opencv 标定 3D项目 四

//记录一下这两天的实验

// ZouStrereo.cpp : Defines the entry point for the console application.
//

#include "stdafx.h"
#include "ZouStrereo.h"


#include "opencv2/contrib/contrib.hpp"
#include "opencv2/objdetect/objdetect.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <opencv2\opencv.hpp>
#include <iostream>
#include <string>

#include "CameraDS.h"
#include "Stereo.h"
#include "CvvImage.h"
//#include "MainWindow.h"

using namespace cv;


#ifdef _DEBUG
#define new DEBUG_NEW
#endif


// The one and only application object

CWinApp theApp;

using namespace std;


int  Calibrate( int xC, int yC,double RectMM,int GroupImg)
{

	printf("标定开始\n\n");
	CStereo Stereo;

	int iXPtCount;
	int iYPtCount;
	float fSquareSize;

	FILE* file;
	file = fopen("初始化文件.txt","r");
	int temp=0;
	if(file!=NULL)
	{
		fscanf(file,"%d\n",&iXPtCount);
		
		fscanf(file,"%d\n",&iYPtCount);
		
		fscanf(file,"%d\n",&temp);
		fscanf(file,"%f\n",&fSquareSize);
		Stereo.SetPtCount(iXPtCount,iYPtCount);
		Stereo.SetSquareSize(fSquareSize);
		fclose(file);
	}else
	{

		iXPtCount = xC;
		iYPtCount = yC;
		temp = 0;
		fSquareSize = RectMM;
		Stereo.SetPtCount(iXPtCount,iYPtCount);
		Stereo.SetSquareSize(fSquareSize);

	}



	//int found = 0;
	//BOOL bInit = FALSE;
	IplImage* iplDst1 = NULL;
	IplImage* iplDst2 = NULL;
	CvSize imgSize;
	//CvvImage img1;
	//CvvImage img2;
	//HDC hDC = ::GetDC(hWnd);
	//CRect rect1;
	//CRect rect2;
	//::GetClientRect(hWnd,&rect1);
	//rect1.right = rect1.right/2;
	//::GetClientRect(hWnd,&rect2);
	//rect2.left = rect2.right/2;


	char* names_L[] = { "./L/LCameraCapture_1.jpg", "./L/LCameraCapture_2.jpg", "./L/LCameraCapture_3.jpg",
		"./L/LCameraCapture_4.jpg", "./L/LCameraCapture_5.jpg", "./L/LCameraCapture_6.jpg"};
	char* names_R[] = { "./R/RCameraCapture_1.jpg", "./R/RCameraCapture_2.jpg", "./R/RCameraCapture_3.jpg",
		"./R/RCameraCapture_4.jpg", "./R/RCameraCapture_5.jpg", "./R/RCameraCapture_6.jpg"};

	//CvSize ImageSize={640,480};
	//CvSize  CornerSize={5,7};         //棋盘角点的大小
	//int nbLines=CornerSize.height;             //行
	//int nbClos=CornerSize.width;				//列
	//int nbPoints=nbLines*nbClos;			//角点数量
	//int CornersFound;		//找到的角点数
	cvNamedWindow("L");
	cvNamedWindow("R");

	int PicNum = 6;
	for (int i=0;i<PicNum;i++)
	{
		//img=cvLoadImage(names_L[i]);
		//img1=cvCloneImage(img);

		printf("start--->image [%d]\n",i);
		Stereo.LoadImage(names_L[i],names_R[i]);

		if(Stereo.GetImageSize(imgSize))
		{
			iplDst1 = cvCreateImage(imgSize,8,3);
			iplDst2 = cvCreateImage(imgSize,8,3);
			//bInit = TRUE;
		}
		if(Stereo.FindChessboardCorners(iplDst1, iplDst2))
		{
			//img1.CopyOf(iplDst1);
			//img2.CopyOf(iplDst2);
			cvShowImage("L", iplDst1);
			cvShowImage("R", iplDst2);
			
			cvWaitKey(1000);
			
		}
		printf("end--->image [%d]\n \n",i);
		
	}
	if(Stereo.GetFound()==0)
		return -1;
	Stereo.StereoCalibrate( );
	Stereo.UndistortRectifyMap( temp );
	Stereo.StereoBMState( );
	Stereo.CalDistance( );
	Stereo.CalAccuracy();
	Stereo.Save( );
	cvReleaseImage(&iplDst1);
	cvReleaseImage(&iplDst2);
	cvDestroyAllWindows();

	printf("标定结束\n");


	return 0;
}

int  CalDistance()
{


	int cam_count;
	cam_count = CCameraDS::CameraCount();//获取摄像头数目
	printf("There are %d cameras.\n", cam_count);//输出摄像头数目


	for(int i=0; i < cam_count; i++)            //获取所有摄像头名称并显示出来
	{
		char camera_name[1024];//声明1024个字符空间，1024字节
		int retval= CCameraDS::CameraName(i,camera_name,sizeof(camera_name) );
		//根据摄像头编号返回摄像头名字
		if(retval >0)
			printf("Camera #%d's Name is '%s'.\n", i, camera_name);
		else
			printf("Can not get Camera #%d's name.\n", i);
	}
	if(cam_count==0)//如果没有摄像头，返回-1
		return -1;


