├── .gitignore ├── Duke ├── Duke.pro ├── Duke.pro.user ├── Resource │ ├── 1.png │ ├── 10.png │ ├── 11.png │ ├── 12.png │ ├── 13.png │ ├── 14.png │ ├── 2.png │ ├── 3.png │ ├── 4.png │ ├── 5.png │ ├── 6.png │ ├── 7.png │ ├── 8.png │ ├── 9.png │ ├── cal.png │ ├── calib.png │ ├── camera.png │ ├── china.png │ ├── close.png │ ├── en.qm │ ├── english.png │ ├── new.png │ ├── open.png │ ├── projector.png │ ├── projoff.png │ ├── projon.png │ ├── reconstruct.png │ ├── res.qrc │ ├── save.png │ ├── scan.png │ ├── set.png │ ├── splash.png │ ├── switch.png │ └── zh.qm ├── Resourec.qrc ├── Set.ui ├── baslercamera.cpp ├── baslercamera.h ├── blobdetector.cpp ├── blobdetector.h ├── camera.cpp ├── camera.h ├── cameracalibration.cpp ├── cameracalibration.h ├── dahengcamera.cpp ├── dahengcamera.h ├── deployment.pri ├── 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 ├── 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 /.gitignore: -------------------------------------------------------------------------------- 1 | Duke/Duke.pro.user.cf61093 2 | Duke/Duke.pro.user.4967388 3 | Duke/Duke.pro.user 4 | Duke/Duke.pro.user 5 | *.user 6 | *.user 7 | Duke/Duke.pro.user -------------------------------------------------------------------------------- /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 | 31 | RESOURCES += \ 32 | Resource/res.qrc 33 | 34 | INCLUDEPATH += E:\opencv\build\include\ 35 | D:\VC\inc\ 36 | D:\mrpt\libs\base\include\ 37 | D:\mrpt\libs\scanmatching\include\ 38 | D:\mrpt\include\mrpt\mrpt-config\ 39 | D:\glm\ 40 | E:\freeglut-2.8.1\include\ 41 | D:\genicam\library\cpp\include\ 42 | D:\pylon\include\ 43 | 44 | LIBS += -LD:\mrpt\lib\ 45 | -LE:\freeglut-2.8.1\lib\x86\Debug\ 46 | -LE:\opencv\build\x86\vc10\lib\ 47 | -LD:\VC\lib\ 48 | -LD:\genicam\library\cpp\lib\win32_i86\ 49 | -LD:\pylon\lib\Win32\ 50 | -lopencv_core249d\ 51 | -lopencv_highgui249d\ 52 | -lopencv_imgproc249d\ 53 | -lopencv_features2d249d\ 54 | -lopencv_calib3d249d\ 55 | -lopencv_nonfree249d\ 56 | -lopencv_flann249d\ 57 | -lHVDAILT\ 58 | -lHVExtend\ 59 | -lHVUtil\ 60 | -lRaw2Rgb\ 61 | -llibmrpt-base122-dbg\ 62 | -llibmrpt-scanmatching122-dbg\ 63 | -lfreeglut\ 64 | -lGCBase_MD_VC100_v2_3\ 65 | -lPylonBase_MD_VC100\ 66 | -lPylonBootstrapper\ 67 | -lPylonGigE_MD_VC100_TL\ 68 | -lPylonUsb_MD_VC100_TL\ 69 | -lPylonUtility_MD_VC100\ 70 | 71 | 72 | # Default rules for deployment. 73 | include(deployment.pri) 74 | 75 | HEADERS += \ 76 | graycodes.h \ 77 | mainwindow.h \ 78 | meshcreator.h \ 79 | pointcloudimage.h \ 80 | projector.h \ 81 | reconstruct.h \ 82 | set.h \ 83 | utilities.h \ 84 | virtualcamera.h \ 85 | plyloader.h \ 86 | glwidget.h \ 87 | cameracalibration.h \ 88 | dotmatch.h \ 89 | multifrequency.h \ 90 | blobdetector.h \ 91 | dahengcamera.h \ 92 | baslercamera.h \ 93 | focusassistant.h \ 94 | manualmatch.h \ 95 | imageviewer.h \ 96 | stereorect.h 97 | 98 | FORMS += \ 99 | mainwindow.ui \ 100 | Set.ui \ 101 | focusassistant.ui \ 102 | manualmatch.ui \ 103 | imageviewer.ui 104 | 105 | TRANSLATIONS += en.ts zh.ts 106 | 107 | -------------------------------------------------------------------------------- /Duke/Duke.pro.user: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | EnvironmentId 7 | {cf610932-2678-494f-bc46-28d2f9b1f964} 8 | 9 | 10 | ProjectExplorer.Project.ActiveTarget 11 | 0 12 | 13 | 14 | ProjectExplorer.Project.EditorSettings 15 | 16 | true 17 | false 18 | true 19 | 20 | Cpp 21 | 22 | CppGlobal 23 | 24 | 25 | 26 | QmlJS 27 | 28 | QmlJSGlobal 29 | 30 | 31 | 2 32 | UTF-8 33 | false 34 | 4 35 | false 36 | 80 37 | true 38 | true 39 | 1 40 | true 41 | false 42 | 0 43 | true 44 | 0 45 | 8 46 | true 47 | 1 48 | true 49 | true 50 | true 51 | false 52 | 53 | 54 | 55 | ProjectExplorer.Project.PluginSettings 56 | 57 | 58 | 59 | ProjectExplorer.Project.Target.0 60 | 61 | Desktop Qt 5.3 MSVC2010 OpenGL 32bit 62 | Desktop Qt 5.3 MSVC2010 OpenGL 32bit 63 | qt.53.win32_msvc2010_opengl_kit 64 | 0 65 | 0 66 | 0 67 | 68 | D:/Structure-Light-Reconstructor/build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Debug 69 | 70 | 71 | true 72 | qmake 73 | 74 | QtProjectManager.QMakeBuildStep 75 | false 76 | true 77 | 78 | false 79 | 80 | 81 | true 82 | Make 83 | 84 | Qt4ProjectManager.MakeStep 85 | 86 | false 87 | 88 | 89 | 90 | 2 91 | 构建 92 | 93 | ProjectExplorer.BuildSteps.Build 94 | 95 | 96 | 97 | true 98 | Make 99 | 100 | Qt4ProjectManager.MakeStep 101 | 102 | true 103 | clean 104 | 105 | 106 | 1 107 | 清理 108 | 109 | ProjectExplorer.BuildSteps.Clean 110 | 111 | 2 112 | false 113 | 114 | Debug 115 | 116 | Qt4ProjectManager.Qt4BuildConfiguration 117 | 2 118 | true 119 | 120 | 121 | D:/Duke/build-Duke-Desktop_Qt_5_3_MSVC2010_OpenGL_32bit-Release 122 | 123 | 124 | true 125 | qmake 126 | 127 | QtProjectManager.QMakeBuildStep 128 | false 129 | true 130 | 131 | false 132 | 133 | 134 | true 135 | Make 136 | 137 | Qt4ProjectManager.MakeStep 138 | 139 | false 140 | 141 | 142 | 143 | 2 144 | 构建 145 | 146 | ProjectExplorer.BuildSteps.Build 147 | 148 | 149 | 150 | true 151 | Make 152 | 153 | Qt4ProjectManager.MakeStep 154 | 155 | true 156 | clean 157 | 158 | 159 | 1 160 | 清理 161 | 162 | ProjectExplorer.BuildSteps.Clean 163 | 164 | 2 165 | false 166 | 167 | Release 168 | 169 | Qt4ProjectManager.Qt4BuildConfiguration 170 | 0 171 | true 172 | 173 | 2 174 | 175 | 176 | 0 177 | 部署 178 | 179 | ProjectExplorer.BuildSteps.Deploy 180 | 181 | 1 182 | 在本地部署 183 | 184 | ProjectExplorer.DefaultDeployConfiguration 185 | 186 | 1 187 | 188 | 189 | 190 | false 191 | false 192 | false 193 | false 194 | true 195 | 0.01 196 | 10 197 | true 198 | 1 199 | 25 200 | 201 | 1 202 | true 203 | false 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13 | scan.png 14 | reconstruct.png 15 | 1.png 16 | 2.png 17 | 3.png 18 | 4.png 19 | 5.png 20 | 6.png 21 | 7.png 22 | 8.png 23 | 9.png 24 | 10.png 25 | 11.png 26 | 12.png 27 | china.png 28 | english.png 29 | projoff.png 30 | projon.png 31 | en.qm 32 | zh.qm 33 | 13.png 34 | 14.png 35 | switch.png 36 | 37 | 38 | -------------------------------------------------------------------------------- /Duke/Resource/save.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NEU-TEAM/Structure-Light-Reconstructor/da7e7d9776e0294432f53dbecef0cbd29f273f22/Duke/Resource/save.png -------------------------------------------------------------------------------- /Duke/Resource/scan.