c++ ,sibuxiangyi_sanpinwaicha

c++ ,sibuxiangyi_sanpinwaicha

#include "stdafx.h"#include "Grating.h"Grating::Grating(){}Grating::~Grating(){}//Grating::getCameraParamFile(){ //cv::Mat camera_mat, distCoeffs; cv::FileStorage fin; fin.open("cameraparam.xml", cv::FileStorage::READ); if (fin.isOpened()) { fin["cameraMatrix"] >> camera_mat; fin["distCoeffs"] >> distcoeffs_mat; /*cout << cameraMatrix << endl; cout << distCoeffs << endl;*/ fin.release(); } else { return 0; } return 1;}//四步相移法//同一个频率的条纹，分不同的相位，投射到物体表面上。void Grating::fourStepPhaseShifting(cv::Mat grating_img1[]){ //CV_8UC1 含义 //CV_(S|U|F)C,,,8位深度，U，无符号，C1是单通道灰度图，C2是3通道RGB图 //定义fai的三个零矩阵 cv::Mat fai_img[3] = { //grating_rows=1200,grating_cols=1600 cv::Mat::zeros(grating_rows, grating_cols, CV_8UC1), cv::Mat::zeros(grating_rows, grating_cols, CV_8UC1), cv::Mat::zeros(grating_rows, grating_cols, CV_8UC1) }; //定义调制度的三个零矩阵 cv::Mat b_img[3] = { cv::Mat::zeros(grating_rows, grating_cols, CV_8UC1), cv::Mat::zeros(grating_rows, grating_cols, CV_8UC1), cv::Mat::zeros(grating_rows, grating_cols, CV_8UC1) };//调制度 cv::Mat grating_img[13]; cv::Mat grating_img_dis[13]; //增加畸变矫正图 getCameraParamFile(); //获取相机的参数 for (int img_num = 1;img_num < 13;++img_num)//12张照片， { //修改前 小畸变镜头可采用这句 //cv::cvtColor(grating_img1[img_num], grating_img[img_num], cv::COLOR_RGB2GRAY); //cv::medianBlur(grating_img[img_num], grating_img[img_num], 3); //cv::blur(grating_img[img_num], grating_img1[img_num], cv::Size(5, 5)); //undistort(grating_img1[img_num], grating_img[img_num], camera_mat, distcoeffs_mat); //修改后 针对畸变较大的镜头要进行畸变的矫正 //undistort函数： //undistort参数：//输入原图；//输出矫正后的图像；//内参矩阵；//畸变系数 undistort(grating_img1[img_num], grating_img_dis[img_num], camera_mat, distcoeffs_mat); //转变为灰度图 cv::cvtColor(grating_img_dis[img_num], grating_img[img_num], cv::COLOR_RGB2GRAY); } //13923456892 /*cv::namedWindow("fai_img[0]", 0); cv::resizeWindow("fai_img[0]", cv::Size(800, 600)); cv::imshow("fai_img[0]", grating_img[2]);*/ int thresh_shadow = 4; uchar*pb_img[3] = { NULL }; uchar*pshadow_img; uchar*p[13] = { NULL }; //遍历行，1200行 for (int y = 0;y < grating_rows;++y) { //for循环，得到12个图片，每个图片的i行的像素值； for (int img_num = 1;img_num < 13;++img_num) { //cv::medianBlur(grating_img[img_num], grating_img[img_num], 3); //说明： //.ptr<>（）返回的是一个地址 .ptr（）是获取像素值的函数 p[img_num] = grating_img[img_num].ptr(y); } //图片的第y行的调制度像素值，为什么是3个b_img，因为是3个频率 pb_img[0] = b_img[0].ptr(y); pb_img[1] = b_img[1].ptr(y); pb_img[2] = b_img[2].ptr(y); //说明：cv::Mat shadowflag_img = cv::Mat::zeros(grating_rows, grating_cols, CV_8UC1); //uchar*pshadow_img; pshadow_img = shadowflag_img.ptr(y); //grating_cols=1600 for (int x = 0;x < grating_cols;++x) { //说明.at(y, x) .at<>() 返回的是一个值， //第94行，是定位到行，p[4][x]意思是第四幅图片的x列； //每个频率，投射4个图片，四步相移， //频率1的四步相移，求出fai0//fai=atan2[(I4-I2)/(I1-I3)] double fai_temp1 = atan2((double)(p[4][x] - p[2][x]), (double)(p[1][x] - p[3][x]));//3-1 0-2 if (fai_temp1 >= 0) fai_phase[0].at(y, x) = fai_temp1;//0-2pi之间，相位，放在fai_phase[0].at(行, 列)里面 else fai_phase[0].at(y, x) = fai_temp1 + CV_PI * 2; //频率2的四步相移，求出fai1 double fai_temp2 = atan2((double)(p[8][x] - p[6][x]), (double)(p[5][x] - p[7][x])); if (fai_temp2 >= 0) fai_phase[1].at(y, x) = fai_temp2; else fai_phase[1].at(y, x) = fai_temp2 + CV_PI * 2; //频率3的四步相移，求出fai2 double fai_temp3 = atan2((double)(p[12][x] - p[10][x]), (double)(p[9][x] - p[11][x])); if (fai_temp3 >= 0) fai_phase[2].at(y, x) = fai_temp3; else fai_phase[2].at(y, x) = fai_temp3 + CV_PI * 2; //0-2pi之间，相位，转为灰度值 fai_img[0].at(y, x) = fai_phase[0].at(y, x) / (2 * CV_PI) * 255; fai_img[1].at(y, x) = fai_phase[1].at(y, x) / (2 * CV_PI) * 255; fai_img[2].at(y, x) = fai_phase[2].at(y, x) / (2 * CV_PI) * 255; //调制度计算 //移除不可靠区域，为什么要移开？背后的原理是什么 //这个为什么是0.5，是因为2/N的N=4，那么就是2/4=0.5 //B0=2/N *sqrt((I0sin0+I1sin90+I2sin180+I3sin270)^2 + (I0cos0+I1cos90+I2cos180+I3cos270)^2) pb_img[0][x] = 0.5 * sqrt(pow(p[1][x] - p[3][x], 2) + pow(p[2][x] - p[4][x], 2)); pb_img[1][x] = 0.5 * sqrt(pow(p[5][x] - p[7][x], 2) + pow(p[6][x] - p[8][x], 2)); pb_img[2][x] = 0.5 * sqrt(pow(p[9][x] - p[11][x], 2) + pow(p[10][x] - p[12][x], 2)); //滤波thresh_shadow=4 if (pb_img[0][x] <= thresh_shadow || pb_img[1][x] <= thresh_shadow || pb_img[2][x] <= thresh_shadow) pshadow_img[x] = 0; else pshadow_img[x] = 255; } } /*cv::namedWindow("fai_img[0]", 0); cv::resizeWindow("fai_img[0]", cv::Size(800,600)); cv::imshow("fai_img[0]", fai_img[0]); cv::namedWindow("fai_img[1]", 0); cv::resizeWindow("fai_img[1]", cv::Size(800,600)); cv::imshow("fai_img[1]", fai_img[1]); cv::namedWindow("fai_img[2]", 0); cv::resizeWindow("fai_img[2]", cv::Size(800,600)); cv::imshow("fai_img[2]", fai_img[2]);*/ cv::imwrite("fai_img[0].bmp", fai_img[0]); /*cv::namedWindow("shadow_img", 0); cv::resizeWindow("shadow_img", cv::Size(800, 600)); cv::imshow("shadow_img", shadowflag_img); cv::waitKey(50);*/}//单词heterodyne :外差法；外差作用；外差振荡器；外差（电子战用语）;void Grating::threeFrequencyHeterodyneImproved(){ //cv::Mat FAI_phase_img = cv::Mat::zeros(grating_rows, grating_cols, CV_8UC1); cv::Mat FAI_phase12_23[2] = { cv::Mat::zeros(grating_rows, grating_cols, CV_64FC1),cv::Mat::zeros(grating_rows, grating_cols, CV_64FC1) }; cv::Mat FAI_phase_blur = cv::Mat::zeros(grating_rows, grating_cols, CV_32F); double deta_n12 = 0.0; double deta_n23 = 0.0; double deta_n123 = 0.0; double maxfai = 0.0; //ofstream outfile1("FAI_phase.txt"); for (int y = 0;y < grating_rows;++y) { for (int x = 0;x < grating_cols;++x) { double n1_n2 = (fai_phase[0].at(y, x) - fai_phase[1].at(y, x)) / (2 * CV_PI); if (n1_n2 >= 0) { deta_n12 = n1_n2; } else { deta_n12 = n1_n2 + 1; } double n2_n3 = (fai_phase[1].at(y, x) - fai_phase[2].at(y, x)) / (2 * CV_PI); if (n2_n3 >= 0) { deta_n23 = n2_n3; } else { deta_n23 = n2_n3 + 1; } double n12_n23 = deta_n12 - deta_n23; if (n12_n23 >= 0) { deta_n123 = n12_n23; } else { deta_n123 = n12_n23 + 1; } FAI_phase12_23[0].at(y, x) = 2 * CV_PI*round(p23*(0.0 + deta_n123) / (p23 - p12) - deta_n12) + 2 * CV_PI*deta_n12; FAI_phase12_23[1].at(y, x) = 2 * CV_PI*round(p12*(0.0 + deta_n123) / (p23 - p12) - deta_n23) + 2 * CV_PI*deta_n23; //if (shadowflag_img.at(y,x) ==255 ) FAI_phase.at(y, x) = 1.0 / p1*(2 * CV_PI / 3 * p1*round((p12*FAI_phase12_23[0].at(y, x) + p23*FAI_phase12_23[1].at(y, x)) / (4 * CV_PI*p1) - fai_phase[0].at(y, x) / (2 * CV_PI)) + 1 / 3.0*p1*fai_phase[0].at(y, x)) + 1.0 / p1*(2 * CV_PI / 3 * p2*round((p12*FAI_phase12_23[0].at(y, x) + p23*FAI_phase12_23[1].at(y, x)) / (4 * CV_PI*p2) - fai_phase[1].at(y, x) / (2 * CV_PI)) + 1 / 3.0*p2*fai_phase[1].at(y, x)) + 1.0 / p1*(2 * CV_PI / 3 * p3*round((p12*FAI_phase12_23[0].at(y, x) + p23*FAI_phase12_23[1].at(y, x)) / (4 * CV_PI*p3) - fai_phase[2].at(y, x) / (2 * CV_PI)) + 1 / 3.0*p3*fai_phase[2].at(y, x)); maxfai = std::max(maxfai, (FAI_phase.at(y, x))); //outfile1 << FAI_phase.at(y, x) << " "; } //outfile1 << endl; } for (int y = 0;y < FAI_phase.rows;++y) { uchar*p_img3 = FAI_phase_img.ptr(y); for (int x = 0;x < FAI_phase.cols;++x) { p_img3[x] = (FAI_phase.at(y, x)) / maxfai * 255; //if (y == 0)cout << FAI_phase.at(y, x) << endl; } } //cv::namedWindow("FAI_phase_img", 0); //cv::resizeWindow("FAI_phase_img", cv::Size(grating_cols / 2, grating_rows / 2)); //cv::imshow("FAI_phase_img", FAI_phase_img); cv::imwrite("FAI_phase_img.bmp", FAI_phase_img); //cv::waitKey(100);}std::vector>Grating::threeFrequencyHeterodyneImproved(std::vector cornerpoints_temp, cv::Mat grating_img[]){ /*cv::Mat camera_mat, distcoeffs_mat; getCameraParamFile(camera_mat, distcoeffs_mat);*/ //cv::undistort(grating_imgs_before[i][j], grating_imgs[i][j], camera_mat, distcoeffs_mat); //四步相移，三频外差 fourStepPhaseShifting(grating_img); threeFrequencyHeterodyneImproved(); //求cornerpoints对应的theta样本 std::vector samples_FAI_temp; for (int cornerpoints_num = 0;cornerpoints_num < cornerpoints_temp.size();++cornerpoints_num) { double temp = FAI_phase.at(cornerpoints_temp[cornerpoints_num].y, cornerpoints_temp[cornerpoints_num].x); samples_FAI_temp.push_back(temp); /*cv::circle(FAI_phase_img, cv::Point(cornerpoints_temp[cornerpoints_num].x, cornerpoints_temp[cornerpoints_num].y), 10, cv::Scalar(255, 255, 255), 5);*/ } samples_FAI.push_back(samples_FAI_temp); /*cv::namedWindow("FAI_phase_img", 0); cv::resizeWindow("FAI_phase_img", cv::Size(grating_cols / 2, grating_rows / 2)); cv::imshow("FAI_phase_img", FAI_phase_img); cv::imwrite("FAI_phase_img.bmp", FAI_phase_img);*/ //cv::waitKey(10); return samples_FAI;}

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