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