From 832d207ccda93821880c3ae0c5124f0e318e9ae4 Mon Sep 17 00:00:00 2001 From: wangchongwu <759291707@qq.com> Date: Tue, 18 Feb 2025 18:45:18 +0800 Subject: [PATCH] =?UTF-8?q?=E6=8B=BC=E6=8E=A5=E5=BA=93=E6=89=A9=E5=B1=95?= =?UTF-8?q?=E4=B8=BA=E4=B8=8B=E8=A7=86=E6=8B=BC=E6=8E=A5=E5=92=8C=E5=89=8D?= =?UTF-8?q?=E8=A7=86=E6=8B=BC=E6=8E=A5=E4=B8=A4=E4=B8=AA=E5=8A=9F=E8=83=BD?= =?UTF-8?q?=E5=BC=80=E5=8F=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- main.cpp | 138 ++++++++++++++++-- stitch/src/API_FrontStitch.h | 43 ++++++ .../{API_VideoStitch.h => API_UnderStitch.h} | 13 +- stitch/src/Arith_FrontStitch.cpp | 75 ++++++++++ stitch/src/Arith_FrontStitch.h | 52 +++++++ stitch/src/Arith_GeoSolver.cpp | 69 ++++++++- stitch/src/Arith_GeoSolver.h | 12 +- ..._VideoStitch.cpp => Arith_UnderStitch.cpp} | 42 +++--- ...rith_VideoStitch.h => Arith_UnderStitch.h} | 18 +-- stitch/src/GoogleTile.cpp | 8 +- stitch/src/StitchStruct.h | 34 ++++- 11 files changed, 444 insertions(+), 60 deletions(-) create mode 100644 stitch/src/API_FrontStitch.h rename stitch/src/{API_VideoStitch.h => API_UnderStitch.h} (77%) create mode 100644 stitch/src/Arith_FrontStitch.cpp create mode 100644 stitch/src/Arith_FrontStitch.h rename stitch/src/{Arith_VideoStitch.cpp => Arith_UnderStitch.cpp} (89%) rename stitch/src/{Arith_VideoStitch.h => Arith_UnderStitch.h} (78%) diff --git a/main.cpp b/main.cpp index 470fb56..a72018b 100644 --- a/main.cpp +++ b/main.cpp @@ -1,5 +1,6 @@ #include -#include "API_VideoStitch.h" +#include "API_UnderStitch.h" +#include "API_FrontStitch.h" #include "S729.h" #include "PlatformDefine.h" #include @@ -112,7 +113,7 @@ unsigned char pImageVL[IMAGE_WIDTH_VL * (IMAGE_HEIGHT_VL) * 2] = { 0 }; void ProcessIR() { - auto stitcher = API_VideoStitch::Create(IMAGE_WIDTH_IR, IMAGE_HEIGHT_IR); + auto stitcher = API_UnderStitch::Create(IMAGE_WIDTH_IR, IMAGE_HEIGHT_IR); //stitcher->Test(); GD_VIDEO_FRAME_S frame = { 0 };//输入帧 @@ -218,7 +219,7 @@ void ProcessIR() void ProcessVL(string filePath,string outname) { - auto stitcher = API_VideoStitch::Create(IMAGE_WIDTH_VL, IMAGE_HEIGHT_VL); + auto stitcher = API_UnderStitch::Create(IMAGE_WIDTH_VL, IMAGE_HEIGHT_VL); GD_VIDEO_FRAME_S frame = { 0 };//输入帧 GD_VIDEO_FRAME_S pan = { 0 };//输出全景 @@ -340,20 +341,139 @@ void ProcessVL(string filePath,string outname) // 输出谷歌png - //stitcher->ExportGeoPng("D:/google_tiles", outname); + stitcher->ExportGeoPng("D:/google_tiles", outname); // 输出谷歌tile - stitcher->ExportGoogleTile("D:/google_tiles", outname); + //stitcher->ExportGoogleTile("D:/google_tiles", outname); +} + + +// 处理前视可见光扫描 +void ProcessFrontVL(string filePath) +{ + auto stitcher = API_FrontStitch::Create(IMAGE_WIDTH_VL, IMAGE_HEIGHT_VL); + + GD_VIDEO_FRAME_S frame = { 0 };//输入帧 + GD_VIDEO_FRAME_S pan = { 0 };//输出全景 + + cv::Mat mat_pan;//全景显示 + + FILE* file = fopen(filePath.c_str(), "rb"); + + + GaussianRandom gr(0.0, 1, 0.0); + + int i = 0; + while (!feof(file)) + { + + SINT32 nVLFrameSize = 1.5 * IMAGE_WIDTH_VL * IMAGE_HEIGHT_VL + IMAGE_WIDTH_VL * PARA_IR_LINE; + fread(pFrameVL, 1, nVLFrameSize, file); + + S729paras_VL Paras_VL = { 0 }; + memcpy(&Paras_VL, (unsigned char*)(pFrameVL + int(1.5 * IMAGE_WIDTH_VL * IMAGE_HEIGHT_VL)), sizeof(S729paras_VL)); + + FrameInfo info = { 0 }; + info.nFrmID = i; + info.camInfo.nFocus = Paras_VL.Paras_VL.caminfo.nFocal; + info.camInfo.fPixelSize = Paras_VL.Paras_VL.caminfo.nPixleSize; + + info.craft.stAtt.fYaw = Paras_VL.Paras_VL.airCraftInfo.fYaw; + info.craft.stAtt.fPitch = Paras_VL.Paras_VL.airCraftInfo.fPitch; + info.craft.stAtt.fRoll = Paras_VL.Paras_VL.airCraftInfo.fRoll; + + info.craft.stPos.B = Paras_VL.Paras_VL.airCraftInfo.B; + info.craft.stPos.L = Paras_VL.Paras_VL.airCraftInfo.L; + info.craft.stPos.H = Paras_VL.Paras_VL.airCraftInfo.H; + + + info.nEvHeight = Paras_VL.Paras_VL.airCraftInfo.H - 25; + + info.servoInfo.fServoAz = Paras_VL.Paras_VL.servoInfo.fAz; + info.servoInfo.fServoPt = Paras_VL.Paras_VL.servoInfo.fPz + 90; + + info.nWidth = IMAGE_WIDTH_VL; + info.nHeight = IMAGE_HEIGHT_VL; + + + info.craft.stAtt.fYaw += gr.generate(); + info.craft.stAtt.fPitch += gr.generate(); + info.craft.stAtt.fRoll += gr.generate(); + + + cv::Mat mat_src(IMAGE_HEIGHT_VL * 1.5, IMAGE_WIDTH_VL, CV_8UC1, pFrameVL); + cv::Mat IMG; + cv::cvtColor(mat_src, IMG, cv::COLOR_YUV2BGR_NV12); + + imshow("src", IMG); + waitKey(1); + + frame.enPixelFormat = GD_PIXEL_FORMAT_NV12; + frame.u32Width = IMAGE_WIDTH_VL; + frame.u32Height = IMAGE_HEIGHT_VL; + frame.u64VirAddr[0] = pFrameVL; + + if (i == 0) + { + stitcher->Init(info,5,5); + + pan = stitcher->ExportPanAddr(); + + mat_pan = cv::Mat(pan.u32Height, pan.u32Width, CV_8UC4, pan.u64VirAddr[0]); + } + else + { + if (i % 50 != 0) + { + i = i + 1; + continue; + } + std::cout << info.craft.stPos.B << " " << info.craft.stPos.L << " " << info.craft.stPos.H << " " + << info.craft.stAtt.fYaw << " " << info.craft.stAtt.fPitch << " " << info.craft.stAtt.fRoll << " " + << info.servoInfo.fServoAz << " " << info.servoInfo.fServoPt + << std::endl; + + cv::TickMeter tm; + tm.start(); + // 基于外参的快拼 + + //stitcher->FrontStitch(frame, info); + + tm.stop(); + + cout << "time:" << tm.getTimeMilli() << endl; + + + } + + cv::Mat res; + cv::resize(mat_pan, res, cv::Size(pan.u32Width / 4, pan.u32Height / 4)); + imshow("pan_opt", res); + + waitKey(1); + i = i + 1; + } + + + cv::Mat res; + cv::resize(mat_pan, res, cv::Size(pan.u32Width / 4, pan.u32Height / 4)); + imshow("pan_opt", res); + + waitKey(0); + + } int main(int, char**) { //ProcessIR(); - ProcessVL("H:/vl_1920_1080_para40_y8/22.video","22"); - ProcessVL("H:/vl_1920_1080_para40_y8/20241219152643_1.