triangle/main.cpp

#include <iostream>
#include <string>

#include "Steger.h"
#include "pnp.h"
#include "Steger.h"
#include "Interpolator.h"
#include <chrono>

void test_pnp(){
    cv::Mat K = ( cv::Mat_<double> ( 3,3 ) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1 );
    cv::Mat R=(cv::Mat_<double> ( 3,3 ) <<0.9979193252225095, -0.05138618904650328, 0.03894200717385427,
            0.05033852907733768, 0.9983556574295407, 0.02742286944795593,
            -0.04028712992732941, -0.02540552801471822, 0.998865109165653);

    cv::Mat T=(cv::Mat_<double>(3,1)<<-0.1255867099750184,-0.007363525258815341,0.0609992658867812);

    P3d2d p3d2d(K);
    p3d2d.R_=R;
    p3d2d.t_=T;


    cv::Mat src = cv::imread("../images/1.bmp", 0);
    cv::Mat image = src(cv::Rect(0, 0, src.cols, src.rows)).clone();
    for (int i = 0; i < image.rows; i++)
    {
        for (int j = 0; j < image.cols; j++)
        {
            if (image.at<uchar>(i, j) < 20)
                image.at<uchar>(i, j) = 0;
        }
    }
    cv::Mat out= cv::Mat::zeros(image.size(), CV_8UC1);
    CSteger steger;
    cv::GaussianBlur(image, image, cv::Size(3, 3), 3, 3);
    std::vector<cv::Point2d> points = steger.StripCenter(image);

    auto t1=std::chrono::steady_clock::now();
    p3d2d.execute(points);

    auto t2=std::chrono::steady_clock::now();
    auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(t2 - t1);
    double tm=double(duration.count()) * std::chrono::milliseconds::period::num /
            std::chrono::milliseconds::period::den;
    printf("points :%d  time :%lf s\n",points.size(),tm);


}

void pnpcaliber_test()
{
  cv::FileStorage fread("../cfg/cameraMatrix.yaml", cv::FileStorage::READ);
  //判断是否成功打开文件
  if (!fread.isOpened())
    {
      std::cout << "打开文件失败，请确认文件名称是否正确！" << std::endl;
      return ;
    }

  //读取文件中的数据
  cv::Mat K,distCoeffs;
  fread["cameraMatrix"] >> K;
  fread["distCoeffs"] >> distCoeffs;

  cv::FileStorage Pread("../cfg/P.yaml", cv::FileStorage::READ);
  //判断是否成功打开文件
  if (!Pread.isOpened())
  {
    std::cout << "打开文件失败，请确认文件名称是否正确！" << std::endl;
    return ;
  }
  cv::Mat P;
  Pread["P"] >> P;

  cv::Mat src7= cv::imread("../images/calib/160120.png", 0);
  std::vector<cv::Point3d> pts3d=Interpolator::predict4(src7,K,distCoeffs,P);

  FILE* pf=fopen("../images/pred3d.txt","w");
  for(int i=0;i<pts3d.size();++i)
  {
    fprintf(pf,"%f %f %f\n",pts3d[i].x,pts3d[i].y,pts3d[i].z);
    printf("%.3f %.3f %.5f\n",pts3d[i].x,pts3d[i].y,pts3d[i].z);
  }
  fclose(pf);

}

void pnpcalibe()
{
  cv::FileStorage fread("../cfg/cameraMatrix.yaml", cv::FileStorage::READ);
  //判断是否成功打开文件
  if (!fread.isOpened())
  {
    std::cout << "打开文件失败，请确认文件名称是否正确！" << std::endl;
    return ;
  }

