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前视扫描初始化过程优化

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main
wangchongwu 4 months ago
parent cfc2925cf1
commit 156692eef3
8 changed files with 136 additions and 114 deletions
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8
main.cpp
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@ -434,7 +434,7 @@ void ProcessFrontVL(string filePath)
if (i == 0)
{
stitcher->Init(info,80,50);
stitcher->Init(info, ScanRange{0,100}, ScanRange{ 56,90 });
pan = stitcher->ExportPanAddr();
@ -442,7 +442,7 @@ void ProcessFrontVL(string filePath)
}
else
{
if (i % 30 != 0)
if (i % 60 != 0)
{
i = i + 1;
continue;
@ -488,12 +488,12 @@ void ProcessFrontVL(string filePath)
int main(int, char**)
{
//ProcessIR("H:/ir_1280_1024_para40_y16/20241219155238_20.xraw", "20241219155238_20");
ProcessVL("H:/vl_1920_1080_para40_y8/22.video","22");
//ProcessVL("H:/vl_1920_1080_para40_y8/22.video","22");
//ProcessVL("H:/vl_1920_1080_para40_y8/20241219153557_11.video", "20241219152643_1");
//ProcessVL("H:/vl_1920_1080_para40_y8/20241219152917_4.video", "20241219152917_4");
//ProcessVL("H:/vl_1920_1080_para40_y8/20241219153515_10.video", "20241219153515_10");
//
//ProcessVL("H:/vl_1920_1080_para40_y8/1.video", "1");
//ProcessFrontVL("H:/vl_1920_1080_para40_y8/1.video");
ProcessFrontVL("H:/vl_1920_1080_para40_y8/1.video");
}

6
stitch/src/API_FrontStitch.h
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@ -19,16 +19,14 @@
// 视频帧前视拼接,基于极坐标
class STD_STITCH_API API_FrontStitch
{
public:
virtual ~API_FrontStitch() = default;
// 初始化拼接
virtual FPanInfo Init(FrameInfo info, float AzRange, float PtRange) = 0;
// 初始化拼接,以info给定的伺服指向为扫描中心，结合方位范围和俯仰范围初始化拼接图
virtual FPanInfo Init(FrameInfo info, ScanRange stAzRange, ScanRange stPtRange) = 0;
// 极坐标快拼
virtual BYTE8 PoleStitch(GD_VIDEO_FRAME_S img, FrameInfo para) = 0;

61
stitch/src/Arith_FrontProj.cpp
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@ -1,61 +0,0 @@
#include "Arith_FrontProj.h"
#include "Arith_Utils.h"
#include "StitchStruct.h"
#include "Arith_GeoSolver.h"
Pole getPoleFromImgWithH(cv::Mat H, cv::Point2f pt, float dep)
{
// 投影到地面坐标，这一步可以利用前面优化成果
cv::Point2f grdPt = warpPointWithH(H, pt);
// 补深度信息并转为常用的NUE坐标系
PointXYZ grdPtXYZ = { 0 };
grdPtXYZ.X = grdPt.y;
grdPtXYZ.Y = -dep;
grdPtXYZ.Z = grdPt.x;
// 地面点转极坐标
Pole pole = getPoleFromXYZ(grdPtXYZ);
return pole;
}
cv::Point2f getImgPosFromPole(cv::Mat H_inv, Pole _pole, float dep)
{
PointXYZ virPt = getXYZFromPole(_pole);
//虚拟点投影到地面
float ratio = -dep / virPt.Y;
PointXYZ realPt = { 0 };
realPt.X = virPt.X * ratio;
realPt.Y = virPt.Y * ratio;
realPt.Z = virPt.Z * ratio;
// 转东北地
PointXYZ realPtGeo = { 0 };
realPtGeo.X = realPt.Z;
realPtGeo.Y = realPt.X;
realPtGeo.Z = -realPt.Y;
// 投影回像方
cv::Point2f px = warpPointWithH(H_inv, cv::Point2f(realPtGeo.X, realPtGeo.Y));
return px;
}
Pole getPoleFromFPan(cv::Point2f pt, FPanInfo _panPara)
{
Pole _pole = { 0 };
_pole.beta = DEGLIM(_panPara.center.fAz + (pt.x - _panPara.m_pan_width / 2) * _panPara.fAglRes);
_pole.alpha = DEGLIM(_panPara.center.fPt + (_panPara.m_pan_height / 2 - pt.y) * _panPara.fAglRes);
return _pole;
}
cv::Point2f getFPanFromPole(Pole _pole, FPanInfo _panPara)
{
cv::Point2f pt = { 0 };
pt.x = DEGLIM(_pole.beta - _panPara.center.fAz) / _panPara.fAglRes + _panPara.m_pan_width / 2;
pt.y = DEGLIM(_panPara.center.fPt - _pole.alpha) / _panPara.fAglRes + _panPara.m_pan_height / 2;
return pt;
}