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NEU-TEAM/Structure-Light-Reconstructor/da7e7d9776e0294432f53dbecef0cbd29f273f22/Duke/Resource/scan.png 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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 | 508 | 509 | 510 | 511 | 512 | 513 | 514 | 10 515 | 516 | 517 | 518 | 519 | Auto Contrast 520 | 521 | 522 | 523 | 524 | 525 | 526 | Ray Sampling 527 | 528 | 529 | 530 | 531 | 532 | 533 | Export Obj 534 | 535 | 536 | false 537 | 538 | 539 | false 540 | 541 | 542 | 543 | 544 | 545 | 546 | Export Ply 547 | 548 | 549 | true 550 | 551 | 552 | 553 | 554 | 555 | 556 | 557 | 558 | Qt::Horizontal 559 | 560 | 561 | 562 | 221 563 | 20 564 | 565 | 566 | 567 | 568 | 569 | 570 | 571 | 572 | 573 | 574 | 575 | 576 | 577 | 578 | 579 | 580 | buttonBox 581 | accepted() 582 | SetDialog 583 | accept() 584 | 585 | 586 | 248 587 | 254 588 | 589 | 590 | 157 591 | 274 592 | 593 | 594 | 595 | 596 | buttonBox 597 | rejected() 598 | SetDialog 599 | reject() 600 | 601 | 602 | 316 603 | 260 604 | 605 | 606 | 286 607 | 274 608 | 609 | 610 | 611 | 612 | 613 | -------------------------------------------------------------------------------- /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 | cv::TermCriteria( (cv::TermCriteria::COUNT)+(cv::TermCriteria::EPS), 30, DBL_EPSILON) ); 268 | //rms = cv::calibrateCamera(objBoardCornersCam, imgBoardCornersCam, camImageSize, camMatrix, 269 | //distortion, camRotationVectors, camTranslationVectors, CV_CALIB_FIX_K4|CV_CALIB_FIX_K5); 270 | if(isleft){ 271 | undistortCameraImgPoints(findFunLeft,findFunLeft); 272 | camMatrixL = camMatrix; 273 | distortionL = distortion; 274 | } 275 | else{ 276 | undistortCameraImgPoints(findFunRight,findFunRight); 277 | camMatrixR = camMatrix; 278 | distortionR = distortion; 279 | } 280 | camCalibrated = true; 281 | return 1; 282 | } 283 | 284 | 285 | bool CameraCalibration::findCameraExtrisics() 286 | { 287 | cv::vector imgPoints; 288 | cv::vector objPoints3D; 289 | findCornersInCamImg(extrImg, imgPoints, &objPoints3D); 290 | cv::Mat rVec; 291 | //find extrinsics rotation & translation 292 | bool r = cv::solvePnP(objPoints3D,imgPoints,camMatrix,distortion,rVec,translationVector); 293 | cv::Rodrigues(rVec,rotationMatrix); 294 | return r; 295 | } 296 | 297 | void CameraCalibration::findFundamental() 298 | { 299 | fundamentalMatrix = cv::findFundamentalMat(findFunLeft, findFunRight, statusMatrix, cv::FM_RANSAC); 300 | //cv::stereoRectifyUncalibrated(findFunLeft, findFunRight, fundamentalMatrix, camImageSize, H1, H2); 301 | cv::stereoRectifyUncalibrated(cv::Mat(findFunLeft), cv::Mat(findFunRight), fundamentalMatrix, camImageSize, H1, H2); 302 | findFunLeft.clear(); 303 | findFunRight.clear(); 304 | #ifdef TEST_STEREO 305 | rms = stereoCalibrate(objBoardCornersCam,imgBoardCornersCamL,imgBoardCornersCamR,camMatrixL,distortionL,camMatrixR,distortionR 306 | ,camImageSize,R,T,E,F); 307 | #endif 308 | } 309 | 310 | void CameraCalibration::setSquareSize(cv::Size size_in_mm) 311 | { 312 | squareSize = size_in_mm; 313 | } 314 | 315 | cv::Size CameraCalibration::getSquareSize() 316 | { 317 | return squareSize; 318 | } 319 | 320 | void CameraCalibration::setNumberOfCameraImgs(int num) 321 | { 322 | numOfCamImgs = num; 323 | } 324 | 325 | int CameraCalibration::getNumberOfCameraImgs() 326 | { 327 | return numOfCamImgs; 328 | } 329 | 330 | -------------------------------------------------------------------------------- /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/deployment.pri: -------------------------------------------------------------------------------- 1 | android-no-sdk { 2 | target.path = /data/user/qt 3 | export(target.path) 4 | INSTALLS += target 5 | } else:android { 6 | x86 { 7 | target.path = /libs/x86 8 | } else: armeabi-v7a { 9 | target.path = /libs/armeabi-v7a 10 | } else { 11 | target.path = /libs/armeabi 12 | } 13 | export(target.path) 14 | INSTALLS += target 15 | } else:unix { 16 | isEmpty(target.path) { 17 | qnx { 18 | target.path = /tmp/$${TARGET}/bin 19 | } else { 20 | target.path = /opt/$${TARGET}/bin 21 | } 22 | export(target.path) 23 | } 24 | INSTALLS += target 25 | } 26 | 27 | export(INSTALLS) 28 | -------------------------------------------------------------------------------- /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 | 33 | // MRPT 34 | #include 35 | 36 | using namespace cv; 37 | using namespace std; 38 | 39 | class DotMatch : public QObject 40 | { 41 | Q_OBJECT 42 | public: 43 | 44 | DotMatch(QObject *parent = 0, QString projectPath = NULL, bool useManual = true); 45 | ~DotMatch(); 46 | 47 | ManualMatch *mm; 48 | 49 | vector> findDot(Mat image); 50 | bool matchDot(Mat limage, Mat rimage); 51 | void setUpManual(Mat LImage, Mat RImage);//初始化手工标记窗口 52 | void activeManual();//启动手工标记窗口 53 | void finishMatch(); 54 | int OSTU_Region(cv::Mat &image); 55 | 56 | vector> dotInOrder; 57 | 58 | //表示新点与原有点对应关系，如果该点实际为原有点 59 | //x值为该点在dotFeature中的序号 60 | //y值为该点在dotPosition（even或odd）中的序号 61 | cv::vector correspondPointEven; 62 | cv::vector correspondPointOdd; 63 | 64 | //标记并显示标志点所需数据，int值有6个，依次为 65 | //左点x，y，右点x，y，是否为已知点(0，1，0代表未知) 66 | //如果已知，对应的唯一编号 67 | vector> dotForMark; 68 | 69 | int bwThreshold; 70 | int blocksize;//二值化的一个参数，由用户给定 71 | bool firstFind; 72 | int scanSN; 73 | 74 | private: 75 | QString path; 76 | bool useManualMatch; 77 | 78 | bool triangleCalculate(); 79 | cv::vector > calFeature(cv::vector dotP); 80 | bool dotClassify(cv::vector > featureTemp); 81 | bool FTTM(cv::vector &correspondPoint, cv::vector dotPositionCurrent, cv::vector dotPositionFormer); 82 | void updateDot(cv::vector &correspondPoint, cv::vector &dotPositionCurrent, cv::vector dotPositionFormer); 83 | vector calNeighbor(vector > input, int num); 84 | bool checkNeighbor(vector referance, vector needcheck); 85 | void calMatrix(); 86 | //void hornTransform(double &data[], cv::vector target, cv::vector move); 87 | void markPoint(); 88 | 89 | bool isBelongTo(size_t e, vector C);//判断C中是否含有元素e 90 | 91 | vector subPixel(Mat img, vector> vec); 92 | Reconstruct *rc; 93 | BlobDetector *bd; 94 | 95 | Mat fundMat; 96 | Mat Homo1; 97 | Mat Homo2; 98 | 99 | 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 100 | 101 | Mat outR;//保存后一次到前一次扫描的旋转变换阵 102 | Mat outT;//保存相后一次到前一次扫描的平移变换阵 103 | Mat outRInv;//保存前一次到后一次扫描的旋转变换阵 104 | Mat outTInv;//保存前一次到后一次扫描的旋转变换阵 105 | Mat matRotation;//保存广义旋转矩阵 106 | Mat matTransform;//保存广义平移向量 107 | cv::vector dotPositionEven;//偶数次扫描所得点的绝对坐标 108 | cv::vector dotPositionOdd;//奇数次扫描所得点的绝对坐标 109 | cv::vector> dotFeature; 110 | vector> neighborFeature; 111 | 112 | private slots: 113 | void onfinishmanual(); 114 | 115 | signals: 116 | 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 117 | 118 | }; 119 | 120 | class Triangle{ 121 | public: 122 | Triangle(int Vertex_0, int Vertex_1, int Vertex_2, float distance_12, float distance_02, float distance_01); 123 | 124 | static bool copmareTriangle(Triangle tri_known, Triangle tri_unknown, vector &corr, float &error);//比较两三角形是否相等 125 | static float calDistance(Point3f point_1,Point3f point_2); 126 | 127 | int ver_0; 128 | int ver_1; 129 | int ver_2; 130 | float dis_0; 131 | float dis_1; 132 | float dis_2; 133 | }; 134 | 135 | #endif // DOTMATCH_H 136 | -------------------------------------------------------------------------------- /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 | } 113 | 114 | int GrayCodes::grayToDec(cv::vector gray)//convert a gray code sequence