main.cpp

#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/opencv.hpp>     
#include <iostream>        
#include <zbar.h>
#include "estimate_marker_pose.h"
#include <opencv2/imgproc/types_c.h>

using namespace std;
using namespace zbar;  //添加zbar名称空间      
using namespace cv;


int main(int argc, char* argv[])
{
    cout << "CV_VERSION: " << CV_VERSION << endl;
    //相机标定的参数-------
    double fx = 619.281;
    double cx = 327.429;
    double fy = 619.36;
    double cy = 236.488;
    double k1 = 0;
    double k2 = 0;
    double p1 = 0;
    double p2 = 0;
    double k3 = 0;
    Mat cameraMatrix = (cv::Mat_<float>(3, 3) <<
        fx, 0.0, cx,
        0.0, fy, cy,
        0.0, 0.0, 1.0);
    Mat distCoeffs = (cv::Mat_<float>(5, 1) << k1, k2, p1, p2, k3);
    //相机标定的参数-------
    //二维码的边长
    double marker_size = 5.0; //单位  cm
    //zbar::ImageScanner
    ImageScanner scanner;
    scanner.set_config(ZBAR_NONE, ZBAR_CFG_ENABLE, 1);

    cv::VideoCapture inputVideo;
    inputVideo.open(0);
    inputVideo.set(cv::CAP_PROP_FRAME_WIDTH, 640);
    inputVideo.set(cv::CAP_PROP_FRAME_HEIGHT, 480);

    while (inputVideo.grab())
    {
        cv::Mat image;
        inputVideo.retrieve(image);//抓取视频中的一张照片
        flip(image, image, 1);//  水平方向镜像
        Mat imageGray;
        cvtColor(image, imageGray, CV_RGB2GRAY);
        int width = imageGray.cols;
        int height = imageGray.rows;
        uchar* raw = (uchar*)imageGray.data;
        Image imageZbar(width, height, "Y800", raw, width * height);
        scanner.scan(imageZbar); //扫描条码      
        Image::SymbolIterator symbol = imageZbar.symbol_begin();
        if (imageZbar.symbol_begin() == imageZbar.symbol_end())
        {
            cout << "can't detect QR code！" << endl;
        }
        std::vector<int> ids;
        std::vector<std::vector<cv::Point2f> > corners;
        std::vector<cv::Vec3d> rvecs, tvecs;
        for (int i = 0;symbol != imageZbar.symbol_end();++symbol)
        {
            cout << "type：" << endl << symbol->get_type_name() << endl << endl;
            cout << "data：" << endl << symbol->get_data() << endl << endl;
            cout << "data_length：" << endl << symbol->get_data_length() << endl << endl;
            cout << "location_size：" << endl << symbol->get_location_size() << endl << endl;

            std::vector<cv::Point2f> corner;
            corner.push_back(cv::Point2f(symbol->get_location_x(0), symbol->get_location_y(0)));
            corner.push_back(cv::Point2f(symbol->get_location_x(3), symbol->get_location_y(3)));
            corner.push_back(cv::Point2f(symbol->get_location_x(2), symbol->get_location_y(2)));
            corner.push_back(cv::Point2f(symbol->get_location_x(1), symbol->get_location_y(1)));
            corners.push_back(corner);
            ids.push_back(i);
            i++;
        }

        //求解旋转向量rvecs和平移向量tvecs
        myEstimatePoseSingleMarkers(corners, marker_size, cameraMatrix, distCoeffs, rvecs, tvecs);
        for (int i = 0; i < ids.size(); i++)
        {
            // cv::aruco::drawDetectedMarkers(image, corners, ids);//绘制检测到的靶标的框
            myDrawDetectedMarkers(image, corners, ids, Scalar(100, 0, 255));//绘制检测到的靶标的框
            // cv::aruco::drawAxis(image, cameraMatrix, distCoeffs, rvecs[i], tvecs[i], 5);
            myDrawFrameAxes(image, cameraMatrix, distCoeffs, rvecs[i], tvecs[i], 5, 3);
            // drawFrameAxes(image, cameraMatrix, distCoeffs, rvecs[i], tvecs[i], 5, 3);//opencv 3.3.1 没有 4.2.1有
            cout << "  T :" << tvecs[i] << endl;
            cout << "  R :" << rvecs[i] << endl;
        }
        imshow("Source Image", image);
        waitKey(1);
    }

    return 0;
}