parent
b94cc137c7
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3b8d55e36f
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#include <iostream>
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#include <fstream>
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#include <sstream>
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#include <vector>
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#include <string>
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#include <iostream>
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#include "API_UnderStitch.h"
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#include "API_FrontStitch.h"
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#include "PlatformDefine.h"
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#include <string.h>
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#include "opencv2/opencv.hpp"
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#include <random>
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struct FrameData {
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int frameNumber;
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std::string timeRange;
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int frameCnt;
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std::string timestamp;
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float focal_len = 0;
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float dzoom_ratio = 0;
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double latitude = 0;
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double longitude = 0;
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float rel_alt = 0;
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float abs_alt = 0;
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float gb_yaw = 0;
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float gb_pitch = 0;
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float gb_roll = 0;
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// 衍生参数
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float real_focal_mm = 0;
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float pixel_size_um = 0;
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};
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float extractValueAfter(const std::string& line, const std::string& key) {
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size_t pos = line.find(key);
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if (pos == std::string::npos) return 0;
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pos += key.length();
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size_t end = line.find(' ', pos);
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if (end == std::string::npos) end = line.length();
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return std::stof(line.substr(pos, end - pos));
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}
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double extractDoubleAfter(const std::string& line, const std::string& key) {
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size_t pos = line.find(key);
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if (pos == std::string::npos) return 0;
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pos += key.length();
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size_t end = line.find(' ', pos);
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if (end == std::string::npos) end = line.length();
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return std::stod(line.substr(pos, end - pos));
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}
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// 获取真实焦距和像元尺寸
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void inferCameraParams_H20(FrameData& frame, const std::string& filename)
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{
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const float full_frame_diag = 43.3f;
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float sensor_diag = 0.0f;
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if (filename.find("_W") != std::string::npos) {
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sensor_diag = 9.4f;
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frame.pixel_size_um = 1.98f;
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}
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else if (filename.find("_Z") != std::string::npos) {
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sensor_diag = 7.7f;
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frame.pixel_size_um = 2.4f;
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}
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else if (filename.find("_T") != std::string::npos) {
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sensor_diag = 10.9f;
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frame.pixel_size_um = 12.0f;
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}
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else {
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sensor_diag = 9.4f;
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frame.pixel_size_um = 1.98f;
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}
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frame.real_focal_mm = frame.focal_len * (sensor_diag / full_frame_diag);
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}
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// 获取真实焦距和像元尺寸
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void inferCameraParams_H30(FrameData& frame, const std::string& filename)
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{
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const float full_frame_diag = 43.3f;
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float sensor_diag = 0.0f;
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if (filename.find("_W") != std::string::npos) {
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frame.real_focal_mm = 6.72;
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frame.pixel_size_um = 2.4;
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}
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else if (filename.find("_Z") != std::string::npos) {
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}
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else if (filename.find("_T") != std::string::npos) {
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frame.real_focal_mm = 24;
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frame.pixel_size_um = 12;
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}
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else {
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}
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//frame.real_focal_mm = frame.focal_len * (sensor_diag / full_frame_diag);
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}
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std::vector<FrameData> parseDJISRT(const std::string& filename) {
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std::vector<FrameData> frames;
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std::ifstream file(filename);
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if (!file.is_open()) {
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std::cerr << "Error: Could not open file " << filename << std::endl;
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return frames;
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}
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std::string lines[5];
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while (std::getline(file, lines[0])) { // Frame number line
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// Read next 4 lines
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for (int i = 1; i < 5; ++i) {
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if (!std::getline(file, lines[i])) break;
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}
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FrameData frame;
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// Line 1: Frame number
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frame.frameNumber = std::stoi(lines[0]);
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// Line 2: Time range (00:00:00,000 --> 00:00:00,033)
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frame.timeRange = lines[1];
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// Line 3: FrameCnt and timestamp
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std::istringstream iss(lines[2]);
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std::string temp;
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iss >> temp >> frame.frameCnt >> frame.timestamp;
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// Line 4: Metadata (direct field extraction)
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const std::string& meta = lines[3];
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frame.focal_len = extractValueAfter(meta, "focal_len: ");
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frame.dzoom_ratio = extractValueAfter(meta, "dzoom_ratio: ");
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frame.latitude = extractDoubleAfter(meta, "latitude: ");
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frame.longitude = extractDoubleAfter(meta, "longitude: ");
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frame.rel_alt = extractValueAfter(meta, "rel_alt: ");
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frame.abs_alt = extractValueAfter(meta, "abs_alt: ");
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frame.gb_yaw = extractValueAfter(meta, "gb_yaw: ");
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frame.gb_pitch = extractValueAfter(meta, "gb_pitch: ");
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frame.gb_roll = extractValueAfter(meta, "gb_roll: ");
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inferCameraParams_H30(frame, filename);
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frames.push_back(frame);
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// Skip the empty line (line 5)
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}
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file.close();
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return frames;
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}
