683 lines
17 KiB
C++
683 lines
17 KiB
C++
#include "Reconstruction.h"
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Reconstruction::Reconstruction(QWidget* parent)
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: QMainWindow(parent)
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{
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ui.setupUi(this);
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calibData = new CalibrationData();
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calibrator = new Calibrator();
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dirModel = new TreeModel(this);
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t = new MyThread;
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connect(t, SIGNAL(finished()), this, SLOT(setCloud()));
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device = Device::getInstance();
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setStyle();
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}
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#pragma region Style
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void Reconstruction::setStyle()
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{
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this->setContentsMargins(0, 0, 0, 0);
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// this->setFixedSize(1240, 680);
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// ui.centralWidget->setGeometry(0, 40, 1240, 680);
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ui.centralWidget->show();
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// qss
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QFile file(":/qss/qss/flat.qss");
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file.open(QFile::ReadOnly);
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QTextStream filetext(&file);
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QString stylesheet = filetext.readAll();
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this->setStyleSheet(stylesheet);
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file.close();
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QPalette palette1;
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palette1.setColor(QPalette::Background, qRgba(62, 71, 128, 100)); //左侧
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ui.widget->setPalette(palette1);
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QPalette palette2;
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palette2.setColor(QPalette::Background, qRgba(255, 255, 255, 100)); //白色
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// palette2.setColor(QPalette::Background, qRgba(204, 213, 240, 100)); //背景
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ui.stackedWidget->setPalette(palette2);
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ui.stackedWidget->setCurrentIndex(0);
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setPicStyle();
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setButtonStyle();
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}
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void Reconstruction::setPicStyle()
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{
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ui.label_9->setPixmap(QPixmap(":/icon/image/reconstruction/loading.png"));
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if (device->getHasCamera())
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{
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auto w = ui.label_11->width();
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auto h = ui.label_11->height();
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Mat blackImg(h, w, CV_8UC1, cv::Scalar::all(0));
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QImage qimage = cvtools::cvMat2qImage(blackImg);
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QPixmap pixmap = QPixmap::fromImage(qimage);
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ui.label_11->setPixmap(pixmap.scaled(w, h, Qt::KeepAspectRatio));
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liveViewTimer = startTimer(100);
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}
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else
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{
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ui.label_11->setPixmap(QPixmap(":/icon/image/calibration/novideo.png"));
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ui.pushButton_5->setEnabled(false);
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ui.pushButton_6->setEnabled(false);
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ui.pushButton_7->setEnabled(false);
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ui.pushButton_8->setEnabled(false);
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}
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ui.label_21->setPixmap(QPixmap(":/icon/image/projection/novideo.jpg"));
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}
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void Reconstruction::setButtonStyle()
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{
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QString buttonStyle = "QPushButton{background-color:white;color: black;}"
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"QPushButton:hover{background-color:#e5ebfb; color: black;}"
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"QPushButton:pressed{background-color:rgb(204,213,240);border - style: inset; }";
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ui.pushButton->setStyleSheet(buttonStyle);
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ui.pushButton_2->setStyleSheet(buttonStyle);
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ui.pushButton_3->setStyleSheet(buttonStyle);
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// 给Button添加图标
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ui.pushButton->setIcon(QIcon(":/icon/image/common/camera.png"));
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ui.pushButton_2->setIcon(QIcon(":/icon/image/common/projection.png"));
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ui.pushButton_3->setIcon(QIcon(":/icon/image/common/3D.png"));
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// 相机标定界面
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ui.pushButton_5->setIcon(QIcon(":/icon/image/calibration/pics.png"));
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ui.pushButton_6->setIcon(QIcon(":/icon/image/calibration/camera.png"));
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ui.pushButton_7->setIcon(QIcon(":/icon/image/calibration/cal.png"));
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ui.pushButton_8->setIcon(QIcon(":/icon/image/calibration/save.png"));
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// 图案投影界面
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ui.pushButton_4->setIcon(QIcon(":/icon/image/projection/file.png"));
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// 三维重建界面
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ui.pushButton_13->setIcon(QIcon(":/icon/image/reconstruction/import.png"));
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ui.pushButton_14->setIcon(QIcon(":/icon/image/reconstruction/export.png"));
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ui.pushButton_15->setIcon(QIcon(":/icon/image/reconstruction/save2.png"));
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ui.pushButton_16->setIcon(QIcon(":/icon/image/reconstruction/color.png"));
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}
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#pragma endregion
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#pragma region 界面菜单
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void Reconstruction::on_pushButton_clicked()
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{
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ui.stackedWidget->setCurrentIndex(0);
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// imgCount = 0;
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// dirModel = new TreeModel(this);
