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雙目規則物體測量.rar

代碼片段和文件信息
#define?_CRT_SECURE_NO_WARNINGS
#include???
#include?
#include???
#include???
#include?
#include?
#include?
#include?
using?namespace?cv;
using?namespace?std;
//int?num?=?50?size?=?3;
//從TXT中讀取參數至mat
bool?read_file_to_matrix(string?fileName?Mat&?matrix)
{
ifstream?file(fileName.c_str());
if?(!file)
{
cerr?<“error?unable?to?open?input?file:?“?< return?-1;//read?failed
}
for?(int?i?=?0;?i for?(int?j?=?0;?j file?>>?matrix.at(i?j);
}
return?0;
}
Size?imagesize?=?Size(320?240);
void?init(Mat&?Q?Mat?rmap[2][2])
{
Mat?ML(3?3?CV_64F)?DL(1?5?CV_64F);
Mat?MR(3?3?CV_64F)?DR(1?5?CV_64F);
Mat?R(3?3?CV_64F)?T(3?1?CV_64F)?E(3?3?CV_64F)?F(3?3?CV_64F);
read_file_to_matrix(“ML.txt“?ML);
read_file_to_matrix(“DL.txt“?DL);
read_file_to_matrix(“MR.txt“?MR);
read_file_to_matrix(“DR.txt“?DR);
read_file_to_matrix(“R.txt“?R);
read_file_to_matrix(“T.txt“?T);
//Bouguet校正
Mat?R1?R2?P1?P2;
Rect?roi1?roi2;
//?雙目校正,計算R1?R2?P1?P2?roi1?roi2
stereoRectify(ML?DL?MR?DR?imagesize?R?T?R1?R2?P1?P2?Q
CALIB_ZERO_DISPARITY?0?imagesize?&roi1?&roi2);
//計算映射表
initUndistortRectifyMap(ML?DL?R1?P1?imagesize?CV_16SC2?rmap[0][0]?rmap[0][1]);
initUndistortRectifyMap(MR?DR?R2?P2?imagesize?CV_16SC2?rmap[1][0]?rmap[1][1]);
}
void?oncontrol(int?void*)
{
}
Point?cal_intersection(Vec2f?line1?Vec2f?line2)
{
Point?point(0?0);
float?r1(line1[0])?the1(line1[1])?r2(line2[0])?the2(line2[1]);
point.x?=?r1?*?sin(the2)?-?r2?*?sin(the1);
point.x?=?point.x?/?sin(the2?-?the1);
point.y?=?r1?*?cos(the2)?-?r2?*?cos(the1);
point.y?=?point.y?/?sin(the1?-?the2);
return?point;
}
vector?tmeasure(Point?pointlPoint?pointrMat?Q?vector&?points)
{
double?disparity?=?pointl.x?-?pointr.x;
double?baseline?=?1.0/Q.ptr(3)[2];
double?focal?=?Q.ptr(2)[3];
//cout?<seline<<““?< double?Z?=?baseline*focal?/?disparity;
double?X?=?Z*pointr.x?/?focal;
double?Y?=?Z*pointr.y?/?focal;
cout?< points.push_back(X);
points.push_back(Y);
points.push_back(Z);
return?points;
}
double?cal_distance(vector&?wp1?vector&?wp2)
{
double?dis?=?0;
for?(int?i?=?0;?i<3;?i++)
dis?+=?pow(wp1[i]?-?wp2[i]?2);
dis?=?sqrt(dis);
return?dis;
}
int?main()
{
Mat?Q?rmap[2][2];
init(Q?rmap);?
//int?low?=?50high=100;
int?thre?=?80;
/*char?trackbarname[50];
namedWindow(“bars“WINDOW_AUTOSIZE);
sprintf(trackbarname?“thre“?thre);
createTrackbar(“thre“?“bars“?&thre?255?oncontrol);*/
/*sprintf(trackbarname?“high“?high);
createTrackbar(“low“?“bars“?&high?255?oncontrol);*/
Mat?l?=?imread(
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????157696??2017-03-24?20:48??規則物體測量\Debug\規則物體測量.exe
?????文件?????851396??2017-03-24?20:48??規則物體測量\Debug\規則物體測量.ilk
?????文件????3321856??2017-03-24?20:48??規則物體測量\Debug\規則物體測量.pdb
?????文件?????114176??2017-04-01?21:55??規則物體測量\Debug\規則物體測量Srv.exe
?????文件??????41472??2017-03-16?09:53??規則物體測量\Release\規則物體測量.exe
?????文件????1323008??2017-03-16?09:53??規則物體測量\Release\規則物體測量.pdb
?????文件?????550841??2017-03-24?20:48??規則物體測量\規則物體測量\Debug\materialmeasure.obj
?????文件?????658432??2017-03-24?20:48??規則物體測量\規則物體測量\Debug\vc120.idb
?????文件????1355776??2017-03-24?20:48??規則物體測量\規則物體測量\Debug\vc120.pdb
?????文件???????2877??2017-03-24?20:48??規則物體測量\規則物體測量\Debug\規則物體測量.log
?????文件????????506??2017-03-24?20:48??規則物體測量\規則物體測量\Debug\規則物體測量.tlog\cl.command.1.tlog
?????文件??????13064??2017-03-24?20:48??規則物體測量\規則物體測量\Debug\規則物體測量.tlog\CL.read.1.tlog
?????文件????????304??2017-03-24?20:48??規則物體測量\規則物體測量\Debug\規則物體測量.tlog\CL.write.1.tlog
?????文件???????2600??2017-03-24?20:48??規則物體測量\規則物體測量\Debug\規則物體測量.tlog\li
?????文件???????7142??2017-03-24?20:48??規則物體測量\規則物體測量\Debug\規則物體測量.tlog\li
?????文件????????260??2017-03-24?20:48??規則物體測量\規則物體測量\Debug\規則物體測量.tlog\li
?????文件????????155??2017-03-24?20:48??規則物體測量\規則物體測量\Debug\規則物體測量.tlog\規則物體測量.lastbuildstate
?????文件?????????54??2017-03-13?19:58??規則物體測量\規則物體測量\DL.txt
?????文件?????????52??2017-03-13?19:58??規則物體測量\規則物體測量\DR.txt
?????文件?????????88??2017-03-13?19:58??規則物體測量\規則物體測量\E.txt
?????文件?????????98??2017-03-13?19:58??規則物體測量\規則物體測量\F.txt
?????文件??????13459??2017-03-13?19:54??規則物體測量\規則物體測量\ll2.jpg
?????文件??????13487??2017-03-13?19:54??規則物體測量\規則物體測量\ll3.jpg
?????文件??????13338??2017-03-13?19:54??規則物體測量\規則物體測量\ll4.jpg
?????文件???????8369??2017-04-01?21:58??規則物體測量\規則物體測量\materialmeasure.cpp
?????文件?????????44??2017-03-13?19:58??規則物體測量\規則物體測量\ML.txt
?????文件?????????44??2017-03-13?19:58??規則物體測量\規則物體測量\MR.txt
?????文件?????????69??2017-03-13?19:58??規則物體測量\規則物體測量\Q.txt
?????文件????????100??2017-03-13?19:58??規則物體測量\規則物體測量\R.txt
?????文件????2125019??2017-03-16?09:53??規則物體測量\規則物體測量\Release\materialmeasure.obj
............此處省略30個文件信息
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