关于代币增发复利DAPP模式制度系统开发逻辑分析（原理概念）

 1 // computeKeyPointsAndDesp 同时提取关键点与特征描述子
 2 void computeKeyPointsAndDesp( FRAME& frame, string detector, string descriptor )
 3 {
 4     cv::Ptr<cv::FeatureDetector> _detector;
 5     cv::Ptr<cv::DescriptorExtractor> _descriptor;
 6 
 7     cv::initModule_nonfree();
 8     _detector = cv::FeatureDetector::create( detector.c_str() );
 9     _descriptor = cv::DescriptorExtractor::create( descriptor.c_str() );
10 
11     if (!_detector || !_descriptor)
12     {
13         cerr<<"Unknown detector or discriptor type !"<<detector<<","<<descriptor<<endl;
14         return;
15     }
16 
17     _detector->detect( frame.rgb, frame.kp );
18     _descriptor->compute( frame.rgb, frame.kp, frame.desp );
19 
20     return;
21 }
22 
23 // estimateMotion 计算两个帧之间的运动
24 // 输入：帧1和帧2
25 // 输出：rvec 和 tvec
26 RESULT_OF_PNP estimateMotion( FRAME& frame1, FRAME& frame2, CAMERA_INTRINSIC_PARAMETERS& camera )
27 {
28     static ParameterReader pd;
29     vector< cv::DMatch > matches;
30     cv::FlannBasedMatcher matcher;
31     matcher.match( frame1.desp, frame2.desp, matches );
32    
33     cout<<"find total "<<matches.size()<<" matches."<<endl;
34     vector< cv::DMatch > goodMatches;
35     double minDis = 9999;
36     double good_match_threshold = atof( pd.getData( "good_match_threshold" ).c_str() );
37     for ( size_t i=0; i<matches.size(); i++ )
38     {
39         if ( matches[i].distance < minDis )
40             minDis = matches[i].distance;
41     }
42 
43     for ( size_t i=0; i<matches.size(); i++ )
44     {
45         if (matches[i].distance < good_match_threshold*minDis)
46             goodMatches.push_back( matches[i] );
47     }
48 
49     cout<<"good matches: "<<goodMatches.size()<<endl;
50     // 第一个帧的三维点
51     vector<cv::Point3f> pts_obj;
52     // 第二个帧的图像点
53     vector< cv::Point2f > pts_img;
54 
55     // 相机内参
56     for (size_t i=0; i<goodMatches.size(); i++)
57     {
58         // query 是第一个, train 是第二个
59         cv::Point2f p = frame1.kp[goodMatches[i].queryIdx].pt;
60         // 获取d是要小心！x是向右的，y是向下的，所以y才是行，x是列！
61         ushort d = frame1.depth.ptr<ushort>( int(p.y) )[ int(p.x) ];
62         if (d == 0)
63             continue;
64         pts_img.push_back( cv::Point2f( frame2.kp[goodMatches[i].trainIdx].pt ) );
65 
66         // 将(u,v,d)转成(x,y,z)
67         cv::Point3f pt ( p.x, p.y, d );
68         cv::Point3f pd = point2dTo3d( pt, camera );
69         pts_obj.push_back( pd );
70     }
71 
72     double camera_matrix_data[3][3] = {
73         {camera.fx, 0, camera.cx},
74         {0, camera.fy, camera.cy},
75         {0, 0, 1}
76     };
77 
78     cout<<"solving pnp"<<endl;
79     // 构建相机矩阵
80     cv::Mat cameraMatrix( 3, 3, CV_64F, camera_matrix_data );
81     cv::Mat rvec, tvec, inliers;
82     // 求解pnp
83     cv::solvePnPRansac( pts_obj, pts_img, cameraMatrix, cv::Mat(), rvec, tvec, false, 100, 1.0, 100, inliers );
84 
85     RESULT_OF_PNP result;
86     result.rvec = rvec;
87     result.tvec = tvec;
88     result.inliers = inliers.rows;
89 
90     return result;
91 }

 1 // 参数读取类
 2 class ParameterReader
 3 {
 4 public:
 5     ParameterReader( string filename="./parameters.txt" )
 6     {
 7         ifstream fin( filename.c_str() );
 8         if (!fin)
 9         {
10             cerr<<"parameter file does not exist."<<endl;
11             return;
12         }
13         while(!fin.eof())
14         {
15             string str;
16             getline( fin, str );
17             if (str[0] == '#')
18             {
19                 // 以‘＃’开头的是注释
20                 continue;
21             }
22 
23             int pos = str.find("=");
24             if (pos == -1)
25                 continue;
26             string key = str.substr( 0, pos );
27             string value = str.substr( pos+1, str.length() );
28             data[key] = value;
29 
30             if ( !fin.good() )
31                 break;
32         }
33     }
34     string getData( string key )
35     {
36         map<string, string>::iterator iter = data.find(key);
37         if (iter == data.end())
38         {
39             cerr<<"Parameter name "<<key<<" not found!"<<endl;
40             return string("NOT_FOUND");
41         }
42         return iter->second;
43     }
44 public:
45     map<string, string> data;
46 };