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_y8/22.video","22"); + //ProcessVL("H:/vl_1920_1080_para40_y8/20241219152643_1.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_y8/55.video", "5"); + + ProcessFrontVL("H:/vl_1920_1080_para40_y8/22.video"); } \ No newline at end of file diff --git a/stitch/src/API_FrontStitch.h b/stitch/src/API_FrontStitch.h new file mode 100644 index 0000000..df553d9 --- /dev/null +++ b/stitch/src/API_FrontStitch.h @@ -0,0 +1,43 @@ +/*********版权所有（C）2024，武汉高德红外股份有限公司*************** +* 文件名称：API_FrontStitch.h +* 文件标识： +* 内容摘要： +* 其它说明： +* 当前版本： +* 创建作者： +* 创建日期： +*******************************************************************/ +#pragma once + +#ifdef _WIN32 +#define STD_STITCH_API __declspec(dllexport) +#else +#define STD_STITCH_API __attribute__ ((visibility("default"))) +#endif + +#include "StitchStruct.h" + + + + + +// 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; + + // 几何校正快拼 + virtual BYTE8 GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para) = 0; + + // 获取全景图 + virtual GD_VIDEO_FRAME_S ExportPanAddr() = 0; + + +public: + static API_FrontStitch* Create(SINT32 nWidth, SINT32 nHeight); + static void Destroy(API_FrontStitch* obj); +}; diff --git a/stitch/src/API_VideoStitch.h b/stitch/src/API_UnderStitch.h similarity index 77% rename from stitch/src/API_VideoStitch.h rename to stitch/src/API_UnderStitch.h index 6115b9e..8cb368e 100644 --- a/stitch/src/API_VideoStitch.h +++ b/stitch/src/API_UnderStitch.h @@ -1,5 +1,5 @@ /*********版权所有（C）2024，武汉高德红外股份有限公司*************** -* 文件名称：API_VideoStitch.h +* 文件名称：API_UnderStitch.h * 文件标识： * 内容摘要： * 其它说明： @@ -17,13 +17,14 @@ #include "StitchStruct.h" -class STD_STITCH_API API_VideoStitch +// 视频帧下视地理拼接 +class STD_STITCH_API API_UnderStitch { public: - virtual ~API_VideoStitch() = default; + virtual ~API_UnderStitch() = default; // 初始化拼接 - virtual PanInfo Init(FrameInfo info) = 0; + virtual UPanInfo Init(FrameInfo info) = 0; // 几何校正快拼 virtual BYTE8 GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para) = 0; @@ -44,6 +45,6 @@ public: virtual bool ExportGoogleTile(std::string dir, std::string name) = 0; public: - static API_VideoStitch* Create(SINT32 nWidth, SINT32 nHeight); - static void Destroy(API_VideoStitch* obj); + static API_UnderStitch* Create(SINT32 nWidth, SINT32 nHeight); + static void Destroy(API_UnderStitch* obj); }; diff --git a/stitch/src/Arith_FrontStitch.cpp b/stitch/src/Arith_FrontStitch.cpp new file mode 100644 index 0000000..1fd2669 --- /dev/null +++ b/stitch/src/Arith_FrontStitch.cpp @@ -0,0 +1,75 @@ +#include "API_FrontStitch.h" +#include "Arith_FrontStitch.h" +#include "Arith_Utils.h" +#include "Arith_CoordModule.h" +#include "Arith_FeaMatch.h" +#include +#include + +using namespace std; +using namespace cv; + +API_FrontStitch* API_FrontStitch::Create(SINT32 nWidth, SINT32 nHeight) +{ + return new FrontStitch(nWidth, nHeight); +} + + +void