地理H的计算改为R和t的解析

stitch/src/Arith_GeoSolver.cpp

@@ -201,8 +201,8 @@ Proj GeoSolver::AnlayseTform(FrameInfo info)
 }
 
 
-
-cv::Mat GeoSolver::findHomography(FrameInfo info)
+// 检验H的计算
+cv::Mat GeoSolver::findHomography2(FrameInfo info)
 {
 	Proj _proj = AnlayseTform(info);
 
@@ -231,6 +231,32 @@ cv::Mat GeoSolver::findHomography(FrameInfo info)
 }
 
 
+// 根据R和t，解析H
+cv::Mat GeoSolver::findHomography(FrameInfo info)
+{
+	Proj _proj = AnlayseTform(info);
+	TForm tform = _proj.tf_p2g;
+
+	double R[9] = { 0 };
+	double T[3] = { 0 };
+
+	memcpy(R, tform.R.data, sizeof(double) * 9);
+	memcpy(T, tform.T.data, sizeof(double) * 3);
+
+
+
+	Mat H = (Mat_<double>(3, 3) << (R[0] + T[0] * R[6]), (R[1] + T[0] * R[7]), (R[2] + T[0] * R[8]),
+		(R[3] + T[1] * R[6]), (R[4] + T[1] * R[7]), (R[5] + T[1] * R[8]),
+		R[6], R[7], R[8]);
+
+	// 归一化
+	H = H / H.at<double>(2, 2);
+
+
+	return H;
+}
+
+
 // 计算多边形的面积
 double polygonArea(const vector<cv::Point2f>& points)
 {

stitch/src/Arith_GeoSolver.h

@@ -42,6 +42,9 @@ public:
     // 建立全景图与归一化地理系的H矩阵
     cv::Mat findHomography(FrameInfo info);
 
+    // 解析出H
+    cv::Mat findHomography2(FrameInfo info);
+
     // 设置起始拼接点外参
     void SetOriginPoint(FrameInfo info);
 

stitch/src/Arith_VideoStitch.cpp

@@ -153,6 +153,8 @@ BYTE8 VideoStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para)
 	// uv2Geo H
 	cv::Mat H1 = _GeoSolver->findHomography(para);
 
+	cv::Mat H2 = _GeoSolver->findHomography2(para);
+
 	cv::Mat H = _H_pan * H1;
 
 	// 利用H投影当前帧到全景

stitch/src/GoogleTile.cpp

@@ -8,6 +8,8 @@
 
 using std::string;
 
+#define M_PI 3.1415926
+
 googleTile::googleTile()
 {
 
@@ -58,111 +60,27 @@ void googleTile::ExportGeoPng(cv::Mat _pan, TileInfo info, std::string dir, std:
 
 void googleTile::ExportTile(cv::Mat _pan, TileInfo info, std::string dir, std::string name)
 {
-
+    // 计算四至的瓦片编号
+    TileIndex westNorth = LatLonToTile(info.west, info.north, 10);
+    int a = 0;
 }
 
-
-
-cv::Point2f googleTile::latLonToGlobal(double lat, double lon)
+TileIndex googleTile::LatLonToTile(double latitude, double longitude, int zoomLevel)
 {
-    double tileSize = 256.0;
-    double n = std::pow(2.0, zoom_);
-    double x = (lon + 180.0) / 360.0 * tileSize * n;
-    double latRad = lat * CV_PI / 180.0;
-    double y = (1 - std::log(std::tan(latRad) + 1 / std::cos(latRad)) / CV_PI) / 2 * tileSize * n;
-    return cv::Point2f(static_cast<float>(x), static_cast<float>(y));
-}
+    // 将纬度转换为墨卡托投影
+    double latRad = latitude * M_PI / 180.0;
+    double sinLat = sin(latRad);
 
-std::pair<double, double> googleTile::globalToLatLon(const cv::Point2f& pt)
-{
-    double tileSize = 256.0;
-    double n = std::pow(2.0, zoom_);
-    double lon = pt.x / (tileSize * n) * 360.0 - 180.0;
-    double latRad = std::atan(std::sinh(CV_PI * (1 - 2 * pt.y / (tileSize * n))));
-    double lat = latRad * 180.0 / CV_PI;
-    return std::make_pair(lat, lon);
-}
+    // 计算经度的瓦片编号（0-2^zoomLevel）
+    int xTile = static_cast<int>((longitude + 180.0) / 360.0 * pow(2.0, zoomLevel));
 
-cv::Mat googleTile::computeHomography()
-{
-    std::vector<cv::Point2f> srcPts;
-    std::vector<cv::Point2f> dstPts;
+    // 计算纬度的瓦片编号（0-2^zoomLevel）
+    int yTile = static_cast<int>((1.0 - log((1.0 + sinLat) / (1.0 - sinLat)) / (2.0 * M_PI)) / 2.0 * pow(2.0, zoomLevel));
 
