105 lines
3.8 KiB
C++
105 lines
3.8 KiB
C++
// BinocularMarkCam_test.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
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//
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#include <iostream>
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#include <fstream>
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#include <vector>
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#include <stdio.h>
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#include <VZNL_Types.h>
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#include <string>
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#include "binocularMarkCam_Export.h"
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#include <opencv2/opencv.hpp>
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#include <opencv2/core/core.hpp>
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#include <opencv2/imgcodecs/imgcodecs.hpp>
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#include <Windows.h>
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#define TEST_GROUP 2
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int main(int argc, char** argv)
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{
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const char* dataPath[TEST_GROUP] = {
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"F:/标定采图/charucoMark图/MarkTest/", //0
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"F:/标定采图/charucoMark图/Mark_13度/",
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};
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SVzNLRange fileIdx[TEST_GROUP] = {
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{1,4}, {1,5},
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};
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const char* ver = wd_charuco3DMarkVersion();
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printf("ver:%s\n", ver);
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for (int grp = 1; grp < 2; grp++)
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{
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SWD_BQ_CharucoMarkInfo markInfo;
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markInfo.patternSize = cv::Size(3, 3);
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markInfo.dictType = 1; //DICT_6x6
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markInfo.checkerSize = 60.0;
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markInfo.markerSize = 45.0;
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SWD_BQ_MarkBoardInfo boardInfo;
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boardInfo.totalBoardNum = 10;
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boardInfo.boardIdInterval = 8;
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boardInfo.boardChaucoIDNum = 4;
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// 1. 打开 XML 文件（READ 模式）
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char calibFile[250];
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sprintf_s(calibFile, sizeof(calibFile), "%sStereoCamera.xml", dataPath[grp]);
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cv::FileStorage fs("F:/标定采图/charucoMark图/Mark_13度/StereoCamera.xml", cv::FileStorage::READ);
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// 检查文件是否成功打开
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if (!fs.isOpened()) {
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printf( "错误：无法打开 XML 文件！请检查路径是否正确。\n" );
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return -1;
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}
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cv::FileNode LeftCamera = fs["LeftCamera"];
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cv::Mat cameraMatrixL, distCoeffsL;
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LeftCamera["CameraMatrix"] >> cameraMatrixL;
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LeftCamera["DistCoeffs"] >> distCoeffsL;
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cv::FileNode RightCamera = fs["RightCamera"];
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cv::Mat cameraMatrixR, distCoeffsR;
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RightCamera["CameraMatrix"] >> cameraMatrixR;
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RightCamera["DistCoeffs"] >> distCoeffsR;
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cv::FileNode Rectification = fs["Rectification"];
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cv::Mat R1, R2,P1,P2,Q;
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Rectification["R1"] >> R1;
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Rectification["R2"] >> R2;
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Rectification["P1"] >> P1;
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Rectification["P2"] >> P2;
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Rectification["Q"] >> Q;
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int fidx1 = fileIdx[grp].nMin;
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int fidx2 = fileIdx[grp].nMax;
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for (int index = fidx1; index < fidx2; index ++)
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{
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char filename[256];
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sprintf_s(filename, "%s/left%d.bmp", dataPath[grp], index);
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cv::Mat leftimg = cv::imread(filename, cv::IMREAD_GRAYSCALE);
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sprintf_s(filename, "%s/right%d.bmp", dataPath[grp], index);
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cv::Mat rightimg = cv::imread(filename, cv::IMREAD_GRAYSCALE);
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if (leftimg.empty() || rightimg.empty())
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break;
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double disparityOffset = 0;
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std::vector<SWD_charuco3DMark> marks;
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wd_BQ_getCharuco3DMark(
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leftimg, rightimg,
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cameraMatrixL, distCoeffsL, cameraMatrixR, distCoeffsR, R1, R2, P1, P2, Q,
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markInfo, boardInfo,
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disparityOffset,
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marks);
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}
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}
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}
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// 运行程序: Ctrl + F5 或调试 >“开始执行(不调试)”菜单
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// 调试程序: F5 或调试 >“开始调试”菜单
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// 入门使用技巧:
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// 1. 使用解决方案资源管理器窗口添加/管理文件
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// 2. 使用团队资源管理器窗口连接到源代码管理
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// 3. 使用输出窗口查看生成输出和其他消息
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// 4. 使用错误列表窗口查看错误
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// 5. 转到“项目”>“添加新项”以创建新的代码文件，或转到“项目”>“添加现有项”以将现有代码文件添加到项目
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// 6. 将来，若要再次打开此项目，请转到“文件”>“打开”>“项目”并选择 .sln 文件
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