#include?“mainwindow.h“
#include?

#include?
#include?
#include?
#include?
#include?
#include?
#include?

#include?
#include?
#include?
#include?
#include?

void?computePose（std::vector?&point?const?std::vector?&dot?const?vpCameraParameters?&cam?bool?init
?????????????????vpHomogeneousMatrix?&cMo）
{
????vpPose?pose;
????double?x?=?0?y?=?0;
????for?（unsigned?int?i?=?0;?i?????????vpPixelMeterConversion::convertPoint（cam?dot[i].getCog（）?x?y）;
????????point[i].set_x（x）;
????????point[i].set_y（y）;
????????pose.addPoint（point[i]）;
????}

????if?（init?==?true）?{
????????vpHomogeneousMatrix?cMo_dem;
????????vpHomogeneousMatrix?cMo_lag;
????????pose.computePose（vpPose::DEMENTHON?cMo_dem）;
????????pose.computePose（vpPose::LAGRANGE?cMo_lag）;
????????double?residual_dem?=?pose.computeResidual（cMo_dem）;
????????double?residual_lag?=?pose.computeResidual（cMo_lag）;
????????if?（residual_dem?????????????cMo?=?cMo_dem;
????????else
????????????cMo?=?cMo_lag;
????}
????pose.computePose（vpPose::VIRTUAL_VS?cMo）;
}

int?main（int?argc?char?*argv[]）
{
????QApplication?a（argc?argv）;
????MainWindow?w;
????//w.show（）;
????//======================================================
????unsigned?int?opt_camera?=?0;
????std::string?opt_device（“USB“）;

????vpPylonFactory?&factory?=?vpPylonFactory::instance（）;
????vpPylonGrabber?*g;
????g?=?factory.createPylonGrabber（vpPylonFactory::BASLER_USB）;


????vpImage?I;
????vpImageIo::read（I?“square.pgm“）;

????g->open（I）;
????try?{
????????g->setCameraIndex（opt_camera）;

#if?defined（VISP_HAVE_X110）
????????vpDisplayX?d（I）;
#elif?defined（VISP_HAVE_GDI）
????????vpDisplayGDI?d（I）;
#elif?defined（VISP_HAVE_OPENCV）
????????vpDisplayOpenCV?d（I）;
#endif

????????vpCameraParameters?cam（840?840?I.getWidth（）?/?2?I.getHeight（）?/?2）;

????????std::vector?dot（4）;
????????dot[0].initTracking（I?vpImagePoint（193?157））;
????????dot[1].initTracking（I?vpImagePoint（203?366））;
????????dot[2].initTracking（I?vpImagePoint（313?402））;
????????dot[3].initTracking（I?vpImagePoint（304?133））;
????????std::vector?point;
????????point.push_back（vpPoint（-0.06?-0.06?0））;
????????point.push_back（vpPoint（0.06?-0.06?0））;
????????point.push_back（vpPoint（0.06?0.06?0））;
????????point.push_back（vpPoint（-0.06?0.06?0））;
????????vpHomogeneousMatrix?cMo;
????????bool?init?=?true;

????????while?（1）
????????{
????????????std::cout?<????????????g->acquire（I）;
????????????std::cout?<????????????vpDisplay::display（I）;

????????????if?（vpDisplay::getClick（I?false））
??????????????break;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件?????307215??2018-04-04?23:31??ViSPdemo\bar-code.pgm

?????文件????????992??2018-04-04?23:35??ViSPdemo\CMakeLists.txt

?????文件???????3669??2018-04-05?23:23??ViSPdemo\main.cpp

?????文件????????219??2018-04-04?23:41??ViSPdemo\mainwindow.cpp

?????文件????????291??2018-04-04?23:41??ViSPdemo\mainwindow.h

?????文件????????630??2018-04-04?23:41??ViSPdemo\mainwindow.ui

?????文件?????307215??2018-04-04?23:31??ViSPdemo\square.pgm

?????文件???????1883??2018-04-06?00:32??ViSPdemo\ViSPdemo.pro

????..AD...?????????0??2018-04-06?00:32??ViSPdemo

-----------?---------??----------?-----??----

???????????????622114????????????????????9