API_FrontStitch::Destroy(API_FrontStitch* obj) +{ + delete obj; +} + +FrontStitch::FrontStitch(SINT32 nWidth, SINT32 nHeight) +{ + _GeoSolver = new GeoSolver(); +} + +FrontStitch::~FrontStitch() +{ +} + +FPanInfo FrontStitch::Init(FrameInfo info, float AzRange, float PtRange) +{ + _fAglRes = 0.001; + + // 设置当前拼接起始位置 + _panPara.center = _GeoSolver->SetOriginPoint(info); + + _panPara.range.fAz = AzRange; + _panPara.range.fPt = PtRange; + + _panPara.m_pan_width = AzRange / _fAglRes; + _panPara.m_pan_height = PtRange / _fAglRes; + + _panImage = cv::Mat::zeros(_panPara.m_pan_height, _panPara.m_pan_width, CV_8UC4); + + return _panPara; +} + +BYTE8 FrontStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para) +{ + return BYTE8(); +} + +SINT32 FrontStitch::ReceiveFrame(GD_VIDEO_FRAME_S img, FrameInfo para) +{ + return SINT32(); +} + +SINT32 FrontStitch::ProcessFrame() +{ + return SINT32(); +} + +GD_VIDEO_FRAME_S FrontStitch::ExportPanAddr() +{ + GD_VIDEO_FRAME_S pan_out; + + pan_out.enPixelFormat = GD_PIXEL_FORMAT_RGB_PACKED; + pan_out.u32Width = _panPara.m_pan_width; + pan_out.u32Height = _panPara.m_pan_height; + pan_out.u64VirAddr[0] = _panImage.data; + + return pan_out; +} diff --git a/stitch/src/Arith_FrontStitch.h b/stitch/src/Arith_FrontStitch.h new file mode 100644 index 0000000..a6e3584 --- /dev/null +++ b/stitch/src/Arith_FrontStitch.h @@ -0,0 +1,52 @@ +/*********版权所有（C）2025，武汉高德红外股份有限公司*************************************** +* 文件名称：Arith_FrontStitch.h +* 文件标识：前视拼接 +* 内容摘要： +* 其它说明： +* 当前版本：V0.5 +* 创建作者：04046wcw +* 创建日期：2025/02/17 +* 包含关系： +*****************************************************************************************/ +#pragma once + +#ifndef _FRONTSTITCH_H +#define _FRONTSTITCH_H + +#include "Arith_GeoSolver.h" + +class FrontStitch:public API_FrontStitch +{ +public: + FrontStitch(SINT32 nWidth, SINT32 nHeight); + ~FrontStitch(); + + // 初始化拼接 + FPanInfo Init(FrameInfo info, float AzRange, float PtRange); + + // 几何校正快拼 + BYTE8 GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para); + + // 缓存接收帧 + SINT32 ReceiveFrame(GD_VIDEO_FRAME_S img, FrameInfo para); + + // 处理帧 + SINT32 ProcessFrame(); + + // 获取全景图 + GD_VIDEO_FRAME_S ExportPanAddr(); + +private: + + GeoSolver* _GeoSolver; + +private: + FPanInfo _panPara;//全景配置 + float _fAglRes;//全景角分辨率 + cv::Mat _panImage; + +}; + + + +#endif \ No newline at end of file diff --git a/stitch/src/Arith_GeoSolver.cpp b/stitch/src/Arith_GeoSolver.cpp index 00131ac..c463cd5 100644 --- a/stitch/src/Arith_GeoSolver.cpp +++ b/stitch/src/Arith_GeoSolver.cpp @@ -1,5 +1,5 @@ #include "Arith_GeoSolver.h" -#include "Arith_VideoStitch.h" +#include "Arith_UnderStitch.h" #include "Arith_Utils.h" #include "Arith_CoordModule.h" #include "Arith_SysStruct.h" @@ -31,19 +31,65 @@ GeoSolver::~GeoSolver() // return pos_pan; //} -void GeoSolver::SetOriginPoint(FrameInfo info) +ANGLE32F GeoSolver::SetOriginPoint(FrameInfo info) { originPoint = getXYZFromBLH(info.craft.stPos); - origininfo = info; + + + // 这是一个依靠大地系直角坐标进行极坐标转换的正反算过程，可见极坐标转换相对平面的H矩阵转换要复杂很多，包含了非线性过程。 +#if 0 + // test1：从像方转拼接点极坐标 + ANGLE32F result = { 0 }; + + cv::Mat H = findHomography(info); + cv::Point2f grdPt = warpPointWithH(H, cv::Point2f(info.nWidth / 2, info.nHeight / 2)); + + PointXYZ pt = { 0 }; + pt.X = grdPt.y; + pt.Y = -info.nEvHeight; + pt.Z = grdPt.x; + + // 地面点转极坐标 + Pole pole = getPoleFromXYZ(pt); + + + // test2：从拼接点极坐标转像方 + pole.distance = 1; + PointXYZ virPt = getXYZFromPole(pole); + + //虚拟点投影到地面 + + float ratio = -info.nEvHeight / 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)); +#endif + + + return result; } + PointBLH GeoSolver::getBLHFromFrame(cv::Mat H, cv::Point2f pt) { cv::Point2f pt_Geo = warpPointWithH(H, pt); return getBLHFromGeo(pt_Geo); } + PointBLH GeoSolver::getBLHFromGeo(cv::Point2f ptInGeo) { PointXYZ ptNUE = { 0 }; @@ -186,6 +232,8 @@ Mat GeoSolver::Mat_TransENG2uv(FrameInfo info) + + Proj GeoSolver::AnlayseTform(FrameInfo info) { Proj projection; @@ -310,4 +358,17 @@ vector warpRectWithH(cv::Mat H,cv::Size size) _res.push_back(warpPointWithH(H, cv::Point2f(size.width,size.height))); _res.push_back(warpPointWithH(H, cv::Point2f(0,size.height))); return _res; -} \ No newline at end of file +} + +PointXYZ getNUEFromENG(PointXYZ p) +{ + PointXYZ ptrans = { 0 }; + + +} + +PointXYZ getENGFromNUE(PointXYZ p) +{ + return PointXYZ(); +} + diff --git a/stitch/src/Arith_GeoSolver.h b/stitch/src/Arith_GeoSolver.h index 18d15b2..0ae9bdc 100644 --- a/stitch/src/Arith_GeoSolver.h +++ b/stitch/src/Arith_GeoSolver.h @@ -45,8 +45,8 @@ public: // 测试 cv::Mat findHomography2(FrameInfo info); - // 设置起始拼接点外参 - void SetOriginPoint(FrameInfo info); + // 设置起始拼接点外参，返回当前光轴大地指向 + ANGLE32F SetOriginPoint(FrameInfo info); // 根据H计算原始像方的经纬度 PointBLH getBLHFromFrame(cv::Mat H, cv::Point2f ptInFrame); @@ -59,6 +59,8 @@ public: private: + + // 计算当前帧像方-地理坐标系R t（反投影关系） Proj AnlayseTform(FrameInfo info); @@ -93,4 +95,8 @@ double computeQuadrilateralIOU(const vector& quad1, const vector warpRectWithH(cv::Mat H,cv::Size size); \ No newline at end of file +vector warpRectWithH(cv::Mat H,cv::Size size); + +// 坐标系统转换 +PointXYZ getNUEFromENG(PointXYZ p); +PointXYZ getENGFromNUE(PointXYZ p); \ No newline at end of file diff --git a/stitch/src/Arith_VideoStitch.cpp b/stitch/src/Arith_UnderStitch.cpp similarity index 89% rename from stitch/src/Arith_VideoStitch.cpp rename to stitch/src/Arith_UnderStitch.cpp index d97bbc0..dc2a27e 100644 --- a/stitch/src/Arith_VideoStitch.cpp +++ b/stitch/src/Arith_UnderStitch.cpp @@ -1,5 +1,5 @@ -#include "API_VideoStitch.h" -#include "Arith_VideoStitch.h" +#include "API_UnderStitch.h" +#include "Arith_UnderStitch.h" #include "Arith_Utils.h" #include "Arith_CoordModule.h" #include "Arith_FeaMatch.h" @@ -9,19 +9,19 @@ using namespace std; using namespace cv; -API_VideoStitch * API_VideoStitch::Create(SINT32 nWidth, SINT32 nHeight) +API_UnderStitch* API_UnderStitch::Create(SINT32 nWidth, SINT32 nHeight) { - return new VideoStitch(nWidth,nHeight); + return new UnderStitch(nWidth,nHeight); } -void API_VideoStitch::Destroy(API_VideoStitch * obj) +void API_UnderStitch::Destroy(API_UnderStitch* obj) { delete obj; } -VideoStitch::VideoStitch(SINT32 nWidth, SINT32 nHeight) +UnderStitch::UnderStitch(SINT32 nWidth, SINT32 nHeight) { _GeoSolver = new GeoSolver(); @@ -38,7 +38,7 @@ VideoStitch::VideoStitch(SINT32 nWidth, SINT32 nHeight) _totalFrameCnt = 0; } -VideoStitch::~VideoStitch() +UnderStitch::~UnderStitch() { delete _GeoSolver; delete _cache; @@ -46,7 +46,8 @@ VideoStitch::~VideoStitch() -PanInfo VideoStitch::InitMap(FrameInfo info) + +UPanInfo UnderStitch::InitMap(FrameInfo info) { // 设置拼接原点 _GeoSolver->SetOriginPoint(info); @@ -59,7 +60,7 @@ PanInfo VideoStitch::InitMap(FrameInfo info) double gsd = (info.nEvHeight * info.camInfo.fPixelSize) / (info.camInfo.nFocus * 1000); // 全景图初始化 - PanInfo panPara = { 0 }; + UPanInfo panPara = { 0 }; panPara.m_pan_width = MIN(info.nWidth * 5,5000);//全景宽 panPara.m_pan_height = MIN(info.nWidth * 5,5000);//全景高 panPara.scale = gsd / 2 ;//比例尺,1m = ?pix @@ -87,7 +88,7 @@ PanInfo VideoStitch::InitMap(FrameInfo info) -PanInfo VideoStitch::Init(FrameInfo info) +UPanInfo UnderStitch::Init(FrameInfo info) { _panPara = InitMap(info); @@ -99,7 +100,7 @@ PanInfo VideoStitch::Init(FrameInfo info) return _panPara; } -//BYTE8 VideoStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para) +//BYTE8 UnderStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para) //{ // Proj t_Proj = _GeoStitcher->AnlayseTform(para); // @@ -153,7 +154,7 @@ PanInfo VideoStitch::Init(FrameInfo info) // return 0; //} -BYTE8 VideoStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para) +BYTE8 UnderStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para) { cv::Mat src = getRGBAMatFromGDFrame(img,img.u64VirAddr[0]); @@ -178,7 +179,8 @@ BYTE8 VideoStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para) -SINT32 VideoStitch::ReceiveFrame(GD_VIDEO_FRAME_S img, FrameInfo para) + +SINT32 UnderStitch::ReceiveFrame(GD_VIDEO_FRAME_S img, FrameInfo para) { // 构造单帧缓存 auto _t_frame_cache = std::make_shared(); @@ -242,7 +244,7 @@ SINT32 VideoStitch::ReceiveFrame(GD_VIDEO_FRAME_S img, FrameInfo para) return _totalFrameCnt; } -SINT32 VideoStitch::ProcessFrame() +SINT32 UnderStitch::ProcessFrame() { // 优化所有帧 _BATask->OptFrame(_recvFrameKey, _H_pan); @@ -258,7 +260,7 @@ SINT32 VideoStitch::ProcessFrame() -bool VideoStitch::ExportGeoPng(std::string dir, std::string name) +bool UnderStitch::ExportGeoPng(std::string dir, std::string name) { // 