initial commit

2018-06-03 22:18:30 +08:00
parent f4e9aea3ff
commit 1bc6968b3c
8 changed files with 422 additions and 0 deletions
@@ -0,0 +1,31 @@
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@@ -0,0 +1,103 @@
+#include "MapHandler.h"
+
+
+
+MapHandler::MapHandler(cv::Mat src1, cv::Mat src2) :map1(src1), map2(src2)
+{
+}
+
+
+MapHandler::~MapHandler()
+{
+}
+
+double MapHandler::Match(const cv::Point2i& point1, const cv::Point2i& point2, cv::Point& out)
+{
+	this->templateImg = map1(cv::Rect(point1.x - roiWid / 2, point1.y - roiHei / 2, roiWid, roiHei));
+	cv::Mat tmpMap2 = map2.clone();
+	double maxValue = 0, maybeMax = 0, angle = 0, scale = 1;
+	cv::Point maxPoint;
+	cv::minMaxLoc(result, nullptr, &maxValue, &out, nullptr);
+	cv::Point tp;
+
+	for (int i = -30; i <= 30; i++) {
+		for (double j = 0.7; j <= 1.3; j += 0.05)
+		{
+			cv::Mat M = cv::getRotationMatrix2D(point2, i, j);
+			cv::warpAffine(map2, tmpMap2, M, cv::Size(tmpMap2.size().width, tmpMap2.size().height));//旋转map2
+			cv::Mat tmp = tmpMap2(cv::Rect(point2.x - 1.5 * roiWid / 2, point2.y - 1.5 * roiHei / 2, 1.5 * roiWid, 1.5 * roiHei));//map2 ROI
+			result = cv::Mat(tmpMap2.cols - templateImg.cols + 1, tmpMap2.rows - templateImg.rows + 1, CV_32FC1);
+			cv::matchTemplate(tmp, templateImg, result, cv::TM_CCOEFF_NORMED);
+			cv::minMaxLoc(result, nullptr, &maybeMax, &out, nullptr);
+			if (maybeMax > maxValue)
+			{
+				maxValue = maybeMax;
+				angle = i;
+				maxPoint = out;
+				scale = j;
+			}
+		}
+	}
+	cv::Mat M = cv::getRotationMatrix2D(point2, angle, scale);
+	cv::warpAffine(map2, tmpMap2, M, cv::Size(tmpMap2.size().width, tmpMap2.size().height));//旋转map2
+	cv::Mat tmp = tmpMap2(cv::Rect(point2.x - 1.5 * roiWid / 2, point2.y - 1.5 * roiHei / 2, 1.5 * roiWid, 1.5 * roiHei));//map2 ROI
+	tp.x = maxPoint.x + roiWid / 2;
+	tp.y = maxPoint.y + roiHei / 2;
+	cv::circle(tmp, tp, 3, cv::Scalar(0, 0, 255), 3);
+	cv::imshow("TmpMap2", tmpMap2);
+
+	//out.x += point2.x /*- 2 * roiWid / 2*/;
+	//out.y += point2.y /*- 2 * roiHei / 2*/;
+	return maxValue;
+}
+
+
+cv::Mat MapHandler::Match2(const cv::Point2i & point1, const cv::Point2i & point2, const cv::Point2i & point3, const cv::Point2i & point4)
+{
+	//计算两点间距离以确定缩放比
+	double d1 = std::sqrt(std::pow(point1.x - point2.x, 2) + cv::pow(point1.y - point2.y, 2));
+	double d2 = std::sqrt(std::pow(point3.x - point4.x, 2) + std::pow(point3.y - point4.y, 2));
+	double scale = d2 / d1;
+
+	std::cout << "Scale: " << scale << std::endl;
+
+	//计算斜率及角度
+	double k1 = (1.0*point1.y - point2.y) / (point1.x - point2.x);
+	double k2 = (1.0*point3.y - point4.y) / (point3.x - point4.x);
+	double angle1 = std::atan(k1);
+	double angle2 = std::atan(k2);
+	double angle = (k1 - k2) * 180 / PI;
+	std::cout << "Angle: " << angle << std::endl;
+
+	//以map1中心点旋转
+	cv::Point2f center = cv::Point2f(map1.cols / 2.0, map1.rows / 2.0);
+
+	cv::Mat transMatrix = cv::getRotationMatrix2D(center, angle, scale);
+	cv::warpAffine(map1, map1, transMatrix, map1.size());
+
+	cv::Mat map22 = cv::Mat::zeros(map2.size(), map2.type());
+	cv::Mat tar = map22(cv::Rect(0, 0, map1.cols, map1.rows));
+
+	//将变换后的map1与map2叠加在一起
+	map1.copyTo(tar);
