diff --git a/map/Cesium/templates/index.html b/map/Cesium/templates/index.html
index aeb88a5..4f6800f 100644
--- a/map/Cesium/templates/index.html
+++ b/map/Cesium/templates/index.html
@@ -128,10 +128,10 @@
// 设置相机位置到瓦片区域
viewer.camera.setView({
destination: Cesium.Rectangle.fromDegrees(
- 109.398422,
- 40.873026,
- 109.398422,
- 40.873026,
+ 109.484940,
+ 40.877180,
+ 109.484940,
+ 40.877180,
),
orientation: {
diff --git a/stitch/src/Arith_UnderStitch.cpp b/stitch/src/Arith_UnderStitch.cpp
index 64bf662..3d1fce8 100644
--- a/stitch/src/Arith_UnderStitch.cpp
+++ b/stitch/src/Arith_UnderStitch.cpp
@@ -437,7 +437,7 @@ bool UnderStitch::FilterFrame(FrameInfo para)
}
// 扫描角过大，跳过
- if (ABS(para.servoInfo.fServoPt) > 40)
+ if (ABS(para.servoInfo.fServoPt) > 45)
{
return false;
}
diff --git a/stitch/src/Version.h b/stitch/src/Version.h
index b378154..3701568 100644
--- a/stitch/src/Version.h
+++ b/stitch/src/Version.h
@@ -2,5 +2,5 @@
#pragma once
#include
-std::string BUILD_TIME = "BUILD_TIME 2025_11_04-22.46.56";
+std::string BUILD_TIME = "BUILD_TIME 2025_11_05-10.10.32";
std::string VERSION = "BUILD_VERSION 1.0.1";
diff --git a/tests/stitch_S732.cpp b/tests/stitch_S732.cpp
index 3a4d574..cf84268 100644
--- a/tests/stitch_S732.cpp
+++ b/tests/stitch_S732.cpp
@@ -33,6 +33,15 @@ void ProcessVL(string filePath)
SINT32 nVLFrameSize = 1.5 * (S732_VL_W * S732_VL_H + S732_VL_W * PARA_VL_LINE_S732);
unsigned char* pFrameVL = new unsigned char[nVLFrameSize];
+
+ bool stitchInit = false;
+
+ std::deque infoBuffer;
+ const int delayFrames = 5; // 假设延迟3帧
+
+ std::deque MatBuffer;
+ const int matdelayFrames = 2; // 假设延迟3帧
+
while (!feof(file))
{
fread(pFrameVL, 1, nVLFrameSize, file);
@@ -40,59 +49,81 @@ void ProcessVL(string filePath)
STD_DTArith_Record732 Paras_VL = { 0 };
memcpy(&Paras_VL, (unsigned char*)(pFrameVL + int(1.5 * S732_VL_W * S732_VL_H)), sizeof(STD_DTArith_Record732));
- FrameInfo info = { 0 };
- info.nFrmID = i;
+ FrameInfo info_rev = { 0 };
+ info_rev.nFrmID = i;
- info.camInfo.fPixelSize = Paras_VL.trackInputPara.stCameraInfo.fPixelSize;
+ info_rev.camInfo.fPixelSize = Paras_VL.trackInputPara.stCameraInfo.fPixelSize;
- info.camInfo.nFocus = Paras_VL.trackInputPara.stCameraInfo.nFocus;
+ info_rev.camInfo.nFocus = Paras_VL.trackInputPara.stCameraInfo.nFocus;
- info.craft.stAtt.fYaw = Paras_VL.trackInputPara.stAirCraftInfo.stAtt.fYaw;
- info.craft.stAtt.fPitch = Paras_VL.trackInputPara.stAirCraftInfo.stAtt.fPitch;