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void ProcDJVideo(vector<std::string> videoPathList, vector<std::string> srtPathList)
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{
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auto stitcher = API_UnderStitch::Create();
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stitcher->SetOutput("DJI", "D:/google_tiles");
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// dsample
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int nDownSample = 1;
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GD_VIDEO_FRAME_S frame = { 0 };//输入帧
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GD_VIDEO_FRAME_S pan = { 0 };//输出全景
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cv::Mat mat_pan;//全景显示
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cv::VideoCapture cap(videoPathList[0]);
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// Get video properties
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double fps = cap.get(cv::CAP_PROP_FPS);
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int width = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_WIDTH));
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int height = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_HEIGHT));
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int frame_count = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_COUNT));
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std::vector<FrameData> srt_init = parseDJISRT(srtPathList[0]);
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FrameInfo info = { 0 };
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info.nFrmID = 0;
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info.camInfo.nFocus = srt_init[0].real_focal_mm;
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info.camInfo.fPixelSize = srt_init[0].pixel_size_um * nDownSample;
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info.craft.stAtt.fYaw = srt_init[0].gb_yaw;
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info.craft.stAtt.fPitch = srt_init[0].gb_pitch + 90;
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info.craft.stAtt.fRoll = srt_init[0].gb_roll;
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info.craft.stPos.B = srt_init[0].latitude;
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info.craft.stPos.L = srt_init[0].longitude;
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info.craft.stPos.H = srt_init[0].abs_alt;
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info.nEvHeight = srt_init[0].abs_alt - srt_init[0].rel_alt;
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info.servoInfo.fServoAz = 0;
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info.servoInfo.fServoPt = 0;
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info.nWidth = width / nDownSample;
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info.nHeight = height / nDownSample;
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// 初始化
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stitcher->Init(info);
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cap.release();
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for (size_t vid = 0; vid < videoPathList.size(); vid++)
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{
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printf("Proc %s\n", videoPathList[vid].c_str());
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cv::VideoCapture cap(videoPathList[vid]);
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std::vector<FrameData> srt = parseDJISRT(srtPathList[vid]);
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int frmID = 0;
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while (true)
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{
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cv::Mat mat;
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// Read a new frame
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cap >> mat;
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// Check if frame is empty (end of video)
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if (mat.empty()) {
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std::cout << "End of video\n";
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cap.release();
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break;
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}
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frmID++;
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Mat mat_ds2;
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cv::resize(mat, mat_ds2, cv::Size(width / nDownSample, height / nDownSample));
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FrameInfo info = { 0 };
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info.nFrmID = frmID;
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info.camInfo.nFocus = srt[frmID].real_focal_mm;
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info.camInfo.fPixelSize = srt[frmID].pixel_size_um * nDownSample;
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info.craft.stAtt.fYaw = srt[frmID].gb_yaw;
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info.craft.stAtt.fPitch = srt[frmID].gb_pitch + 90;
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info.craft.stAtt.fRoll = srt[frmID].gb_roll;
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info.craft.stPos.B = srt[frmID].latitude;
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info.craft.stPos.L = srt[frmID].longitude;
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info.craft.stPos.H = srt[frmID].abs_alt;
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info.nEvHeight = srt[frmID].abs_alt;
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info.servoInfo.fServoAz = 0;
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info.servoInfo.fServoPt = 0;
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info.nWidth = mat_ds2.cols;
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info.nHeight = mat_ds2.rows;
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frame.enPixelFormat = GD_PIXEL_FORMAT_RGB_PACKED;
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frame.u32Width = mat_ds2.cols;
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frame.u32Height = mat_ds2.rows;
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frame.u64VirAddr[0] = mat_ds2.data;
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if (frmID % 100 != 0)
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{
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continue;
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}
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std::cout << info.craft.stPos.B << " " << info.craft.stPos.L << " " << info.craft.stPos.H << " "
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<< info.craft.stAtt.fYaw << " " << info.craft.stAtt.fPitch << " " << info.craft.stAtt.fRoll << " "
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<< info.servoInfo.fServoAz << " " << info.servoInfo.fServoPt
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<< std::endl;
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cv::TickMeter tm;
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tm.start();
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// 基于外参的快拼
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stitcher->Run(frame, info);
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tm.stop();
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mat_pan = stitcher->ExportPanMat();
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Mat pan_rgb, pan_rgb_ds;
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cv::cvtColor(mat_pan, pan_rgb, cv::COLOR_BGRA2BGR);
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cv::resize(pan_rgb, pan_rgb_ds, cv::Size(pan_rgb.cols / 8, pan_rgb.rows / 8));
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imshow("pan_rgb", pan_rgb_ds);
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cv::waitKey(1);
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}
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cv::TickMeter tm;
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tm.start();
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// 处理帧
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stitcher->OptAndOutCurrPan();
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tm.stop();
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std::cout << "time opt:" << tm.getTimeMilli() << std::endl;
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}
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}
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using std::string;
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int main()
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{
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vector<std::string> videoPathList;
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vector<std::string> srtPathList;
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string folder = "F:/DJI_202504181507_016/";
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//
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videoPathList.push_back(folder + "DJI_20250418152649_0005_W.MP4");
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srtPathList.push_back(folder + "DJI_20250418152649_0005_W.srt");
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//videoPathList.push_back(folder + "DJI_20250418153043_0006_T.MP4");
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//srtPathList.push_back(folder + "DJI_20250418153043_0006_T.srt");
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//videoPathList.push_back(folder + "DJI_20250418152649_0005_T.MP4");
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//srtPathList.push_back(folder + "DJI_20250418152649_0005_T.srt");
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ProcDJVideo(videoPathList, srtPathList);
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return 0;
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}
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Binary file not shown.
@ -0,0 +1,9 @@
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import ffmpeg
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input_file = "I:/DJI_20250418144441_0002_W.MP4"
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output_file = "I:/DJI_20250418144441_0002_W.srt"
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ffmpeg.input(input_file).output(output_file).run()
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