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@ -1,28 +1,56 @@
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#include "Arith_BlendMap.h"
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#include "Arith_Utils.h"
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#include "Arith_FrontStitch.h"
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#include "Arith_GeoSolver.h"
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using std::max;
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using std::min;
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MapBlend::MapBlend(FileCache<FrameCache>* cache)
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MapBlend::MapBlend(FileCache<FrameCache>* cache, UPanInfo upan_info)
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{
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_cache = cache;
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// 创建底图
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_panImage = cv::Mat(upan_info.m_pan_height, upan_info.m_pan_width, CV_8UC4, cv::Scalar(0, 0, 0, 0));
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// 创建覆盖标记mask
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_panMask = cv::Mat::zeros(upan_info.m_pan_height, upan_info.m_pan_width, CV_8UC1);
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// 临时空间
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_panTmp = cv::Mat(upan_info.m_pan_height, upan_info.m_pan_width, CV_8UC4, cv::Scalar(0, 0, 0, 0));
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_maskTmp = cv::Mat::zeros(upan_info.m_pan_height, upan_info.m_pan_width, CV_8UC1);
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_upan_info = upan_info;
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}
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MapBlend::~MapBlend()
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{
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}
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void MapBlend::MapFrame(cv::Mat src, cv::Mat H_Geo, cv::Mat mapH, cv::Mat pan, cv::Mat pan_mask)
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cv::Mat MapBlend::getPanImageMat()
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{
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return _panImage;
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}
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cv::Mat MapBlend::getPanMaskMat()
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{
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return _panMask;
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}
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void MapBlend::FrameMap(cv::Mat src, cv::Mat H_Geo, cv::Mat mapH, BLEND_TYPE blendType)
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{
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//return FrameMap_1(src, H_Geo, mapH);
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// 与全景图的H相乘
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cv::Mat H = mapH * H_Geo;
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// 利用H投影当前帧到全景
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cv::Mat imagetmp(pan.size(), CV_8UC3, cv::Scalar(0, 0, 0));
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cv::warpPerspective(src, imagetmp, H, imagetmp.size(), cv::INTER_LINEAR, cv::BORDER_TRANSPARENT);
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//cv::Mat imagetmp(_panImage.size(), CV_8UC3, cv::Scalar(0, 0, 0));
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_panTmp.setTo(0);
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cv::warpPerspective(src, _panTmp, H, _panTmp.size(), cv::INTER_NEAREST, cv::BORDER_TRANSPARENT);
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cv::Mat mask = cv::Mat::ones(cv::Size(src.cols, src.rows), CV_8UC1);
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@ -34,97 +62,155 @@ void MapBlend::MapFrame(cv::Mat src, cv::Mat H_Geo, cv::Mat mapH, cv::Mat pan, c
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mask(cv::Rect(mask.cols - margin, margin, margin, mask.rows - 2 * margin)) = 0; // 右边
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cv::Mat warped_mask;
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cv::warpPerspective(mask, warped_mask, H, imagetmp.size(), cv::INTER_NEAREST, cv::BORDER_CONSTANT, cv::Scalar(0));
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_maskTmp.setTo(0);
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cv::warpPerspective(mask, _maskTmp, H, _panTmp.size(), cv::INTER_NEAREST, cv::BORDER_CONSTANT, cv::Scalar(0));
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// 收缩一圈消除虚线
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//cv::erode(warped_mask, warped_mask,
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//cv::erode(_maskTmp, _maskTmp,
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// cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3, 3)));
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blendType = DIRECT;
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// 增量拼接
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if (blendType == DIRECT)
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{
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//
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}
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else if (blendType == INCREASE)
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{
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_maskTmp = _maskTmp & (~_panMask); //只拷贝未覆盖区域
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}
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else if (blendType == DIS_BLEND)
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{
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//cv::Mat dist1, dist2;
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//cv::distanceTransform(_maskTmp, dist1, cv::DIST_L2, 3); //当前帧
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//cv::distanceTransform(_panMask, dist2, cv::DIST_L2, 3); //底图
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//dist1.convertTo(dist1, CV_32FC1);
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//dist2.convertTo(dist2, CV_32FC1);
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//// 限制最大距离，比如只在 30 像素内有效
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//double maxDist = 30.0;
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//dist1 = cv::min(dist1, maxDist);
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//dist2 = cv::min(dist1, maxDist);
