64 lines
2.2 KiB
C
64 lines
2.2 KiB
C
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#ifndef LIBAPI_3D_H
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#define LIBAPI_3D_H
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#include "Libapi2D3D.h"
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#include <iostream>
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#include <vector>
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#include <opencv2/opencv.hpp>
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#include "open3d/Open3D.h"
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using namespace open3d;
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class Cal3D
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{
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public:
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// 采集点云数据
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static int LibapiCapCloudPoints(std::shared_ptr<geometry::PointCloud>& cloud_ptr);
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// 读取点云数据
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static int LibapiReadCloudPointsPly(const std::string plyPath, std::shared_ptr<geometry::PointCloud>& cloud_ptr);
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// 保存点云数据
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static int LibapiSaveCloudPointsPly(std::string savaPath, std::shared_ptr<geometry::PointCloud>& cloud_ptr);
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// 点云数据筛选
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static int LibapiFilterCloudPointsByDist(std::shared_ptr<geometry::PointCloud>& src_cloud_ptr,
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std::shared_ptr<geometry::PointCloud>& dst_cloud_ptr, float minusx, float x, float minusy, float y, float minusz, float z);
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// 点云修正
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static int LibapiCorrectCloudPoint(std::shared_ptr<geometry::PointCloud>& src_cloud_ptr,
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std::shared_ptr<geometry::PointCloud>& dst_cloud_ptr, int node);
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// 点云转数组
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static int LibapiCloudPointToVec(std::shared_ptr<geometry::PointCloud>& src_cloud_ptr,
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std::vector<cv::Point3d>& dst_3d);
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// 点云数据转换
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static int LibapiRotAndTrans(std::shared_ptr<geometry::PointCloud>& cloud_ptr);
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// 点云数据投影
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static int LibapiCloudPointsPorject(std::vector<cv::Point3d>& src_points3D,
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cv::Mat& cameraMatrix, std::vector<cv::Point2d>& dst_points2D, cv::Mat* im_2D3D, bool doTest, cv::Mat& src_im);
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// 点云数据投影，按照预埋件区域ROI进行筛选
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static int LibapiCloudPointsPorject(
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std::vector<cv::Point3d>& src_points3D,
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cv::Mat& cameraMatrix,
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std::vector <std::vector<cv::Point2f>>& vecConners,
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cv::Mat* im2D3D,
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std::vector<std::vector<cv::Point2f>>& vecInConners2D,
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std::vector<std::vector<cv::Point3f>>& vecInConners3D);
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// 用于测试点云数据投影产生的2D3D数据
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static int LibapiCloudPointProjectTest(cv::Mat& im_2D3D);
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// 点云数据转换为2D3D点对数据
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static int LibapiCloudPointsToCMeasureInfo(cv::Mat& im_2D3D, CMeasureInfo& CMeasureInfo);
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// 通过H，计算2D坐标的3D坐标
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static int LibapiCalConner3D(const std::vector<cv::Point2f>& vec2D_2, cv::Mat& H,
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std::vector<cv::Point3f> vec3d_n, std::vector<cv::Point3f>& vec3D_4);
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};
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#endif
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