174 | break; 175 | case CV_32S: 176 | case CV_MAKETYPE(CV_32S,3): 177 | return m.at(y,x,i); 178 | break; 179 | case CV_32F: 180 | case CV_MAKETYPE(CV_32F,3): 181 | return m.at(y,x,i); 182 | break; 183 | case CV_64F: 184 | case CV_MAKETYPE(CV_64F,3): 185 | return m.at(y,x,i); 186 | break; 187 | } 188 | } 189 | 190 | cv::Vec3d Utilities::matGet3D(cv::Mat m, int x, int y) 191 | { 192 | int type = m.type(); 193 | switch(type) 194 | { 195 | case CV_8U: 196 | case CV_MAKETYPE(CV_8U,3): 197 | return m.at(y,x); 198 | break; 199 | case CV_8S: 200 | case CV_MAKETYPE(CV_8S,3): 201 | return m.at(y,x); 202 | break; 203 | case CV_16U: 204 | case CV_MAKETYPE(CV_16U,3): 205 | return m.at(y,x); 206 | break; 207 | case CV_16S: 208 | case CV_MAKETYPE(CV_16S,3): 209 | return m.at(y,x); 210 | break; 211 | case CV_32S: 212 | case CV_MAKETYPE(CV_32S,3): 213 | return m.at(y,x); 214 | break; 215 | case CV_32F: 216 | case CV_MAKETYPE(CV_32F,3): 217 | return m.at(y,x); 218 | break; 219 | case CV_64F: 220 | case CV_MAKETYPE(CV_64F,3): 221 | return m.at(y,x); 222 | break; 223 | } 224 | } 225 | 226 | void Utilities::matSet2D(cv::Mat m, int row, int col, double val) 227 | { 228 | int type = m.type(); 229 | 230 | switch(type) 231 | { 232 | case CV_8U: 233 | m.at(row, col) = (uchar) val; 234 | break; 235 | case CV_8S: 236 | m.at(row, col) = (schar) val; 237 | break; 238 | case CV_16U: 239 | m.at(row, col) = (ushort) val; 240 | break; 241 | case CV_16S: 242 | m.at(row, col) = (short) val; 243 | break; 244 | case CV_32S: 245 | m.at(row, col) = (int) val; 246 | break; 247 | case CV_32F: 248 | m.at(row, col) = (float) val; 249 | break; 250 | case CV_64F: 251 | m.at(row, col) = (double) val; 252 | break; 253 | } 254 | } 255 | 256 | void Utilities::matSet3D(cv::Mat m, int col, int row, int i, double val) 257 | { 258 | int type = m.type(); 259 | 260 | switch(type) 261 | { 262 | case CV_8U: 263 | case CV_MAKETYPE(CV_8U,3): 264 | m.at(row, col, i) = (uchar) val; 265 | break; 266 | case CV_8S: 267 | case CV_MAKETYPE(CV_8S,3): 268 | m.at(row, col, i) = (schar) val; 269 | break; 270 | case CV_16U: 271 | case CV_MAKETYPE(CV_16U,3): 272 | m.at(row, col, i) = (ushort) val; 273 | break; 274 | case CV_16S: 275 | case CV_MAKETYPE(CV_16S,3): 276 | m.at(row, col, i) = (short) val; 277 | break; 278 | case CV_32S: 279 | case CV_MAKETYPE(CV_32S,3): 280 | m.at(row, col, i) = (int) val; 281 | break; 282 | case CV_32F: 283 | case CV_MAKETYPE(CV_32F,3): 284 | m.at(row, col, i) = (float) val; 285 | break; 286 | case CV_64F: 287 | case CV_MAKETYPE(CV_64F,3): 288 | m.at(row, col, i) = (double) val; 289 | break; 290 | } 291 | } 292 | 293 | void Utilities::matSet3D(cv::Mat m, int col, int row, cv::Vec3d val) 294 | { 295 | int type = m.type(); 296 | 297 | switch(type) 298 | { 299 | case CV_8U: 300 | case CV_MAKETYPE(CV_8U,3): 301 | m.at(row, col) = val; 302 | break; 303 | case CV_8S: 304 | case CV_MAKETYPE(CV_8S,3): 305 | m.at(row, col) = val; 306 | break; 307 | case CV_16U: 308 | case CV_MAKETYPE(CV_16U,3): 309 | m.at(row, col) = val; 310 | break; 311 | case CV_16S: 312 | case CV_MAKETYPE(CV_16S,3): 313 | m.at(row, col) = val; 314 | break; 315 | case CV_32S: 316 | case CV_MAKETYPE(CV_32S,3): 317 | m.at(row, col) = val; 318 | break; 319 | case CV_32F: 320 | case CV_MAKETYPE(CV_32F,3): 321 | m.at(row, col) = val; 322 | break; 323 | case CV_64F: 324 | case CV_MAKETYPE(CV_64F,3): 325 | m.at(row, col) = val; 326 | break; 327 | } 328 | } 329 | 330 | bool direction(cv::Point p1, cv::Point p2,cv::Point p3) 331 | { 332 | int p = -p2.x*p1.y + p3.x*p1.y + p1.x*p2.y - p3.x*p2.y - p1.x*p3.y + p2.x*p3.y; 333 | 334 | if(p<0) 335 | return false; 336 | else 337 | return true; 338 | } 339 | 340 | void Utilities::autoContrast(cv::Mat img_in, cv::Mat &img_out)//自动对比度调整 341 | { 342 | double min=0,max=0; 343 | std::vector bgr; 344 | cv::split(img_in,bgr);//The functions split split a multi-channel array into separate single-channel arrays 345 | for(int i=0; i<3; i++) 346 | { 347 | cv::minMaxIdx(bgr[i],&min,&max); 348 | min += 255*0.05; 349 | 350 | double a = 255/(max-min); 351 | bgr[i]-=min; 352 | bgr[i]*=a; 353 | } 354 | cv::merge(bgr,img_out);//The functions merge merge several arrays to make a single multi-channel array 355 | } 356 | 357 | void Utilities::autoContrast(IplImage *img_in, IplImage *img_out) 358 | { 359 | cv::Mat tmp_in = img_in; 360 | cv::Mat tmp_out = img_out; 361 | autoContrast(tmp_in,tmp_out); 362 | } 363 | 364 | void Utilities::exportMat(const char *path, cv::Mat m) 365 | { 366 | std:: ofstream out; 367 | out.open(path); 368 | 369 | for(int row = 0; row < m.rows; row++) 370 | { 371 | for(int col = 0; col < m.cols; col++) 372 | { 373 | out<< Utilities::matGet2D(m, row, col)<<"\t"; 374 | } 375 | out<<"\n"; 376 | } 377 | out.close(); 378 | } 379 | 380 | void Utilities::exportMatParts(const char *path, cv::Mat partR, cv::Mat partT) 381 | { 382 | std:: ofstream out; 383 | out.open(path); 384 | 385 | for(int row = 0; row < partR.rows; row++) 386 | { 387 | for(int col = 0; col < partR.cols+1; col++) 388 | { 389 | if (col < partR.cols) 390 | out<< Utilities::matGet2D(partR, row, col)<<"\t"; 391 | else 392 | out<< Utilities::matGet2D(partT, row, 0)<<"\t"; 393 | } 394 | out<<"\n"; 395 | } 396 | out.close(); 397 | } 398 | 399 | bool Utilities::line_lineIntersection(cv::Point3f p1, cv::Vec3f v1, cv::Point3f p2,cv::Vec3f v2,cv::Point3f &p) 400 | { 401 | cv::Vec3f v12; 402 | v12 = p1 - p2; 403 | 404 | float v1_dot_v1 = v1.dot(v1); 405 | float v2_dot_v2 = v2.dot(v2); 406 | float v1_dot_v2 = v1.dot(v2); 407 | float v12_dot_v1 = v12.dot(v1); 408 | float v12_dot_v2 = v12.dot(v2); 409 | 410 | float s, t, denom; 411 | 412 | denom = v1_dot_v1 * v2_dot_v2 - v1_dot_v2 * v1_dot_v2; 413 | 414 | if(abs(denom)<0.1) 415 | return false; 416 | 417 | s = (v1_dot_v2/denom) * v12_dot_v2 - (v2_dot_v2/denom) * v12_dot_v1; 418 | t = -(v1_dot_v2/denom) * v12_dot_v1 + (v1_dot_v1/denom) * v12_dot_v2; 419 | 420 | p = (p1 + s*(cv::Point3f)v1 ) + (p2 + t*(cv::Point3f) v2); 421 | 422 | p = 0.5*p; 423 | 424 | return true; 425 | } 426 | 427 | int Utilities::accessMat(cv::Mat m, int x, int y, int i) 428 | { 429 | return y * m.cols * m.channels() + x * m.channels() + i; 430 | } 431 | 432 | int Utilities::accessMat(cv::Mat m, int x, int y) 433 | { 434 | return y * m.cols * m.channels() + x * m.channels(); 435 | } 436 | 437 | void Utilities::folderScan(const char *path) 438 | { 439 | _chdir(path); 440 | WIN32_FIND_DATA data; 441 | HANDLE h; 442 | h = FindFirstFile( L"*.*", &data); 443 | if( h!