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// dirModel->clear();
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// ui.treeView->setModel(dirModel);
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// ui.stackedWidget->setCurrentIndex(0);
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}
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void Reconstruction::on_pushButton_2_clicked()
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{
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ui.stackedWidget->setCurrentIndex(1);
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}
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void Reconstruction::on_pushButton_3_clicked()
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{
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ui.stackedWidget->setCurrentIndex(2);
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updateQVTK(cloud, color);
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if (loadingStatus)
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{
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ui.label_9->setVisible(true);
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}
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else
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{
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ui.label_9->setVisible(false);
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}
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}
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#pragma endregion
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#pragma region 多线程
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void Reconstruction::setCloud()
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{
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ui.label_9->setVisible(false);
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loadingStatus = false;
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cloud = t->getCloud();
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updateQVTK(cloud, color);
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}
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void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
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{
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boost::shared_ptr<visualization::PCLVisualizer> viewer(new visualization::PCLVisualizer("3D Viewer"));
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viewer->setBackgroundColor(0.458, 0.529, 0.844);
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viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
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if (cloud.size() != 0)
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{
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PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
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cloudPtr = cloud.makeShared();
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int x = int(color.redF() * 255);
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int y = int(color.greenF() * 255);
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int z = int(color.blueF() * 255);
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visualization::PointCloudColorHandlerCustom<PointXYZRGB> cloud_color(cloudPtr, x, y, z);// 统一处理点云颜色
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viewer->addPointCloud(cloudPtr, cloud_color, "cloud");
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viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
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}
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ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
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ui.qvtkWidget->update();
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}
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#pragma endregion
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#pragma region 系统标定-按钮
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// 添加图像
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void Reconstruction::on_pushButton_5_clicked()
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{
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QString fileName = QFileDialog::getOpenFileName(
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this, tr("open multiple image file"),
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"./", tr("Image files(*.bmp *.jpg *.pbm *.pgm *.png *.ppm *.xbm *.xpm);;All files (*.*)")); // todo 文件类型待确认
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if (fileName.isEmpty())
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{
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QMessageBox mesg;
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mesg.warning(this, "WARNING", "Failed to open picture");
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return;
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}
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else
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{
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calPath = fileName;
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}
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}
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// 相机拍摄
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void Reconstruction::on_pushButton_6_clicked()
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{
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killTimer(liveViewTimer);
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ui.pushButton_5->setEnabled(false);
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ui.pushButton_6->setEnabled(false);
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ui.pushButton_7->setEnabled(false);
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ui.pushButton_8->setEnabled(false);
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char path[100];
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sprintf(path, "calib%.2d", imgCount);
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fstools::mkDir(tr("./config/calib"), tr(path));
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device->getProjector()->displayPattern(0);
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//QTest::qSleep(500);
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for (unsigned int i = 0; i < 44; i++)
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{
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// Project pattern
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device->getProjector()->displayPattern(i);
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//QTest::qSleep(200);
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// Effectuate sleep (necessary with some camera implementations)
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QApplication::processEvents();
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// Aquire frame
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auto frame = device->getCamera()->getFrame();
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auto frameCV = cvtools::camFrame2Mat(frame);
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cvtColor(frameCV, frameCV, cv::COLOR_BGR2GRAY);
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//parameter
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std::cout << cv::format("./config/calib/calib%.2d/%.2d.bmp", imgCount, i) << std::endl;
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imwrite(cv::format("./config/calib/calib%.2d/%.2d.bmp", imgCount, i), frameCV);
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auto qimage = cvtools::cvMat2qImage(frameCV);
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auto w = ui.label_11->width();
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auto h = ui.label_11->height();
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auto pixmap = QPixmap::fromImage(qimage);
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ui.label_11->setPixmap(pixmap.scaled(w, h, Qt::KeepAspectRatio));