- info.craft.stAtt.fRoll = Paras_VL.trackInputPara.stAirCraftInfo.stAtt.fRoll;
+ info_rev.craft.stAtt.fYaw = Paras_VL.trackInputPara.stAirCraftInfo.stAtt.fYaw;
+ info_rev.craft.stAtt.fPitch = Paras_VL.trackInputPara.stAirCraftInfo.stAtt.fPitch;
+ info_rev.craft.stAtt.fRoll = Paras_VL.trackInputPara.stAirCraftInfo.stAtt.fRoll;
- info.craft.stPos.B = Paras_VL.trackInputPara.stAirCraftInfo.stPos.B;
- info.craft.stPos.L = Paras_VL.trackInputPara.stAirCraftInfo.stPos.L;
- info.craft.stPos.H = Paras_VL.trackInputPara.stAirCraftInfo.stPos.H;
+ info_rev.craft.stPos.B = Paras_VL.trackInputPara.stAirCraftInfo.stPos.B;
+ info_rev.craft.stPos.L = Paras_VL.trackInputPara.stAirCraftInfo.stPos.L;
+ info_rev.craft.stPos.H = Paras_VL.trackInputPara.stAirCraftInfo.stPos.H;
+ info_rev.nEvHeight = info_rev.craft.stPos.H - 1360;
- info.nEvHeight = info.craft.stPos.H - 1360;
+ info_rev.servoInfo.fServoAz = Paras_VL.trackInputPara.stServoInfo.fServoAz;
+ info_rev.servoInfo.fServoPt = Paras_VL.trackInputPara.stServoInfo.fServoPt;
- info.servoInfo.fServoAz = Paras_VL.trackInputPara.stServoInfo.fServoAz;
- info.servoInfo.fServoPt = Paras_VL.trackInputPara.stServoInfo.fServoPt;
+ info_rev.nWidth = S732_VL_W;
+ info_rev.nHeight = S732_VL_H;
- info.nWidth = S732_VL_W;
- info.nHeight = S732_VL_H;
+ FrameInfo info = info_rev;
- //info.craft.stAtt.fYaw += gr.generate();
- //info.craft.stAtt.fPitch += gr.generate();
- //info.craft.stAtt.fRoll += gr.generate();
cv::Mat mat_src(S732_VL_H * 1.5, S732_VL_W, CV_8UC1, pFrameVL);
cv::Mat IMG;
- cv::cvtColor(mat_src, IMG, cv::COLOR_YUV2BGR_NV12);
+ cv::cvtColor(mat_src, IMG, cv::COLOR_YUV2GRAY_NV21);
+
+ cv::Mat f;
+ IMG.convertTo(f, CV_32F, 1.0 / 255.0);
+ cv::pow(f, 0.8, f); // gamma < 1 => 变亮
+ cv::Mat bright;
+ f.convertTo(bright, CV_8U, 255.0);
+
+ cv::cvtColor(bright, bright, cv::COLOR_GRAY2BGR);
cv::Mat IMG_show;
cv::resize(IMG, IMG_show, cv::Size(IMG.cols / 4, IMG.rows / 4));
imshow("IMG_show", IMG_show);
- frame.enPixelFormat = GD_PIXEL_FORMAT_NV12;
+
+
+ MatBuffer.push_back(bright.clone());
+
+ if (MatBuffer.size() < matdelayFrames)
+ {
+ continue;
+ }
+
+ cv::Mat matuse = MatBuffer.front();
+
+ MatBuffer.pop_front();
+
+
+ frame.enPixelFormat = GD_PIXEL_FORMAT_RGB_PACKED;
frame.u32Width = S732_VL_W;
frame.u32Height = S732_VL_H;
- frame.u64VirAddr[0] = pFrameVL;
+ frame.u64VirAddr[0] = matuse.data;
//imwrite("D:/imgVL_u.jpg", IMG);
- if (i == 0 /*|| i == 200*/)
+ if (!stitchInit)
{
+ stitchInit = true;
stitcher->Init(info);
UPanConfig cfg = { 0 };