=INVALID_HANDLE_VALUE ) 444 | { 445 | int numOfFiles = 0; 446 | do 447 | { 448 | char* nPtr = new char [lstrlen( data.cFileName ) + 1]; 449 | for( int i = 0; i < lstrlen( data.cFileName ); i++ ) 450 | nPtr[i] = char( data.cFileName[i] ); 451 | nPtr[lstrlen( data.cFileName )] = '\0'; 452 | 453 | } 454 | while(FindNextFile(h,&data)); 455 | } 456 | 457 | for(int i=0; path[i]!=NULL; i++) 458 | { 459 | if(path[i] == '/') 460 | _chdir("../"); 461 | } 462 | } 463 | 464 | -------------------------------------------------------------------------------- /Duke/utilities.h: -------------------------------------------------------------------------------- 1 | #ifndef UTILITIES_H 2 | #define UTILITIES_H 3 | 4 | #include 5 | #include "virtualcamera.h" 6 | #include "graycodes.h" 7 | #include 8 | #include 9 | 10 | #define STRICT 11 | #include 12 | #include 13 | using std::min; 14 | using std::max; 15 | 16 | class Utilities 17 | { 18 | public: 19 | Utilities(void); 20 | ~Utilities(void); 21 | static bool XOR(bool val1, bool val2); 22 | static void normalize(cv::Vec3f &vec); 23 | static void normalize3dtable(double vec[3]); 24 | static void pixelToImageSpace(double p[3], CvScalar fc, CvScalar cc); 25 | static cv::Point3f pixelToImageSpace(cv::Point2f p, VirtualCamera cam); 26 | static cv::Point2f undistortPoints( cv::Point2f p, VirtualCamera cam); 27 | static CvScalar planeRayInter(CvScalar planeNormal,CvScalar planePoint, CvScalar rayVector, CvScalar rayPoint ); 28 | static double matGet2D(cv::Mat m, int row, int col); 29 | static double matGet3D(cv::Mat m, int x, int y, int i); 30 | static cv::Vec3d matGet3D(cv::Mat m, int x, int y); 31 | static void matSet3D(cv::Mat m, int x, int y, cv::Vec3d); 32 | static void matSet3D(cv::Mat m, int x, int y,int i, double val); 33 | static void matSet2D(cv::Mat m, int row, int col, double val); 34 | static void autoContrast(cv::Mat img_in, cv::Mat &img_out); 35 | static void autoContrast(IplImage *img_in, IplImage *img_out); 36 | static void exportMat(const char *path, cv::Mat m); 37 | static void exportMatParts(const char *path, cv::Mat partR, cv::Mat partT);//将R、T矩阵合并输出，要求R、T行相等 38 | static bool line_lineIntersection(cv::Point3f p1, cv::Vec3f v1, cv::Point3f p2,cv::Vec3f v2,cv::Point3f &p); 39 | static int accessMat(cv::Mat m, int x, int y, int i); 40 | static int accessMat(cv::Mat m, int x, int y); 41 | static void folderScan(const char *path); 42 | }; 43 | 44 | #endif // UTILITIES_H 45 | -------------------------------------------------------------------------------- /Duke/virtualcamera.cpp: -------------------------------------------------------------------------------- 1 | #include "virtualcamera.h" 2 | #include "utilities.h" 3 | #include 4 | #include 5 | #include 6 | 7 | VirtualCamera::VirtualCamera() 8 | { 9 | distortion = NULL; 10 | rotationMatrix = NULL; 11 | translationVector = NULL; 12 | fundamentalMatrix = NULL; 13 | homoMat1 = NULL; 14 | homoMat2 = NULL; 15 | fc.x=0; 16 | fc.y=0; 17 | cc.x=0; 18 | cc.y=0; 19 | } 20 | 21 | VirtualCamera::~VirtualCamera() 22 | { 23 | } 24 | 25 | void VirtualCamera::loadDistortion(QString path) 26 | { 27 | loadMatrix(distortion, 5, 1, path.toStdString()); 28 | } 29 | 30 | bool VirtualCamera::loadCameraMatrix(QString path) 31 | { 32 | bool existPath = QFile::exists(path); 33 | if(!existPath){ 34 | QMessageBox::warning(NULL, QObject::tr("Matrix not found"), QObject::tr("File: '") + path + QObject::tr("' need to be added.")); 35 | return false;//Imply that the matrix didn't loaded successfully. 36 | } 37 | 38 | cv::Mat camMatrix; 39 | loadMatrix(camMatrix, 3, 3, path.toStdString()); 40 | cc.x = Utilities::matGet2D(camMatrix, 0, 2);//0, 2表示第0行，第2列 41 | cc.y = Utilities::matGet2D(camMatrix, 1, 2); 42 | fc.x = Utilities::matGet2D(camMatrix, 0, 0); 43 | fc.y = Utilities::matGet2D(camMatrix, 1, 1); 44 | return true; 45 | } 46 | 47 | void VirtualCamera::loadRotationMatrix(QString path) 48 | { 49 | loadMatrix(rotationMatrix, 3, 3, path.toStdString()); 50 | } 51 | 52 | void VirtualCamera::loadTranslationVector(QString path) 53 | { 54 | loadMatrix(translationVector, 3, 1, path.toStdString()); 55 | } 56 | 57 | void VirtualCamera::loadFundamentalMatrix(QString path) 58 | { 59 | loadMatrix(fundamentalMatrix, 3, 3, path.toStdString()); 60 | } 61 | 62 | void VirtualCamera::loadHomoMatrix(QString path, int i) 63 | { 64 | if (i == 1) 65 | loadMatrix(homoMat1, 3, 3, path.toStdString()); 66 | else 67 | loadMatrix(homoMat2, 3, 3, path.toStdString()); 68 | } 69 | 70 | int VirtualCamera::loadMatrix(cv::Mat &matrix, int rows, int cols, std::string file) 71 | { 72 | std:: ifstream in1; 73 | in1.open(file); 74 | if(!in1) 75 | return -1; 76 | 77 | if(!matrix.empty()) 78 | matrix.release(); 79 | matrix = cv::Mat(rows, cols, CV_32F); 80 | for(int i = 0; i < rows; i++){ 81 | for(int j = 0; j < cols; j++){ 82 | float val; 83 | in1>>val; 84 | Utilities::matSet2D(matrix, i, j, val); 85 | } 86 | } 87 | return 1; 88 | } 89 | -------------------------------------------------------------------------------- /Duke/virtualcamera.h: -------------------------------------------------------------------------------- 1 | #ifndef VIRTUALCAMERA_H 2 | #define VIRTUALCAMERA_H 3 | 4 | #include 5 | #include 6 | #include 7 | 8 | #include 9 | #include 10 | #include 11 | #include 12 | 13 | class VirtualCamera 14 | { 15 | public: 16 | VirtualCamera(); 17 | ~VirtualCamera(); 18 | void loadDistortion(QString path); 19 | bool loadCameraMatrix(QString path); 20 | void loadRotationMatrix(QString path); 21 | void loadTranslationVector(QString path); 22 | void loadFundamentalMatrix(QString path); 23 | void loadHomoMatrix(QString path, int i); 24 | 25 | int loadMatrix(cv::Mat &matrix, int rows, int cols, std::string file); 26 | 27 | cv::Mat distortion; 28 | cv::Mat rotationMatrix; 29 | cv::Mat translationVector; 30 | cv::Mat fundamentalMatrix; 31 | cv::Mat homoMat1; 32 | cv::Mat homoMat2; 33 | cv::Point3f position;//相机的三维坐标原点，在runReconstruction函数中赋值为(0,0,0) 34 | cv::Point2f fc; 35 | cv::Point2f cc; 36 | int width; 37 | int height; 38 | 39 | private: 40 | 41 | }; 42 | 43 | #endif // VIRTUALCAMERA_H 44 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | 2 | # Structure-Light-Reconstructor 3 | Structure light based software for 3D reconstruction. 4 | 5 | # Introduction 6 | This project was conducted for my master thesis entitled "Key Technologies and Software Realization of 3D Reconstruction Based on Structured Light", 7 | you can find the Chinese version of the thesis [here](http://kns.cnki.net/KCMS/detail/detail.aspx?dbcode=CMFD&dbname=CMFD201801&filename=1017300902.nh&v=MTEyMjM2R2JDNEh0ak1yWkViUElSOGVYMUx1eFlTN0RoMVQzcVRyV00xRnJDVVJMT2ZZdVJxRnlya1VMcklWRjI=). 