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;
}
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);
}
}