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imagetmp.copyTo(pan, warped_mask);
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//// 归一化到 0~1 之间（越靠近边界权重越小）
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//cv::normalize(dist1, dist1, 0.0, 1.0, cv::NORM_MINMAX);
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//cv::normalize(dist2, dist2, 0.0, 1.0, cv::NORM_MINMAX);
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// 保存遮罩
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warped_mask.copyTo(pan_mask, warped_mask);
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}
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//cv::Mat weight1 = dist1 / (dist1 + dist2 + 1e-6);
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//cv::Mat weight2 = 1.0f - weight1;
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void MapBlend::DirectMap(vector<KeyType> frameInd, cv::Mat mapH, cv::Mat pan, cv::Mat pan_mask)
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{
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// 从文件缓存获取帧
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auto _t_frame_cache = std::make_shared<FrameCache>();
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for (size_t i = 0; i < frameInd.size(); i++)
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{
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KeyType key = frameInd[i];
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bool flag = _cache->get(key, _t_frame_cache);
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if (!flag)
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{
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continue;
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}
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//cv::Mat img1f, img2f;
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//_panTmp.convertTo(img1f, CV_32FC4, 1.0 / 255.0);
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//_panImage.convertTo(img2f, CV_32FC4, 1.0 / 255.0);
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// 读取当前H
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cv::Mat H1 = cv::Mat(3, 3, CV_64FC1, _t_frame_cache->H);
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//std::vector<cv::Mat> c1, c2;
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//cv::split(img1f, c1);
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//cv::split(img2f, c2);
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// 与全景图的H相乘
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cv::Mat H = mapH * H1;
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//for (int i = 0; i < 4; ++i) {
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// c1[i] = c1[i].mul(weight1) + c2[i].mul(weight2);
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//}
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// 利用H投影当前帧到全景
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cv::Mat imagetmp(pan.size(), CV_8UC3, cv::Scalar(0, 0, 0));
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//cv::Mat blended;
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//cv::merge(c1, blended);
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//blended.convertTo(blended, CV_8UC4, 255.0);
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// 获取图像数据
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cv::Mat src = getRGBAMatFromGDFrame(_t_frame_cache->_frame_info, _t_frame_cache->_data);
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cv::warpPerspective(src, imagetmp, H, imagetmp.size(), cv::INTER_LINEAR, cv::BORDER_TRANSPARENT);
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cv::Mat mask = cv::Mat::ones(cv::Size(src.cols, src.rows), CV_8UC1);
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//cv::Mat blended_show;
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//cv::resize(blended, blended_show, cv::Size(weight1.rows / 8, weight1.cols / 8));
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//imshow("blended", blended_show);
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//cv::waitKey(1);
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// 设置上下左右边缘区域为 0
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int margin = 5; // 可根据实际需求调整，5 像素作为边缘区域
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mask(cv::Rect(0, 0, mask.cols, margin)) = 0; // 上边
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mask(cv::Rect(0, mask.rows - margin, mask.cols, margin)) = 0; // 下边
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mask(cv::Rect(0, margin, margin, mask.rows - 2 * margin)) = 0; // 左边
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mask(cv::Rect(mask.cols - margin, margin, margin, mask.rows - 2 * margin)) = 0; // 右边
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//cv::Mat disshow;
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//cv::resize(dis, disshow, cv::Size(warped_mask.rows / 8, warped_mask.cols / 8));
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//
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//imshow("dis", disshow);
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//cv::waitKey(1);
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cv::Mat warped_mask;
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cv::warpPerspective(mask, warped_mask, H, imagetmp.size(), cv::INTER_NEAREST, cv::BORDER_CONSTANT, cv::Scalar(0));
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//// 收缩一圈消除虚线
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//cv::erode(warped_mask, warped_mask,
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// cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3, 3)));
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}
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imagetmp.copyTo(pan, warped_mask);
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//// 显示mask
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//cv::Mat maskshow;
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//cv::resize(warped_mask, maskshow, cv::Size(warped_mask.rows / 8, warped_mask.cols / 8));
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//imshow("warped_mask", maskshow *255);
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//cv::waitKey(1);
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// 保存遮罩
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warped_mask.copyTo(pan_mask, warped_mask);
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_panTmp.copyTo(_panImage, _maskTmp);
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//imshow("mask", pan_mask);
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//waitKey(1);