23
stitch/src/Arith_FrontProj.h
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@ -1,23 +0,0 @@
#pragma once
#include "Arith_CoordModule.h"
#include "Arith_SysStruct.h"
#include "opencv2/opencv.hpp"
#include "StitchStruct.h"
// 前视扫描投影变换模型
//
// cuda显存资源
struct cuda_Mem
{
unsigned char* global_cuda_Frame;
unsigned char* global_cuda_Pan;
unsigned char* global_cuda_pan_mask;
double* global_cuda_H_inv_data;
};
Pole getPoleFromImgWithH(cv::Mat H, cv::Point2f pt, float dep);
cv::Point2f getImgPosFromPole(cv::Mat H_inv, Pole _pole, float dep);
Pole getPoleFromFPan(cv::Point2f pt, FPanInfo _panPara);
cv::Point2f getFPanFromPole(Pole _pole, FPanInfo _panPara);

113
stitch/src/Arith_FrontStitch.cpp
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@ -3,7 +3,6 @@
#include "Arith_Utils.h"
#include "Arith_CoordModule.h"
#include "Arith_FeaMatch.h"
#include "Arith_FrontProj.h"
#include <opencv2/opencv.hpp>
#include <omp.h>
@ -36,28 +35,57 @@ FrontStitch::~FrontStitch()
}
FPanInfo FrontStitch::Init(FrameInfo info, float AzRange, float PtRange)
FPanInfo FrontStitch::Init(FrameInfo info, ScanRange stAzRange, ScanRange stPtRange)
{
_panPara.fAglRes = 0.02;
// 帧角分辨率
if (info.camInfo.fAglReso == 0)
{
info.camInfo.fAglReso = info.camInfo.fPixelSize / info.camInfo.nFocus * 0.06;
}
// 视场角计算
float FOV_W = info.camInfo.fAglReso * info.nWidth;
float FOV_H = info.camInfo.fAglReso * info.nHeight;
// 设置当前拼接起始位置
_GeoSolver->SetOriginPoint(info);
cv::Mat H = _GeoSolver->findHomography(info);
// 计算中心点的极坐标
Pole centPole = getPoleFromImgWithH(H, cv::Point2f(info.nWidth / 2, info.nHeight / 2), info.nEvHeight);
// 大地系下范围计算
// west
info.servoInfo.fServoAz = stAzRange.Agl0;
cv::Mat H1 = _GeoSolver->findHomography(info);
Pole Pole_west = getPoleFromImgWithH(H1, cv::Point2f(0, info.nHeight / 2), info.nEvHeight);
// east
info.servoInfo.fServoAz = stAzRange.Agl1;
cv::Mat H2 = _GeoSolver->findHomography(info);
Pole Pole_east = getPoleFromImgWithH(H2, cv::Point2f(info.nWidth, info.nHeight / 2), info.nEvHeight);
// up
info.servoInfo.fServoPt = stPtRange.Agl1;
cv::Mat H3 = _GeoSolver->findHomography(info);
Pole Pole_up = getPoleFromImgWithH(H3, cv::Point2f(info.nWidth/2, 0), info.nEvHeight);
// bottom
info.servoInfo.fServoPt = stPtRange.Agl0;
cv::Mat H4 = _GeoSolver->findHomography(info);
Pole Pole_bottom = getPoleFromImgWithH(H4, cv::Point2f(info.nWidth/2, info.nHeight), info.nEvHeight);
// 可以正反验证
//cv::Point2f imgpos = getImgPosFromPole(H, centPole, info.nEvHeight);
_panPara.center.fAz = centPole.beta;
_panPara.center.fPt = centPole.alpha;
_panPara.range.fAz = AzRange;
_panPara.range.fPt = PtRange;
_panPara.centerGeo.fAz = (Pole_east.beta + Pole_west.beta)/2;
_panPara.centerGeo.fPt = (Pole_up.alpha + Pole_bottom.alpha)/2;
_panPara.stAzRangeGeo.Agl0 = Pole_west.beta;
_panPara.stAzRangeGeo.Agl1 = Pole_east.beta;
_panPara.stPtRangeGeo.Agl0 = Pole_bottom.alpha;
_panPara.stPtRangeGeo.Agl1 = Pole_up.alpha;
_panPara.fAglRes = info.camInfo.fAglReso * 0.5;
// 全景图规模
_panPara.m_pan_width = AzRange / _panPara.fAglRes;
_panPara.m_pan_height = PtRange / _panPara.fAglRes;
_panPara.m_pan_width = DEGLIM360(Pole_east.beta - Pole_west.beta) / _panPara.fAglRes;
_panPara.m_pan_height = DEGLIM360(Pole_up.alpha - Pole_bottom.alpha) / _panPara.fAglRes;
_panImage = cv::Mat::zeros(_panPara.m_pan_height, _panPara.m_pan_width, CV_8UC3);
@ -180,4 +208,61 @@ void UpdatePan_CPU(cv::Mat rgbFrame, cv::Mat pan, cv::Rect2d roi, cv::Mat H_inv,
}
Pole getPoleFromImgWithH(cv::Mat H, cv::Point2f pt, float dep)
{
// 投影到地面坐标，这一步可以利用前面优化成果
cv::Point2f grdPt = warpPointWithH(H, pt);
// 补深度信息并转为常用的NUE坐标系
PointXYZ grdPtXYZ = { 0 };
grdPtXYZ.X = grdPt.y;
grdPtXYZ.Y = -dep;
grdPtXYZ.Z = grdPt.x;
// 地面点转极坐标
Pole pole = getPoleFromXYZ(grdPtXYZ);
return pole;
}
cv::Point2f getImgPosFromPole(cv::Mat H_inv, Pole _pole, float dep)
{
PointXYZ virPt = getXYZFromPole(_pole);
//虚拟点投影到地面
float ratio = -dep / virPt.Y;
PointXYZ realPt = { 0 };
realPt.X = virPt.X * ratio;
realPt.Y = virPt.Y * ratio;
realPt.Z = virPt.Z * ratio;
// 转东北地
PointXYZ realPtGeo = { 0 };
realPtGeo.X = realPt.Z;
realPtGeo.Y = realPt.X;
realPtGeo.Z = -realPt.Y;
// 投影回像方
cv::Point2f px = warpPointWithH(H_inv, cv::Point2f(realPtGeo.X, realPtGeo.Y));
return px;
}
Pole getPoleFromFPan(cv::Point2f pt, FPanInfo _panPara)
{
Pole _pole = { 0 };
_pole.beta = DEGLIM(_panPara.centerGeo.fAz + (pt.x - _panPara.m_pan_width / 2) * _panPara.fAglRes);
_pole.alpha = DEGLIM(_panPara.centerGeo.fPt + (_panPara.m_pan_height / 2 - pt.y) * _panPara.fAglRes);
return _pole;
}
cv::Point2f getFPanFromPole(Pole _pole, FPanInfo _panPara)
{
cv::Point2f pt = { 0 };
pt.x = DEGLIM(_pole.beta - _panPara.centerGeo.fAz) / _panPara.fAglRes + _panPara.m_pan_width / 2;
pt.y = DEGLIM(_panPara.centerGeo.fPt - _pole.alpha) / _panPara.fAglRes + _panPara.m_pan_height / 2;
return pt;
}