8 | 9 | In brief, this software can deliver: 10 | 11 | - Structured light reconstruction of textured/untextured objects with stereo cameras and commercial projector 12 | - Stereo camera calibration 13 | - CUDA acceleration support 14 | - Point cloud registration and model optimization 15 | - A GUI with 3D display 16 | -------------------------------------------------------------------------------- /build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/en.qm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DrawZeroPoint/Structure-Light-Reconstructor/4a79a80336fa52f06e4eb871e8dffe79e222a53e/build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/en.qm -------------------------------------------------------------------------------- /build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_dahengcamera.cpp: -------------------------------------------------------------------------------- 1 | /**************************************************************************** 2 | ** Meta object code from reading C++ file 'dahengcamera.h' 3 | ** 4 | ** Created by: The Qt Meta Object Compiler version 67 (Qt 5.3.2) 5 | ** 6 | ** WARNING! All changes made in this file will be lost! 7 | *****************************************************************************/ 8 | 9 | #include "../../Duke/dahengcamera.h" 10 | #include 11 | #include 12 | #if !defined(Q_MOC_OUTPUT_REVISION) 13 | #error "The header file 'dahengcamera.h' doesn't include ." 14 | #elif Q_MOC_OUTPUT_REVISION != 67 15 | #error "This file was generated using the moc from 5.3.2. It" 16 | #error "cannot be used with the include files from this version of Qt." 17 | #error "(The moc has changed too much.)" 18 | #endif 19 | 20 | QT_BEGIN_MOC_NAMESPACE 21 | struct qt_meta_stringdata_DaHengCamera_t { 22 | QByteArrayData data[1]; 23 | char stringdata[13]; 24 | }; 25 | #define QT_MOC_LITERAL(idx, ofs, len) \ 26 | Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ 27 | qptrdiff(offsetof(qt_meta_stringdata_DaHengCamera_t, stringdata) + ofs \ 28 | - idx * sizeof(QByteArrayData)) \ 29 | ) 30 | static const qt_meta_stringdata_DaHengCamera_t qt_meta_stringdata_DaHengCamera = { 31 | { 32 | QT_MOC_LITERAL(0, 0, 12) 33 | }, 34 | "DaHengCamera" 35 | }; 36 | #undef QT_MOC_LITERAL 37 | 38 | static const uint qt_meta_data_DaHengCamera[] = { 39 | 40 | // content: 41 | 7, // revision 42 | 0, // classname 43 | 0, 0, // classinfo 44 | 0, 0, // methods 45 | 0, 0, // properties 46 | 0, 0, // enums/sets 47 | 0, 0, // constructors 48 | 0, // flags 49 | 0, // signalCount 50 | 51 | 0 // eod 52 | }; 53 | 54 | void DaHengCamera::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) 55 | { 56 | Q_UNUSED(_o); 57 | Q_UNUSED(_id); 58 | Q_UNUSED(_c); 59 | Q_UNUSED(_a); 60 | } 61 | 62 | const QMetaObject DaHengCamera::staticMetaObject = { 63 | { &QObject::staticMetaObject, qt_meta_stringdata_DaHengCamera.data, 64 | qt_meta_data_DaHengCamera, qt_static_metacall, 0, 0} 65 | }; 66 | 67 | 68 | const QMetaObject *DaHengCamera::metaObject() const 69 | { 70 | return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; 71 | } 72 | 73 | void *DaHengCamera::qt_metacast(const char *_clname) 74 | { 75 | if (!_clname) return 0; 76 | if (!strcmp(_clname, qt_meta_stringdata_DaHengCamera.stringdata)) 77 | return static_cast(const_cast< DaHengCamera*>(this)); 78 | return QObject::qt_metacast(_clname); 79 | } 80 | 81 | int DaHengCamera::qt_metacall(QMetaObject::Call _c, int _id, void **_a) 82 | { 83 | _id = QObject::qt_metacall(_c, _id, _a); 84 | if (_id < 0) 85 | return _id; 86 | return _id; 87 | } 88 | QT_END_MOC_NAMESPACE 89 | -------------------------------------------------------------------------------- /build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_dotmatch.cpp: -------------------------------------------------------------------------------- 1 | /**************************************************************************** 2 | ** Meta object code from reading C++ file 'dotmatch.h' 3 | ** 4 | ** Created by: The Qt Meta Object Compiler version 67 (Qt 5.3.2) 5 | ** 6 | ** WARNING! All changes made in this file will be lost! 7 | *****************************************************************************/ 8 | 9 | #include "../../Duke/dotmatch.h" 10 | #include 11 | #include 12 | #if !defined(Q_MOC_OUTPUT_REVISION) 13 | #error "The header file 'dotmatch.h' doesn't include ." 14 | #elif Q_MOC_OUTPUT_REVISION != 67 15 | #error "This file was generated using the moc from 5.3.2. It" 16 | #error "cannot be used with the include files from this version of Qt." 17 | #error "(The moc has changed too much.)" 18 | #endif 19 | 20 | QT_BEGIN_MOC_NAMESPACE 21 | struct qt_meta_stringdata_DotMatch_t { 22 | QByteArrayData data[4]; 23 | char stringdata[45]; 24 | }; 25 | #define QT_MOC_LITERAL(idx, ofs, len) \ 26 | Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ 27 | qptrdiff(offsetof(qt_meta_stringdata_DotMatch_t, stringdata) + ofs \ 28 | - idx * sizeof(QByteArrayData)) \ 29 | ) 30 | static const qt_meta_stringdata_DotMatch_t qt_meta_stringdata_DotMatch = { 31 | { 32 | QT_MOC_LITERAL(0, 0, 8), 33 | QT_MOC_LITERAL(1, 9, 19), 34 | QT_MOC_LITERAL(2, 29, 0), 35 | QT_MOC_LITERAL(3, 30, 14) 36 | }, 37 | "DotMatch\0receivedmanualmatch\0\0" 38 | "onfinishmanual" 39 | }; 40 | #undef QT_MOC_LITERAL 41 | 42 | static const uint qt_meta_data_DotMatch[] = { 43 | 44 | // content: 45 | 7, // revision 46 | 0, // classname 47 | 0, 0, // classinfo 48 | 2, 14, // methods 49 | 0, 0, // properties 50 | 0, 0, // enums/sets 51 | 0, 0, // constructors 52 | 0, // flags 53 | 1, // signalCount 54 | 55 | // signals: name, argc, parameters, tag, flags 56 | 1, 0, 24, 2, 0x06 /* Public */, 57 | 58 | // slots: name, argc, parameters, tag, flags 59 | 3, 0, 25, 2, 0x08 /* Private */, 60 | 61 | // signals: parameters 62 | QMetaType::Void, 63 | 64 | // slots: parameters 65 | QMetaType::Void, 66 | 67 | 0 // eod 68 | }; 69 | 70 | void DotMatch::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) 71 | { 72 | if (_c == QMetaObject::InvokeMetaMethod) { 73 | DotMatch *_t = static_cast(_o); 74 | switch (_id) { 75 | case 0: _t->receivedmanualmatch(); break; 76 | case 1: _t->onfinishmanual(); break; 77 | default: ; 78 | } 79 | } else if (_c == QMetaObject::IndexOfMethod) { 80 | int *result = reinterpret_cast(_a[0]); 81 | void **func = reinterpret_cast(_a[1]); 82 | { 83 | typedef void (DotMatch::*_t)(); 84 | if (*reinterpret_cast<_t *>(func) == static_cast<_t>(&DotMatch::receivedmanualmatch)) { 85 | *result = 0; 86 | } 87 | } 88 | } 89 | Q_UNUSED(_a); 90 | } 91 | 92 | const QMetaObject DotMatch::staticMetaObject = { 93 | { &QObject::staticMetaObject, qt_meta_stringdata_DotMatch.data, 94 | qt_meta_data_DotMatch, qt_static_metacall, 0, 0} 95 | }; 96 | 97 | 98 | const QMetaObject *DotMatch::metaObject() const 99 | { 100 | return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; 101 | } 102 | 103 | void *DotMatch::qt_metacast(const char *_clname) 104 | { 105 | if (!