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}
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imgCount++;
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liveViewTimer = startTimer(100);
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//parameter
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setDirModel(tr("./config/calib"));
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ui.treeView->setModel(dirModel);
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ui.pushButton_5->setEnabled(true);
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ui.pushButton_6->setEnabled(true);
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ui.pushButton_7->setEnabled(true);
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ui.pushButton_8->setEnabled(true);
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// if (calPath.isEmpty())
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// {
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// QMessageBox mesg;
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// mesg.warning(this, "WARNING", "Haven't uploaded calibration pictures!");
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// }
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// else
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// {
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// // todo 相机拍摄，存储照片集
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// }
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// 标定日志：显示拍摄照片集存储路径
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// ui.textBrowser_7->append("");
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}
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// 相机标定
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void Reconstruction::on_pushButton_7_clicked()
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{
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auto size = ui.spinBox->value();
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auto row = ui.spinBox_2->value();
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auto col = ui.spinBox_3->value();
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calibrator->setCornerSize(size);
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calibrator->setBoardRows(row);
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calibrator->setBoardCols(col);
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// todo 相机标定
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killTimer(liveViewTimer);
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calibrator->reset();
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std::vector<Mat> imgList;
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for (auto i = 0; i < dirModel->rowCount(); i++)
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{
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auto parent = dirModel->index(i, 0);
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auto imgNum = dirModel->rowCount(parent);
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for (auto j = 0; j < imgNum; j++)
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{
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imgList.push_back(getImage(i, j, GrayImageRole));
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}
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calibrator->addFrameSequence(imgList);
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imgList.clear();
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}
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calibData = calibrator->calibrate();
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std::cout << "calibration success!!!" << std::endl;
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calibData->print();
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ui.pushButton_6->setEnabled(true);
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if (device->getCamera()->isConnecting()) liveViewTimer = startTimer(100);
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// 相机参数栏：显示标定结果
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ui.textBrowser->append("");
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ui.textBrowser_2->append("");
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ui.textBrowser_3->append("");
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ui.textBrowser_4->append("");
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}
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// 保存结果
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void Reconstruction::on_pushButton_8_clicked()
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{
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QFileDialog fileDialog;
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QString fileName = fileDialog.getSaveFileName(this, "Open File", "", "Text File(*.txt)"); // todo 更改文件类型
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if (fileName.isEmpty())
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{
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return;
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}
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QFile file(fileName);
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if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) // todo 更改文件类型
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{
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QMessageBox::warning(this, "error", "open file failure!");
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return;
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}
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else
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{
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// todo 保存结果
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QString selectedFilter;
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QString fileName = QFileDialog::getSaveFileName(this, QString::fromLocal8Bit("保存标定文件"), QString(), "*.xml",
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&selectedFilter);
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calibData->saveXML(fileName);
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}
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}
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void Reconstruction::closeEvent(QCloseEvent*)
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{
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killTimer(liveViewTimer);
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delete calibData;
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delete calibrator;
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delete dirModel;
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}
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void Reconstruction::timerEvent(QTimerEvent* event)
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{
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if (event->timerId() != liveViewTimer)
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{
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std::cerr << "Something fishy..." << std::endl << std::flush;
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return;
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}
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auto frame = device->getCamera()->getFrame();
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auto frameCV = cvtools::camFrame2Mat(frame);
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cvtColor(frameCV, frameCV, cv::COLOR_BGR2GRAY);
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if (frameCV.rows == 0 || frameCV.cols == 0)
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{
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return;
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}
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frameCV = frameCV.clone();
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auto qimage = cvtools::cvMat2qImage(frameCV);
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// correct size only if label has no borders/frame!
