基于opencv与opengl实现增强现实

#include "opengl.h" OpenGL::OpenGL(QWidget *parent) : QGLWidget(parent), number(0) { cam.open(0); //cam.set(CV_CAP_PROP_FRAME_WIDTH, IMAGE_WIDTH); //cam.set(CV_CAP_PROP_FRAME_HEIGHT, IMAGE_HEIGHT); //video.open("F:\\MOVIE\\NBA\\2016年06月20日 NBA总决赛 骑士VS勇士 ILP 720P 30fps.mp4"); initWidget(); initializeGL(); //resizeGL(640,480); clk.start(30); QObject::connect(&clk, SIGNAL(timeout()), this, SLOT(updateWindow())); // cameraMatrix.at<double>(0, 0) = 958.75165; cameraMatrix.at<double>(0, 1) = 0; cameraMatrix.at<double>(0, 2) = 288.77948; cameraMatrix.at<double>(1, 0) = 0; cameraMatrix.at<double>(1, 1) = 961.14463; cameraMatrix.at<double>(1, 2) = 235.69318; cameraMatrix.at<double>(2, 0) = 0; cameraMatrix.at<double>(2, 1) = 0; cameraMatrix.at<double>(2, 2) = 1; // distCoeffs.at<double>(0, 0) = -0.1569114923; distCoeffs.at<double>(0, 1) = 0.0902004093; distCoeffs.at<double>(0, 2) = 0.0047139050; distCoeffs.at<double>(0, 3) = -0.0022716345; Xworld.push_back(Point3f(-0.5, -0.5, 0)); Xworld.push_back(Point3f(-0.5, 0.5, 0)); Xworld.push_back(Point3f(0.5, 0.5, 0)); Xworld.push_back(Point3f(0.5, -0.5, 0)); WINDOW_SIZE = 0.5; // dstRect[0] = Point2f(83.3, 164.7); dstRect[1] = Point2f(191.9, 226.4); dstRect[2] = Point2f(185.5, 0); dstRect[3] = Point2f(291.4, 61.7); } OpenGL::~OpenGL() { } void OpenGL::initializeGL() { loadGLTextures(); //加载图片文件 glEnable(GL_TEXTURE_2D);//启用纹理 glShadeModel(GL_SMOOTH); glClearColor(0, 0, 0.0, 0.0); glClearDepth(1.0); glEnable(GL_DEPTH_TEST); glDepthFunc(GL_LEQUAL); glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST); } void OpenGL::initWidget() { setGeometry(0, 0, IMAGE_WIDTH, IMAGE_HEIGHT);//设置窗口位置及大小 setWindowTitle(tr("opengl demo")); } void OpenGL::paintGL() { glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glLoadIdentity();//重置坐标系至屏幕中央 上+下- 左-右+ 里-外+ glTranslatef(3.2f, -0.6f, -100);//讲显示背景沿Z轴向后移动足够距离，防止遮挡渲染物体 glScalef(8.35f,8.35f,1.0f);//平移 放大 实现窗口填充- //绑定纹理 glBindTexture(GL_TEXTURE_2D, texturFrame); glBegin(GL_QUADS);//绘制图形接口，与glEnd()对应 glTexCoord2f(0.0, 0.0); glVertex3f(-4, -3, 0);// glTexCoord2f(1.0, 0.0); glVertex3f(4, -3, 0); glTexCoord2f(1.0, 1.0); glVertex3f(4, 3, 0); glTexCoord2f(0.0, 1.0); glVertex3f(-4, 3, 0); glEnd(); //将变换矩阵统一进行渲染 if (RotationMatrix.size()) { for (int i = 0; i < RotationMatrix.size(); i++) { glLoadIdentity();//重置坐标系至屏幕中央 