_clname) return 0; 106 | if (!strcmp(_clname, qt_meta_stringdata_DotMatch.stringdata)) 107 | return static_cast(const_cast< DotMatch*>(this)); 108 | return QObject::qt_metacast(_clname); 109 | } 110 | 111 | int DotMatch::qt_metacall(QMetaObject::Call _c, int _id, void **_a) 112 | { 113 | _id = QObject::qt_metacall(_c, _id, _a); 114 | if (_id < 0) 115 | return _id; 116 | if (_c == QMetaObject::InvokeMetaMethod) { 117 | if (_id < 2) 118 | qt_static_metacall(this, _c, _id, _a); 119 | _id -= 2; 120 | } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) { 121 | if (_id < 2) 122 | *reinterpret_cast(_a[0]) = -1; 123 | _id -= 2; 124 | } 125 | return _id; 126 | } 127 | 128 | // SIGNAL 0 129 | void DotMatch::receivedmanualmatch() 130 | { 131 | QMetaObject::activate(this, &staticMetaObject, 0, 0); 132 | } 133 | QT_END_MOC_NAMESPACE 134 | -------------------------------------------------------------------------------- /build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_glwidget.cpp: -------------------------------------------------------------------------------- 1 | /**************************************************************************** 2 | ** Meta object code from reading C++ file 'glwidget.h' 3 | ** 4 | ** Created by: The Qt Meta Object Compiler version 67 (Qt 5.3.2) 5 | ** 6 | ** WARNING! All changes made in this file will be lost! 7 | *****************************************************************************/ 8 | 9 | #include "../../Duke/glwidget.h" 10 | #include 11 | #include 12 | #if !defined(Q_MOC_OUTPUT_REVISION) 13 | #error "The header file 'glwidget.h' doesn't include ." 14 | #elif Q_MOC_OUTPUT_REVISION != 67 15 | #error "This file was generated using the moc from 5.3.2. It" 16 | #error "cannot be used with the include files from this version of Qt." 17 | #error "(The moc has changed too much.)" 18 | #endif 19 | 20 | QT_BEGIN_MOC_NAMESPACE 21 | struct qt_meta_stringdata_GLWidget_t { 22 | QByteArrayData data[1]; 23 | char stringdata[9]; 24 | }; 25 | #define QT_MOC_LITERAL(idx, ofs, len) \ 26 | Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ 27 | qptrdiff(offsetof(qt_meta_stringdata_GLWidget_t, stringdata) + ofs \ 28 | - idx * sizeof(QByteArrayData)) \ 29 | ) 30 | static const qt_meta_stringdata_GLWidget_t qt_meta_stringdata_GLWidget = { 31 | { 32 | QT_MOC_LITERAL(0, 0, 8) 33 | }, 34 | "GLWidget" 35 | }; 36 | #undef QT_MOC_LITERAL 37 | 38 | static const uint qt_meta_data_GLWidget[] = { 39 | 40 | // content: 41 | 7, // revision 42 | 0, // classname 43 | 0, 0, // classinfo 44 | 0, 0, // methods 45 | 0, 0, // properties 46 | 0, 0, // enums/sets 47 | 0, 0, // constructors 48 | 0, // flags 49 | 0, // signalCount 50 | 51 | 0 // eod 52 | }; 53 | 54 | void GLWidget::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) 55 | { 56 | Q_UNUSED(_o); 57 | Q_UNUSED(_id); 58 | Q_UNUSED(_c); 59 | Q_UNUSED(_a); 60 | } 61 | 62 | const QMetaObject GLWidget::staticMetaObject = { 63 | { &QGLWidget::staticMetaObject, qt_meta_stringdata_GLWidget.data, 64 | qt_meta_data_GLWidget, qt_static_metacall, 0, 0} 65 | }; 66 | 67 | 68 | const QMetaObject *GLWidget::metaObject() const 69 | { 70 | return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; 71 | } 72 | 73 | void *GLWidget::qt_metacast(const char *_clname) 74 | { 75 | if (!_clname) return 0; 76 | if (!strcmp(_clname, qt_meta_stringdata_GLWidget.stringdata)) 77 | return static_cast(const_cast< GLWidget*>(this)); 78 | return QGLWidget::qt_metacast(_clname); 79 | } 80 | 81 | int GLWidget::qt_metacall(QMetaObject::Call _c, int _id, void **_a) 82 | { 83 | _id = QGLWidget::qt_metacall(_c, _id, _a); 84 | if (_id < 0) 85 | return _id; 86 | return _id; 87 | } 88 | QT_END_MOC_NAMESPACE 89 | -------------------------------------------------------------------------------- /build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_imageviewer.cpp: -------------------------------------------------------------------------------- 1 | /**************************************************************************** 2 | ** Meta object code from reading C++ file 'imageviewer.h' 3 | ** 4 | ** Created by: The Qt Meta Object Compiler version 67 (Qt 5.3.2) 5 | ** 6 | ** WARNING! All changes made in this file will be lost! 7 | *****************************************************************************/ 8 | 9 | #include "../../Duke/imageviewer.h" 10 | #include 11 | #include 12 | #if !defined(Q_MOC_OUTPUT_REVISION) 13 | #error "The header file 'imageviewer.h' doesn't include ." 14 | #elif Q_MOC_OUTPUT_REVISION != 67 15 | #error "This file was generated using the moc from 5.3.2. It" 16 | #error "cannot be used with the include files from this version of Qt." 17 | #error "(The moc has changed too much.)" 18 | #endif 19 | 20 | QT_BEGIN_MOC_NAMESPACE 21 | struct qt_meta_stringdata_ImageViewer_t { 22 | QByteArrayData data[3]; 23 | char stringdata[23]; 24 | }; 25 | #define QT_MOC_LITERAL(idx, ofs, len) \ 26 | Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ 27 | qptrdiff(offsetof(qt_meta_stringdata_ImageViewer_t, stringdata) + ofs \ 28 | - idx * sizeof(QByteArrayData)) \ 29 | ) 30 | static const qt_meta_stringdata_ImageViewer_t qt_meta_stringdata_ImageViewer = { 31 | { 32 | QT_MOC_LITERAL(0, 0, 11), 33 | QT_MOC_LITERAL(1, 12, 9), 34 | QT_MOC_LITERAL(2, 22, 0) 35 | }, 36 | "ImageViewer\0saveimage\0" 37 | }; 38 | #undef QT_MOC_LITERAL 39 | 40 | static const uint qt_meta_data_ImageViewer[] = { 41 | 42 | // content: 43 | 7, // revision 44 | 0, // classname 45 | 0, 0, // classinfo 46 | 1, 14, // methods 47 | 0, 0, // properties 48 | 0, 0, // enums/sets 49 | 0, 0, // constructors 50 | 0, // flags 51 | 0, // signalCount 52 | 53 | // slots: name, argc, parameters, tag, flags 54 | 1, 0, 19, 2, 0x08 /* Private */, 55 | 56 | // slots: parameters 57 | QMetaType::Void, 58 | 59 | 0 // eod 60 | }; 61 | 62 | void ImageViewer::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) 63 | { 64 | if (_c == QMetaObject::InvokeMetaMethod) { 65 | ImageViewer *_t = static_cast(_o); 66 | switch (_id) { 67 | case 0: _t->saveimage(); break; 68 | default: ; 69 | } 70 | } 71 | Q_UNUSED(_a); 72 | } 73 | 74 | const QMetaObject ImageViewer::staticMetaObject = { 75 | { &QWidget::staticMetaObject, qt_meta_stringdata_ImageViewer.data, 76 | qt_meta_data_ImageViewer, qt_static_metacall, 0, 0} 77 | }; 78 | 79 | 80 | const QMetaObject *ImageViewer::metaObject() const 81 | { 82 | return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; 83 | } 84 | 85 | void *ImageViewer::qt_metacast(const char *_clname) 86 | { 87 | if (!