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auto w = ui.label_11->width();
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auto h = ui.label_11->height();
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auto pixmap = QPixmap::fromImage(qimage);
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ui.label_11->setPixmap(pixmap.scaled(w, h, Qt::KeepAspectRatio));
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}
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void Reconstruction::setDirModel(const QString& dirname)
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{
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QDir root_dir(dirname);
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//reset internal data
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dirModel->clear();
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auto dirlist = root_dir.entryList(QDir::Dirs | QDir::NoDotAndDotDot, QDir::Name);
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foreach(const QString & item, dirlist)
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{
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QDir dir(root_dir.filePath(item));
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QStringList filters;
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filters << "*.jpg" << "*.bmp" << "*.png";
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auto filelist = dir.entryList(filters, QDir::Files, QDir::Name);
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auto path = dir.path();
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//setup the model
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auto filecount = filelist.count();
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if (filecount < 1)
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{
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//no images skip
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continue;
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}
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unsigned row = dirModel->rowCount();
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if (!dirModel->insertRow(row))
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{
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std::cout << "Failed model insert " << item.toStdString() << "(" << row << ")" << std::endl;
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continue;
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}
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// add the childrens
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auto parent = dirModel->index(row, 0);
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dirModel->setData(parent, item, Qt::DisplayRole);
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for (auto i = 0; i < filecount; i++)
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{
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const auto& filename = filelist.at(i);
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if (!dirModel->insertRow(i, parent))
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{
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std::cout << "Failed model insert " << filename.toStdString() << "(" << row << ")" << std::endl;
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break;
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}
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auto index = dirModel->index(i, 0, parent);
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dirModel->setData(index, QString("#%1 %2").arg(i, 2, 10, QLatin1Char('0')).arg(filename), Qt::DisplayRole);
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//additional data
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dirModel->setData(index, path + "/" + filename, ImageFilenameRole);
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}
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}
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if (dirModel->rowCount() >= 3)
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{
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ui.pushButton_7->setEnabled(true);
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}
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else
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{
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ui.pushButton_7->setEnabled(false);
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}
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}
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Mat Reconstruction::getImage(unsigned level, unsigned n, Role role)
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{
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if (role != GrayImageRole && role != ColorImageRole)
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{
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//invalid args
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return Mat();
