-
Notifications
You must be signed in to change notification settings - Fork 4
/
Copy pathdlp4500.h
140 lines (109 loc) · 7.98 KB
/
dlp4500.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
#ifndef DLP4500_H
#define DLP4500_H
#include <dlp_sdk.hpp>
#include <common/debug.hpp>
#include <common/returncode.hpp>
#include <common/other.hpp>
#include <common/image/image.hpp>
#include <vector>
#include <dvp.h>
#include <iostream>
#define EXAMPLE_ERROR_1 "EXAMPLE_ERROR_1"
#define EXAMPLE_ERROR_2 "EXAMPLE_ERROR_2"
#define EXAMPLE_ERROR_3 "EXAMPLE_ERROR_3"
#define EXAMPLE_WARNING_1 "EXAMPLE_WARNING_1"
#define EXAMPLE_WARNING_2 "EXAMPLE_WARNING_2"
//相机类型:0 -通用OpenCV相机，1 - PointGrey，…
DLP_NEW_PARAMETERS_ENTRY(CameraType, "CAMERA_TYPE", int, 2);
//算法类型:0 -灰度，1 -混合三相，…
DLP_NEW_PARAMETERS_ENTRY(AlgorithmType, "ALGORITHM_TYPE", int, 0);
DLP_NEW_PARAMETERS_ENTRY(ConnectIdProjector, "CONNECT_ID_PROJECTOR", std::string, "0");
DLP_NEW_PARAMETERS_ENTRY(ConnectIdCamera, "CONNECT_ID_CAMERA", std::string, "0");
//#define DLP_Dir "D:/photo"
DLP_NEW_PARAMETERS_ENTRY(ConfigFileProjector, "CONFIG_FILE_PROJECTOR", std::string, "D:/photo/src/config/config_projector.txt");
DLP_NEW_PARAMETERS_ENTRY(ConfigFileCamera, "CONFIG_FILE_CAMERA", std::string, "D:/photo/src/config/config_camera.txt");
DLP_NEW_PARAMETERS_ENTRY(ConfigFileCalibProjector, "CONFIG_FILE_CALIBRATION_PROJECTOR", std::string, "D:/photo/src/config/calibration_projector.txt");
DLP_NEW_PARAMETERS_ENTRY(ConfigFileCalibCamera, "CONFIG_FILE_CALIBRATION_CAMERA", std::string, "D:/photo/src/config/calibration_camera.txt");
DLP_NEW_PARAMETERS_ENTRY(ConfigFileGeometry, "CONFIG_FILE_GEOMETRY", std::string, "D:/photo/src/config/geometry.txt");
DLP_NEW_PARAMETERS_ENTRY(ConfigFileStructuredLight1, "CONFIG_FILE_STRUCTURED_LIGHT_1", std::string, "D:/photo/src/config/algorithm_vertical.txt");
DLP_NEW_PARAMETERS_ENTRY(ConfigFileStructuredLight2, "CONFIG_FILE_STRUCTURED_LIGHT_2", std::string, "D:/photo/src/config/algorithm_horizontal.txt");
DLP_NEW_PARAMETERS_ENTRY(ContinuousScanning, "CONTINUOUS_SCANNING", bool, false);
DLP_NEW_PARAMETERS_ENTRY(CalibDataFileProjector, "CALIBRATION_DATA_FILE_PROJECTOR", std::string, "D:/photo/src/calibration/data/projector.xml");
DLP_NEW_PARAMETERS_ENTRY(CalibDataFileCamera, "CALIBRATION_DATA_FILE_CAMERA", std::string, "D:/photo/src/calibration/data/camera.xml");
DLP_NEW_PARAMETERS_ENTRY(DirCalibData, "DIRECTORY_CALIBRATION_DATA", std::string, "D:/photo/src/calibration/data/");
DLP_NEW_PARAMETERS_ENTRY(DirCameraCalibImageOutput, "DIRECTORY_CAMERA_CALIBRATION_IMAGE_OUTPUT", std::string, "D:/photo/src/calibration/camera_images/");
DLP_NEW_PARAMETERS_ENTRY(DirSystemCalibImageOutput, "DIRECTORY_SYSTEM_CALIBRATION_IMAGE_OUTPUT", std::string, "D:/photo/src/calibration/system_images/");
DLP_NEW_PARAMETERS_ENTRY(DirScanDataOutput, "DIRECTORY_SCAN_DATA_OUTPUT", std::string, "D:/photo/src/output/scan_data/");
DLP_NEW_PARAMETERS_ENTRY(DirScanImagesOutput, "DIRECTORY_SCAN_IMAGES_OUTPUT", std::string, "D:/photo/src/output/scan_images/");
DLP_NEW_PARAMETERS_ENTRY(OutputNameImageCameraCalibBoard, "OUTPUT_NAME_IMAGE_CAMERA_CALIBRATION_BOARD", std::string, "camera_calibration_board");
DLP_NEW_PARAMETERS_ENTRY(OutputNameImageCameraCalib, "OUTPUT_NAME_IMAGE_CAMERA_CALIBRATION", std::string, "camera_calibration_capture_");
DLP_NEW_PARAMETERS_ENTRY(OutputNameImageSystemCalib, "OUTPUT_NAME_IMAGE_SYSTEM_CALIBRATION", std::string, "system_calibration_capture_");
DLP_NEW_PARAMETERS_ENTRY(OutputNameImageDepthMap, "OUTPUT_NAME_IMAGE_DEPTHMAP", std::string, "_depthmap");