10
stitch/src/Arith_FrontStitch.h
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@ -16,8 +16,14 @@
#include "Arith_GeoSolver.h"
#include <cuda_runtime.h>
#include "opencv2/opencv.hpp"
#include "Arith_FrontProj.h"
// 前视扫描投影变换模型
Pole getPoleFromImgWithH(cv::Mat H, cv::Point2f pt, float dep);
cv::Point2f getImgPosFromPole(cv::Mat H_inv, Pole _pole, float dep);
Pole getPoleFromFPan(cv::Point2f pt, FPanInfo _panPara);
cv::Point2f getFPanFromPole(Pole _pole, FPanInfo _panPara);
class FrontStitch:public API_FrontStitch
@ -27,7 +33,7 @@ public:
~FrontStitch();
// 初始化拼接
FPanInfo Init(FrameInfo info, float AzRange, float PtRange);
FPanInfo Init(FrameInfo info, ScanRange stAzRange, ScanRange stPtRange);
// 极坐标快拼
BYTE8 PoleStitch(GD_VIDEO_FRAME_S img, FrameInfo para);

22
stitch/src/StitchStruct.h
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@ -31,6 +31,12 @@ struct UPanInfo
float map_shiftY;// 平移Y
};
// 扫描范围（-180-180）
struct ScanRange
{
float Agl0;
float Agl1;
};
// 前视全景图配置
struct FPanInfo
@ -38,8 +44,11 @@ struct FPanInfo
int m_pan_width;
int m_pan_height;
float fAglRes;
ANGLE32F range;
ANGLE32F center;
// 大地系范围
ANGLE32F centerGeo;
ScanRange stAzRangeGeo;
ScanRange stPtRangeGeo;
};
@ -83,3 +92,12 @@ struct PoleArea
float bottom;
};
//
// cuda显存资源
struct cuda_Mem
{
unsigned char* global_cuda_Frame;
unsigned char* global_cuda_Pan;
unsigned char* global_cuda_pan_mask;
double* global_cuda_H_inv_data;
};

7
stitch/src/mapKernel.cu
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@ -1,14 +1,13 @@
#include <cuda_runtime.h>
#include "Arith_FrontProj.h"
#include "Arith_Utils.h"
#include "Arith_SysStruct.h"
#include "StitchStruct.h"
__device__ Pole device_getPoleFromFPan(POINT32S pt, FPanInfo _panPara)
{
Pole _pole = { 0 };
_pole.beta = _panPara.center.fAz + (pt.x - _panPara.m_pan_width / 2) * _panPara.fAglRes;
_pole.alpha = _panPara.center.fPt + (_panPara.m_pan_height / 2 - pt.y) * _panPara.fAglRes;
_pole.beta = _panPara.centerGeo.fAz + (pt.x - _panPara.m_pan_width / 2) * _panPara.fAglRes;
_pole.alpha = _panPara.centerGeo.fPt + (_panPara.m_pan_height / 2 - pt.y) * _panPara.fAglRes;
return _pole;
}

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