-    for (const auto& corner : geoCorners_)
-    {
-        srcPts.push_back(latLonToGlobal(corner.first, corner.second));
-    }
+    return TileIndex{ xTile, yTile, zoomLevel };
+}
 
-    dstPts.push_back(cv::Point2f(0.0f, 0.0f));
-    dstPts.push_back(cv::Point2f(static_cast<float>(image_.cols), 0.0f));
-    dstPts.push_back(cv::Point2f(static_cast<float>(image_.cols), static_cast<float>(image_.rows)));
-    dstPts.push_back(cv::Point2f(0.0f, static_cast<float>(image_.rows)));
 
-    return cv::getPerspectiveTransform(srcPts, dstPts);
-}
 
 
 
-void googleTile::generateTiles()
-{
-    //std::filesystem::create_directories(outputDir_);
-    //cv::Mat H = computeHomography();
-
-    //std::vector<cv::Point2f> globalCorners;
-    //for (const auto& corner : geoCorners_)
-    //{
-    //    globalCorners.push_back(latLonToGlobal(corner.first, corner.second));
-    //}
-
-    //float minX = globalCorners[0].x, maxX = globalCorners[0].x;
-    //float minY = globalCorners[0].y, maxY = globalCorners[0].y;
-
-    //for (const auto& p : globalCorners)
-    //{
-    //    minX = std::min(minX, p.x);
-    //    maxX = std::max(maxX, p.x);
-    //    minY = std::min(minY, p.y);
-    //    maxY = std::max(maxY, p.y);
-    //}
-
-    //int tileSize = 256;
-    //int xTileMin = static_cast<int>(std::floor(minX / tileSize));
-    //int xTileMax = static_cast<int>(std::floor(maxX / tileSize));
-    //int yTileMin = static_cast<int>(std::floor(minY / tileSize));
-    //int yTileMax = static_cast<int>(std::floor(maxY / tileSize));
-
-    //std::vector<TileInfo> tileInfos;
-
-    //for (int tx = xTileMin; tx <= xTileMax; tx++)
-    //{
-    //    for (int ty = yTileMin; ty <= yTileMax; ty++)
-    //    {
-    //        std::vector<cv::Point2f> tileGlobalPts = {
-    //            {cv::Point2f(tx * tileSize, ty * tileSize)},
-    //            {cv::Point2f((tx + 1) * tileSize, ty * tileSize)},
-    //            {cv::Point2f((tx + 1) * tileSize, (ty + 1) * tileSize)},
-    //            {cv::Point2f(tx * tileSize, (ty + 1) * tileSize)} };
-
-    //        std::vector<cv::Point2f> tileImgPts;
-    //        cv::perspectiveTransform(tileGlobalPts, tileImgPts, H);
-
-    //        //cv::Mat tileTransform = cv::getPerspectiveTransform(tileImgPts, {
-    //        //    {0, 0}, {tileSize, 0}, {tileSize, tileSize}, {0, tileSize} });
-
-    //        cv::Mat tileImg;
-    //        //cv::warpPerspective(image_, tileImg, tileTransform, cv::Size(tileSize, tileSize));
-
-    //        std::string tileDir = outputDir_ + "/" + std::to_string(zoom_) + "/" + std::to_string(tx);
-    //        std::filesystem::create_directories(tileDir);
-    //        std::string tilePath = tileDir + "/" + std::to_string(ty) + ".png";
-
-    //        cv::imwrite(tilePath, tileImg);
-    //        tileInfos.push_back({ tx, ty, globalToLatLon({cv::Point2f(tx * tileSize, ty * tileSize)}).first,
-    //                                    globalToLatLon({cv::Point2f((tx + 1) * tileSize, (ty + 1) * tileSize)}).first,
-    //                                    globalToLatLon({cv::Point2f((tx + 1) * tileSize, (ty + 1) * tileSize)}).second,
-    //                                    globalToLatLon({cv::Point2f(tx * tileSize, ty * tileSize)}).second });
-    //    }
-    //}
-
-    //generateKML(tileInfos);
-}

stitch/src/GoogleTile.h

@@ -5,10 +5,16 @@
 #include <string>
 #include <vector>
 
-struct TileInfo
+struct TileIndex
 {
     int x;
     int y;
+    int z;
+};
+
+struct TileInfo
+{
+    TileIndex ind;
     double north;
     double south;
     double east;
@@ -30,18 +36,12 @@ public:
     void ExportTile(cv::Mat _pan, TileInfo info, std::string dir, std::string name);
 
 public:
-
-    void generateTiles();
+    TileIndex LatLonToTile(double latitude, double longitude, int zoomLevel);
 
 private:
-    cv::Mat image_;
-    std::vector<std::pair<double, double>> geoCorners_; // 左上、右上、右下、左下
-    int zoom_;
 
+    int zoom_;
 
-    cv::Point2f latLonToGlobal(double lat, double lon);
-    std::pair<double, double> globalToLatLon(const cv::Point2f& pt);
-    cv::Mat computeHomography();
 
 };