CPP 静态合成

AdasSourrondView-main/avm_cali_demo.cpp

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+/***
+ * function: 360 surrond view combine c++ demo
+ * author: joker.mao
+ * date: 2023/07/15
+ * copyright: ADAS_EYES all right reserved
+*/
+
+#include <iostream>
+#include <map>
+#include <vector>
+#include "common.h"
+
+struct mouse_prms {
+    cv::Mat* mat;
+    std::vector<cv::Point2f> star_points;
+    std::string win_name;
+
+    mouse_prms() {
+        mat = nullptr;
+        star_points.clear();
+        win_name = "front";
+    }
+};
+
+void on_mouse(int event, int x, int y, int flags, void* param)
+{
+    mouse_prms* prms = (mouse_prms*)param;
+    switch (event)
+    {
+    case cv::EVENT_LBUTTONDOWN:
+        std::cout << x << y << std::endl;
+        cv::putText(*prms->mat, "[" + std::to_string(x) + "," + std::to_string(y) + "]", cv::Point(x, y), 1, 1.0, cv::Scalar(0, 0, 255));
+        cv::imshow(prms->win_name, *prms->mat);
+        prms->star_points.push_back(cv::Point(x, y));
+        if (prms->star_points.size() == 4) {
+            cv::destroyWindow(prms->win_name);
+        }
+        break;
+    
+    default:
+        break;
+    }
+}
+
+
+int main(int argc, char** argv)
+{
+    std::cout  << argv[0] << " app start running..." << std::endl;
+    
+    for (int i = 0; i < 4; ++i) {
+        CameraPrms prms;
+        prms.name = camera_names[i];
+
+        cv::Mat src = cv::imread("../../images/" + prms.name + ".png");
+        
+        read_prms("../../yaml/" + prms.name + ".yaml", prms);
+        undist_by_remap(src, src, prms);
+        //if has not calibration，then we will cali it
+        if (prms.project_matrix.empty()) 
+        {
+            //cali
+            mouse_prms m_prms;
+            cv::Mat mat_display = src.clone();
+            cv::imshow(prms.name, mat_display);
+            m_prms.mat = &mat_display;
+            m_prms.win_name = prms.name;
+            //get trans points
+            cv::setMouseCallback(prms.name, on_mouse, &m_prms);
+            // cv::waitKey();
+
+            prms.project_matrix =  cv::getPerspectiveTransform(m_prms.star_points, project_keypoints[prms.name]);
+            cv::warpPerspective(src, src, prms.project_matrix, project_shapes[prms.name]);
+            save_prms("../../yaml/project_" + prms.name + ".yaml", prms);
+            cv::imwrite(prms.name + "_cali.png", mat_display);
+        }
+
+        cv::warpPerspective(src, src, prms.project_matrix, project_shapes[prms.name]);
+        display_mat(src, "project");
+    }
+    std::cout << "cali finished\r\n";
+    return 0;
+}