int main() {
static int index = 0;
static char str[100];
cv::VideoCapture cap1(1);
cv::VideoCapture cap2(2);
if (!cap1.isOpened() || !cap2.isOpened()) {
std::cout << "Cannot open the video cam" << std::endl;
return -1;
}
cap1.set(CV_CAP_PROP_FPS, 23);
cap2.set(CV_CAP_PROP_FPS, 23);
double dWidth = cap2.get(CV_CAP_PROP_FRAME_WIDTH);
double dHeight = cap2.get(CV_CAP_PROP_FRAME_HEIGHT);
std::cout << "Frame size : " << dWidth << " x " << dHeight << std::endl;
cv::namedWindow("MyVideo1", CV_WINDOW_AUTOSIZE);
cv::namedWindow("MyVideo2", CV_WINDOW_AUTOSIZE);
while (1) {
cv::Mat frame1;
cv::Mat frame2;
bool success1 = cap1.read(frame1);
bool success2 = cap2.read(frame2);
if (!success1 || !success2) {
std::cout << "Cannot read a frame from video stream" << std::endl;
break;
}
cv::imshow("MyVideo1", frame1);
cv::imshow("MyVideo2", frame2);
int key = cv::waitKey(300);
if (key == '\r') {
std::cout << "Capturing smaple " << (++index) << std::endl;
std::sprintf(str, "test_left_%d.png", index);
cv::imwrite(str, frame1);
std::sprintf(str, "test_right_%d.png", index);
cv::imwrite(str, frame2);
}
if (key == 27) {
std::cout << "esc key is pressed by user" << std::endl;
break;
}
}
return 0;
}
double caplet_lmm(const Date& todaysDate_,
const Date& settlementDate_,
const Date& maturity_,
Rate spot_,
Rate strike,
Rate Numeraire, //zero-coupon bond
//Volatility volatility
double correl,
double a,
double b,
double c,
double d
)
{
//SavedSettings backup;
const Size size = 10;
#if defined(QL_USE_INDEXED_COUPON)
const Real tolerance = 1e-5;
#else
const Real tolerance = 1e-12;
#endif
boost::shared_ptr<IborIndex> index = makeIndex();
boost::shared_ptr<LiborForwardModelProcess> process(new LiborForwardModelProcess(size, index));
// set-up pricing engine
const boost::shared_ptr<OptionletVolatilityStructure> capVolCurve = makeCapVolCurve(Settings::instance().evaluationDate());
Array variances = LfmHullWhiteParameterization(process, capVolCurve).covariance(0.0).diagonal();
boost::shared_ptr<LmVolatilityModel> volaModel(new LmFixedVolatilityModel(Sqrt(variances),process->fixingTimes()));
boost::shared_ptr<LmCorrelationModel> corrModel(new LmExponentialCorrelationModel(size, correl));
boost::shared_ptr<AffineModel> model(new LiborForwardModel(process, volaModel, corrModel));
const Handle<YieldTermStructure> termStructure = process->index()->forwardingTermStructure();
boost::shared_ptr<AnalyticCapFloorEngine> engine1(new AnalyticCapFloorEngine(model, termStructure));
boost::shared_ptr<Cap> cap1(new Cap(process->cashFlows(),std::vector<Rate>(size, strike)));
cap1->setPricingEngine(engine1);
return cap1->NPV();
}
void testNode_MainWindow::timerEvent(QTimerEvent *)
{
if(ui->tabWidget->currentIndex()==0){
IplImage* showCamera = cvQueryFrame(m_camera);
QImage *frame = IplImageToQImage(showCamera);
ui->threshold_num->setNum(ui->threshold_bar->value());
*frame = func_Gray(*frame);
if(ui->check_Threshold->isChecked()){
threshold = ui->threshold_bar->value();
}else{