  //读取文件中的数据
  cv::Mat K,distCoeffs;
  fread["cameraMatrix"] >> K;
  fread["distCoeffs"] >> distCoeffs;
  Interpolator caliber;

  cv::Mat src1 = cv::imread("../images/calib/0.png", 0);

  caliber.AddImage(Interpolator::undistored_image(src1,K,distCoeffs), 0.8);

  cv::Mat src2 = cv::imread("../images/calib/40940.png", 0);
  caliber.AddImage(Interpolator::undistored_image(src2,K,distCoeffs), 0.840940);

  cv::Mat src3 = cv::imread("../images/calib/80975.png", 0);
  caliber.AddImage(Interpolator::undistored_image(src3,K,distCoeffs), 0.880970);

  cv::Mat src4 = cv::imread("../images/calib/119645.png", 0);
  caliber.AddImage(Interpolator::undistored_image(src4,K,distCoeffs), 0.919645);

  cv::Mat src5 = cv::imread("../images/calib/199580.png", 0);
  caliber.AddImage(Interpolator::undistored_image(src5,K,distCoeffs), 0.999580);

  cv::Mat src6 = cv::imread("../images/calib/240370.png", 0);
  caliber.AddImage(Interpolator::undistored_image(src6,K,distCoeffs), 1.040370);

  cv::Mat P = caliber.Calib4();


  cv::FileStorage fwrite("../cfg/P.yaml", cv::FileStorage::WRITE);
  fwrite.write("P", P);


  std::cout << P.t() << std::endl;
}

#include <list>
int main()
{
  pnpcaliber_test();
  //pnpcalibe();
  return 0;
    //test_pnp();
    /*Mat image = cv::imread(file, 0);
    	Mat image = src(Rect(0, 800, src.cols, 500));
        for (int i = 0; i < image.rows; i++)
        {
        for (int j = 0; j < image.cols; j++)
        {
        if (image.at<uchar>(i, j) < 10)
        image.at<uchar>(i, j) = 0;
        }
        }


    Mat fimage, fout;
    image.convertTo(fimage, CV_32FC1);
    fout = Mat::zeros(fimage.size(), CV_32FC1);

    double sigma = 2.9;
    double high = 3.5;
    double low = 0.5;
    int rows = fimage.rows;
    int cols = fimage.cols;

    IplImage ipl_image(fimage);
    IplImage ipl_image_out(fout);

    fout = Mat::zeros(fimage.size(), CV_32FC1);
    ipl_image_out = IplImage(fout);

    CSteger(sigma, high, low, &ipl_image, &ipl_image_out);


	int k = 391;
	while (1)
	{
		char file[64];
		memset(file, 0, 64);
		sprintf(file, "../images/h/%d.bmp", k);
		k++;

		//fimage = fimage / 255.0;





		LARGE_INTEGER freq, t0, t1;
		QueryPerformanceFrequency(&freq);

		QueryPerformanceCounter(&t0);


		QueryPerformanceCounter(&t1);

		printf("time=%lf\n", (((t1.QuadPart - t0.QuadPart) * 1000.0) / freq.QuadPart));

		char path[255];
		memset(path, 0, 255);
		sprintf(path, "Steger\\black\\black_%f_%f_%f.bmp", sigma, low, high);
		Mat result;
		fout = fout * 255;
		fout.convertTo(result, CV_8UC1);
		cv::imwrite(path, fout);

		/*printf("2--------------------------------\n");
		for (sigma = 2.5; sigma <3.9;sigma+=0.1)
		{
		for (high = 3.5; high < 4.0; high += 0.5)
		{
		for (low = 0.5; low <1; low += 0.5)
		{
		QueryPerformanceFrequency(&freq);

		QueryPerformanceCounter(&t0);

		Steger(sigma, high, low, &ipl_image, &ipl_image_out);

		QueryPerformanceCounter(&t1);

		printf("time=%lf\n", (((t1.QuadPart - t0.QuadPart) * 1000.0) / freq.QuadPart));
		char path[255];
		memset(path, 0, 255);
		sprintf(path, "Steger\\1\\1_%f_%f_%f.bmp", sigma, low,high);
		cv::imwrite(path, fout * 255);
		}
		}
		}

	}
	std::cout << "ok" << endl;
	getchar();*/
	return 0;
}