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}
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//try to load
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if (dirModel->rowCount() < static_cast<int>(level))
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{
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//out of bounds
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return cv::Mat();
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}
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auto parent = dirModel->index(level, 0);
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if (dirModel->rowCount(parent) < static_cast<int>(n))
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{
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//out of bounds
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return Mat();
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}
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auto index = dirModel->index(n, 0, parent);
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if (!index.isValid())
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{
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//invalid index
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return Mat();
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}
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auto filename = dirModel->data(index, ImageFilenameRole).toString();
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// std::cout << "[" << (role==GrayImageRole ? "gray" : "color") << "] Filename: " << filename.toStdString() << std::endl;
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//load image
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auto rgb_image = imread(filename.toStdString());
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if (rgb_image.rows > 0 && rgb_image.cols > 0)
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{
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//color
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if (role == ColorImageRole)
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{
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return rgb_image;
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}
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//gray scale
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if (role == GrayImageRole)
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{
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Mat gray_image;
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cvtColor(rgb_image, gray_image, cv::COLOR_BGR2GRAY);
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return gray_image;
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}
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}
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return Mat();
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}
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#pragma endregion
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#pragma region 三维重建-按钮
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// 选择文件
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void Reconstruction::on_pushButton_4_clicked()
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{
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// 选择投影图案
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QString fileName = QFileDialog::getOpenFileName(
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this, tr("open image file"),
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"./", tr("Image files(*.bmp *.jpg *.pbm *.pgm *.png *.ppm *.xbm *.xpm);;All files (*.*)"));
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if (fileName.isEmpty())
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{
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QMessageBox mesg;
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mesg.warning(this, "WARNING", "Failed to open file");
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return;
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}
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ui.lineEdit->setText(fileName);
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// todo 接着进行投影操作
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}
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// 相机拍照
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void Reconstruction::on_pushButton_9_clicked()
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{
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// todo 相机拍照
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picPath = "Resources/image/test.png"; // 该行仅做测试使用
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DisplayPic* picDlg = new DisplayPic();
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picDlg->setPicPath(picPath);
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connect(picDlg, SIGNAL(getPicAction(QString)), this, SLOT(setPicAction(QString)));
