ADAS道路线识别与标定

ADAS道路线识别与标定，适合视觉开发及ADAS开发参考。

/**
@file main.cpp
@date 2017/09/03
@author tkwoo（wtk1101@gmail.com）.
@brief main file
*/

#include 
#include 
#include 
#include 
 
#include “StereoVisionForADAS.h“
#include “SurfaceNormal.h“

// #define VIZ
#ifdef VIZ
#include 
#endif

using namespace std;
using namespace cv;

int main（）
{
#ifdef VIZ
	viz::Viz3d plot3d（“Coordinate frame“）;
	plot3d.showWidget（“Coordinate Widget“ viz::WCoordinateSystem（））;

	viz::Viz3d vizPlotVec（“vector direction“）;
	vizPlotVec.showWidget（“Coordinate Widget“ viz::WCoordinateSystem（））;
#endif

	StereoCamParam_t objParam = CStereoVisionForADAS::InitStereoParam（KITTI）;
	CStereoVisionForADAS objStereoVision（objParam）; //stixel constructor
	CSuNoVeMap objSuNoVeMap（objParam）; //SNV

	int cntframe = 0;
	char chLeftImageName[150] = {};
	char chRightImageName[150] = {};
	char chOxtsName[150] = {};
	int nWaitTime = 0;
	
	while （1）{// （!plot3d.wasStopped（））{
		cout << cntframe << “ “;

		sprintf（chLeftImageName “./data/left/%010d.png“ cntframe）;
		sprintf（chRightImageName “./data/right/%010d.png“ cntframe）;

		cntframe++;

		/*fstream fs;
		fs.open（chOxtsName）;
		double dTemp;
		fs >> dTemp >> dTemp >> dTemp >> dTemp >> dTemp;
		printf（“%.1lfdeg “ -dTemp*180/PI）;*/
		//cout << dTemp * 180 / PI << “deg “;

		Mat imgLeft = imread（chLeftImageName 1）;
		Mat imgRight = imread（chRightImageName 1）;
		if （imgLeft.empty（）） {waitKey（）;break;}
		
		//imshow（“right“ imgRight）;
		
		int64 t = getTickCount（）;

		// procesing
		objStereoVision.objectness（imgLeft imgRight）;

		Mat imgDisp8;
		objStereoVision.m_matDisp16.convertTo（imgDisp8 CV_8U 255 / （objParam.m_nNumberOfDisp*16.））;

		Mat imgG;
		bitwise_and（objStereoVision.m_imgGround imgDisp8 imgG）;
		// surface normal prcessing
		//objSuNoVeMap.Compute（objStereoVision.m_imgDisp8）;
		//objSuNoVeMap.Compute（imgG）;
		objSuNoVeMap.Compute（imgDisp8）;
		printf（“Time elapsed: %.3fms\n“ （getTickCount（） - t） * 1000 / getTickFrequency（））;
		
		Mat imgResult = imgLeft.clone（）;
		Mat imgStixel = imgLeft.clone（）;

		Mat imgDispColor;
		applyColorMap（imgDisp8 imgDispColor COLORMAP_OCEAN）;
		//cout << objSuNoVeMap.m_objValidSNVs.size（） << endl;
		for （int i = 0; i < objSuNoVeMap.m_objValidSNVs.size（）; i = i + 1）{
			Point ptEnd;
			Point3d ptDir = 0.15*objSuNoVeMap.m_objValidSNVs[i].m_vec3dDirection / objSuNoVeMap.m_objValidSNVs[i].dScale;
			Point3d ptEnd3D = ptDir + objSuNoVeMap.m_objValidSNVs[i].m_ptPositionRealWorld;
			ptEnd.x = ptEnd3D.x * objParam.objCamParam.m_dFocalLength / ptEnd3D.z + （objParam.objCamParam.m_sizeSrc.width / 2）;
			ptEnd.y = ptEnd3D.y * objParam.objCamParam.m_dFocalLength / ptEnd3D.z + （objParam.objCamParam.m_sizeSrc.height / 2）;
			line（imgDispColor objSuNoVeMap.m_objValidSNVs[i].m_ptPositionImage ptEnd Scalar（0 255 0））;
		}
		for （int i = 0; i < objSuNoVeMap.m_objTrashSNVs.size（）; i = i + 1）

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2017-09-04 09:28  StereoVisionforADAS-master\
     文件       18046  2017-09-04 09:28  StereoVisionforADAS-master\LICENSE
     文件        1357  2017-09-04 09:28  StereoVisionforADAS-master\README.md
     文件        5110  2017-09-04 09:28  StereoVisionforADAS-master\StereoMatching.cpp
     文件        2072  2017-09-04 09:28  StereoVisionforADAS-master\StereoMatching.h
     文件       13200  2017-09-04 09:28  StereoVisionforADAS-master\StereoVisionForADAS.cpp
     文件        2659  2017-09-04 09:28  StereoVisionforADAS-master\StereoVisionForADAS.h
     文件       13084  2017-09-04 09:28  StereoVisionforADAS-master\StixelEstimation.cpp
     文件        3163  2017-09-04 09:28  StereoVisionforADAS-master\StixelEstimation.h
     文件        2170  2017-09-04 09:28  StereoVisionforADAS-master\StixelSegmenation.h
     文件        9881  2017-09-04 09:28  StereoVisionforADAS-master\StixelSegmentation.cpp
     文件        6367  2017-09-04 09:28  StereoVisionforADAS-master\SurfaceNormal.h
     文件          95  2017-09-04 09:28  StereoVisionforADAS-master\compile.sh
     目录           0  2017-09-04 09:28  StereoVisionforADAS-master\data\
     文件        6148  2017-09-04 09:28  StereoVisionforADAS-master\data\.DS_Store
     目录           0  2017-09-04 09:28  StereoVisionforADAS-master\data\left\
     文件      774707  2017-09-04 09:28  StereoVisionforADAS-master\data\left\0000000000.png
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     文件      825234  2017-09-04 09:28  StereoVisionforADAS-master\data\left\0000000014.png
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