#include?“Detector.h“
#include?
#include?
#include?
#include?
#include?“finderpatternfinder.h“
Detector::Detector（）
{
????testParam?=?new?testparamset;
????initMat（）;
}

cv::Mat?Detector::testAction（cv::Mat&?src）
{
????cv::Mat?backg;
//????if（testParam->do1）{

????cv::Mat?imagePoint?=?getImagePoint（src）;


????//test?pointToWorld?here

????cv::Vec2f?worldPoint?=?calWorldPoint（imagePoint）;
???qDebug（）<<“worldPoint?is:“<
????????cv::Vec4i?rowLineAvecolLineAve;
????????std::vector?lines;

????????rowLineAve[1]=rowLineAve[3]=AveRow;
????????rowLineAve[0]=0;
????????rowLineAve[2]=src.cols-1;

????????colLineAve[0]=colLineAve[2]=AveCol;
????????colLineAve[1]=0;
????????colLineAve[3]=src.rows-1;

????????lines.clear（）;
????????lines.push_back（rowLineAve）;
????????lines.push_back（colLineAve）;
????????backg?=?drawLines（srclinescv::Scalar（00255））;
//????}
????return?backg;
}

void?Detector::initMat（）
{

????rotateMat?=?（cv::Mat_（3?3）?<???????????????????????????????????????????-0.04320.9983-0.0399
?????????????????????????????????????????????0.04030.03820.9985）;
????intricMat?=?（cv::Mat_（3?3）?<???????????????????????????????????????????05127.20
??????????????????????????????????????????1017.7841.91581）;
????transMat?=?（cv::Mat_（1?3）?<

}

cv::Mat?Detector::getImagePoint（cv::Mat?&src）
{
????cv::Mat?graySrc;
????if（src.channels（）>1）{
???????cv::cvtColor（srcgraySrcCV_BGR2GRAY）;?
????}else{
????????graySrc?=?src;
????}
????graySrc.convertTo（graySrcCV_8UC1）;

????cv::Mat?binarySrc;

????int?blockSize?=?src.rows/8;
????if（blockSize%2==0）{
????????blockSize++;
????}
????cv::adaptiveThreshold（graySrcbinarySrc255CV_ADAPTIVE_THRESH_MEAN_CCV_THRESH_BINARYblockSize10）;

?//???cv::medianBlur（binarySrc?binarySrc?5）;
????float?centerRow?=?centerRecognize（binarySrctrue）;
????float?centerCol?=?centerRecognize（binarySrcfalse）;

//????qDebug（）<<“centerRow:?“<//????qDebug（）<<“centerCol:?“<
//????int?count?=?cv::countNonZero（graySrc）;
//????qDebug（）<//????Q_ASSERT_X（centerRow?>?0?“error“?“no?remark?found“）;
//????Q_ASSERT_X（centerCol?>?0?“error“?“no?remark?found“）;

????cv::Mat?imPoint（13CV_32FC1）;
????imPoint.at（00）=?centerCol;
????imPoint.at（01）=?centerRow;
????imPoint.at（02）=?1.0;


????if（src.channels（）>1）{
????????src?=?binarySrc;
????????cv::cvtColor（srcsrcCV_GRAY2BGR）;
????}else{
????????src?=?binarySrc;
????}

????return?imPoint;
}

float?Detector::centerRecognize（cv::Mat?&src?bool?rowORcol）
{
????FinderPatternFinder?finder（src）;
????finder.find（）;

????QList?pattern?=?finder.possibleCenters;

????int?centerCount=0;
????int?bestOne=0;
????int?centerRow=0;
????int?centerCol=0;