+	Shift(map22, point3.x - point1.x, point4.y - point2.y);
+	cv::Mat out;
+	cv::addWeighted(map2, 0.5, map22, 0.5, 0, out);
+	//cv::imshow("Final", out);
+	return out;
+
+}
+
+void MapHandler::Shift(cv::Mat & src, const float & dx, const float & dy)
+{
+	cv::Mat t_mat = cv::Mat::zeros(2, 3, CV_32FC1);
+
+	t_mat.at<float>(0, 0) = 1;
+	t_mat.at<float>(0, 2) = dx; //水平平移量  
+	t_mat.at<float>(1, 1) = 1;
+	t_mat.at<float>(1, 2) = dy; //竖直平移量  
+
+	cv::warpAffine(src, src, t_mat, src.size());
+}
+
+
@@ -0,0 +1,44 @@
+#pragma once
+#include <opencv2\opencv.hpp>
+#include <cmath>
+#include <iostream>
+
+class MapHandler
+{
+public:
+	MapHandler(cv::Mat src1, cv::Mat src2);
+	~MapHandler();
+
+	/*
+	@func 一个点的坐标匹配（模板匹配）
+	@return 匹配的最大值 out为最大值的坐标
+	@param point1 The first point of the first image
+	@param point3 The first point of the second image
+	*/
+	double Match(const cv::Point2i& point1, const cv::Point2i& point2, cv::Point& out);
+	/*
+	@func 两个点的坐标匹配（只根据坐标匹配）
+	@param point1 The first point of the first image
+	@param point2 The second point of the first image
+	@param point3 The first point of the second image
+	@param point4 The second point of the second image
+	*/
+	cv::Mat Match2(const cv::Point2i& point1, const cv::Point2i& point2, const cv::Point2i& point3, const cv::Point2i& point4);
+
+private:
+	const int roiWid = 100, roiHei = 100;
+	const double PI = 3.1415926;
+	cv::Mat map1, map2;
+	cv::Mat templateImg;
+	cv::Mat result;
+
+	/*
+	@func 对图像src进行平移
+	@param src 待操作的图像
+	@param dx 横向移动距离
+	@param dy 纵向移动距离
+	*/
+	void Shift(cv::Mat & src, const float& dx, const float& dy);
+
+};
+
@@ -0,0 +1,84 @@
+#include<iostream>
+#include<opencv.hpp>
+#include"MapHandler.h"
+
+#define MAP1_FILE	("map_pic/map1.jpg")
+#define MAP2_FILE	("map_pic/map2.jpg")
+
+using namespace cv;
+using namespace std;
+
+#define TEM_WIE (30)
+#define TEM_HEI (30)
+
+Point2i p1, p2, p3, p4;
+Mat ROI;
+Mat src1 = imread(MAP1_FILE);
+Mat src2 = imread(MAP2_FILE);
+MapHandler handler(src1, src2);
+Point maxPoint;
+bool map1Clicked = false, map2Clicked = false;
+int cCount1 = 0;
+int cCount2 = 0;
+
+void on_mouse(int event, int x, int y, int flags, void* param)
+{
+	int flag = int(param);
+	switch (event)
+	{
+	case EVENT_LBUTTONDOWN:
+		if (flag == 1)
+		{
+			if (cCount1 == 0)
+			{
+				p1 = Point2i(x, y);
+			}
+			else if (cCount1 == 1)
+			{
+				p2 = Point2i(x, y);
+			}
+			cCount1++;
+			cout << "Click on map1: (" << x << ", " << y << ")" << endl;
+		}
+		else if (flag == 2)
+		{
+			if (cCount2 == 0)
+			{
+				p3 = Point2i(x, y);
+			}
+			else if (cCount2 == 1)
+			{
+				p4 = Point2i(x, y);
+			}
+			cCount2++;
+			cout << "Click on map2: (" << x << ", " << y << ")" << endl;
+
+		}
+		if (cCount1 == 2 && cCount2 == 2)
+		{
+			cCount1 = 0;
+			cCount2 = 0;
+			cout << "Matching..." << p1 << p2 << p3 << p4 << endl;
+			Mat out = handler.Match2(p1, p2, p3, p4);
+			imshow("Out", out);
+		}
+		break;
+	default:
+		break;
+	}
+}
+
+int main()
+{
+	namedWindow("Map1");
+	namedWindow("Map2");
+
+	imshow("Map1", src1);
+	imshow("Map2", src2);
+
+	setMouseCallback("Map1", on_mouse, (void *)1);
+	setMouseCallback("Map2", on_mouse, (void *)2);
+
+	waitKey(0);
+	return 0;
+}