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picDlg->show();
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}
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void Reconstruction::setPicAction(QString action)
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{
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if (action == "confirmed")
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{
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qDebug("confirmed");
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confirmPic = true;
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}
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else if (action == "canceled")
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{
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qDebug("canceled");
|
|
confirmPic = false;
|
|
}
|
|
}
|
|
|
|
// 保存照片
|
|
void Reconstruction::on_pushButton_10_clicked()
|
|
{
|
|
// todo 保存照片
|
|
if (confirmPic)
|
|
{
|
|
QString fileName = QFileDialog::getSaveFileName(this,
|
|
tr("save image"),
|
|
"",
|
|
tr("*.png;; *.jpg;; *.bmp;; All files(*.*)"));
|
|
|
|
if (!fileName.isNull())
|
|
{
|
|
QImage iim(picPath); //创建一个图片对象,存储源图片
|
|
QPainter painter(&iim); //设置绘画设备
|
|
QFile file(fileName); //创建一个文件对象，存储用户选择的文件
|
|
if (!file.open(QIODevice::ReadWrite))
|
|
{
|
|
return;
|
|
}
|
|
QByteArray ba;
|
|
QBuffer buffer(&ba);
|
|
buffer.open(QIODevice::WriteOnly);
|
|
iim.save(&buffer, "JPG"); //把图片以流方式写入文件缓存流中
|
|
file.write(ba); //将流中的图片写入文件对象当中
|
|
}
|
|
}
|
|
else
|
|
{
|
|
QMessageBox mesg;
|
|
mesg.warning(this, "WARNING", "Haven't taken picture!");
|
|
}
|
|
}
|
|
|
|
// 开始重建
|
|
void Reconstruction::on_pushButton_17_clicked()
|
|
{
|
|
// todo 开始重建
|
|
// auto cArg = CameraArguments::getInstance();
|
|
Mat r(3, 3, CV_32F);
|
|
double m0[3][3] = {
|
|
{9.7004457782050868e-001, 1.3447278830863673e-002, 2.4255450466457243e-001},
|
|
{-8.7082927494022376e-003, 9.9974988338843274e-001, -2.0599424802792338e-002},
|
|
{-2.4277084396282392e-001, 1.7870124701864658e-002, 9.6991905639837694e-001}
|
|
};
|
|
for (auto i = 0; i < r.rows; i++)
|
|
for (auto j = 0; j < r.cols; j++)
|
|
r.at<float>(i, j) = m0[i][j];
|
|
|
|
Mat t(1, 3, CV_32F);
|
|
double m1[1][3] = {
|
|
{-1.9511179496234658e+002, 1.2627509817628756e+001, -5.9345885017522171e+001}
|
|
};
|
|
|
|
for (auto i = 0; i < t.rows; i++)
|
|
for (auto j = 0; j < t.cols; j++)
|
|
t.at<float>(i, j) = m1[i][j];
|
|
|
|
Mat kc(3, 3, CV_32F);
|
|
double m2[3][3] = {
|
|
{2.1536653255083029e+003, 0., 6.1886776197116581e+002},
|
|
{0., 2.1484363899666910e+003, 5.0694898820460787e+002},
|
|
{0., 0., 1.}
|
|
};
|
|
for (auto i = 0; i < kc.rows; i++)
|
|
for (auto j = 0; j < kc.cols; j++)
|
|
kc.at<float>(i, j) = m2[i][j];
|
|
|
|
Mat kp(3, 3, CV_32F);
|
|
double m3[3][3] = {
|
|
{1.7235093158297350e+003, 0., 4.4128195628736904e+002},
|
|
{0., 3.4533404000869359e+003, 5.7316457428558715e+002},
|
|
{0., 0., 1.}
|
|
};
|
|
for (auto i = 0; i < kp.rows; i++)
|
|
for (auto j = 0; j < kp.cols; j++)
|
|
kp.at<float>(i, j) = m3[i][j];
|
|
|
|
auto cArg = CameraArguments::getInstance(r, t, kc, kp);
|
|
CoreAlgorithm testCase = CoreAlgorithm("./Data/image/reconstruction/tq.png", cArg);
|
|
testCase.run();
|
|
}
|
|
|
|
#pragma endregion
|
|
|
|
#pragma region 点云渲染-按钮
|
|
|
|
// 异常点选择
|
|
void Reconstruction::on_pushButton_11_clicked()
|
|
{
|
|
// todo 异常点选择
|
|
}
|
|
|
|
// 异常点剔除
|
|
void Reconstruction::on_pushButton_12_clicked()
|
|
{
|
|
// todo 异常点剔除
|
|
}
|
|
|
|
// 导入点云
|
|
void Reconstruction::on_pushButton_13_clicked()
|
|
{
|
|
if (loadingStatus)
|
|
{
|
|
QMessageBox mesg;
|
|
mesg.warning(this, "WARNING", "正在加载… ");
|
|
return;
|
|
}
|
|
|
|
QString fileName = QFileDialog::getOpenFileName(
|
|
this, tr("open multiple image file"),
|
|
"./", tr("PCD files(*.pcd);;All files (*.*)")); // todo 文件类型待确认
|
|
|
|
if (fileName.isEmpty())
|
|
{
|
|
QMessageBox mesg;
|
|
mesg.warning(this, "WARNING", "Failed to open file");
|
|
return;
|
|
}
|
|
|
|
ui.label_9->setVisible(true);
|
|
QCoreApplication::processEvents();
|
|
t->setPcd(fileName);
|
|
t->start();
|
|
loadingStatus = true;
|
|
|
|
// todo 存储文件或文件路径
|
|
}
|
|
|
|
// 导出结果
|
|
void Reconstruction::on_pushButton_14_clicked()
|
|
{
|
|
// todo 导出结果
|
|
}
|
|
|
|
// 保存截图
|
|
void Reconstruction::on_pushButton_15_clicked()
|
|
{
|
|
QString fileName = QFileDialog::getSaveFileName(this,
|
|
tr("save screen shot"),
|
|
"",
|
|
tr("*.png;; *.jpg;; *.bmp;; All files(*.*)"));
|
|
|
|
if (!fileName.isNull())
|
|
{
|
|
// 截图所选的控件暂时用 label_17 替代
|
|
QPixmap pix = QPixmap::grabWidget(ui.qvtkWidget);
|
|
pix.save(fileName);
|
|
}
|
|
}
|
|
|
|
// 颜色选取
|
|
void Reconstruction::on_pushButton_16_clicked()
|
|
{
|
|
QColor colortmp = QColorDialog::getColor(Qt::black);
|
|
if (colortmp.isValid()) {
|
|
color = colortmp;
|
|
updateQVTK(cloud, color);
|
|
}
|
|
}
|
|
|
|
// 帮助
|
|
void Reconstruction::on_pushButton_18_clicked()
|
|
{
|
|
Help* help = new Help();
|
|
help->show();
|
|
}
|
|
#pragma endregion
|