to a decimal number 115 | { 116 | int dec = 0; 117 | bool tmp = gray[0]; 118 | if(tmp) 119 | dec += (int) pow((float)2, int(gray.size() - 1)); 120 | for(int i = 1; i < gray.size(); i++){ 121 | tmp=Utilities::XOR(tmp,gray[i]); 122 | if(tmp) 123 | dec+= (int) pow((float)2,int (gray.size() - i - 1) ); 124 | } 125 | return dec; 126 | } 127 | -------------------------------------------------------------------------------- /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 | bool useEpi;//是否应用极线校正 22 | 23 | int getNumOfImgs(); 24 | 25 | void generateGrays(); 26 | 27 | static int grayToDec(cv::vector gray); 28 | int getNumOfRowBits(); 29 | int getNumOfColBits(); 30 | 31 | protected: 32 | 33 | void calNumOfImgs(); 34 | void allocMemForImgs(); 35 | 36 | bool imgsLoaded; 37 | int numOfImgs; 38 | int numOfRowImgs; 39 | int numOfColImgs; 40 | int currentImgNum; 41 | int height; 42 | int width; 43 | }; 44 | 45 | #endif // GRAYCODES_H 46 | -------------------------------------------------------------------------------- /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 "meshcreator.h" 24 | 25 | #include "set.h" 26 | #include "focusassistant.h" 27 | 28 | #include "graycodes.h" 29 | #include "multifrequency.h" 30 | 31 | #include "dahengcamera.h" 32 | #include "baslercamera.h" 33 | 34 | #include "imageviewer.h" 35 | 36 | #include "stereorect.h" 37 | 38 | #define DEBUG//用来观察标记点圆心定位精度 39 | 40 | #define WM_SNAP_CHANGE (WM_USER + 100) 41 | 42 | #define CALIBIMGNUM 14 43 | 44 | #define PATHCALIB 0 45 | #define PATHSCAN 1 46 | #define PATHRECON 2 47 | 48 | namespace Ui { 49 | class MainWindow; 50 | } 51 | 52 | class MainWindow : public QMainWindow 53 | { 54 | Q_OBJECT 55 | 56 | public: 57 | MainWindow(QWidget *parent = 0); 58 | ~MainWindow(); 59 | FocusAssistant *fa; 60 | Set *setDialog; 61 | DotMatch *dm; 62 | GLWidget *displayModel; 63 | 64 | QString projectPath; 65 | QString projChildPath; 66 | 67 | int screenWidth;//主屏幕几何尺寸 68 | int screenHeight; 69 | int projectorWidth;//投影屏幕几何尺寸 70 | int projectorHeight; 71 | int scanWidth;//扫描区域尺寸 72 | int scanHeight; 73 | int cameraWidth;//相机分辨率 74 | int cameraHeight; 75 | 76 | int scanSN;//表示当前正在进行的扫描序列数，从0开始 77 | 78 | private: 79 | Ui::MainWindow *ui; 80 | CameraCalibration *calibrator; 81 | BlobDetector *blob; 82 | GrayCodes *grayCode; 83 | MultiFrequency *mf; 84 | Projector *pj; 85 | Reconstruct *reconstructor; 86 | 87 | DaHengCamera *DHC; 88 | BaslerCamera *BC; 89 | bool usebc;//是否使用Basler相机 90 | bool showFocus;//是否显示对焦辅助窗口 91 | 92 | ///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 93 | enum codePattern{GRAY_ONLY, GRAY_EPI, MULTIFREQ_EPI}; 94 | codePattern codePatternUsed; 95 | 96 | void createConnections(); 97 | void createCentralWindow(QWidget *parent); 98 | void captureImage(QString pref, int saveCount, bool dispaly); 99 | void findPoint(); 100 | void paintPoints(); 101 | void getScreenGeometry(); 102 | void closeCamera(); 103 | void generatePath(int type); 104 | 105 | ///---------------辅助功能---------------/// 106 | 107 | void progressPop(int up); 108 | void drawCross(QPainter &p, int x, int y); 109 | 110 | QLabel *msgLabel;//show message in the bottom of the window 111 | 112 | QTimer *timer; 113 | QImage image_1; 114 | QImage image_2; 115 | QPixmap pimage_1;//由图像指针得到的.png格式图像 116 | QPixmap pimage_2; 117 | 118 | bool isProjectorOpened; 119 | bool isConfigured; 120 | int saveCount;//count the photo captured. 121 | 122 | QString path_1; 123 | QString path_2; 124 | 125 | ///与set对话框有关的变量 126 | int black_ ; 127 | int white_; 128 | bool isAutoContrast; 129 | bool isRaySampling; 130 | bool isExportObj; 131 | bool isExportPly; 132 | 133 | private slots: 134 | void newproject(); 135 | void openproject(); 136 | 137 | void opencamera(); 138 | void startfocusassistant(); 139 | void closefocus(); 140 | void setexposure(); 141 | void readframe(); 142 | 143 | void usebasler(); 144 | 145 | void selectPath(int PATH); 146 | 147 | void capturecalib(); 148 | void redocapture(); 149 | void projectorcontrol(); 150 | 151 | void calib(); 152 | void calibration(); 153 | 154 | void scan(); 155 | void pointmatch(); 156 | void refindmatch(); 157 | void showhidemanual(); 158 | void finishmanualmatch(); 159 | void startscan(); 160 | void testmulitfreq(); 161 | void test(); 162 | 163 | void reconstruct(); 164 | void startreconstruct(); 165 | 166 | void set(); 167 | void getSetInfo(); 168 | 169 | void changePointSize(int psize); 170 | void loadTestModel(); 171 | void switchlanguage(); 172 | 173 | }; 174 | 175 | #endif // MAINWINDOW_H 176 | -------------------------------------------------------------------------------- /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->idEdit,SIGNAL(textEdited(QString)),ui->confirmButton,SLOT(setEnabled(bool))); 24 | 25 | onMark = 0; 26 | } 27 | 28 | ManualMatch::~ManualMatch() 29 | { 30 | delete ui; 31 | } 32 | 33 | void ManualMatch::setImage() 34 | { 35 | QImage pimage_1 = QImage(leftImage.data,leftImage.cols,leftImage.rows,QImage::Format_Indexed8); 36 | QImage pimage_2 = QImage(rightImage.data,rightImage.cols,rightImage.rows,QImage::Format_Indexed8); 37 | QPixmap pcopy_1 = QPixmap::fromImage(pimage_1); 38 | QPixmap pcopy_2 = QPixmap::fromImage(pimage_2); 39 | QPainter pt_1(&pcopy_1); 40 | QPainter pt_2(&pcopy_2); 41 | pt_1.setFont(textfont); 42 | pt_2.setFont(textfont); 43 | 44 | for(size_t i = 0;i < dotInOrder.size();i++) 45 | { 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()){//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; 63 | for (size_t c = 0; c < correspond.size(); c++){ 64 | if (i == correspond[c].y){ 65 | ID = correspond[c].x; 66 | idexist = true;//表示ID点的对应点存在，只关系到ID的显示状态 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::finish() 121 | { 122 | if (refinedCorr.size() == 0){ 123 | for (size_t i = 0;i < correspond.size(); i++){ 124 | refinedCorr.push_back(correspond[i]); 125 | } 126 | } 127 | else{ 128 | for (size_t i = 0;i < refinedCorr.size(); i++){ 129 | if (!(refinedCorr[i].x >= 0)) 130 | QMessageBox::warning(NULL,"Manual Match",tr("Point ") + QString::number(i) + tr("hasn't been marked.")); 131 | } 132 | } 133 | this->hide(); 134 | emit outputdata(); 135 | } 136 | 137 | void ManualMatch::reset() 138 | { 139 | refinedCorr.clear(); 140 | onMark = 0; 141 | setImage(); 142 | } 143 | 144 | void ManualMatch::keyPressEvent(QKeyEvent *e) 145 | { 146 | if (e->key() == Qt::Key_Enter) 147 | confirmID(); 148 | } 149 | 150 | void ManualMatch::drawCross(QPainter &p, int x, int y) 151 | { 152 | int len = 25; 153 | p.drawLine(x - len, y, x + len, y); 154 | p.drawLine(x, y - len, x, y + len); 155 | } 156 | 157 | 158 | 159 | -------------------------------------------------------------------------------- /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; 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 finish();//点击完成标记按钮触发的动作 44 | void reset();//点击重置标记按钮触发的动作 45 | signals: 46 | 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 47 | }; 48 | 49 | #endif // MANUALMATCH_H 50 | -------------------------------------------------------------------------------- /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 | 190 | 191 | Qt::Horizontal 192 | 193 | 194 | 195 | 40 196 | 20 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 10 205 | 206 | 207 | 208 | 209 | Finish 210 | 211 | 212 | 213 | 214 | 215 | 216 | Reset 217 | 218 | 219 | 220 | 221 | 222 | 223 | Cancel 224 | 225 | 226 | 227 | 228 | 229 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | -------------------------------------------------------------------------------- /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); 30 | if(return_val) 31 | { 32 | pixelNum[access(i, j)]=count; 33 | out1<<"v "<< point.x<< " "<< point.y<< " "< 0&&i < w - 1) 61 | v3 = pixelNum[access(i+1,j-1)]; 62 | else 63 | v3=0; 64 | 65 | if(v1!