_clname) return 0; 88 | if (!strcmp(_clname, qt_meta_stringdata_ImageViewer.stringdata)) 89 | return static_cast(const_cast< ImageViewer*>(this)); 90 | return QWidget::qt_metacast(_clname); 91 | } 92 | 93 | int ImageViewer::qt_metacall(QMetaObject::Call _c, int _id, void **_a) 94 | { 95 | _id = QWidget::qt_metacall(_c, _id, _a); 96 | if (_id < 0) 97 | return _id; 98 | if (_c == QMetaObject::InvokeMetaMethod) { 99 | if (_id < 1) 100 | qt_static_metacall(this, _c, _id, _a); 101 | _id -= 1; 102 | } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) { 103 | if (_id < 1) 104 | *reinterpret_cast(_a[0]) = -1; 105 | _id -= 1; 106 | } 107 | return _id; 108 | } 109 | QT_END_MOC_NAMESPACE 110 | -------------------------------------------------------------------------------- /build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_mfreconstruct.cpp: -------------------------------------------------------------------------------- 1 | /**************************************************************************** 2 | ** Meta object code from reading C++ file 'mfreconstruct.h' 3 | ** 4 | ** Created by: The Qt Meta Object Compiler version 67 (Qt 5.3.2) 5 | ** 6 | ** WARNING! All changes made in this file will be lost! 7 | *****************************************************************************/ 8 | 9 | #include "../../Duke/mfreconstruct.h" 10 | #include 11 | #include 12 | #if !defined(Q_MOC_OUTPUT_REVISION) 13 | #error "The header file 'mfreconstruct.h' doesn't include ." 14 | #elif Q_MOC_OUTPUT_REVISION != 67 15 | #error "This file was generated using the moc from 5.3.2. It" 16 | #error "cannot be used with the include files from this version of Qt." 17 | #error "(The moc has changed too much.)" 18 | #endif 19 | 20 | QT_BEGIN_MOC_NAMESPACE 21 | struct qt_meta_stringdata_MFReconstruct_t { 22 | QByteArrayData data[1]; 23 | char stringdata[14]; 24 | }; 25 | #define QT_MOC_LITERAL(idx, ofs, len) \ 26 | Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ 27 | qptrdiff(offsetof(qt_meta_stringdata_MFReconstruct_t, stringdata) + ofs \ 28 | - idx * sizeof(QByteArrayData)) \ 29 | ) 30 | static const qt_meta_stringdata_MFReconstruct_t qt_meta_stringdata_MFReconstruct = { 31 | { 32 | QT_MOC_LITERAL(0, 0, 13) 33 | }, 34 | "MFReconstruct" 35 | }; 36 | #undef QT_MOC_LITERAL 37 | 38 | static const uint qt_meta_data_MFReconstruct[] = { 39 | 40 | // content: 41 | 7, // revision 42 | 0, // classname 43 | 0, 0, // classinfo 44 | 0, 0, // methods 45 | 0, 0, // properties 46 | 0, 0, // enums/sets 47 | 0, 0, // constructors 48 | 0, // flags 49 | 0, // signalCount 50 | 51 | 0 // eod 52 | }; 53 | 54 | void MFReconstruct::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) 55 | { 56 | Q_UNUSED(_o); 57 | Q_UNUSED(_id); 58 | Q_UNUSED(_c); 59 | Q_UNUSED(_a); 60 | } 61 | 62 | const QMetaObject MFReconstruct::staticMetaObject = { 63 | { &QObject::staticMetaObject, qt_meta_stringdata_MFReconstruct.data, 64 | qt_meta_data_MFReconstruct, qt_static_metacall, 0, 0} 65 | }; 66 | 67 | 68 | const QMetaObject *MFReconstruct::metaObject() const 69 | { 70 | return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; 71 | } 72 | 73 | void *MFReconstruct::qt_metacast(const char *_clname) 74 | { 75 | if (!_clname) return 0; 76 | if (!strcmp(_clname, qt_meta_stringdata_MFReconstruct.stringdata)) 77 | return static_cast(const_cast< MFReconstruct*>(this)); 78 | return QObject::qt_metacast(_clname); 79 | } 80 | 81 | int MFReconstruct::qt_metacall(QMetaObject::Call _c, int _id, void **_a) 82 | { 83 | _id = QObject::qt_metacall(_c, _id, _a); 84 | if (_id < 0) 85 | return _id; 86 | return _id; 87 | } 88 | QT_END_MOC_NAMESPACE 89 | -------------------------------------------------------------------------------- /build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_plyloader.cpp: -------------------------------------------------------------------------------- 1 | /**************************************************************************** 2 | ** Meta object code from reading C++ file 'plyloader.h' 3 | ** 4 | ** Created by: The Qt Meta Object Compiler version 67 (Qt 5.3.2) 5 | ** 6 | ** WARNING! All changes made in this file will be lost! 7 | *****************************************************************************/ 8 | 9 | #include "../../Duke/plyloader.h" 10 | #include 11 | #include 12 | #if !defined(Q_MOC_OUTPUT_REVISION) 13 | #error "The header file 'plyloader.h' doesn't include ." 14 | #elif Q_MOC_OUTPUT_REVISION != 67 15 | #error "This file was generated using the moc from 5.3.2. It" 16 | #error "cannot be used with the include files from this version of Qt." 17 | #error "(The moc has changed too much.)" 18 | #endif 19 | 20 | QT_BEGIN_MOC_NAMESPACE 21 | struct qt_meta_stringdata_PlyLoader_t { 22 | QByteArrayData data[1]; 23 | char stringdata[10]; 24 | }; 25 | #define QT_MOC_LITERAL(idx, ofs, len) \ 26 | Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ 27 | qptrdiff(offsetof(qt_meta_stringdata_PlyLoader_t, stringdata) + ofs \ 28 | - idx * sizeof(QByteArrayData)) \ 29 | ) 30 | static const qt_meta_stringdata_PlyLoader_t qt_meta_stringdata_PlyLoader = { 31 | { 32 | QT_MOC_LITERAL(0, 0, 9) 33 | }, 34 | "PlyLoader" 35 | }; 36 | #undef QT_MOC_LITERAL 37 | 38 | static const uint qt_meta_data_PlyLoader[] = { 39 | 40 | // content: 41 | 7, // revision 42 | 0, // classname 43 | 0, 0, // classinfo 44 | 0, 0, // methods 45 | 0, 0, // properties 46 | 0, 0, // enums/sets 47 | 0, 0, // constructors 48 | 0, // flags 49 | 0, // signalCount 50 | 51 | 0 // eod 52 | }; 53 | 54 | void PlyLoader::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) 55 | { 56 | Q_UNUSED(_o); 57 | Q_UNUSED(_id); 58 | Q_UNUSED(_c); 59 | Q_UNUSED(_a); 60 | } 61 | 62 | const QMetaObject PlyLoader::staticMetaObject = { 63 | { &QObject::staticMetaObject, qt_meta_stringdata_PlyLoader.data, 64 | qt_meta_data_PlyLoader, qt_static_metacall, 0, 0} 65 | }; 66 | 67 | 68 | const QMetaObject *PlyLoader::metaObject() const 69 | { 70 | return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; 71 | } 72 | 73 | void *PlyLoader::qt_metacast(const char *_clname) 74 | { 75 | if (!