threshold = Average_Threshold(*frame);
}
for(int h=0;h<frame->height();h++){
for(int w=0;w<frame->width();w++){
if(qRed(frame->pixel(w,h))<=threshold){
frame->setPixel(w,h,QColor(0,0,0).rgb());
}else{
frame->setPixel(w,h,QColor(255,255,255).rgb());
}
}
}
ui->show_camera->setPixmap(QPixmap::fromImage(*frame));
}else if(ui->tabWidget->currentIndex()==1){
ros::NodeHandle n;
image_transport::ImageTransport it(n);
image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback);
// sub1 = it1->subscribe("/camera/image",1,imageCallback);
// sub_image = MatToQImage(cvframe);
// ui->sub_label->setPixmap(QPixmap::fromImage(sub_image));
ros::spin();
killTimer(m_nTimerId);
}else if(ui->tabWidget->currentIndex()==2){
cv::VideoCapture cap(201);
cap>>cv00;
cv::VideoCapture cap1(202);
cap1>>cv01;
// IplImage* showCamera = cvQueryFrame(m_camera);
// QImage *camera2 = IplImageToQImage(showCamera);
camera0 = MatToQImage(cv00);
camera1 = MatToQImage(cv01);
ui->camera01->setPixmap(QPixmap::fromImage(camera0));
ui->camera02->setPixmap(QPixmap::fromImage(camera1));
}
void Vision::get_array(int faces[6][9])
{
Mat image0;
Mat image1;
Mat image2;
Mat image3;
Mat filtered, denoised;
{
VideoCapture cap0(0);
//cap0.set(CV_CAP_PROP_BRIGHTNESS, CAMERA_BRIGHTNESS);
//cap0.set(CV_CAP_PROP_CONTRAST, CAMERA_CONTRAST);
cap0.set(CV_CAP_PROP_SATURATION, CAMERA_SATURATION);
//cap0.set(CV_CAP_PROP_CONTRAST, CAMERA_CONTRAST);
/*
cap0.set(CV_CAP_PROP_BRIGHTNESS, CAMERA_BRIGHTNESS);
cap0.set(CV_CAP_PROP_HUE, CAMERA_HUE);
cap0.set(CV_CAP_PROP_GAIN, CAMERA_GAIN);
cap0.set(CV_CAP_PROP_EXPOSURE, CAMERA_EXPOSURE);
*/
cap0 >> image0;
//imshow("Image 0", image0);
}
{
VideoCapture cap1(1);
//cap1.set(CV_CAP_PROP_BRIGHTNESS, CAMERA_BRIGHTNESS);
//cap1.set(CV_CAP_PROP_CONTRAST, CAMERA_CONTRAST);
cap1.set(CV_CAP_PROP_SATURATION, CAMERA_SATURATION);
/*
cap1.set(CV_CAP_PROP_BRIGHTNESS, CAMERA_BRIGHTNESS);
cap1.set(CV_CAP_PROP_CONTRAST, CAMERA_CONTRAST);
cap1.set(CV_CAP_PROP_HUE, CAMERA_HUE);
cap1.set(CV_CAP_PROP_GAIN, CAMERA_GAIN);
cap1.set(CV_CAP_PROP_EXPOSURE, CAMERA_EXPOSURE);
*/
cap1 >> image1;
//imshow("Image 1", image1);
}
{
VideoCapture cap2(2);
cap2.set(CV_CAP_PROP_SATURATION, CAMERA_SATURATION);
//cap2.set(CV_CAP_PROP_BRIGHTNESS, CAMERA_BRIGHTNESS);
//cap2.set(CV_CAP_PROP_CONTRAST, CAMERA_CONTRAST);
/*
cap2.set(CV_CAP_PROP_HUE, CAMERA_HUE);
cap2.set(CV_CAP_PROP_GAIN, CAMERA_GAIN);
cap2.set(CV_CAP_PROP_EXPOSURE, CAMERA_EXPOSURE);
*/
cap2 >> image2;
/*imshow("Image 2", image2);
bilateralFilter(image2, filtered, 3, 75, 75, BORDER_DEFAULT);
imshow("Filtered", filtered);
fastNlMeansDenoisingColored(filtered, denoised, 3, 10, 7, 21);
imshow("Denoised", denoised);*/
}
{
VideoCapture cap3(3);
//cap3.set(CV_CAP_PROP_BRIGHTNESS, CAMERA_BRIGHTNESS);
//cap3.set(CV_CAP_PROP_CONTRAST, CAMERA_CONTRAST);
cap3.set(CV_CAP_PROP_SATURATION, CAMERA_SATURATION);
/*
cap3.set(CV_CAP_PROP_HUE, CAMERA_HUE);
cap3.set(CV_CAP_PROP_GAIN, CAMERA_GAIN);
cap3.set(CV_CAP_PROP_EXPOSURE, CAMERA_EXPOSURE);
*/
cap3 >> image3;