	CCameraDS camera0;//产生对象，打开第一个摄像头
	CCameraDS camera1;//产生对象，打开第二个摄像头
	//if(! camera.OpenCamera(0, true)) 
	//打开摄像头，指定摄像头0开始，参数2指示是否自动弹出摄像头属性页。
	if(! camera0.OpenCamera(0,false,640, 480 )) //false不弹出属性窗，用代码制定宽和高
	{
		fprintf(stderr, "Can not open camera 0.\n");//不成功，if(!0)，执行代码
		return -1;
	}
	if(! camera1.OpenCamera(1,false,640, 480 )) 
	{
		fprintf(stderr, "Can not open camera 1.\n");//不成功，if(!0)，执行代码
		return -1;
	}


	cvNamedWindow("camera1-Left");//创建窗口1
	cvNamedWindow("camera2-Right");//创建窗口2

	CStereo Stereo;
	Stereo.Load( );
	CvSize imgSize;
	BOOL bInit = FALSE;
	IplImage* temp1 = NULL;
	IplImage* temp2 = NULL;
	IplImage* iplDst1 = NULL;
	IplImage* iplDst2 = NULL;
	//BOOL bInit = FALSE;

	while(1)
	{
		//获取一帧
		temp1 = camera0.QueryFrame();
		//cvWaitKey(1000);
		temp2 = camera1.QueryFrame();

		Stereo.LoadImage(temp1,temp2);

		if(!bInit)
		{
			Stereo.GetImageSize(imgSize);
			iplDst1 = cvCreateImage(imgSize,8,3);
			iplDst2 = cvCreateImage(imgSize,8,3);
			bInit =TRUE;
		}

		Stereo.StereoBMState(iplDst1,iplDst2 );
		//img1.CopyOf(iplDst1);
		//img2.CopyOf(iplDst2);
		//img1.DrawToHDC(hDC,Rect1);
		//img2.DrawToHDC(hDC,Rect2);
		Stereo.CalDistance( );

		//显示
		cvShowImage("camera2-Right", iplDst1);
		cvShowImage("camera1-Left", iplDst2);
		if (cvWaitKey(30) == 'q')//输入按键为q，break
			break;
	}


	camera0.CloseCamera();//可不调用此函数，CCameraDS析构时会自动关闭摄像头
	camera1.CloseCamera();//可不调用此函数，CCameraDS析构时会自动关闭摄像头
	//cvDestroyWindow("camera1");
	//cvDestroyWindow("camera2");
	cvDestroyAllWindows();
	return 0;
}


int _tmain(int argc, TCHAR* argv[], TCHAR* envp[])
{
	int nRetCode = 0;

	// initialize MFC and print and error on failure
	if (!AfxWinInit(::GetModuleHandle(NULL), NULL, ::GetCommandLine(), 0))
	{
		// TODO: change error code to suit your needs
		_tprintf(_T("Fatal Error: MFC initialization failed\n"));
		nRetCode = 1;
	}
	else
	{
		// TODO: code your application's behavior here.

///////////////////////////////////////////////////////////////////////////////////
		int xchoose = 0;
		switch(xchoose)
		{

		case 0:
			{
				 Calibrate( 5,7,40.0,6);

			}
			break;
		case 1:
			{

				int cam_count;
				cam_count = CCameraDS::CameraCount();//获取摄像头数目
				printf("There are %d cameras.\n", cam_count);//输出摄像头数目


				for(int i=0; i < cam_count; i++)            //获取所有摄像头名称并显示出来
				{
					char camera_name[1024];//声明1024个字符空间，1024字节
					int retval= CCameraDS::CameraName(i,camera_name,sizeof(camera_name) );
					//根据摄像头编号返回摄像头名字
					if(retval >0)
						printf("Camera #%d's Name is '%s'.\n", i, camera_name);
					else
						printf("Can not get Camera #%d's name.\n", i);
				}
				if(cam_count==0)//如果没有摄像头，返回-1
					return -1;


				CCameraDS camera0;//产生对象，打开第一个摄像头
				CCameraDS camera1;//产生对象，打开第二个摄像头
				//if(! camera.OpenCamera(0, true)) 
				//打开摄像头，指定摄像头0开始，参数2指示是否自动弹出摄像头属性页。
				if(! camera0.OpenCamera(0,false,640, 480 )) //false不弹出属性窗，用代码制定宽和高
				{
					fprintf(stderr, "Can not open camera 0.\n");//不成功，if(!0)，执行代码
					return -1;
				}
				if(! camera1.OpenCamera(1,false,640, 480 )) 
				{
					fprintf(stderr, "Can not open camera 1.\n");//不成功，if(!0)，执行代码
					return -1;
				}


				cvNamedWindow("camera1-Left");//创建窗口1
				cvNamedWindow("camera2-Right");//创建窗口2
				while(1)
				{
					//获取一帧
					IplImage *pFrame0 = camera0.QueryFrame();
					//cvWaitKey(1000);
					IplImage *pFrame1 = camera1.QueryFrame();

					//显示
					cvShowImage("camera2-Right", pFrame0);
					cvShowImage("camera1-Left", pFrame1);
					if (cvWaitKey(20) == 'q')//输入按键为q，break
						break;
				}


				camera0.CloseCamera();//可不调用此函数，CCameraDS析构时会自动关闭摄像头
				camera1.CloseCamera();//可不调用此函数，CCameraDS析构时会自动关闭摄像头
				cvDestroyWindow("camera1");
				cvDestroyWindow("camera2");
				//return 0;

			}
			break;
		case 3:
			{
				 CalDistance();
				
			}
			break;
		default:
			break;
		}
		
		

	}
	system("pause");
	return nRetCode;
}