_clname) return 0; 76 | if (!strcmp(_clname, qt_meta_stringdata_PlyLoader.stringdata)) 77 | return static_cast(const_cast< PlyLoader*>(this)); 78 | return QObject::qt_metacast(_clname); 79 | } 80 | 81 | int PlyLoader::qt_metacall(QMetaObject::Call _c, int _id, void **_a) 82 | { 83 | _id = QObject::qt_metacall(_c, _id, _a); 84 | if (_id < 0) 85 | return _id; 86 | return _id; 87 | } 88 | QT_END_MOC_NAMESPACE 89 | -------------------------------------------------------------------------------- /build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_project.cpp: -------------------------------------------------------------------------------- 1 | /**************************************************************************** 2 | ** Meta object code from reading C++ file 'project.h' 3 | ** 4 | ** Created by: The Qt Meta Object Compiler version 67 (Qt 5.3.2) 5 | ** 6 | ** WARNING! All changes made in this file will be lost! 7 | *****************************************************************************/ 8 | 9 | #include "../../Duke/project.h" 10 | #include 11 | #include 12 | #if !defined(Q_MOC_OUTPUT_REVISION) 13 | #error "The header file 'project.h' doesn't include ." 14 | #elif Q_MOC_OUTPUT_REVISION != 67 15 | #error "This file was generated using the moc from 5.3.2. It" 16 | #error "cannot be used with the include files from this version of Qt." 17 | #error "(The moc has changed too much.)" 18 | #endif 19 | 20 | QT_BEGIN_MOC_NAMESPACE 21 | struct qt_meta_stringdata_Project_t { 22 | QByteArrayData data[1]; 23 | char stringdata[8]; 24 | }; 25 | #define QT_MOC_LITERAL(idx, ofs, len) \ 26 | Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ 27 | qptrdiff(offsetof(qt_meta_stringdata_Project_t, stringdata) + ofs \ 28 | - idx * sizeof(QByteArrayData)) \ 29 | ) 30 | static const qt_meta_stringdata_Project_t qt_meta_stringdata_Project = { 31 | { 32 | QT_MOC_LITERAL(0, 0, 7) 33 | }, 34 | "Project" 35 | }; 36 | #undef QT_MOC_LITERAL 37 | 38 | static const uint qt_meta_data_Project[] = { 39 | 40 | // content: 41 | 7, // revision 42 | 0, // classname 43 | 0, 0, // classinfo 44 | 0, 0, // methods 45 | 0, 0, // properties 46 | 0, 0, // enums/sets 47 | 0, 0, // constructors 48 | 0, // flags 49 | 0, // signalCount 50 | 51 | 0 // eod 52 | }; 53 | 54 | void Project::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) 55 | { 56 | Q_UNUSED(_o); 57 | Q_UNUSED(_id); 58 | Q_UNUSED(_c); 59 | Q_UNUSED(_a); 60 | } 61 | 62 | const QMetaObject Project::staticMetaObject = { 63 | { &QWidget::staticMetaObject, qt_meta_stringdata_Project.data, 64 | qt_meta_data_Project, qt_static_metacall, 0, 0} 65 | }; 66 | 67 | 68 | const QMetaObject *Project::metaObject() const 69 | { 70 | return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; 71 | } 72 | 73 | void *Project::qt_metacast(const char *_clname) 74 | { 75 | if (!_clname) return 0; 76 | if (!strcmp(_clname, qt_meta_stringdata_Project.stringdata)) 77 | return static_cast(const_cast< Project*>(this)); 78 | return QWidget::qt_metacast(_clname); 79 | } 80 | 81 | int Project::qt_metacall(QMetaObject::Call _c, int _id, void **_a) 82 | { 83 | _id = QWidget::qt_metacall(_c, _id, _a); 84 | if (_id < 0) 85 | return _id; 86 | return _id; 87 | } 88 | QT_END_MOC_NAMESPACE 89 | -------------------------------------------------------------------------------- /build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/debug/moc_stereorect.cpp: -------------------------------------------------------------------------------- 1 | /**************************************************************************** 2 | ** Meta object code from reading C++ file 'stereorect.h' 3 | ** 4 | ** Created by: The Qt Meta Object Compiler version 67 (Qt 5.3.2) 5 | ** 6 | ** WARNING! All changes made in this file will be lost! 7 | *****************************************************************************/ 8 | 9 | #include "../../Duke/stereorect.h" 10 | #include 11 | #include 12 | #if !defined(Q_MOC_OUTPUT_REVISION) 13 | #error "The header file 'stereorect.h' doesn't include ." 14 | #elif Q_MOC_OUTPUT_REVISION != 67 15 | #error "This file was generated using the moc from 5.3.2. It" 16 | #error "cannot be used with the include files from this version of Qt." 17 | #error "(The moc has changed too much.)" 18 | #endif 19 | 20 | QT_BEGIN_MOC_NAMESPACE 21 | struct qt_meta_stringdata_stereoRect_t { 22 | QByteArrayData data[1]; 23 | char stringdata[11]; 24 | }; 25 | #define QT_MOC_LITERAL(idx, ofs, len) \ 26 | Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ 27 | qptrdiff(offsetof(qt_meta_stringdata_stereoRect_t, stringdata) + ofs \ 28 | - idx * sizeof(QByteArrayData)) \ 29 | ) 30 | static const qt_meta_stringdata_stereoRect_t qt_meta_stringdata_stereoRect = { 31 | { 32 | QT_MOC_LITERAL(0, 0, 10) 33 | }, 34 | "stereoRect" 35 | }; 36 | #undef QT_MOC_LITERAL 37 | 38 | static const uint qt_meta_data_stereoRect[] = { 39 | 40 | // content: 41 | 7, // revision 42 | 0, // classname 43 | 0, 0, // classinfo 44 | 0, 0, // methods 45 | 0, 0, // properties 46 | 0, 0, // enums/sets 47 | 0, 0, // constructors 48 | 0, // flags 49 | 0, // signalCount 50 | 51 | 0 // eod 52 | }; 53 | 54 | void stereoRect::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) 55 | { 56 | Q_UNUSED(_o); 57 | Q_UNUSED(_id); 58 | Q_UNUSED(_c); 59 | Q_UNUSED(_a); 60 | } 61 | 62 | const QMetaObject stereoRect::staticMetaObject = { 63 | { &QObject::staticMetaObject, qt_meta_stringdata_stereoRect.data, 64 | qt_meta_data_stereoRect, qt_static_metacall, 0, 0} 65 | }; 66 | 67 | 68 | const QMetaObject *stereoRect::metaObject() const 69 | { 70 | return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; 71 | } 72 | 73 | void *stereoRect::qt_metacast(const char *_clname) 74 | { 75 | if (!