//imshow("Image 3", image3);
// waitKey(1);
}
//all this stuff gets manually filled out
std::cout <<"Image 0" << std::endl;
faces[0][1] = assign_color( image0, 363, 62);
faces[0][2] = assign_color( image0, 293, 94);
faces[0][5] = assign_color( image0, 227, 58);
faces[2][0] = assign_color( image0, 330, 156);
faces[2][1] = assign_color( image0, 395, 114);
faces[2][2] = assign_color( image0, 445, 85);
faces[2][3] = assign_color( image0, 327, 235);
faces[2][6] = assign_color( image0, 321, 293);
faces[4][0] = assign_color( image0, 140, 94);
faces[4][1] = assign_color( image0, 193, 119);
faces[4][2] = assign_color( image0, 256, 156);
faces[4][5] = assign_color( image0, 265, 237);
faces[4][8] = assign_color( image0, 270, 294);
/*
std::cout <<"Image 0 Modified" << std::endl;
faces[0][1] = assign_color( denoised, 363, 62, 0);
faces[0][2] = assign_color( denoised, 293, 94, 0);
faces[0][5] = assign_color( denoised, 227, 58, 0);
faces[2][0] = assign_color( denoised, 330, 156, 0);
faces[2][1] = assign_color( denoised, 395, 114, 0);
faces[2][2] = assign_color( denoised, 445, 85, 0);
faces[2][3] = assign_color( denoised, 327, 235, 0);
faces[2][6] = assign_color( denoised, 321, 293, 0);
faces[4][0] = assign_color( denoised, 140, 94, 0);
faces[4][1] = assign_color( denoised, 193, 119, 0);
faces[4][2] = assign_color( denoised, 256, 156, 0);
faces[4][5] = assign_color( denoised, 265, 237, 0);
faces[4][8] = assign_color( denoised, 270, 294, 0);
*/
std::cout << "Image 1" << std::endl;
faces[3][0] = assign_color( image1, 313, 282 );
faces[3][1] = assign_color( image1, 319, 227 );
faces[3][2] = assign_color( image1, 324, 152);
faces[3][5] = assign_color( image1, 388, 110);
faces[3][8] = assign_color( image1, 441, 68);
faces[4][3] = assign_color( image1, 216, 49);
faces[4][6] = assign_color( image1, 286, 86);
faces[4][7] = assign_color( image1, 358, 51);
faces[5][2] = assign_color( image1, 138, 79 );
faces[5][5] = assign_color( image1, 187, 111 );
faces[5][6] = assign_color( image1, 259, 282 );
faces[5][7] = assign_color( image1, 257, 226 );
faces[5][8] = assign_color( image1, 250, 150);
std::cout << "Image 2" << std::endl;
faces[0][0] = assign_color( image2, 191, 13);
faces[0][3] = assign_color( image2, 246, 47);
faces[0][6] = assign_color( image2, 320, 81);
faces[0][7] = assign_color( image2, 385, 45);
faces[0][8] = assign_color( image2, 422, 19);
faces[1][0] = assign_color( image2, 163, 73);
faces[1][1] = assign_color( image2, 216, 111);
faces[1][2] = assign_color( image2, 284, 149);
faces[1][5] = assign_color( image2, 287, 224);
faces[1][8] = assign_color( image2, 288, 278);
faces[5][0] = assign_color( image2, 356, 148);
faces[5][1] = assign_color( image2, 420, 103);
faces[5][3] = assign_color( image2, 349, 224);
std::cout << "Image 3" << std::endl;
faces[1][3] = assign_color( image3, 219, 50);
faces[1][6] = assign_color( image3, 291, 93 );
faces[1][7] = assign_color( image3, 360, 51 );
faces[2][5] = assign_color( image3, 182, 109 );