上+下- 左-右+ 里-外+ for (int j = 0; j < 16; j++) rotMat[j] = RotationMatrix[i][j]; glLoadMatrixd(rotMat);//加载变换矩阵 glTranslatef(0, 0, -WINDOW_SIZE);//将物体向外移动WINDOW_SIZE个单位 //glRotatef(m_x, 1.0, 0.0, 0.0);//旋转 //glRotatef(m_y, 0.0, 1.0, 0.0); //glRotatef(m_z, 0.0, 0.0, 1.0); glBindTexture(GL_TEXTURE_2D, texturImage); //glLoadMatrixd(); glBegin(GL_QUADS);//绘制图形接口，与glEnd()对应 //glBegin(GL_LINE_STRIP);//绘制图形接口，与glEnd()对应 /*这里有两个接口函数： glTexCoord2f( x, y ); glVertex3f( x, y, z ); glTexCoord2f这个用于表示原图片的坐标，这样更容易理解， 就是以 在x,y 轴的平面里面， （0，0）表示图片的左下角， （0，1） 表示左上角， （1，1）表示右上角， （1，0）表示右下角。 而对应的glVertex3f则对应为 (-1, -1) , (-1, 1) , (1, 1), (1, -1) 我们怎么来理解这种对应关系呢？？ 1.需要贴图的坐标必须一一对应，就是我们如果顺时针写，对应的坐都要顺时针，如果逆时针写，对应的坐标都要逆时针，一一对应。 2.我们的贴图是一张图片，所以它一定是一个平面。所以坐标从（0，0）开始，这个容易使用。而我们需要贴图的立体图形， 虽然每个面是平面图形，但它在坐标系中，始终以立体图形的中心为坐标原点，所以，它是一个三维坐标，三维坐标与二维的对应，就只有以相同的平面顶点 E旋转顺序来对应了。*/ glNormal3f(0.0, 0.0, 1.0); glTexCoord2f(0.0, 0.0); glVertex3f(-WINDOW_SIZE, WINDOW_SIZE, WINDOW_SIZE);// glTexCoord2f(1.0, 0.0); glVertex3f(WINDOW_SIZE, -WINDOW_SIZE, WINDOW_SIZE); glTexCoord2f(1.0, 1.0); glVertex3f(WINDOW_SIZE, WINDOW_SIZE, WINDOW_SIZE); glTexCoord2f(0.0, 1.0); glVertex3f(-WINDOW_SIZE, WINDOW_SIZE, WINDOW_SIZE); glNormal3f(0.0, 0.0, -1.0); glTexCoord2f(1.0, 0.0); glVertex3f(-WINDOW_SIZE, -WINDOW_SIZE, -WINDOW_SIZE); glTexCoord2f(1.0, 1.0); glVertex3f(-WINDOW_SIZE, WINDOW_SIZE, -WINDOW_SIZE); glTexCoord2f(0.0, 1.0); glVertex3f(WINDOW_SIZE, WINDOW_SIZE, -WINDOW_SIZE); glTexCoord2f(0.0, 0.0); glVertex3f(WINDOW_SIZE, -WINDOW_SIZE, -WINDOW_SIZE); glNormal3f(0.0, 1.0, 0.0); glTexCoord2f(0.0, 1.0); glVertex3f(-WINDOW_SIZE, WINDOW_SIZE, -WINDOW_SIZE); glTexCoord2f(0.0, 0.0); glVertex3f(-WINDOW_SIZE, WINDOW_SIZE, WINDOW_SIZE); glTexCoord2f(1.0, 0.0); glVertex3f(WINDOW_SIZE, WINDOW_SIZE, WINDOW_SIZE); glTexCoord2f(1.0, 1.0); glVertex3f(WINDOW_SIZE, WINDOW_SIZE, -WINDOW_SIZE); glNormal3f(0.0, -1.0, 0.0); glTexCoord2f(1.0, 1.0); glVertex3f(-WINDOW_SIZE, -WINDOW_SIZE, -WINDOW_SIZE); glTexCoord2f(0.0, 1.0); glVertex3f(WINDOW_SIZE, -WINDOW_SIZE, -WINDOW_SIZE); glTexCoord2f(0.0, 0.0); glVertex3f(WINDOW_SIZE, -WINDOW_SIZE, WINDOW_SIZE); glTexCoord2f(1.0, 0.0); glVertex3f(-WINDOW_SIZE, -WINDOW_SIZE, WINDOW_SIZE); glNormal3f(1.0, 0.0, 0.0); glTexCoord2f(1.0, 0.0); glVertex3f(WINDOW_SIZE, -WINDOW_SIZE, -WINDOW_SIZE); glTexCoord2f(1.0, 