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the?Software.
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#include?“AngleSolver.hpp“
#include?“opencv2/opencv.hpp“

using?namespace?cv;
using?namespace?std;

void?RectPnPSolver::solvePnP4Points（const?std::vector?&?points2d?cv::Mat?&?rot?cv::Mat?&?trans）{
????if（width_target?????????rot?=?cv::Mat::eye（33CV_64FC1）;
????????trans?=?cv::Mat::zeros（31CV_64FC1）;
????????return;
????}
????std::vector?point3d;
????double?half_x?=?width_target?/?2.0;
????double?half_y?=?height_target?/?2.0;

????point3d.push_back（Point3f（-half_x?-half_y?0））;
????point3d.push_back（Point3f（half_x?-half_y?0））;
????point3d.push_back（Point3f（half_x?half_y?0））;
????point3d.push_back（Point3f（-half_x?half_y?0））;

????cv::Mat?r;
????cv::solvePnP（point3d?points2d?cam_matrix?distortion_coeff?r?trans）;
????Rodrigues（r?rot）;
}



void?AngleSolver::setRelationPoseCameraPTZ（const?cv::Mat?&?rot_camera_ptz?const?cv::Mat?&?trans_camera_ptz?double?y_offset_barrel_ptz）?{
????rot_camera_ptz.copyTo（rot_camera2ptz）;
????trans_camera_ptz.copyTo（trans_camera2ptz）;
????offset_y_barrel_ptz?=?y_offset_barrel_ptz;
}


bool?AngleSolver::getAngle（const?cv::RotatedRect?&?rect?double?&?angle_x?double?&?angle_y?double?bullet_speed?double?current_ptz_angle?const?cv::Point2f?&?offset）{
????if?（rect.size.height?????????return?false;

????//?get?3D?positon?in?camera?coordinate
//????double?wh_ratio?=?width_target/height_target;
//????RotatedRect?adj_rect（rect.center?Size2f（rect.size.width?rect.size.width/wh_ratio）?rect.angle）;
//????vector?target2d;
//????getTarget2dPoinstion（adj_rect?target2d?offset）;

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

?????文件????????122??2017-04-21?14:22??第一賽季3組算法技術文檔\README.txt

?????文件???????2480??2017-04-21?13:30??第一賽季3組算法技術文檔\RMVision.pro

?????文件???????7738??2017-04-20?17:53??第一賽季3組算法技術文檔\算法代碼\AngleSolver.cpp

?????文件???????5877??2017-04-20?17:54??第一賽季3組算法技術文檔\算法代碼\AngleSolver.hpp

?????文件??????39780??2017-04-20?17:55??第一賽季3組算法技術文檔\算法代碼\ArmorDetector.cpp

?????文件???????8291??2017-04-20?17:55??第一賽季3組算法技術文檔\算法代碼\ArmorDetector.hpp

?????文件??????60311??2016-09-24?16:55??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-2-100-imagelist.xml

?????文件??????91981??2016-10-13?11:23??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-MH-100-imagelist-640.xml

?????文件??????60314??2016-09-25?12:08??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-MH-100-imagelist.xml

?????文件??????60307??2016-10-08?14:33??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-01-640.xml

?????文件??????60297??2016-09-26?21:22??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-01.xml

?????文件??????91967??2016-10-08?16:10??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-02-640.xml

?????文件??????60309??2016-09-26?21:32??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-02.xml

?????文件??????91968??2016-10-08?15:39??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-03-640.xml

?????文件??????82940??2016-09-26?21:52??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-03.xml

?????文件??????91980??2016-10-08?15:20??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-04-640.xml

?????文件??????60309??2016-09-26?21:46??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-04.xml

?????文件??????91992??2016-10-08?19:27??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-05-640.xml

?????文件??????42213??2016-09-26?21:52??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-05.xml

?????文件??????91979??2016-10-18?19:59??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-06-640.xml

?????文件??????73882??2016-10-18?20:09??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-06.xml

?????文件??????91988??2016-10-18?19:44??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-07-640.xml

?????文件??????69358??2016-10-18?20:55??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-07.xml

?????文件??????91985??2016-10-18?19:52??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-08-640.xml

?????文件??????78407??2016-10-18?20:25??第一賽季3組算法技術文檔\算法代碼\calibration-param\camera-RM3-08.xml

?????文件???????2361??2000-01-01?10:17??第一賽季3組算法技術文檔\算法代碼\calibration-param\param_config.xml

?????文件??????19358??2017-04-20?17:55??第一賽季3組算法技術文檔\算法代碼\cmdline.h

?????文件??????18242??2017-04-20?17:55??第一賽季3組算法技術文檔\算法代碼\ImageConsProd.cpp

?????文件???????1803??2017-04-20?17:55??第一賽季3組算法技術文檔\算法代碼\ImageConsProd.hpp

?????文件???????2034??2017-04-20?17:55??第一賽季3組算法技術文檔\算法代碼\LedController.hpp

............此處省略27個文件信息