=0 && v2!=0 && v3!=0) 66 | out1<<"f "<< v1<<"/"<getPoint(i, j, point)) 87 | { 88 | pixelNum[access(i, j)] = vertexCount; 89 | vertexCount++; 90 | } 91 | else 92 | pixelNum[access(i, j)]=0; 93 | } 94 | } 95 | int facesCount = 0;//find faces num 96 | for(int i=0; i 0) && (i < w-1)) 115 | v3=pixelNum[access(i+1,j-1)]; 116 | else 117 | v3=0; 118 | 119 | if(v1!=0 && v2!=0 && v3!=0) 120 | facesCount++; 121 | } 122 | } 123 | 124 | //ply headers 125 | out1<<"ply\n"; 126 | out1<<"format ascii 1.0\n"; 127 | out1<<"element vertex " << vertexCount << "\n"; 128 | out1<<"property float x\n"; 129 | out1<<"property float y\n"; 130 | out1<<"property float z\n"; 131 | out1<<"property uchar red\n"; 132 | out1<<"property uchar green\n"; 133 | out1<<"property uchar blue\n"; 134 | out1<<"element face " << facesCount << "\n"; 135 | out1<<"property list uchar int vertex_indices\n"; 136 | out1<<"end_header\n"; 137 | 138 | for(int i=0; igetPoint(i, j, point); 143 | if(return_val) 144 | { 145 | out1<< point.x << " " << point.y << " " << point.z << " "<< 128 << " " << 128 << " " << 128 << "\n"; 146 | //这里去掉了表示颜色的项，统一赋值为128 147 | //out1<< point.x << " " << point.y << " " << point.z << " "<< (int) color[2] << " " << (int) color[1] << " " << (int) color[0] << "\n"; 148 | } 149 | else 150 | pixelNum[access(i, j)]=0; 151 | } 152 | } 153 | 154 | for(int i = 0; i < w;i++) 155 | { 156 | for(int j = 0; j < h; j++) 157 | { 158 | int v1 = pixelNum[access(i, j)], v2, v3; 159 | 160 | if(i < w - 1) 161 | v2 = pixelNum[access(i + 1, j)]; 162 | else 163 | v2 = 0; 164 | 165 | if(j 0 && i< w - 1) 174 | v3 = pixelNum[access(i + 1, j - 1)]; 175 | else 176 | v3 = 0; 177 | 178 | if(v1!=0 && v2!=0 && v3!=0) 179 | out1 << "3 " << v1 << " " << v3 << " " << v2 << "\n"; 180 | } 181 | } 182 | out1.close(); 183 | } 184 | 185 | int MeshCreator::access(int i, int j) 186 | { 187 | return i * h + j; 188 | } 189 | 190 | -------------------------------------------------------------------------------- /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/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 | for (size_t i = 0; i < MULTI_MAX_NUM; i++) 17 | { 18 | MultiFreqImages[i] = cv::Mat(projH, projW, CV_32F); 19 | } 20 | for (size_t f = 0; f < 3; f++) 21 | { 22 | for (size_t phi = 0; phi < 4; phi++) 23 | { 24 | cv::Mat temp(projH,projW,CV_32F); 25 | for (size_t w = 0; w < projW; w++) 26 | { 27 | for (size_t h = 0; h < projH; h++) 28 | { 29 | temp.at(h,w) = 0.502+0.498*sin(float(PI*2*w*frequency[f]/projW+PI*phi/2)); 30 | } 31 | } 32 | MultiFreqImages[4*f+phi] = temp; 33 | } 34 | } 35 | } 36 | 37 | cv::Mat MultiFrequency::getNextMultiFreq() 38 | { 39 | testCount++; 40 | if (testCount == 13) 41 | testCount = 1; 42 | return MultiFreqImages[testCount-1]; 43 | } 44 | 45 | int MultiFrequency::getNumOfImgs() 46 | { 47 | return 12; 48 | } 49 | -------------------------------------------------------------------------------- /Duke/multifrequency.h: -------------------------------------------------------------------------------- 1 | #ifndef MULTIFREQUENCY_H 2 | #define MULTIFREQUENCY_H 3 | 4 | #define MULTI_MAX_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 getNextMultiFreq(); 19 | 20 | private: 21 | bool imgsLoaded; 22 | int projW; 23 | int projH; 24 | cv::Mat MultiFreqImages[MULTI_MAX_NUM]; 25 | }; 26 | 27 | #endif // MULTIFREQUENCY_H 28 | -------------------------------------------------------------------------------- /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 | { 10 | color = cv::Mat(h, w, CV_32FC3,cv::Scalar(0)); 11 | } 12 | else 13 | color = NULL; 14 | numOfPointsForPixel = cv::Mat(h, w, CV_8U, cv::Scalar(0)); 15 | } 16 | 17 | PointCloudImage::~PointCloudImage(void) 18 | { 19 | } 20 | 21 | bool PointCloudImage::setPoint(int i_w, int j_h, cv::Point3f point, cv::Vec3f colorBGR) 22 | { 23 | if(i_w>w || j_h>h) 24 | return false; 25 | setPoint(i_w,j_h,point); 26 | //Utilities::matSet3D(color,i_w,j_h,colorBGR);//这里暂时注释掉 27 | return true; 28 | } 29 | 30 | bool PointCloudImage::setPoint(int i_w, int j_h, cv::Point3f point) 31 | { 32 | if(i_w>w || j_h>h) 33 | return false; 34 | 35 | Utilities::matSet3D(points, i_w, j_h, (cv::Vec3f)point); 36 | Utilities::matSet2D(numOfPointsForPixel, j_h, i_w, 1); 37 | 38 | return true; 39 | } 40 | 41 | bool PointCloudImage::getPoint(int i_w, int j_h, cv::Point3f &pointOut, cv::Vec3f &colorOut) 42 | { 43 | if(i_w>w || j_h>h) 44 | return false; 45 | uchar num = numOfPointsForPixel.at(j_h,i_w); 46 | if(num > 0) 47 | { 48 | pointOut = (cv::Point3f) (Utilities::matGet3D(points,i_w,j_h) / (float) num); 49 | if(!color.empty()) 50 | { 51 | colorOut = (cv::Point3f) (Utilities::matGet3D(color,i_w,j_h) / (float) num); 52 | } 53 | else 54 | { 55 | return false; 56 | } 57 | return true; 58 | } 59 | else 60 | { 61 | return false; 62 | } 63 | } 64 | 65 | bool PointCloudImage::getPoint(int i_w, int j_h, cv::Point3f &pointOut) 66 | { 67 | if(i_w>w || j_h>h) 68 | return false; 69 | uchar num = numOfPointsForPixel.at(j_h,i_w); 70 | if(num > 0) 71 | { 72 | pointOut = (cv::Point3f) (Utilities::matGet3D(points, i_w, j_h) / (float) num); 73 | return true; 74 | } 75 | else 76 | { 77 | return false; 78 | } 79 | } 80 | 81 | bool PointCloudImage::addPoint(int i_w, int j_h, cv::Point3f point, cv::Vec3f colorBGR) 82 | { 83 | if(i_w > w || j_h > h) 84 | return false; 85 | uchar num = numOfPointsForPixel.at(j_h, i_w); 86 | if(num == 0) 87 | return setPoint(i_w, j_h, point, colorBGR); 88 | addPoint(i_w, j_h, point); 89 | if(!color.empty()) 90 | { 91 | cv::Vec3f c = Utilities::matGet3D(color, i_w, j_h); 92 | Utilities::matSet3D(color, i_w, j_h, colorBGR + c); 93 | } 94 | else 95 | { 96 | return false; 97 | } 98 | return true; 99 | } 100 | 101 | bool PointCloudImage::addPoint(int i_w, int j_h, cv::Point3f point) 102 | { 103 | if(i_w>w || j_h>h) 104 | return false; 105 | uchar num = numOfPointsForPixel.at(j_h,i_w); 106 | if(num == 0) 107 | return setPoint(i_w,j_h,point); 108 | cv::Point3f p = Utilities::matGet3D(points,i_w,j_h); 109 | Utilities::matSet3D(points,i_w,j_h,(cv::Vec3f)(point + p)); 110 | numOfPointsForPixel.at(j_h,i_w) = num + 1; 111 | return true; 112 | } 113 | 114 | void PointCloudImage::exportXYZ(char path[], bool exportOffPixels, bool colorFlag) 115 | { 116 | std::ofstream out; 117 | out.open(path); 118 | int load; 119 | cv::Point3f p; 120 | cv::Vec3f c; 121 | for(int i = 0; i(j,i); 126 | if(!exportOffPixels && num == 0) 127 | continue; 128 | getPoint(i,j,p,c); 129 | if(exportOffPixels && num == 0) 130 | { 131 | p = cv::Point3f(0,0,0); 132 | c = cv::Point3f(0,0,0); 133 | } 134 | out<(j,i); 158 | if(num > max) 159 | { 160 | max = num; 161 | maxX=i; 162 | maxY=j; 163 | } 164 | } 165 | } 166 | 167 | for(int i=0; i(j,i); 172 | Utilities::matSet2D(projToCamRays, j, i, num/(float)(max * 255.0)); 173 | } 174 | } 175 | cv::imwrite("reconstruction/projToCamRays.png",projToCamRays); 176 | std::ofstream out1; 177 | std::stringstream txt; 178 | 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::Vec3f colorBGR); 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::Vec3f &colorOut); 19 | 20 | bool addPoint(int i_w, int j_h, cv::Point3f point, cv::Vec3f color); 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 | } 20 | 21 | Projector::~Projector() 22 | { 23 | } 24 | 25 | void Projector::paintEvent(QPaintEvent *event) 26 | { 27 | QPainter painter(this); 28 | if(crossVisible)//QEvent::User 1000 29 | { 30 | painter.setPen(QPen(Qt::yellow, 5)); 31 | //else 32 | //painter.setPen(QPen(Qt::white, 5)); 33 | painter.drawLine(proj_w/2 - 60, proj_h/2, proj_w/2 + 60, proj_h/2); 34 | painter.drawLine(proj_w/2, proj_h/2 - 60, proj_w/2, proj_h/2 + 60); 35 | } 36 | } 37 | 38 | void Projector::opencvWindow() 39 | { 40 | cvNamedWindow("Projector Window",CV_WINDOW_AUTOSIZE|CV_WINDOW_KEEPRATIO|CV_GUI_NORMAL); 41 | cvResizeWindow("Projector Window",width,height); 42 | cvMoveWindow("Projector Window", xoffset, yoffset); 43 | } 44 | 45 | void Projector::showMatImg(cv::Mat img) 46 | { 47 | cv::imshow("Projector Window", img); 48 | } 49 | 50 | void Projector::destoryWindow() 51 | { 52 | cvDestroyWindow("Projector Window"); 53 | } 54 | 55 | void Projector::displaySwitch(bool isWhite) 56 | { 57 | if(isWhite) 58 | this->setPalette(Qt::white); 59 | else 60 | this->setPalette(Qt::black); 61 | } 62 | 63 | void Projector::setCrossVisable(bool flag) 64 | { 65 | crossVisible = flag; 66 | this->update(); 67 | } 68 | -------------------------------------------------------------------------------- /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 | 21 | void displaySwitch(bool isWhite); 22 | void opencvWindow(); 23 | void destoryWindow();//delete the projector window created by cv after showImg 24 | 25 | void setCrossVisable(bool flag); 26 | void paintEvent(QPaintEvent *event); 27 | 28 | private: 29 | bool crossVisible; 30 | int xoffset; 31 | int yoffset; 32 | int height; 33 | int width; 34 | }; 35 | 36 | #endif // PROJECTOR_H 37 | -------------------------------------------------------------------------------- /Duke/reconstruct.cpp: -------------------------------------------------------------------------------- 1 | #include "reconstruct.h" 2 | #include 3 | 4 | bool processleft = true; 5 | 6 | Reconstruct::Reconstruct(bool useEpi) 7 | { 8 | numOfCams = 2; 9 | mask = NULL; 10 | decRows = NULL; 11 | decCols = NULL; 12 | points3DProjView = NULL; 13 | autoContrast_ = false; 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 | camsPixels_GE = new cv::vector*[2]; 17 | calibFolder = new QString[2]; 18 | scanFolder = new QString[2]; 19 | imgPrefix = new QString[2]; 20 | pathSet = false; 21 | imgSuffix = ".png";//这里暂时认为图片后缀为.png 22 | EPI = useEpi; 23 | } 24 | Reconstruct::~Reconstruct() 25 | { 26 | unloadCamImgs(); 27 | if (points3DProjView) 28 | delete points3DProjView ; 29 | if (EPI) 30 | delete sr; 31 | } 32 | 33 | void Reconstruct::enableRaySampling() 34 | { 35 | raySampling_ = true; 36 | } 37 | 38 | void Reconstruct::disableRaySampling() 39 | { 40 | raySampling_ = false; 41 | } 42 | 43 | void Reconstruct::setBlackThreshold(int val) 44 | { 45 | blackThreshold = val; 46 | } 47 | 48 | void Reconstruct::setWhiteThreshold(int val) 49 | { 50 | whiteThreshold = val; 51 | } 52 | 53 | /// 54 | /// \brief Reconstruct::decodePaterns 由runReconstruction内部调用，用来求解图像点格雷码对应的投影区域十进制坐标 55 | /// 56 | void Reconstruct::decodePaterns() 57 | { 58 | int w = cameraWidth; 59 | int h = cameraHeight; 60 | cv::Point projPixel;//这个变量储存了相片上(w,h)点在投影区域上的坐标projPixel.x，projPixel.y 61 | for(int col = 0; col < w; col++){ 62 | for(int row = 0; row < h; row++){ 63 | ///mask是根据相机拍摄的图片生成的，因此其大小就是w*h 64 | if(mask.at(row, col)){//if the pixel is not shadow reconstruct 65 | bool error = getProjPixel(row, col, projPixel);//get the projector pixel for camera (i,j) pixel 66 | if(error){ 67 | mask.at(row, col) = 0;//进一步补充遮罩区域，相机视野内不属于投影区域的部分都被过滤掉 68 | continue; 69 | } 70 | camPixels[ac(projPixel.x, projPixel.y)].push_back(cv::Point(col, row)); 71 | } 72 | } 73 | } 74 | } 75 | 76 | /// 77 | /// \brief Reconstruct::decodePatterns_GE 用于格雷码+极线校正解码，由runReconstruction_GE内部调用 78 | /// 79 | void Reconstruct::decodePatterns_GE() 80 | { 81 | int w = cameraWidth; 82 | int h = cameraHeight; 83 | int xDec;//这个变量储存了相片上(w,h)点在投影区域上的坐标projPixel.x，projPixel.y 84 | for(int row = 0; row < h; row++){ 85 | for(int col = 0; col < w; col++){ 86 | ///mask是根据相机拍摄的图片生成的，因此其大小就是w*h 87 | if(mask.at(row, col)){//if the pixel is not shadow reconstruct 88 | bool error = getProjPixel_GE(row, col, xDec); 89 | if(error){ 90 | mask.at(row, col) = 0;//进一步补充遮罩区域，相机视野内不属于投影区域的部分都被过滤掉 91 | continue; 92 | } 93 | camPixels_GE[(row*cameraWidth+col)].push_back(xDec); 94 | } 95 | } 96 | } 97 | } 98 | 99 | bool Reconstruct::loadCameras()//Load calibration data into camera[i] 100 | { 101 | bool loaded; 102 | for(int i = 0; i < 2; i++)//这里为了处理方便将numofcam直接替换为2 103 | { 104 | QString path; 105 | path = calibFolder[i]; 106 | #ifndef USE_STEREOCALIB_DATA 107 | path += "cam_matrix.txt"; 108 | loaded = cameras[i].loadCameraMatrix(path);//defined in visualcamera 109 | if(!loaded) 110 | break; 111 | 112 | path = calibFolder[i]; 113 | path += "cam_distortion.txt"; 114 | cameras[i].loadDistortion(path);//注意loaddistortion方法加载一个5X1矩阵 115 | #else 116 | path += "cam_stereo.txt"; 117 | loaded = cameras[i].loadCameraMatrix(path);//defined in visualcamera 118 | if(!loaded) 119 | break; 120 | path = calibFolder[i]; 121 | path += "distortion_stereo.txt"; 122 | cameras[i].loadDistortion(path); 123 | #endif 124 | path = calibFolder[i]; 125 | path += "cam_rotation_matrix.txt"; 126 | cameras[i].loadRotationMatrix(path); 127 | 128 | path = calibFolder[i]; 129 | path += "cam_trans_vectror.txt"; 130 | cameras[i].loadTranslationVector(path); 131 | 132 | path = savePath_; 133 | 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 134 | cameras[i].loadFundamentalMatrix(path); 135 | 136 | path = savePath_; 137 | path += "/calib/H1_mat.txt"; 138 | cameras[i].loadHomoMatrix(path, 1); 