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}
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// 保存遮罩
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_maskTmp.copyTo(_panMask, _maskTmp);
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}
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void MapBlend::BlendMap(vector<KeyType> frameInd, cv::Mat mapH, cv::Mat pan, cv::Mat pan_mask)
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#include <omp.h>
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void MapBlend::FrameMap_1(cv::Mat src, cv::Mat H_Geo, cv::Mat mapH)
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{
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}
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//#pragma omp parallel
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// {
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// printf("Thread %d of %d\n",
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// omp_get_thread_num(), omp_get_num_threads());
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// }
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// 与全景图的H相乘
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cv::Mat H = mapH * H_Geo;
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FrontMapBlend::FrontMapBlend(FileCache<FrameCache>* cache)
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{
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_cache = cache;
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}
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cv::Point2f leftTop_map = warpPointWithH(H,cv::Point2f(0,0));
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cv::Point2f rightTop_map = warpPointWithH(H,cv::Point2f(src.cols,0));
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cv::Point2f rightBottom_map = warpPointWithH(H,cv::Point2f(src.cols,src.rows));
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cv::Point2f leftBottom_map = warpPointWithH(H,cv::Point2f(0,src.rows));
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// 计算全景图的范围
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int right = max(max(max(leftTop_map.x, leftBottom_map.x), rightTop_map.x), rightBottom_map.x);
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int left = min(min(min(leftTop_map.x, leftBottom_map.x), rightTop_map.x), rightBottom_map.x);
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int top = min(min(min(leftTop_map.y, leftBottom_map.y), rightTop_map.y), rightBottom_map.y);
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int bottom = max(max(max(leftTop_map.y, leftBottom_map.y), rightTop_map.y), rightBottom_map.y);
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int xRange = right - left;
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int yRnage = bottom - top;
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//反映射到像素坐标
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int valid_top = std::max(0, top);
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int valid_bottom = std::min(_panImage.rows, bottom);
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int valid_left = std::max(0, left);
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int valid_right = std::min(_panImage.cols, right);
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cv::Mat H_inv = H.inv();
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#pragma omp parallel for
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for (int i = valid_top; i < valid_bottom; i++)
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{
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uchar* row = _panImage.ptr<uchar>(i);
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for (int j = valid_left; j < valid_right; j++)
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{
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//转换为pixel坐标
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auto p_img = warpPointWithH(H_inv,Point2f(j, i));
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if (p_img.x >= 0 && p_img.y >= 0 && p_img.x < src.cols && p_img.y < src.rows)
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{
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auto rgbVal = Interpolation_RGBA32(src.data, src.cols, src.rows, p_img.x, p_img.y);
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row[4 * j + 0] = rgbVal.R;
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row[4 * j + 1] = rgbVal.G;
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row[4 * j + 2] = rgbVal.B;
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row[4 * j + 3] = rgbVal.A;
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}
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}
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}
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return;
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FrontMapBlend::~FrontMapBlend()
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{
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}
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void FrontMapBlend::DirectMap(vector<KeyType> frameInd, FPanInfo _panPara, cv::Mat _panImage, cv::Mat pan_mask, cuda_Mem cuda_resor)
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void MapBlend::BatchMap(vector<KeyType> frameInd, cv::Mat mapH, BLEND_TYPE blendType)
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{
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_panImage.setTo(0);
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// 从文件缓存获取帧
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auto _t_frame_cache = std::make_shared<FrameCache>();
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for (size_t i = 0; i < frameInd.size(); i++)
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@ -138,71 +224,47 @@ void FrontMapBlend::DirectMap(vector<KeyType> frameInd, FPanInfo _panPara, cv::M
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}
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// 读取当前H
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cv::Mat H = cv::Mat(3, 3, CV_64FC1, _t_frame_cache->H);
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auto info = _t_frame_cache->_para;
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cv::Mat H1 = cv::Mat(3, 3, CV_64FC1, _t_frame_cache->H);
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float dep = info.nEvHeight;
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// 与全景图的H相乘
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cv::Mat H = mapH * H1;
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GD_VIDEO_FRAME_S img = _t_frame_cache->_frame_info;