faces[2][7] = assign_color( image3, 249, 228 );
faces[2][8] = assign_color( image3, 252, 155 );
faces[3][3] = assign_color( image3, 385, 109 );
faces[3][6] = assign_color( image3, 324, 151 );
faces[3][7] = assign_color( image3, 313, 227 );
for (int v = 0; v < 6; v++)
{
faces[v][4] = v;
}
/*
for (int d = 0; d < 6; d++)
{
for (int o = 0; o < 9; o++)
{
sum[ faces[d][o] ] += 1;
}
}
for (int h = 0; h < 6; h++)
{
if (sum[h] != 9)
{
//std::cerr << "Color reading error..." << std::endl;
}
}
*/
}
int main(int argc, char * argv[])
{
setlocale(LC_ALL, "Russian");
OpticalFlowMatrices of_matr;
CameraParams cp;
char command;
int number_of_cams;
puts("Проверка камер");
presets_aiming();
printf("Нужна ли калибровка? (y//n): ");
scanf("%c", &command);
bool calibration_needed = command == 'y';
printf("Введите число камер (1//2): ");
scanf("%d", &number_of_cams);
if (number_of_cams == 1)
{
if (calibration_needed)
{
//Проводим калибровку и записываем результаты в файл
int board_width, board_height;
puts("Введите размеры шахматной доски (число углов)");
printf("Ширина: "); scanf("%d", &board_width);
printf("Высота: "); scanf("%d", &board_height);
Size board_sz(board_width, board_height);
cp = camera_calibration(board_sz);
write_camera_calibration_to_file(cp);
}
else
{ //Читаем калибровку из файла
read_camera_calibration_from_file(cp);
}
//Алгоритм оптического потока
//Делаем фото с камер
VideoCapture cap(0);
Mat img0, img1;
single_camera_aiming(cap);
cap.read(img0);
printf("Передвиньте камеру и нажмите любую клавишу");
single_camera_aiming(cap);
cap.read(img1);
//Находим оптический поток и строим облако точек
Mat point_cloud = single_sfm(img0, img1, cp.CM, cp.D);
//Сохраняем результаты в файл
save_3d_to_file("[1]point_cloud.obj", point_cloud, "w");
}
else if (number_of_cams == 2)
{
if (calibration_needed)
{
//Проводим калибровку и записываем результаты в файл
int board_width, board_height;
puts("Введите размеры шахматной доски (число углов)");
printf("Ширина: "); scanf("%d", &board_width);
printf("Высота: "); scanf("%d", &board_height);
Size board_sz(board_width, board_height);
of_matr = stereo_calibration(board_sz);
write_stereo_calibration_to_file(of_matr);
}
else
{ //Читаем калибровку из файла
read_stereo_calibration_from_file(of_matr);
}
//Алгоритм оптического потока
//Делаем фото с камер
VideoCapture cap0(0);
VideoCapture cap1(1);
Mat img0, img1;
aiming(cap0, cap1);
cap0.read(img0);
cap1.read(img1);
//Находим оптический поток и строим облако точек
Mat point_cloud = stereo_sfm(img0, img1, of_matr);
//Сохраняем результаты в файл
save_3d_to_file("[2]point_cloud.obj", point_cloud, "w");
}
return 0;
}
void TestStelSphericalGeometry::testOctahedronPolygon()
{
QVERIFY(OctahedronPolygon::triangleContains2D(Vec3d(0,0,0), Vec3d(1,0,0), Vec3d(1,1,0), Vec3d(0.8,0.1,0)));
QVERIFY(OctahedronPolygon::triangleContains2D(Vec3d(0,0,0), Vec3d(1,0,0), Vec3d(1,1,0), Vec3d(1,0.1,0)));
QVERIFY(OctahedronPolygon::triangleContains2D(Vec3d(0,0,0), Vec3d(1,0,0), Vec3d(1,1,0), Vec3d(0.5,0.,0)));
