bool MFReconstruct::runReconstruction()
{
bool runSucess = false;
///加载相机标定参数及所采集图像
for(int i = 0; i < 2; i++){
camsPixels[i] = new cv::vector<double>[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
runSucess = loadCamImgs(scanFolder[i], imgPrefix[i], imgSuffix);
///对指针存储器camsPixels赋值，camsPixels[i]的地址就是camPixel的地址
camPixels = camsPixels[i];
///截至这一步，实例camera的position、width、height属性已被赋值，camera对应cameras[i]
if(!runSucess)//如果加载图片失败，中断
break;
else{
computeShadows();
decodePatterns();
unloadCamImgs();
}
}
if(runSucess){
points3DProjView = new PointCloudImage(cameraWidth, cameraHeight, haveColor); //最后一个bool值代表是否上色，这里改为false
triangulation(camsPixels[0],camsPixels[1]);
}
return runSucess;
}
Reconstructor::~Reconstructor(void)
{
unloadCamImgs();
if(points3DProjView)
delete points3DProjView ;
}
bool MFReconstruct::loadCamImgs(QString folder, QString prefix, QString suffix)//load camera images
{
cv::Mat tmp;
if(!camImgs.empty())
unloadCamImgs();
sr->calParameters();
for(int i = 0; i < numberOfImgs; i++){
QString path;
path = folder;//这里folder要达到left/right一层
path += prefix + QString::number(i) + suffix;
tmp.release();
tmp = cv::imread(path.toStdString(),0);//flag=0 Return a grayscale image
if(tmp.empty()){
QMessageBox::warning(NULL,tr("Load Images"),tr("Scan Images not found!"));
break;
}
else{
if (processl){//第一次调用loadImg时认为是加载左相机图像
sr->doStereoRectify(tmp,true);
//cv::imwrite(path.toStdString(),tmp);
}
else{
sr->doStereoRectify(tmp,false);
//cv::imwrite(path.toStdString(),tmp);
}
///这里对图像进行归一化操作，以细化图像灰度细节
cv::Mat out = cv::Mat(tmp.rows,tmp.cols,CV_64FC1);
Utilities::matToGray(tmp,out);
camImgs.push_back(out);
// cv::normalize(out,out,255.0,0.0,cv::NORM_MINMAX);
// cv::imwrite(savePath_.toStdString()+"/q.png",out);
}
}
processl = !processl;//每调用一次loadCamImgs都对“当前是否处理左图像”取反
return !tmp.empty();
}
void Reconstructor::runReconstruction()
{
for(int i=0; i< numOfCams; i++)
{
if(cameras[i].distortion.empty())
{
std::cout<<"Camera "<<i<< "is not set.\n";
exit(-1);
}
if(pathSet[i] == false)
{
std::cout<<"Image path for camera "<< i <<" is not set.";
exit(-1);
}
}
GrayCodes grays(proj_w,proj_h);
numOfColBits = grays.getNumOfColBits();
numOfRowBits = grays.getNumOfRowBits();
numberOfImgs = grays.getNumOfImgs();
for(int i=0; i < numOfCams; i++)
{
//findProjectorCenter();
cameras[i].position = cv::Point3f(0,0,0);
cam2WorldSpace(cameras[i],cameras[i].position);
camera = &cameras[i];
camsPixels[i] = new cv::vector<cv::Point>[proj_h*proj_w];
camPixels = camsPixels[i];
loadCamImgs(camFolder[i],imgPrefix[i],imgSuffix[i]);
colorImgs.push_back(cv::Mat());
colorImgs[i] = color;
computeShadows();
if(saveShadowMask_)
{
std::stringstream path;
path<<"cam"<<i+1<<"Mask.png";
saveShadowImg(path.str().c_str());
}
decodePaterns();
unloadCamImgs();
}
//reconstruct
points3DProjView = new PointCloudImage( proj_w, proj_h , true );
for(int i = 0; i < numOfCams; i++)
{
for(int j=i+1; j< numOfCams; j++)
triangulation(camsPixels[i],cameras[i],camsPixels[j],cameras[j],i,j);
}
}
//load camera images
void Reconstructor::loadCamImgs( std::string folder,std::string prefix,std::string suffix)
{
cv::Mat tmp;
std::cout<<"Loading Camera Images...";
if(!camImgs.empty())
unloadCamImgs();
for(int i=0; i<numberOfImgs;i++)
{
std::stringstream path;
path<<folder.c_str();
if(i+1<10)
path<<"0";
path << prefix.c_str() << i+1 << suffix.c_str();
tmp.release();
tmp = cv::imread(path.str().c_str());
if(tmp.empty())
{
std::cout<<"\nError loading cam image "<<i+1<<". Press Any Key to Exit.";
getch();
exit(-1);
}
//auto contrast
if(autoContrast)
{
Utilities::autoContrast(tmp,tmp);
if(saveAutoContrast)
{
std::stringstream p;
p<<folder.c_str() << "AutoContrastSave/" << prefix.c_str() << i+1 << suffix.c_str();
cv::imwrite(p.str().c_str(),tmp);
}
}
if(i==0)
{
color = tmp;
}
cv::cvtColor(tmp, tmp, CV_BGR2GRAY);
camImgs.push_back(tmp);
}
if(camera->width==0)
{
camera->height=camImgs[0].rows;
camera->width =camImgs[0].cols;
}
std::cout<<"done!\n";
}