139 | 140 | path = savePath_; 141 | path += "/calib/H2_mat.txt"; 142 | cameras[i].loadHomoMatrix(path, 2); 143 | 144 | cameras[i].height = 0; 145 | cameras[i].width = 0; 146 | } 147 | return loaded; 148 | } 149 | 150 | bool Reconstruct::loadCamImgs(QString folder, QString prefix, QString suffix)//load camera images 151 | { 152 | cv::Mat tmp; 153 | if(!camImgs.empty()) 154 | unloadCamImgs(); 155 | 156 | for(int i = 0; i < numberOfImgs; i++){ 157 | QString path; 158 | path = folder;//这里folder要达到left/right一层 159 | path += prefix + QString::number(i) + suffix; 160 | tmp.release(); 161 | 162 | tmp = cv::imread(path.toStdString(),0);//flag=0 Return a grayscale image 163 | 164 | if (EPI){ 165 | if (processleft){//第一次调用loadImg时认为是加载左图像 166 | sr->doStereoRectify(tmp,true); 167 | //cv::imwrite(path.toStdString(),tmp);是否保存校正后的图像 168 | } 169 | else{ 170 | sr->doStereoRectify(tmp,false); 171 | //cv::imwrite(path.toStdString(),tmp); 172 | } 173 | } 174 | 175 | if(tmp.empty()){ 176 | QMessageBox::warning(NULL,"Warning","Images not found!"); 177 | break; 178 | } 179 | else{ 180 | if(autoContrast_){ 181 | Utilities::autoContrast(tmp,tmp); 182 | } 183 | camImgs.push_back(tmp); 184 | } 185 | 186 | if(camera->width == 0){ 187 | camera->height = camImgs[0].rows; 188 | camera->width = camImgs[0].cols; 189 | } 190 | } 191 | processleft = !processleft;//每调用一次加载图像都对是否处理左图像取反 192 | return !tmp.empty(); 193 | } 194 | 195 | 196 | void Reconstruct::unloadCamImgs()//unload camera images 197 | { 198 | if(camImgs.size()){ 199 | for(int i = 0; iwidth; 210 | int h = camera->height; 211 | mask.release(); 212 | mask = cv::Mat(h, w, CV_8U,cv::Scalar(0));//注意h=行数rows，w=列数cols 213 | for(int col = 0; col < w; col++){ 214 | for(int row = 0; row < h; row++){ 215 | float blackVal, whiteVal; 216 | blackVal = (float) Utilities::matGet2D(camImgs[1], row, col);//camImgs[1]表示全黑图像 217 | whiteVal = (float) Utilities::matGet2D(camImgs[0], row, col);//camImgs[0]表示全白图像 218 | 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 219 | Utilities::matSet2D(mask, row, col, 1); 220 | else 221 | Utilities::matSet2D(mask, row, col, 0); 222 | } 223 | } 224 | } 225 | 226 | 227 | bool Reconstruct::runReconstruction() 228 | { 229 | bool runSucess = false; 230 | GrayCodes grays(scan_w, scan_h, false);//scan_w scan_h get var getparameter 231 | numOfColBits = grays.getNumOfColBits(); 232 | numOfRowBits = grays.getNumOfRowBits(); 233 | numberOfImgs = grays.getNumOfImgs(); 234 | 235 | for(int i = 0; i < numOfCams; i++){ 236 | cameras[i].position = cv::Point3f(0,0,0);//findProjectorCenter(); 237 | cam2WorldSpace(cameras[i],cameras[i].position); 238 | camera = &cameras[i];//将position属性已转化到世界坐标系的cameras[i]赋给camera 239 | //在此之前camera相当于一个temp，注意二者单复数有区别 240 | camsPixels[i] = new cv::vector[scan_h*scan_w]; 241 | camPixels = camsPixels[i]; 242 | runSucess = loadCamImgs(scanFolder[i], imgPrefix[i], imgSuffix); 243 | ///截至这一步，实例camera的position、width、height属性已被赋值，camera对应cameras[i] 244 | 245 | if(!runSucess)//如果加载图片失败，中断 246 | break; 247 | else{ 248 | //colorImgs.push_back(cv::Mat());//这里暂时注释掉 249 | //colorImgs[i] = color;//在loadCamImgs中生成了color 250 | computeShadows(); 251 | decodePaterns(); 252 | unloadCamImgs(); 253 | } 254 | } 255 | if(runSucess){ 256 | 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 257 | triangulation(camsPixels[0],cameras[0],camsPixels[1],cameras[1]); 258 | } 259 | return runSucess; 260 | } 261 | 262 | /// 263 | /// \brief Reconstruct::runReconstruction_GE 264 | /// \return 重建是否成功 265 | /// 266 | bool Reconstruct::runReconstruction_GE() 267 | { 268 | bool runSucess = false; 269 | GrayCodes grays(scan_w, scan_h, true);//scan_w scan_h get var getparameter 270 | numOfColBits = grays.getNumOfColBits(); 271 | numberOfImgs = grays.getNumOfImgs(); 272 | 273 | for(int i = 0; i < numOfCams; i++){ 274 | cameras[i].position = cv::Point3f(0,0,0);//findProjectorCenter(); 275 | cam2WorldSpace(cameras[i],cameras[i].position); 276 | camsPixels_GE[i] = new cv::vector[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 277 | 278 | ///camera在loadCamImgs中进行了赋值 279 | camera = &cameras[i]; 280 | runSucess = loadCamImgs(scanFolder[i], imgPrefix[i], imgSuffix); 281 | camPixels_GE = camsPixels_GE[i]; 282 | 283 | ///截至这一步，实例camera的position、width、height属性已被赋值，camera对应cameras[i] 284 | 285 | if(!runSucess)//如果加载图片失败，中断 286 | break; 287 | else{ 288 | computeShadows(); 289 | decodePatterns_GE();//对camPixels_GE进行了赋值 290 | unloadCamImgs(); 291 | } 292 | } 293 | if(runSucess){ 294 | 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 295 | triangulation_ge(camsPixels_GE[0],cameras[0],camsPixels_GE[1],cameras[1]); 296 | } 297 | return runSucess; 298 | } 299 | 300 | 301 | void Reconstruct::cam2WorldSpace(VirtualCamera cam, cv::Point3f &p)//convert a point from camera to world space 302 | { 303 | cv::Mat tmp(3,1,CV_32F); 304 | cv::Mat tmpPoint(3,1,CV_32F); 305 | tmpPoint.at(0) = p.x; 306 | tmpPoint.at(1) = p.y; 307 | tmpPoint.at(2) = p.z; 308 | tmp = -cam.rotationMatrix.t() * cam.translationVector ; 309 | tmpPoint = cam.rotationMatrix.t() * tmpPoint; 310 | p.x = tmp.at(0) + tmpPoint.at(0); 311 | p.y = tmp.at(1) + tmpPoint.at(1); 312 | p.z = tmp.at(2) + tmpPoint.at(2); 313 | } 314 | 315 | 316 | bool Reconstruct::getProjPixel(int row, int col, cv::Point &p_out)//for a (x,y) pixel of the camera returns the corresponding projector pixel 317 | { 318 | cv::vector grayCol; 319 | cv::vector grayRow; 320 | bool error = false; 321 | int xDec, yDec; 322 | 323 | ///prosses column images 324 | for(int count = 0; count < numOfColBits; count++){ 325 | ///get pixel intensity for regular pattern projection and it's inverse 326 | double val1, val2; 327 | val1 = Utilities::matGet2D(camImgs[count * 2 + 2], row, col); 328 | val2 = Utilities::matGet2D(camImgs[count * 2 + 2 +1], row, col); 329 | ///check if intensity deference is in a valid rage 330 | if(abs(val1 - val2) < whiteThreshold ) 331 | error = true; 332 | ///determine if projection pixel is on or off 333 | if(val1 > val2) 334 | grayCol.push_back(1); 335 | else 336 | grayCol.push_back(0); 337 | } 338 | xDec = GrayCodes::grayToDec(grayCol);//由灰度序列grayCol求解其对应的十进制数xDec 339 | ///prosses row images 340 | for(int count=0; count < numOfRowBits; count++) 341 | { 342 | double val1, val2; 343 | val1 = Utilities::matGet2D(camImgs[count*2+2+numOfColBits*2], row, col); 344 | val2 = Utilities::matGet2D(camImgs[count*2+2+numOfColBits*2+1], row, col); 345 | if(abs(val1-val2) < whiteThreshold ) //check if the difference between the values of the normal and it's inverce projection image is valid 346 | error = true; 347 | if(val1 > val2) 348 | grayRow.push_back(1); 349 | else 350 | grayRow.push_back(0); 351 | } 352 | ///decode 353 | yDec = GrayCodes::grayToDec(grayRow); 354 | 355 | if((yDec > scan_h || xDec > scan_w)){ 356 | error = true;//求出的xy坐标超出了投影范围，说明不是投影点，将其遮罩 357 | } 358 | p_out.x = xDec;//返回相机照片上像素点在投影仪投影范围内的对应十进制坐标 359 | p_out.y = yDec; 