void CLabHorizScale::drawScale(CDC *pDC)
{
int tickLength;
CRgn rgn;
CRect rect = bounds();
rgn.CreateRectRgn(rect.left, rect.top, rect.right, rect.bottom);
pDC->SelectClipRgn(&rgn);
for(double x=getTickMin(); x<=maximum(); x=x+tickIncrement())
{
double temp = x/(majorTickFrequency()*tickIncrement());
if(temp == ceil(temp))
tickLength = 7;
else
tickLength = 3;
pDC->MoveTo(translateCoordinate(x), rect.top);
pDC->LineTo(translateCoordinate(x), rect.top + tickLength);
temp = x/(tickMarkFrequency() * tickIncrement());
if(temp == ceil(temp))
{
CString tickMarkStr;
tickMarkStr.Format("%.*f", precision(), x);
pDC->TextOut(translateCoordinate(x) - _parent->getCharWidth() * tickMarkStr.GetLength()/2,
rect.top + 7 /* _parent->getCharHeight()*/,
tickMarkStr);
}
}
}
void StereoReconstructor::RestructPointCloud(bool objSpace, bool undistort, std::string pcfilename) {
//载入2个虚拟摄像机
VirtualCamera vc1;
VirtualCamera vc2;
//载入内参
vc1.loadCameraMatrix("reconstruct\\LeftMatrix.txt");
vc1.loadDistortion("reconstruct\\LeftDistortion.txt");
vc1.rotationMatrix = cv::Mat::eye(3, 3, CV_32FC1);
vc1.translationVector = cv::Mat::zeros(3, 1, CV_32FC1);
vc2.loadCameraMatrix("reconstruct\\RightMatrix.txt");
vc2.loadDistortion("reconstruct\\RightDistortion.txt");
vc2.loadRotationMatrix("reconstruct\\R.txt");
vc2.loadTranslationVector("reconstruct\\T.txt");
vc1.loadKeyPoints("left.txt"); //载入角点
vc2.loadKeyPoints("right.txt");
//重建3d点
std::vector<RestructPoint> ret;
ret = triangulation(vc1, vc2, undistort); //true进行畸变矫正,false表示不进行
//保存结果
std::vector<StereoReconstructor::RestructPoint> ans;
for (size_t i = 0; i != ret.size(); ++i)
ans.push_back(StereoReconstructor::RestructPoint(ret[i].point, ret[i].distance));
plyFileGenerate(ans,
pcfilename, //ply文件
"_calPointsDis.txt", //3d点+相交距离
"_calPoints.txt"); //3d点
//转换到物体坐标系
if (objSpace) {
translateCoordinate(
"Coordinate.txt", //棋盘格坐标系
"_calPoints.txt", //要转换的3D点
"Points_obj.txt"); //在棋盘格坐标系下的坐标calPoints_ObjSpace.txt
//生成物体坐标系下的ply文件
std::vector<cv::Point3f> pointcloud = Utilities::load3dPoints("Points_obj.txt");
Utilities::savePly(pointcloud, "PointsObj.ply");
}
}
void StereoReconstructor::RestructCalibrationPointsFromImage(std::string leftFilename, std::string rightFilename, int x, int y, int squareLength) {
//计算角点
bool f1, f2;
CameraCalibration::findCorners(leftFilename, f1, x, y);
CameraCalibration::findCorners(rightFilename, f2, x, y);
if (!f1 || !f2) {
std::cout << "角点没找到" << std::endl;
return;
}
//载入2个虚拟摄像机
VirtualCamera vc1;
VirtualCamera vc2;
//载入内参
vc1.loadCameraMatrix("reconstruct\\LeftMatrix.txt");
vc1.loadDistortion("reconstruct\\LeftDistortion.txt");
vc1.rotationMatrix = cv::Mat::eye(3, 3, CV_32FC1);
vc1.translationVector = cv::Mat::zeros(3, 1, CV_32FC1);
vc2.loadCameraMatrix("reconstruct\\RightMatrix.txt");
vc2.loadDistortion("reconstruct\\RightDistortion.txt");
vc2.loadRotationMatrix("reconstruct\\R.txt");
vc2.loadTranslationVector("reconstruct\\T.txt");
//载入角点
vc1.loadKeyPoints(leftFilename + "_imgCorners.txt");
vc2.loadKeyPoints(rightFilename + "_imgCorners.txt");
//重建3d点
std::vector<RestructPoint> ret;
ret = triangulation(vc1, vc2, true); //进行畸变矫正,false表示不进行
//保存结果
//生成点云文件
plyFileGenerate(ret,
leftFilename + ".ply", //ply文件
"_calPointsDis.txt", //3d点+相交距离
"_calPoints.txt"); //3d点
//评估长度误差
resultEvaluate(ret,
"_calLineLength.txt", //157条线段的误差calLineLength.txt
"_calLineLengthDist.txt", //线段的长度的概率分布
x, y, squareLength);
//计算棋盘格坐标系
computeCoordinate(
"_calPoints.txt", //读取棋盘格坐标
"_coordinate.txt", //计算坐标系，保存到Coordinate.txt
x, y); //水平方向和垂直方向的角点个数
//转换到棋盘格坐标系
translateCoordinate(
"_coordinate.txt", //棋盘格坐标系
"_calPoints.txt", //要转换的3D点
"_calPoints_ObjSpace.txt"); //在棋盘格坐标系下的坐标calPoints_ObjSpace.txt
//生成物体坐标系下的ply文件
std::vector<cv::Point3f> pointcloud = Utilities::load3dPoints("_calPoints_ObjSpace.txt");
Utilities::savePly(pointcloud, "ObjSpace" + leftFilename + ".ply");
//生成棋盘格物体空间坐标，并载入
Utilities::generateObjCorners("_chessbordCorner.txt", x, y, squareLength);
std::vector<cv::Point3f> ideaPts = Utilities::load3dPoints("_chessbordCorner.txt");
std::vector<cv::Point3f> realPts = Utilities::load3dPoints("_calPoints_ObjSpace.txt");
//计算到角点的绝对距离，并保存
std::ofstream absDis("_absCornerDistance.txt");
for (int i = 0; i < ideaPts.size(); i++) {
cv::Point3f idea = ideaPts[i];
cv::Point3f real = realPts[i];
float dis = cv::norm((idea - real));
absDis << dis << std::endl;
}
absDis.close();
}
