利用 QT5.5 、opengl和opencv实现的增强现实

#include "qscarletgl_augmentedreality.h" #include<QOpenGLShaderProgram> #include<QDebug> #include<QKeyEvent> #include<QGLFormat> #include<QImage> //#include<glut.h> //=====Eigen #include<Eigen/Core> #include<Eigen/Dense> //=====std #include<vector> #include<fstream> #include<iostream> using namespace std; using namespace cv; QScarletGLAugmentedReality::QScarletGLAugmentedReality(QWidget*parent) :QGLWidget(parent) { cam.open(0); initWidget(); initializeGL(); qDebug()<<"initial3"; //resizeGL(640,480); clk.start(30); qDebug()<<"initial1"; 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); //start();//开始 qDebug()<<"initial done!"; } QScarletGLAugmentedReality::~QScarletGLAugmentedReality() { clk.stop(); if(cam.isOpened() ==true)//释放camera cam.release(); } //cam //三个重载函数 void QScarletGLAugmentedReality::initializeGL() { initialize_AugmentReality(); } void QScarletGLAugmentedReality::paintGL() { paint_AugmentReality(); //update(); } void QScarletGLAugmentedReality::resizeGL(int width,int height) { resize_AugmentReality(width,height); } void QScarletGLAugmentedReality::initWidget() { //setGeometry(0, 0, IMAGE_WIDTH, IMAGE_HEIGHT);//设置窗口位置及大小 setWindowTitle(tr("opengl demo")); } //==========实际绘制 void QScarletGLAugmentedReality::loadGLTextures()//加载纹理 { qDebug()<<"initializeGL0"; //initializeOpenGLFunctions(); QImage tex;QImage buf; if (!buf.load(":/logo/logo/Scarletogo3.png")) //if (!buf.load(":/logo/logo/box.png")) { qWarning("load image failed!"); QImage dummy(128, 128, QImage::Format_RGB32); dummy.fill(Qt::green); buf = dummy; } qDebug()<<"initializeGL1"; tex = QGLWidget::convertToGLFormat(buf); qDebug()<<"initializeGL2"; glGenTextures(1, &texturImage);//对应图片的纹理定义 qDebug()<<"initializeGL3"; glBindTexture(GL_TEXTURE_2D, texturImage);//进行纹理绑定 //纹理创建 glTexImage2D(GL_TEXTURE_2D, 0, 3, tex.width(), tex.height(), 0, GL_RGBA, GL_UNSIGNED_BYTE, tex.bits()); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); //加载视频纹理 // video >> frame; cvtColor(frame, frame, CV_BGR2RGB); // buf = QImage((const unsigned char*)frame.data, frame.cols, frame.rows, frame.cols * frame.channels(), QImage::Format_RGB888); // tex = QGLWidget::convertToGLFormat(buf); // glGenTextures(1, &texturImage);//对应图片的纹理定义 // glBindTexture(GL_TEXTURE_2D, texturImage);//进行纹理绑定 // //纹理创建 // glTexImage2D(GL_TEXTURE_2D, 0, 3, tex.width(), tex.height(), 0, // GL_RGBA, GL_UNSIGNED_BYTE, tex.bits()); // glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); // glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); //gluBuild2DMipmaps( GL_TEXTURE_2D, GL_RGB, tex.width(), tex.height(), GL_RGBA, GL_UNSIGNED_BYTE, tex.bits()); } void QScarletGLAugmentedReality::initialize_AugmentReality() { 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 QScarletGLAugmentedReality::paint_AugmentReality() { //updateWindow(); 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);//首先绘制背景 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(); 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 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