C++ (Cpp) R2T Examples

Example #1

File: LaunchUploadDlg.cpp Project: hhallman/photoupload

UINT CLaunchUploadDlg::Launch(StartupParameters* parameters)
{
	AFX_MANAGE_STATE(AfxGetStaticModuleState());

//	UpdateManager u;
//	u.StartUpdate();

	HWND parent = 0;
	try
	{
		parent = parameters->hParentWindow;

#ifndef DEBUG
	//	MessageBox(parent, _T("Detta är en betaversion.\r\nOm den slutar fungera kan det vara för att den är så gammal att servern inte känner igen den.\r\n\r\nDu får inte sprida programmet!\r\n\r\nKlagomål eller förslag tas mer än gärna emot."), _T("Minakort.com - betatest"), MB_ICONINFORMATION|MB_OK);
#endif

		USAGE("Launch");

		CUploadDialog ctrl(CWnd::FromHandle(parameters->hParentWindow));
		ctrl.instanceName = parameters->commandLine;
		if(parameters->doDelete)
			delete parameters;
		theDlg = &ctrl;

		try 
		{
			ctrl.DoModal();
		} 
		catch(...)
		{
			theDlg = NULL;
			UploadManager::Instance().WaitStop();
			throw;
		}

		theDlg = NULL;
		UploadManager::Instance().WaitStop();
	
		return 0;
	}
	catch(CException* exc)
	{
		exc->Delete();
	}
	catch(...)
	{
	}
	MessageBox(parent, R2T(IDS_ERROROCCURED), R2T(IDS_ERROROCCURED_CAPTION), MB_ICONERROR);
	return 1;
}

Example #2

File: StereoReconstructor.cpp Project: Marco-LIU/reconstruction-3d

void StereoReconstructor::computeRTRandom(std::string cam1Folder, std::string cam2Folder) {
  bool load1 = loadMatrixAndCoe(cam1Folder, camMatrix1, distCoeffs1);
  bool load2 = loadMatrixAndCoe(cam2Folder, camMatrix2, distCoeffs2);

  if (load1 == false || load2 == false) {
    std::cout << "Load matrix and distortion failed!" << std::endl;
    return;
  }

  std::vector<std::string> imgFiles1 = Utilities::folderImagesScan(cam1Folder.c_str());
  std::vector<std::string> imgFiles2 = Utilities::folderImagesScan(cam2Folder.c_str());

  cv::Mat img = cv::imread(cam1Folder + imgFiles1[0].c_str(), 1);
  camImageSize = img.size();

  int totalN = imgFiles1.size();

  std::ofstream Tx("辅助_T_x.txt");	//x方向位移
  std::ofstream Ty("辅助_T_y.txt");	//y方向位移
  std::ofstream Tz("辅助_T_z.txt");	//z方向位移
  std::ofstream Rx("辅助_R_x.txt");	//旋转轴x方向
  std::ofstream Ry("辅助_R_y.txt");	//旋转轴y方向
  std::ofstream Rz("辅助_R_z.txt");	//旋转轴z方向
  std::ofstream Ra("辅助_R_a.txt");	//旋转角度
  std::ofstream All("辅助_All.txt");	//所有数据
  All << "Tx " << "Ty " << "Tz " << "T " << "Rx " << "Ry " << "Rz " << "Ra " << std::endl;
  for (int k = 1; k <= totalN; k++) {
    std::cout << k;
    double tbegin = cv::getTickCount();
    std::vector<int> nums;
    while (nums.size() < k) {
      srand(time(NULL));
      int random = rand() % totalN;
      if (nums.empty() || std::find(nums.begin(), nums.end(), random) == nums.end()) {
        nums.push_back(random);
      }
    }

    for (size_t i = 0; i < nums.size(); ++i) {
      imgPoints1.push_back(load2DPoints(cam1Folder + imgFiles1[nums[i]].substr(0, imgFiles1[nums[i]].size() - 4) + "_imgCorners.txt"));
      imgPoints2.push_back(load2DPoints(cam2Folder + imgFiles2[nums[i]].substr(0, imgFiles2[nums[i]].size() - 4) + "_imgCorners.txt"));
      objPoints.push_back(load3DPoints(cam1Folder + "ObjCorners.txt"));
    }
    cv::Mat E, F;
    cv::stereoCalibrate(objPoints, imgPoints1, imgPoints2, camMatrix1, distCoeffs1, camMatrix2, distCoeffs2, camImageSize, R, T, E, F,
                        cv::TermCriteria(CV_TERMCRIT_ITER + CV_TERMCRIT_EPS, 100, 1e-5), CV_CALIB_FIX_INTRINSIC);

    //罗德里格斯（Rodrigues）变换
    cv::Mat R2T(3, 1, CV_64F);
    cv::Rodrigues(R, R2T);

    float tx = Utilities::matGet2D(T, 0, 0);
    float ty = Utilities::matGet2D(T, 0, 1);
    float tz = Utilities::matGet2D(T, 0, 2);
    float T = std::sqrt(tx*tx + ty*ty + tz*tz);
    Tx << tx << std::endl;
    Ty << ty << std::endl;
    Tz << tz << std::endl;
    double dx = Utilities::matGet2D(R2T, 0, 0);
    double dy = Utilities::matGet2D(R2T, 0, 1);
    double dz = Utilities::matGet2D(R2T, 0, 2);
    double dl = std::sqrt(dx*dx + dy*dy + dz*dz);
    float angle = dl * 180 / 3.1415926535897932;
    float fdx = dx / dl;
    float fdy = dy / dl;
    float fdz = dz / dl;
    Rx << fdx << std::endl;
    Ry << fdy << std::endl;
    Rz << fdz << std::endl;
    Ra << angle << std::endl;

    All << tx << " " << ty << " " << tz << " " << T << " " << fdx << " " << fdy << " " << fdz << " " << angle << std::endl;

    nums.clear();
    imgPoints1.clear();
    imgPoints2.clear();
    objPoints.clear();
    double tend = cv::getTickCount();
    double frequency = cv::getTickFrequency();
    int span = (tend - tbegin) / frequency;
    std::cout << "副图像,标定时间	" << span << ",基线长度" << T << std::endl;
  }

  Tx.close();
  Ty.close();
  Tz.close();
  Rx.close();
  Ry.close();
  Rz.close();
  Ra.close();
  All.close();
}