_clname) return 0; 76 | if (!strcmp(_clname, qt_meta_stringdata_stereoRect.stringdata)) 77 | return static_cast(const_cast< stereoRect*>(this)); 78 | return QObject::qt_metacast(_clname); 79 | } 80 | 81 | int stereoRect::qt_metacall(QMetaObject::Call _c, int _id, void **_a) 82 | { 83 | _id = QObject::qt_metacall(_c, _id, _a); 84 | if (_id < 0) 85 | return _id; 86 | return _id; 87 | } 88 | QT_END_MOC_NAMESPACE 89 | -------------------------------------------------------------------------------- /build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/ui_imageviewer.h: -------------------------------------------------------------------------------- 1 | /******************************************************************************** 2 | ** Form generated from reading UI file 'imageviewer.ui' 3 | ** 4 | ** Created by: Qt User Interface Compiler version 5.3.2 5 | ** 6 | ** WARNING! All changes made in this file will be lost when recompiling UI file! 7 | ********************************************************************************/ 8 | 9 | #ifndef UI_IMAGEVIEWER_H 10 | #define UI_IMAGEVIEWER_H 11 | 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include 18 | #include 19 | #include 20 | #include 21 | 22 | QT_BEGIN_NAMESPACE 23 | 24 | class Ui_ImageViewer 25 | { 26 | public: 27 | QAction *actionSave_Image; 28 | QGridLayout *gridLayout; 29 | QScrollArea *scrollArea; 30 | QWidget *scrollAreaWidgetContents; 31 | QGridLayout *gridLayout_2; 32 | QLabel *imageLabel; 33 | 34 | void setupUi(QWidget *ImageViewer) 35 | { 36 | if (ImageViewer->objectName().isEmpty()) 37 | ImageViewer->setObjectName(QStringLiteral("ImageViewer")); 38 | ImageViewer->resize(829, 596); 39 | actionSave_Image = new QAction(ImageViewer); 40 | actionSave_Image->setObjectName(QStringLiteral("actionSave_Image")); 41 | QIcon icon; 42 | icon.addFile(QStringLiteral(":/save.png"), QSize(), QIcon::Normal, QIcon::Off); 43 | actionSave_Image->setIcon(icon); 44 | gridLayout = new QGridLayout(ImageViewer); 45 | gridLayout->setObjectName(QStringLiteral("gridLayout")); 46 | scrollArea = new QScrollArea(ImageViewer); 47 | scrollArea->setObjectName(QStringLiteral("scrollArea")); 48 | scrollArea->setWidgetResizable(true); 49 | scrollAreaWidgetContents = new QWidget(); 50 | scrollAreaWidgetContents->setObjectName(QStringLiteral("scrollAreaWidgetContents")); 51 | scrollAreaWidgetContents->setGeometry(QRect(0, 0, 809, 576)); 52 | gridLayout_2 = new QGridLayout(scrollAreaWidgetContents); 53 | gridLayout_2->setObjectName(QStringLiteral("gridLayout_2")); 54 | imageLabel = new QLabel(scrollAreaWidgetContents); 55 | imageLabel->setObjectName(QStringLiteral("imageLabel")); 56 | QSizePolicy sizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); 57 | sizePolicy.setHorizontalStretch(0); 58 | sizePolicy.setVerticalStretch(0); 59 | sizePolicy.setHeightForWidth(imageLabel->sizePolicy().hasHeightForWidth()); 60 | imageLabel->setSizePolicy(sizePolicy); 61 | imageLabel->setMaximumSize(QSize(1280, 1024)); 62 | imageLabel->setScaledContents(true); 63 | 64 | gridLayout_2->addWidget(imageLabel, 0, 0, 1, 1); 65 | 66 | scrollArea->setWidget(scrollAreaWidgetContents); 67 | 68 | gridLayout->addWidget(scrollArea, 0, 0, 1, 1); 69 | 70 | 71 | retranslateUi(ImageViewer); 72 | 73 | QMetaObject::connectSlotsByName(ImageViewer); 74 | } // setupUi 75 | 76 | void retranslateUi(QWidget *ImageViewer) 77 | { 78 | ImageViewer->setWindowTitle(QApplication::translate("ImageViewer", "Form", 0)); 79 | actionSave_Image->setText(QApplication::translate("ImageViewer", "Save Image", 0)); 80 | imageLabel->setText(QApplication::translate("ImageViewer", "Image", 0)); 81 | } // retranslateUi 82 | 83 | }; 84 | 85 | namespace Ui { 86 | class ImageViewer: public Ui_ImageViewer {}; 87 | } // namespace Ui 88 | 89 | QT_END_NAMESPACE 90 | 91 | #endif // UI_IMAGEVIEWER_H 92 | -------------------------------------------------------------------------------- /build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/ui_manualmatch.h: -------------------------------------------------------------------------------- 1 | /******************************************************************************** 2 | ** Form generated from reading UI file 'manualmatch.ui' 3 | ** 4 | ** Created by: Qt User Interface Compiler version 5.3.2 5 | ** 6 | ** WARNING! All changes made in this file will be lost when recompiling UI file! 7 | ********************************************************************************/ 8 | 9 | #ifndef UI_MANUALMATCH_H 10 | #define UI_MANUALMATCH_H 11 | 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include 18 | #include 19 | #include 20 | #include 21 | #include 22 | #include 23 | #include 24 | 25 | QT_BEGIN_NAMESPACE 26 | 27 | class Ui_ManualMatch 28 | { 29 | public: 30 | QGridLayout *gridLayout; 31 | QHBoxLayout *horizontalLayout; 32 | QLabel *leftImage; 33 | QLabel *rightImage; 34 | QHBoxLayout *horizontalLayout_4; 35 | QHBoxLayout *horizontalLayout_2; 36 | QLabel *label_2; 37 | QLabel *current; 38 | QLabel *label; 39 | QLineEdit *idEdit; 40 | QPushButton *confirmButton; 41 | QPushButton *deleteButton; 42 | QSpacerItem *horizontalSpacer; 43 | QHBoxLayout *horizontalLayout_3; 44 | QPushButton *finishButton; 45 | QPushButton *resetButton; 46 | QPushButton *cancelButton; 47 | 48 | void setupUi(QWidget *ManualMatch) 49 | { 50 | if (ManualMatch->objectName().isEmpty()) 51 | ManualMatch->setObjectName(QStringLiteral("ManualMatch")); 52 | ManualMatch->resize(815, 575); 53 | QSizePolicy sizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); 54 | sizePolicy.setHorizontalStretch(0); 55 | sizePolicy.setVerticalStretch(0); 56 | sizePolicy.setHeightForWidth(ManualMatch->sizePolicy().hasHeightForWidth()); 57 | ManualMatch->setSizePolicy(sizePolicy); 58 | QIcon icon; 59 | icon.addFile(QStringLiteral(":/splash.png"), QSize(), QIcon::Normal, QIcon::Off); 60 | ManualMatch->setWindowIcon(icon); 61 | ManualMatch->setAutoFillBackground(true); 62 | gridLayout = new QGridLayout(ManualMatch); 63 | gridLayout->setObjectName(QStringLiteral("gridLayout")); 64 | gridLayout->setHorizontalSpacing(10); 65 | gridLayout->setVerticalSpacing(15); 66 | gridLayout->setContentsMargins(6, 10, 6, 10); 67 | horizontalLayout = new QHBoxLayout(); 68 | horizontalLayout->setSpacing(20); 69 | horizontalLayout->setObjectName(QStringLiteral("horizontalLayout")); 70 | leftImage = new QLabel(ManualMatch); 71 | leftImage->setObjectName(QStringLiteral("leftImage")); 72 | QSizePolicy sizePolicy1(QSizePolicy::Preferred, QSizePolicy::Expanding); 73 | sizePolicy1.setHorizontalStretch(0); 74 | sizePolicy1.setVerticalStretch(0); 75 | sizePolicy1.setHeightForWidth(leftImage->sizePolicy().hasHeightForWidth()); 76 | leftImage->setSizePolicy(sizePolicy1); 77 | leftImage->setMaximumSize(QSize(640, 512)); 78 | leftImage->setFrameShape(QFrame::Box); 79 | leftImage->setScaledContents(true); 80 | 81 | horizontalLayout->addWidget(leftImage); 82 | 83 | rightImage = new QLabel(ManualMatch); 84 | rightImage->setObjectName(QStringLiteral("rightImage")); 85 | QSizePolicy sizePolicy2(QSizePolicy::Preferred, QSizePolicy::Preferred); 86 | sizePolicy2.setHorizontalStretch(0); 87 | sizePolicy2.setVerticalStretch(0); 88 | sizePolicy2.setHeightForWidth(rightImage->sizePolicy().hasHeightForWidth()); 89 | rightImage->setSizePolicy(sizePolicy2); 90 | rightImage->setMaximumSize(QSize(640, 512)); 91 | rightImage->setFrameShape(QFrame::Box); 92 | rightImage->setScaledContents(true); 93 | 94 | horizontalLayout->addWidget(rightImage); 95 | 96 | 97 | gridLayout->addLayout(horizontalLayout, 0, 0, 1, 1); 98 | 99 | horizontalLayout_4 = new QHBoxLayout(); 100 | horizontalLayout_4->setSpacing(0); 101 | horizontalLayout_4->setObjectName(QStringLiteral("horizontalLayout_4")); 102 | horizontalLayout_4->setContentsMargins(100, -1, 100, -1); 103 | horizontalLayout_2 = new QHBoxLayout(); 104 | horizontalLayout_2->setSpacing(10); 105 | horizontalLayout_2->setObjectName(QStringLiteral("horizontalLayout_2")); 106 | label_2 = new QLabel(ManualMatch); 107 | label_2->setObjectName(QStringLiteral("label_2")); 108 | sizePolicy.setHeightForWidth(label_2->sizePolicy().hasHeightForWidth()); 109 | label_2->setSizePolicy(sizePolicy); 110 | 111 | horizontalLayout_2->addWidget(label_2); 112 | 113 | current = new QLabel(ManualMatch); 114 | current->setObjectName(QStringLiteral("current")); 115 | sizePolicy.setHeightForWidth(current->sizePolicy().hasHeightForWidth()); 116 | current->setSizePolicy(sizePolicy); 117 | 118 | horizontalLayout_2->addWidget(current); 119 | 120 | label = new QLabel(ManualMatch); 121 | label->setObjectName(QStringLiteral("label")); 122 | sizePolicy.setHeightForWidth(label->sizePolicy().hasHeightForWidth()); 123 | label->setSizePolicy(sizePolicy); 124 | 125 | horizontalLayout_2->addWidget(label); 126 | 127 | idEdit = new QLineEdit(ManualMatch); 128 | idEdit->setObjectName(QStringLiteral("idEdit")); 129 | QSizePolicy sizePolicy3(QSizePolicy::Fixed, QSizePolicy::Fixed); 130 | sizePolicy3.setHorizontalStretch(0); 131 | sizePolicy3.setVerticalStretch(0); 132 | sizePolicy3.setHeightForWidth(idEdit->sizePolicy().hasHeightForWidth()); 133 | idEdit->setSizePolicy(sizePolicy3); 134 | idEdit->setMaximumSize(QSize(60, 16777215)); 135 | idEdit->setClearButtonEnabled(false); 136 | 137 | horizontalLayout_2->addWidget(idEdit); 138 | 139 | confirmButton = new QPushButton(ManualMatch); 140 | confirmButton->setObjectName(QStringLiteral("confirmButton")); 141 | 142 | horizontalLayout_2->addWidget(confirmButton); 143 | 144 | deleteButton = new QPushButton(ManualMatch); 145 | deleteButton->setObjectName(QStringLiteral("deleteButton")); 146 | 147 | horizontalLayout_2->addWidget(deleteButton); 148 | 149 | 150 | horizontalLayout_4->addLayout(horizontalLayout_2); 151 | 152 | horizontalSpacer = new QSpacerItem(40, 20, QSizePolicy::Expanding, QSizePolicy::Minimum); 153 | 154 | horizontalLayout_4->addItem(horizontalSpacer); 155 | 156 | horizontalLayout_3 = new QHBoxLayout(); 157 | horizontalLayout_3->setSpacing(10); 158 | horizontalLayout_3->setObjectName(QStringLiteral("horizontalLayout_3")); 159 | finishButton = new QPushButton(ManualMatch); 160 | finishButton->setObjectName(QStringLiteral("finishButton")); 161 | 162 | horizontalLayout_3->addWidget(finishButton); 163 | 164 | resetButton = new QPushButton(ManualMatch); 165 | resetButton->setObjectName(QStringLiteral("resetButton")); 166 | 167 | horizontalLayout_3->addWidget(resetButton); 168 | 169 | cancelButton = new QPushButton(ManualMatch); 170 | cancelButton->setObjectName(QStringLiteral("cancelButton")); 171 | 172 | horizontalLayout_3->addWidget(cancelButton); 173 | 174 | 175 | horizontalLayout_4->addLayout(horizontalLayout_3); 176 | 177 | 178 | gridLayout->addLayout(horizontalLayout_4, 1, 0, 1, 1); 179 | 180 | 181 | retranslateUi(ManualMatch); 182 | 183 | QMetaObject::connectSlotsByName(ManualMatch); 184 | } // setupUi 185 | 186 | void retranslateUi(QWidget *ManualMatch) 187 | { 188 | ManualMatch->setWindowTitle(QApplication::translate("ManualMatch", "Manual Match Assistant", 0)); 189 | leftImage->setText(QApplication::translate("ManualMatch", "Left Image", 0)); 190 | rightImage->setText(QApplication::translate("ManualMatch", "Right Image", 0)); 191 | label_2->setText(QApplication::translate("ManualMatch", "

Current Point Num:

", 0)); 192 | current->setText(QApplication::translate("ManualMatch", "0", 0)); 193 | label->setText(QApplication::translate("ManualMatch", "Set ID", 0)); 194 | confirmButton->setText(QApplication::translate("ManualMatch", "Confirm", 0)); 195 | deleteButton->setText(QApplication::translate("ManualMatch", "Delete", 0)); 196 | finishButton->setText(QApplication::translate("ManualMatch", "Finish", 0)); 197 | resetButton->setText(QApplication::translate("ManualMatch", "Reset", 0)); 198 | cancelButton->setText(QApplication::translate("ManualMatch", "Cancel", 0)); 199 | } // retranslateUi 200 | 201 | }; 202 | 203 | namespace Ui { 204 | class ManualMatch: public Ui_ManualMatch {}; 205 | } // namespace Ui 206 | 207 | QT_END_NAMESPACE 208 | 209 | #endif // UI_MANUALMATCH_H 210 | -------------------------------------------------------------------------------- /build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug/ui_project.h: -------------------------------------------------------------------------------- 1 | /******************************************************************************** 2 | ** Form generated from reading UI file 'project.ui' 3 | ** 4 | ** Created by: Qt User Interface Compiler version 5.3.2 5 | ** 6 | ** WARNING! All changes made in this file will be lost when recompiling UI file! 7 | ********************************************************************************/ 8 | 9 | #ifndef UI_PROJECT_H 10 | #define UI_PROJECT_H 11 | 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include 18 | #include 19 | 20 | QT_BEGIN_NAMESPACE 21 | 22 | class Ui_Project 23 | { 24 | public: 25 | QLabel *label; 26 | 27 | void setupUi(QWidget *Project) 28 | { 29 | if (Project->objectName().isEmpty()) 30 | Project->setObjectName(QStringLiteral("Project")); 31 | Project->resize(400, 300); 32 | label = new QLabel(Project); 33 | label->setObjectName(QStringLiteral("label")); 34 | label->setGeometry(QRect(160, 130, 54, 12)); 35 | QSizePolicy sizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); 36 | sizePolicy.setHorizontalStretch(0); 37 | sizePolicy.setVerticalStretch(0); 38 | sizePolicy.setHeightForWidth(label->sizePolicy().hasHeightForWidth()); 39 | label->setSizePolicy(sizePolicy); 40 | 41 | retranslateUi(Project); 42 | 43 | QMetaObject::connectSlotsByName(Project); 44 | } // setupUi 45 | 46 | void retranslateUi(QWidget *Project) 47 | { 48 | Project->setWindowTitle(QApplication::translate("Project", "Form", 0)); 49 | label->setText(QApplication::translate("Project", "TextLabel", 0)); 50 | } // retranslateUi 51 | 52 | }; 53 | 54 | namespace Ui { 55 | class Project: public Ui_Project {}; 56 | } // namespace Ui 57 | 58 | QT_END_NAMESPACE 59 | 60 | #endif // UI_PROJECT_H 61 | --------------------------------------------------------------------------------