限制前视最大全景图大小到10000像素

decodedata.cpp

@@ -583,9 +583,9 @@ int DecodeData::DecodeRGBImageAndPara(unsigned char *RGBBuffer, H264SEI_Para_732
         para.nWidth = 1920;
         para.nHeight = 1080;
 
-        // 720p
-        para.nWidth = 1280;
-        para.nHeight = 720;
+        //// 720p
+        //para.nWidth = 1280;
+        //para.nHeight = 720;
     }
     para.camInfo.fAglReso = (para.camInfo.fPixelSize/para.camInfo.nFocus) * 57.3*0.001;
 
@@ -622,14 +622,13 @@ int DecodeData::DecodeRGBImageAndPara(unsigned char *RGBBuffer, H264SEI_Para_732
 
     cv::waitKey(2);
 
-    para.camInfo.fPixelSize *= 1.5;
 
 
     // 前视拼接初始化
     if (m_FrameNo == 1)
     {
-        ScanRange scanAz = {  -25,25 };
-        ScanRange scanPt = { -10,-10 };
+        ScanRange scanAz = {  -45,30 };
+        ScanRange scanPt = { -1.5,-1.5 };
         m_frontStitcher->Init(para, scanAz, scanPt);
     }
     else

stitch/src/Arith_FrontStitch.cpp

@@ -56,7 +56,6 @@ FPanInfo FrontStitch::Init(FrameInfo info, ScanRange stAzRange, ScanRange stPtRa
 
     // 转为内部俯仰向下零位
     info.servoInfo.fServoPt += 90;
-
     stPtRange.Agl0 += 90;
     stPtRange.Agl1 += 90;
 
@@ -104,10 +103,14 @@ FPanInfo FrontStitch::Init(FrameInfo info, ScanRange stAzRange, ScanRange stPtRa
     _panPara.stPtRangeGeo.Agl0 = Pole_bottom.alpha;
     _panPara.stPtRangeGeo.Agl1 = Pole_up.alpha;
 
+    // 全景图按照内存大小限制分辨率，最大水平方向不超过4096
+    float XmapLimitAglRes = DEGLIM360(Pole_east.beta - Pole_west.beta) / 10000.f;
+    _panPara.fAglRes = MAX(info.camInfo.fAglReso * 2, XmapLimitAglRes);
+
+
 
-    _panPara.fAglRes = info.camInfo.fAglReso * 2;
 
-    LOG_INFO("_panPara.fAglRes:{}", _panPara.fAglRes);
+    LOG_INFO("_panPara.fAglRes:{}，XmapLimitAglRes：{}", _panPara.fAglRes, XmapLimitAglRes);
 
 
     // 全景图规模

stitch_udp.cpp

@@ -5,7 +5,7 @@ int main(int argc, char* argv[])
 {
     DecodeData* m_DecodeData = new DecodeData();
 
-    std::string filestr = "D:/Project/S732/udp_datat/720vi.dat";
+    std::string filestr = "D:/Project/S732/udp_datat/732scandataVL.dat";
 
     // std::string filestr = "E:/03855jcw/S732/H265data/1080ir2.dat";