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// 利用H投影当前帧到全景
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//cv::Mat imagetmp(_panImage.size(), CV_8UC3, cv::Scalar(0, 0, 0));
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// 获取图像数据
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cv::Mat rgb = getRGBMatFromGDFrame(_t_frame_cache->_frame_info, _t_frame_cache->_data);
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//Pole CT_map = getPoleFromImgWithH(H, cv::Point2f(img.u32Width/2, img.u32Height/2), info.nEvHeight);
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cv::Mat src = getRGBAMatFromGDFrame(_t_frame_cache->_frame_info, _t_frame_cache->_data);
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cv::warpPerspective(src, _panTmp, H, _panTmp.size(), cv::INTER_LINEAR, cv::BORDER_TRANSPARENT);
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// 计算帧的map四至，注意这里不是线性变化，不能完全保证四至约束下的原图能完全覆盖，即反采样后图像可能不完整
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Pole leftTop_map = getPoleFromImgWithH(H, cv::Point2f(0, 0), info.nEvHeight);
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Pole rightTop_map = getPoleFromImgWithH(H, cv::Point2f(img.u32Width, 0), info.nEvHeight);
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Pole rightBottom_map = getPoleFromImgWithH(H, cv::Point2f(img.u32Width, img.u32Height), info.nEvHeight);
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Pole leftBottom_map = getPoleFromImgWithH(H, cv::Point2f(0, img.u32Height), info.nEvHeight);
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cv::Mat mask = cv::Mat::ones(cv::Size(src.cols, src.rows), CV_8UC1);
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//leftTop_map.beta = DEGLIM360(leftTop_map.beta);
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//rightTop_map.beta = DEGLIM360(rightTop_map.beta);
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//rightBottom_map.beta = DEGLIM360(rightBottom_map.beta);
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//leftBottom_map.beta = DEGLIM360(leftBottom_map.beta);
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// 设置上下左右边缘区域为 0
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int margin = 5; // 可根据实际需求调整，5 像素作为边缘区域
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mask(cv::Rect(0, 0, mask.cols, margin)) = 0; // 上边
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mask(cv::Rect(0, mask.rows - margin, mask.cols, margin)) = 0; // 下边
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mask(cv::Rect(0, margin, margin, mask.rows - 2 * margin)) = 0; // 左边
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mask(cv::Rect(mask.cols - margin, margin, margin, mask.rows - 2 * margin)) = 0; // 右边
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// 转全景图的像方
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cv::Point2f p_leftTop_map = getFPanFromPole(leftTop_map, _panPara);
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cv::Point2f p_rightTop_map = getFPanFromPole(rightTop_map, _panPara);
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cv::Point2f p_rightBottom_map = getFPanFromPole(rightBottom_map, _panPara);
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cv::Point2f p_leftBottom_map = getFPanFromPole(leftBottom_map, _panPara);
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// 计算全景图上范围
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int right = max(max(max(p_leftTop_map.x, p_rightTop_map.x), p_rightBottom_map.x), p_leftBottom_map.x);
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int left = min(min(min(p_leftTop_map.x, p_rightTop_map.x), p_rightBottom_map.x), p_leftBottom_map.x);
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int top = min(min(min(p_leftTop_map.y, p_rightTop_map.y), p_rightBottom_map.y), p_leftBottom_map.y);
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int bottom = max(max(max(p_leftTop_map.y, p_rightTop_map.y), p_rightBottom_map.y), p_leftBottom_map.y);
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cv::warpPerspective(mask, _maskTmp, H, _panTmp.size(), cv::INTER_NEAREST, cv::BORDER_CONSTANT, cv::Scalar(0));
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int xRange = right - left;
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int yRnage = bottom - top;
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//// 收缩一圈消除虚线
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//cv::erode(warped_mask, warped_mask,
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// cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3, 3)));
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//反映射到像素坐标
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MINMAXRECT32S RANGES = { 0 };
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RANGES.minY = std::max(0, top);
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RANGES.maxY = std::min(_panImage.rows - 1, bottom);
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_panTmp.copyTo(_panImage, _maskTmp);
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RANGES.minX = std::max(0, left);
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RANGES.maxX = std::min(_panImage.cols - 1, right);
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// 保存遮罩
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_maskTmp.copyTo(_panMask, _maskTmp);
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cv::Rect2d roi(RANGES.minX, RANGES.minY, RANGES.maxX - RANGES.minX, RANGES.maxY - RANGES.minY);
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//imshow("mask", pan_mask);
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//waitKey(1);
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if (roi.width < 0)
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{
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int a = 0;
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}
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}
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cv::Mat H_inv = H.inv();
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}
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#ifdef ENABLE_CUDA
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UpdatePan_CUDA(rgb, _panImage, roi, H_inv, _panPara, dep, cuda_resor);
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#else
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UpdatePan_CPU(rgb, _panImage, roi, H_inv, _panPara, dep);
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#endif
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}
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}
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