1.0); glVertex3f(WINDOW_SIZE, WINDOW_SIZE, -WINDOW_SIZE); glTexCoord2f(0.0, 1.0); glVertex3f(WINDOW_SIZE, WINDOW_SIZE, WINDOW_SIZE); glTexCoord2f(0.0, 0.0); glVertex3f(WINDOW_SIZE, -WINDOW_SIZE, WINDOW_SIZE); glNormal3f(-1.0, 0.0, 0.0); glTexCoord2f(0.0, 0.0); glVertex3f(-WINDOW_SIZE, -WINDOW_SIZE, -WINDOW_SIZE); glTexCoord2f(1.0, 0.0); glVertex3f(-WINDOW_SIZE, -WINDOW_SIZE, WINDOW_SIZE); glTexCoord2f(1.0, 1.0); glVertex3f(-WINDOW_SIZE, WINDOW_SIZE, WINDOW_SIZE); glTexCoord2f(0.0, 1.0); glVertex3f(-WINDOW_SIZE, WINDOW_SIZE, -WINDOW_SIZE); glEnd(); } RotationMatrix.clear(); } //纹理资源释放 glDeleteTextures(1, &texturFrame); //glDeleteTextures(1, &texturImage); //glLoadIdentity();//重置坐标系至屏幕中央 上+下- 左-右+ 里-外+ } void OpenGL::resizeGL(int width, int height) { if (0 == height) { height = 1; } glViewport(0, 0, (GLint)width, (GLint)height);//重置当前的物体显示位置 glLoadIdentity(); glMatrixMode(GL_PROJECTION);//选择矩阵模式 double f_x = cameraMatrix.at<double>(0, 0); double f_y = cameraMatrix.at<double>(1, 1); double c_x = cameraMatrix.at<double>(0, 2); double c_y = cameraMatrix.at<double>(1, 2); projection_matrix[0] = 2 * f_x / IMAGE_WIDTH; projection_matrix[1] = 0.0f; projection_matrix[2] = 0.0f; projection_matrix[3] = 0.0f; projection_matrix[4] = 0.0f; projection_matrix[5] = 2 * f_y / IMAGE_HEIGHT; projection_matrix[6] = 0.0f; projection_matrix[7] = 0.0f; projection_matrix[8] = 1.0f - 2 * c_x / IMAGE_WIDTH; projection_matrix[9] = 2 * c_y / IMAGE_HEIGHT - 1.0f; projection_matrix[10] = -(0.01f + 100.0f) / (100.0f - 0.01f); projection_matrix[11] = -1.0f; projection_matrix[12] = 0.0f; projection_matrix[13] = 0.0f; projection_matrix[14] = -2.0f * 100 * 0.01 / (100.0f - 0.01f); projection_matrix[15] = 0.0f; //导入相机内部参数模型 glMultMatrixf(projection_matrix); //glLoadMatrixf(projection_matrix); //glEnableClientState(GL_VERTEX_ARRAY); //启用客户端的某项功能 //glEnableClientState(GL_NORMAL_ARRAY); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); } void OpenGL::updateWindow() { //获取摄像头图像并进行格式转换 cam >> frame; // imshow("frame",frame); cvtColor(frame, frame, CV_BGR2RGB); for (char i = 0; i < 4; i++) { circle(frame, srcRect[i], 8, Scalar(255, 0, 0), -1, 8, 0); } circle(frame, Point(dobotPos.at<double>(0, 0), dobotPos.at<double>(1, 0)), 5, Scalar(0, 255, 255), -1, 8); imageProcess(frame); QImage buf, tex; //将Mat类型转换成QImage buf = QImage((