cfg.bOutGoogleTile = 1;
cfg.bOutFrameTile = 0;
+ cfg.bUseBA = 1;
stitcher->SetConfig(cfg);
stitcher->SetOutput("baotou","E:/google_tiles");
@@ -102,7 +133,7 @@ void ProcessVL(string filePath)
mat_pan = cv::Mat(pan.u32Height, pan.u32Width, CV_8UC4, pan.u64VirAddr[0]);
- output.open("E:/output.mp4", VideoWriter::fourcc('H', '2', '6', '4'), 5, Size(pan.u32Width / 8, pan.u32Height / 8), true);
+ output.open("E:/output.mp4", VideoWriter::fourcc('M', 'P', '4', 'V'), 25, Size(pan.u32Width / 8, pan.u32Height / 8), true);
if (!output.isOpened())
{
cout << "打开视频失败" << endl;
@@ -126,41 +157,38 @@ void ProcessVL(string filePath)
cout << "time:" << tm.getTimeMilli() << endl;
}
- Mat pan_rgb, pan_rgb_ds;
- cv::cvtColor(mat_pan, pan_rgb, cv::COLOR_BGRA2BGR);
+ Mat pan_ds;
+ Mat pan_rgb_ds(cv::Size(mat_pan.cols / 8, mat_pan.rows / 8),CV_8UC3);
+ cv::resize(mat_pan, pan_ds, cv::Size(mat_pan.cols / 8, mat_pan.rows / 8));
+
+ cv::cvtColor(pan_ds, pan_rgb_ds, cv::COLOR_BGRA2BGR);
+
- cv::resize(pan_rgb, pan_rgb_ds, cv::Size(pan_rgb.cols / 8, pan_rgb.rows / 8));
output.write(pan_rgb_ds);
imshow("pan_opt", pan_rgb_ds);
- waitKey(1);
+ if (cv::waitKey(1) == 27)
+ {
+ break;
+ }
i = i + 1;
}
- cv::TickMeter tm;
- tm.start();
- // 处理帧
- stitcher->OptAndOutCurrPan();
+ //cv::TickMeter tm;
+ //tm.start();
+ //// 处理帧
+ //stitcher->OptAndOutCurrPan();
- tm.stop();
+ //tm.stop();
- cout << "time opt:" << tm.getTimeMilli() << endl;
+ //cout << "time opt:" << tm.getTimeMilli() << endl;
- Mat pan_rgb, pan_rgb_ds;
- cv::cvtColor(mat_pan, pan_rgb, cv::COLOR_BGRA2BGR);
- cv::resize(pan_rgb, pan_rgb_ds, cv::Size(pan_rgb.cols / 8, pan_rgb.rows / 8));
-
- for (int i = 0; i < 25; i++)
- {
- cv::putText(pan_rgb_ds, "BA opt", cv::Point(100, 40), 0, 1, cv::Scalar(255, 0, 0));
- output.write(pan_rgb_ds);
- }
waitKey(1);
@@ -170,17 +198,8 @@ void ProcessVL(string filePath)
}
-
-
-
-
-
-
-
-
-
int main()
{
- ProcessVL("D:/S732挂飞1101/20251101_091550742_2.yuv");
+ ProcessVL("D:/S732挂飞1101/20251101_092143724_3.yuv");
return 0;
}
\ No newline at end of file
diff --git a/tests/stitch_udp.cpp b/tests/stitch_udp.cpp
index 7b1bd95..4daa66d 100644
--- a/tests/stitch_udp.cpp
+++ b/tests/stitch_udp.cpp
@@ -5,7 +5,7 @@ int main(int argc, char* argv[])
{
DecodeData* m_DecodeData = new DecodeData();
- std::string filestr = "C:/Users/75929/Desktop/S732/1101VL.dat";
+ std::string filestr = "C:/Users/75929/Desktop/S732/1105.dat";
//std::string filestr = "E:/03855jcw/S732/H265data/1080ir2.dat";