// Check points outside triangle
QVERIFY(!OctahedronPolygon::triangleContains2D(Vec3d(0,0,0), Vec3d(1,0,0), Vec3d(1,1,0), Vec3d(0.,0.1,0)));
QVERIFY(!OctahedronPolygon::triangleContains2D(Vec3d(0,0,0), Vec3d(1,0,0), Vec3d(1,1,0), Vec3d(-1.,-1.,0)));
// Check that the corners are included into the triangle
QVERIFY(OctahedronPolygon::triangleContains2D(Vec3d(0,0,0), Vec3d(1,0,0), Vec3d(1,1,0), Vec3d(0,0,0)));
QVERIFY(OctahedronPolygon::triangleContains2D(Vec3d(0,0,0), Vec3d(1,0,0), Vec3d(1,1,0), Vec3d(1,0,0)));
QVERIFY(OctahedronPolygon::triangleContains2D(Vec3d(0,0,0), Vec3d(1,0,0), Vec3d(1,1,0), Vec3d(1,1,0)));
QVERIFY(OctahedronPolygon::isTriangleConvexPositive2D(Vec3d(0,0,0), Vec3d(1,0,0), Vec3d(1,1,0)));
SubContour contour(smallSquareConvex.getConvexContour());
OctahedronPolygon splittedSub(contour);
QCOMPARE(splittedSub.getArea(), smallSquareConvex.getArea());
//QVector<Vec3d> va = northPoleSquare.getOutlineVertexArray().vertex;
//QCOMPARE(va.size(),16);
//va = southPoleSquare.getOutlineVertexArray().vertex;
//QCOMPARE(va.size(),16);
// Copy
OctahedronPolygon splittedSubCopy;
splittedSubCopy = splittedSub;
QCOMPARE(splittedSub.getArea(), splittedSubCopy.getArea());
double oldArea = splittedSubCopy.getArea();
splittedSub = OctahedronPolygon();
QCOMPARE(splittedSub.getArea(), 0.);
QCOMPARE(splittedSubCopy.getArea(), oldArea);
splittedSubCopy.inPlaceIntersection(splittedSub);
QCOMPARE(splittedSubCopy.getArea(), 0.);
QCOMPARE(southPoleSquare.getArea(), northPoleSquare.getArea());
QCOMPARE(southPoleSquare.getIntersection(northPoleSquare)->getArea(), 0.);
QCOMPARE(southPoleSquare.getUnion(northPoleSquare)->getArea(), 2.*southPoleSquare.getArea());
QCOMPARE(southPoleSquare.getSubtraction(northPoleSquare)->getArea(), southPoleSquare.getArea());
QCOMPARE(northPoleSquare.getIntersection(northPoleSquare)->getArea(), northPoleSquare.getArea());
QCOMPARE(northPoleSquare.getUnion(northPoleSquare)->getArea(), northPoleSquare.getArea());
QCOMPARE(northPoleSquare.getSubtraction(northPoleSquare)->getArea(), 0.);
// Test binary IO
QByteArray ar;
QBuffer buf(&ar);
buf.open(QIODevice::WriteOnly);
QDataStream out(&buf);
out << northPoleSquare.getOctahedronPolygon();
buf.close();
QVERIFY(!ar.isEmpty());
// Re-read it
OctahedronPolygon northPoleSquareRead;
buf.open(QIODevice::ReadOnly);
QDataStream in(&buf);
in >> northPoleSquareRead;
buf.close();
QVERIFY(!northPoleSquareRead.isEmpty());
QCOMPARE(northPoleSquareRead.getArea(), northPoleSquare.getArea());
QVERIFY(northPoleSquareRead.intersects(northPoleSquare.getOctahedronPolygon()));
// Spherical cap with aperture > 90 deg
SphericalCap cap1(Vec3d(0,0,1), std::cos(95.*M_PI/180.));
qDebug() << "---------------------";
OctahedronPolygon northCapPoly = cap1.getOctahedronPolygon();
qDebug() << "---------------------";
qDebug() << northCapPoly.getArea() << OctahedronPolygon::getAllSkyOctahedronPolygon().getArea()/2;
QVERIFY(northCapPoly.getArea()>OctahedronPolygon::getAllSkyOctahedronPolygon().getArea()/2);
}