360 | return error; 361 | } 362 | 363 | 364 | 365 | /// 366 | /// \brief Reconstruct::getProjPixel_GE 格雷码+极线校正下的图像点身份确定算法 367 | /// \param row 图像点行号 368 | /// \param col 图像点列号 369 | /// \param xDec 图像点在投影区域内的横坐标 370 | /// \return 图像点能否被重建 371 | /// 372 | bool Reconstruct::getProjPixel_GE(int row, int col, int &xDec) 373 | { 374 | cv::vector grayCol; 375 | bool error = false; 376 | 377 | ///prosses column images 378 | for(int count = 0; count < numOfColBits; count++){ 379 | ///get pixel intensity for regular pattern projection and it's inverse 380 | double val1, val2; 381 | val1 = Utilities::matGet2D(camImgs[count * 2 + 2], row, col); 382 | val2 = Utilities::matGet2D(camImgs[count * 2 + 2 +1], row, col); 383 | ///check if intensity deference is in a valid rage 384 | if(abs(val1 - val2) < whiteThreshold ) 385 | error = true; 386 | ///determine if projection pixel is on or off 387 | if(val1 > val2) 388 | grayCol.push_back(1); 389 | else 390 | grayCol.push_back(0); 391 | } 392 | xDec = GrayCodes::grayToDec(grayCol);//由灰度序列grayCol求解其对应的十进制数xDec 393 | 394 | if(xDec > scan_w){ 395 | error = true;//求出的x坐标超出了投影范围，说明不是投影点，将其遮罩 396 | } 397 | return error; 398 | } 399 | 400 | 401 | void Reconstruct::setCalibPath(QString folder, int cam_no ) 402 | { 403 | calibFolder[cam_no] = folder;//projectPath+"/calib/left/"或projectPath+"/calib/right/" 404 | pathSet = true; 405 | } 406 | 407 | 408 | void Reconstruct::triangulation(cv::vector *cam1Pixels, VirtualCamera camera1, cv::vector *cam2Pixels, VirtualCamera camera2) 409 | { 410 | int w = scan_w; 411 | int h = scan_h; 412 | 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 413 | if (scanSN > 0){ 414 | ///加载刚体变换矩阵 415 | QString loadPath = savePath_ + "/scan/transfer_mat" + QString::number(scanSN) + ".txt"; 416 | camera1.loadMatrix(matCoordTrans, 3, 4, loadPath.toStdString()); 417 | } 418 | 419 | for(int i = 0; i < w; i++){ 420 | for(int j = 0; j < h; j++){ 421 | cv::vector cam1Pixs,cam2Pixs; 422 | ///cam1Pixels和cam2Pixels是长度为scan_w*scan_h的向量，元素为各个投影点对应相机图像点在原图像上的坐标 423 | cam1Pixs = cam1Pixels[ac(i, j)]; 424 | cam2Pixs = cam2Pixels[ac(i, j)]; 425 | 426 | if( cam1Pixs.size() == 0 || cam2Pixs.size() == 0)//如果投影区域（i,j）处未对应原图像上点，说明其被遮罩 427 | continue; 428 | 429 | for(int c1 = 0; c1 < cam1Pixs.size(); c1++) 430 | { 431 | cv::Point2f camPixelUD = Utilities::undistortPoints(cv::Point2f(cam1Pixs[c1].x,cam1Pixs[c1].y),camera1);//camera 3d point p for (i,j) pixel 432 | cv::Point3f cam1Point = Utilities::pixelToImageSpace(camPixelUD,camera1); //convert camera pixel to image space 433 | cam2WorldSpace(camera1, cam1Point); 434 | 435 | cv::Vec3f ray1Vector = (cv::Vec3f) (camera1.position - cam1Point); //compute ray vector 436 | Utilities::normalize(ray1Vector); 437 | 438 | for(int c2 = 0; c2 < cam2Pixs.size(); c2++) 439 | { 440 | camPixelUD = Utilities::undistortPoints(cv::Point2f(cam2Pixs[c2].x,cam2Pixs[c2].y),camera2);//camera 3d point p for (i,j) pixel 441 | cv::Point3f cam2Point = Utilities::pixelToImageSpace(camPixelUD,camera2); //convert camera pixel to image space 442 | cam2WorldSpace(camera2, cam2Point); 443 | 444 | cv::Vec3f ray2Vector = (cv::Vec3f) (camera2.position - cam2Point); //compute ray vector 445 | Utilities::normalize(ray2Vector); 446 | 447 | cv::Point3f interPoint; 448 | cv::Point3f refinedPoint; 449 | 450 | bool ok = Utilities::line_lineIntersection(camera1.position,ray1Vector,camera2.position,ray2Vector,interPoint); 451 | 452 | if(!ok) 453 | continue; 454 | /* 455 | float X = interPoint.x; 456 | float Y = interPoint.y; 457 | float Z = interPoint.z; 458 | interPoint.z = -Z; 459 | interPoint.x = -Y; 460 | interPoint.y = -X; 461 | */ 462 | 463 | ///以下判断为多次重建得到的点云拼接做准备 464 | if (scanSN > 0){ 465 | float point[] = {interPoint.x, interPoint.y, interPoint.z, 1}; 466 | cv::Mat pointMat(4, 1, CV_32F, point); 467 | cv::Mat refineMat(3, 1, CV_32F); 468 | refineMat = matCoordTrans * pointMat; 469 | refinedPoint.x = refineMat.at(0, 0); 470 | refinedPoint.y = refineMat.at(1, 0); 471 | refinedPoint.z = refineMat.at(2, 0); 472 | } 473 | else 474 | refinedPoint = interPoint; 475 | points3DProjView->addPoint(i, j, refinedPoint); 476 | } 477 | } 478 | } 479 | } 480 | } 481 | 482 | 483 | void Reconstruct::triangulation_ge(cv::vector *cam1Pixels, VirtualCamera camera1, cv::vector *cam2Pixels, VirtualCamera camera2) 484 | { 485 | int w = cameraWidth; 486 | int h = cameraHeight; 487 | 488 | 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 489 | if (scanSN > 0){ 490 | ///加载刚体变换矩阵 491 | QString loadPath = savePath_ + "/scan/transfer_mat" + QString::number(scanSN) + ".txt"; 492 | camera1.loadMatrix(matCoordTrans, 3, 4, loadPath.toStdString()); 493 | } 494 | 495 | for (int i = 0; i < h;i++){ 496 | for (int j = 0;j < w;j++){ 497 | cv::vector cam1Pix = cam1Pixels[i*cameraWidth + j];//注意这里cam1Pix是一个向量，若类型设为int则出错 498 | if (cam1Pix.size() == 0) 499 | continue; 500 | for (int k = 0;k < w;k++){ 501 | cv::vector cam2Pix = cam2Pixels[i*cameraWidth + k]; 502 | 503 | if (cam2Pix.size() == 0) 504 | continue; 505 | 506 | if (cam1Pix[0] == cam2Pix[0]){//说明左相机(j,i)点与右相机(k,i)点匹配 507 | cv::Point2f camPixelUD = Utilities::undistortPoints(cv::Point2f(j, i),camera1); 508 | cv::Point3f cam1Point = Utilities::pixelToImageSpace(camPixelUD,camera1); 509 | cam2WorldSpace(camera1, cam1Point); 510 | 511 | cv::Vec3f ray1Vector = (cv::Vec3f) (camera1.position - cam1Point); 512 | Utilities::normalize(ray1Vector); 513 | 514 | camPixelUD = Utilities::undistortPoints(cv::Point2f(k, i),camera2); 515 | cv::Point3f cam2Point = Utilities::pixelToImageSpace(camPixelUD,camera2); 516 | cam2WorldSpace(camera2, cam2Point); 517 | 518 | cv::Vec3f ray2Vector = (cv::Vec3f) (camera2.position - cam2Point); 519 | Utilities::normalize(ray2Vector); 520 | 521 | cv::Point3f interPoint; 522 | cv::Point3f refinedPoint; 523 | 524 | bool ok = Utilities::line_lineIntersection(camera1.position,ray1Vector,camera2.position,ray2Vector,interPoint); 525 | 526 | if(!ok) 527 | continue; 528 | 529 | ///以下判断为多次重建得到的点云拼接做准备 530 | if (scanSN > 0){ 531 | float point[] = {interPoint.x, interPoint.y, interPoint.z, 1}; 532 | cv::Mat pointMat(4, 1, CV_32F, point); 533 | cv::Mat refineMat(3, 1, CV_32F); 534 | refineMat = matCoordTrans * pointMat; 535 | refinedPoint.x = refineMat.at(0, 0); 536 | refinedPoint.y = refineMat.at(1, 0); 537 | refinedPoint.z = refineMat.at(2, 0); 538 | } 539 | else 540 | refinedPoint = interPoint; 541 | points3DProjView->addPoint(i, j, refinedPoint); 542 | 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 543 | } 544 | else 545 | continue; 546 | } 547 | } 548 | } 549 | } 550 | 551 | 552 | void Reconstruct::getParameters(int scanw, int scanh, int camw, int camh, bool autocontrast, QString savePath) 553 | { 554 | scan_w = scanw; 555 | scan_h = scanh; 556 | cameraWidth = camw; 557 | cameraHeight = camh; 558 | autoContrast_ = autocontrast; 559 | savePath_ = savePath;//equal to projectPath 560 | 561 | if (EPI){ 562 | sr = new stereoRect(savePath_); 563 | sr->getParameters(); 564 | } 565 | 566 | for(int i = 0; i < 2; i++) 567 | { 568 | QString pathI; 569 | if(i==0){ 570 | pathI = savePath + "/scan/left/";//Load Images for reconstruction 571 | } 572 | else{ 573 | pathI = savePath + "/scan/right/"; 574 | } 575 | camsPixels[i] = NULL; 576 | camsPixels_GE[i] = NULL; 577 | scanFolder[i] = pathI; 578 | if(i == 0) 579 | imgPrefix[i] = QString::number(scanSN) + "/L"; 580 | else 581 | imgPrefix[i] = QString::number(scanSN) +"/R"; 582 | } 583 | } 584 | -------------------------------------------------------------------------------- /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, 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 | 81 | cv::Mat mask;//matrix with vals 0 and 1 , CV_8U , uchar 82 | cv::Mat decRows; 83 | cv::Mat decCols; 84 | bool pathSet; 85 | bool autoContrast_; 86 | bool raySampling_; 87 | int cameraWidth; 88 | int cameraHeight; 89 | 90 | //access 91 | int Reconstruct::ac(int x,int y) 92 | { 93 | return x*scan_h + y; 94 | } 95 | 96 | int scan_w; 97 | int scan_h; 98 | }; 99 | 100 | #endif // RECONSTRUCT_H 101 | -------------------------------------------------------------------------------- /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 | //createSetFile(); 70 | } 71 | 72 | void Set::createSetFile() 73 | { 74 | int autoc, autocs, ray; 75 | autoc = boolToInt(autoContrast); 76 | ray = boolToInt(raySampling); 77 | 78 | const QString &fileName = saveSetPath +"/set.xml"; 79 | QFile file(fileName); 80 | file.open(QIODevice::WriteOnly); 81 | QXmlStreamWriter xmlWriter(&file); 82 | xmlWriter.setAutoFormatting(true); 83 | xmlWriter.writeStartDocument();//写入 84 | xmlWriter.writeStartElement("Settings"); 85 | xmlWriter.writeStartElement("ProjectorResolution"); 86 | xmlWriter.writeTextElement("Width",QString::number(proj_w, 10)); 87 | xmlWriter.writeTextElement("Height",QString::number(proj_h, 10)); 88 | xmlWriter.writeEndElement(); 89 | xmlWriter.writeStartElement("CalibrationBoard"); 90 | xmlWriter.writeTextElement("BoardWidth",QString::number(board_w, 10)); 91 | xmlWriter.writeTextElement("BoardHeight",QString::number(board_h, 10)); 92 | xmlWriter.writeEndElement(); 93 | xmlWriter.writeStartElement("ProjectorWindow"); 94 | xmlWriter.writeStartElement("ScanResolution"); 95 | xmlWriter.writeTextElement("Width",QString::number(scan_w, 10)); 96 | xmlWriter.writeTextElement("Height",QString::number(scan_h, 10)); 97 | xmlWriter.writeEndElement();//由于start两次所以end两次 98 | xmlWriter.writeEndElement(); 99 | xmlWriter.writeStartElement("Reconstruction"); 100 | xmlWriter.writeTextElement("AutoContrast",0); 101 | xmlWriter.writeTextElement("SaveAutoContrastImages",0); 102 | xmlWriter.writeTextElement("RaySampling",0); 103 | xmlWriter.writeTextElement("BlackThreshold",QString::number(black_threshold, 10)); 104 | xmlWriter.writeTextElement("WhiteThreshold",QString::number(white_threshold, 10)); 105 | xmlWriter.writeEndElement(); 106 | xmlWriter.writeStartElement("Export"); 107 | xmlWriter.writeTextElement("Obj",QString::number(exportObj, 10)); 108 | xmlWriter.writeTextElement("Ply",QString::number(exportPly, 10)); 109 | xmlWriter.writeEndElement(); 110 | xmlWriter.writeEndDocument();//写入 111 | file.close(); 112 | if(file.error()){ 113 | test(false); 114 | } 115 | } 116 | 117 | int Set::boolToInt(bool input) 118 | { 119 | if(input) 120 | return 1; 121 | else 122 | return 0; 123 | } 124 | 125 | void Set::switchLang() 126 | { 127 | set->retranslateUi(this); 128 | } 129 | -------------------------------------------------------------------------------- /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 | int exportObj; 42 | int exportPly; 43 | int usedPattern; 44 | 45 | void switchLang(); 46 | 47 | private: 48 | Ui::SetDialog *set; 49 | int boolToInt(bool input); 50 | 51 | signals: 52 | void outputSet(); 53 | 54 | private slots: 55 | void test(bool flag); 56 | void createConfigurationFile(); 57 | void createSetFile(); 58 | }; 59 | 60 | #endif // SET_H 61 | -------------------------------------------------------------------------------- /Duke/stereorect.cpp: -------------------------------------------------------------------------------- 1 | #include "stereorect.h" 2 | 3 | stereoRect::stereoRect(QString projectPath) 4 | { 5 | ppath = projectPath; 6 | } 7 | 8 | void stereoRect::getParameters() 9 | { 10 | QString path; 11 | path = ppath + "/calib/left/cam_stereo.txt"; 12 | loadMatrix(M1, 3, 3, path); 13 | path = ppath + "/calib/left/distortion_stereo.txt"; 14 | loadMatrix(D1, 5, 1, path); 15 | path = ppath + "/calib/right/cam_stereo.txt"; 16 | loadMatrix(M2, 3, 3, path); 17 | path = ppath + "/calib/right/distortion_stereo.txt"; 18 | loadMatrix(D2, 5, 1, path); 19 | path = ppath + "/calib/R_stereo.txt"; 20 | loadMatrix(R, 3, 3, path); 21 | path = ppath + "/calib/T_stereo.txt"; 22 | loadMatrix(T, 3, 1, path); 23 | } 24 | 25 | void stereoRect::doStereoRectify(cv::Mat &img, bool isleft) 26 | { 27 | cv::Size img_size = img.size(); 28 | cv::Mat R1, P1, R2, P2, Q; 29 | 30 | ///该矫正函数在使用时注意两点： 31 | /// 1、flag不要设为CV_CALIB_ZERO_DISPARITY，而是设为0 32 | /// 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 33 | cv::stereoRectify(M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, 0, -1); 34 | 35 | cv::Mat map11, map12, map21, map22; 36 | if (isleft) 37 | cv::initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_16SC2, map11, map12); 38 | else 39 | cv::initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_16SC2, map21, map22); 40 | 41 | cv::Mat imgr; 42 | if (isleft) 43 | cv::remap(img, imgr, map11, map12, cv::INTER_LINEAR); 44 | else 45 | cv::remap(img, imgr, map21, map22, cv::INTER_LINEAR); 46 | 47 | img = imgr; 48 | } 49 | 50 | 51 | void stereoRect::loadMatrix(cv::Mat &matrix, int rows, int cols, QString file) 52 | { 53 | std:: ifstream in1; 54 | in1.open(file.toStdString()); 55 | if(!in1) 56 | return; 57 | if(!matrix.empty()) 58 | matrix.release(); 59 | matrix = cv::Mat(rows, cols, CV_64F); 60 | for(int i = 0; i < rows; i++){ 61 | for(int j = 0; j < cols; j++){ 62 | float val; 63 | in1>>val; 64 | Utilities::matSet2D(matrix, i, j, val); 65 | } 66 | } 67 | } 68 | -------------------------------------------------------------------------------- /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); 18 | void doStereoRectify(cv::Mat &img, bool isleft); 19 | void getParameters(); 20 | 21 | private: 22 | QString ppath; 23 | cv::Mat M1, D1, M2, D2, R, R64, T; 24 | void loadMatrix(cv::Mat &matrix, int rows, int cols, QString file); 25 | }; 26 | #endif // STEREORECT_H 27 | -------------------------------------------------------------------------------- /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 | Structure-Light-Reconstructor 2 | ============================= 3 | This is a software used for 3D reconstruction. 4 | --------------------------------------------------------------------------------