DLP_NEW_PARAMETERS_ENTRY(OutputNameXYZPointCloud, "OUTPUT_NAME_XYZ_POINTCLOUD", std::string, "_pointcloud");
class dlpclass
{
public:
dlpclass();
~dlpclass();
bool verify();
void menu(int);
void image_file_io();
void image_pixels();
void image_window();
void point_cloud_viewer();
void returncodes_example();
void GenerateCameraCalibrationBoard(dlp::Camera *camera,const std::string &camera_calib_settings_file,const std::string &camera_calib_board_name);
void PrepareProjectorPatterns(dlp::DLP_Platform *projector,const std::string &projector_calib_settings_file,dlp::StructuredLight *structured_light_vertical,const std::string &structured_light_vertical_settings_file,dlp::StructuredLight *structured_light_horizontal,const std::string &structured_light_horizontal_settings_file,const bool previously_prepared,unsigned int *total_pattern_count);
void CalibrateCamera(dlp::Camera *camera,const std::string &camera_calib_settings_file,const std::string &camera_calib_data_file,const std::string &camera_calib_image_file_names,dlp::DLP_Platform *projector);
void CalibrateSystem(dlp::Camera *camera,const std::string &camera_calib_settings_file,const std::string &camera_calib_data_file,dlp::DLP_Platform *projector,const std::string &projector_calib_settings_file,const std::string &projector_calib_data_file,const std::string &calib_image_file_names);
void ScanObject(dlp::Camera *camera,const bool &cam_proj_hw_synchronized,const std::string &camera_calib_data_file,dlp::DLP_Platform *projector,const std::string &projector_calib_data_file,dlp::StructuredLight *structured_light_vertical,dlp::StructuredLight *structured_light_horizontal,const bool &use_vertical,const bool &use_horizontal,const std::string &geometry_settings_file,const bool &continuous_scanning);
void GenerateCameraCalibrationBoard(double side_length);
void Video(dlp::Camera *camera);
dlp::Parameters settings;// 加载设置
//dlp::OpenCV_Cam camera_cv;
//dlp::PG_FlyCap2_C camera_pg;
dlp::dvpclass camera_ds;
dlp::LCr4500 projector;
dlp::GrayCode algo_gray_code_vert;
dlp::GrayCode algo_gray_code_horz;
dlp::ThreePhase algo_three_phase_vert;
dlp::ThreePhase algo_three_phase_horz;
unsigned int total_pattern_count = 0;
double side_length = 10;
unsigned int VideoBool=0;
protected:
void file_name_add();
private:
std::string file_name;
int file_name_num = 1;
dlp::ReturnCode ret; // 创建错误代码对象
dlp::Image example_image; // 创建图像对象
std::string image_file = file_name; // 用图像文件名创建字符串
std::string filename = "D:\\photo\\1.stl"; // 从用户处获取点云的文件名
// 配置的目的
AlgorithmType algorithm_type;
CameraType camera_type;
ConnectIdProjector connect_id_projector;
ConnectIdCamera connect_id_camera;
ConfigFileProjector config_file_projector;
ConfigFileCamera config_file_camera;
ConfigFileCalibProjector config_file_calib_projector;
ConfigFileCalibCamera config_file_calib_camera;
ConfigFileGeometry config_file_geometry;
ConfigFileStructuredLight1 config_file_structured_light_1;
ConfigFileStructuredLight2 config_file_structured_light_2;
ContinuousScanning continuous_scanning;
CalibDataFileProjector calib_data_file_projector;
CalibDataFileCamera calib_data_file_camera;
DirCalibData dir_calib_data;
DirCameraCalibImageOutput dir_camera_calib_image_output;
DirSystemCalibImageOutput dir_system_calib_image_output;
DirScanDataOutput dir_scan_data_output;
DirScanImagesOutput dir_scan_images_output;
OutputNameImageCameraCalibBoard output_name_image_camera_calib_board;
OutputNameImageCameraCalib output_name_image_camera_calib;
OutputNameImageSystemCalib output_name_image_system_calib;
OutputNameImageDepthMap output_name_image_depthmap;
OutputNameXYZPointCloud output_name_xyz_pointcloud;
};
#endif // DLP4500_H