计算全景图的坐标范围 auto P1 = getBLHFromPan(cv::Point2f(0, 0), _H_pan); @@ -290,7 +292,7 @@ bool VideoStitch::ExportGeoPng(std::string dir, std::string name) -bool VideoStitch::ExportGoogleTile(std::string dir, std::string name) +bool UnderStitch::ExportGoogleTile(std::string dir, std::string name) { // 计算全景图的坐标范围 auto P1 = getBLHFromPan(cv::Point2f(0, 0), _H_pan); @@ -319,7 +321,7 @@ bool VideoStitch::ExportGoogleTile(std::string dir, std::string name) -GD_VIDEO_FRAME_S VideoStitch::ExportPanAddr() +GD_VIDEO_FRAME_S UnderStitch::ExportPanAddr() { GD_VIDEO_FRAME_S pan_out; @@ -331,7 +333,7 @@ GD_VIDEO_FRAME_S VideoStitch::ExportPanAddr() return pan_out; } -PointBLH VideoStitch::getBLHFromPan(cv::Point2f ptInPan, cv::Mat _H_panPara) +PointBLH UnderStitch::getBLHFromPan(cv::Point2f ptInPan, cv::Mat _H_panPara) { cv::Mat H_inv = _H_panPara.inv(); @@ -341,7 +343,7 @@ PointBLH VideoStitch::getBLHFromPan(cv::Point2f ptInPan, cv::Mat _H_panPara) return _GeoSolver->getBLHFromGeo(ptInGeo); } -cv::Point2f VideoStitch::getPanXYFromBLH(PointBLH ptInBLH, cv::Mat _H_panPara) +cv::Point2f UnderStitch::getPanXYFromBLH(PointBLH ptInBLH, cv::Mat _H_panPara) { // 经纬度转局部地理系 cv::Point2f ptGeo = _GeoSolver->getGeoFromBLH(ptInBLH); @@ -350,7 +352,7 @@ cv::Point2f VideoStitch::getPanXYFromBLH(PointBLH ptInBLH, cv::Mat _H_panPara) return warpPointWithH(_H_panPara, ptGeo);; } -cv::Mat VideoStitch::getAffineFromGeo2Pan(PanInfo _pan) +cv::Mat UnderStitch::getAffineFromGeo2Pan(UPanInfo _pan) { Mat H = (Mat_(3, 3) << _pan.scale, 0, _pan.map_shiftX, 0, -_pan.scale, _pan.m_pan_height + _pan.map_shiftY, diff --git a/stitch/src/Arith_VideoStitch.h b/stitch/src/Arith_UnderStitch.h similarity index 78% rename from stitch/src/Arith_VideoStitch.h rename to stitch/src/Arith_UnderStitch.h index ec72248..591373c 100644 --- a/stitch/src/Arith_VideoStitch.h +++ b/stitch/src/Arith_UnderStitch.h @@ -1,4 +1,4 @@ -#include "API_VideoStitch.h" +#include "API_UnderStitch.h" #include "opencv2/opencv.hpp" #include "Arith_GeoSolver.h" #include "Arith_FeaMatch.h" @@ -8,14 +8,13 @@ #include "GoogleTile.h" #include "Arith_BlendMap.h" -class VideoStitch:public API_VideoStitch +class UnderStitch :public API_UnderStitch { public: - VideoStitch(SINT32 nWidth, SINT32 nHeight); - ~VideoStitch(); - - PanInfo Init(FrameInfo info); + UnderStitch(SINT32 nWidth, SINT32 nHeight); + ~UnderStitch(); + UPanInfo Init(FrameInfo info); BYTE8 GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para); @@ -25,7 +24,6 @@ public: // 处理帧 SINT32 ProcessFrame(); - // 输出地理产品:kml png全景 bool ExportGeoPng(std::string dir, std::string name); @@ -41,8 +39,8 @@ public: cv::Point2f getPanXYFromBLH(PointBLH ptInBLH, cv::Mat _H_panPara); private: - cv::Mat getAffineFromGeo2Pan(PanInfo _pan);//计算全景图投影，从地理系到全景地图，统一计算 - PanInfo InitMap(FrameInfo info); + cv::Mat getAffineFromGeo2Pan(UPanInfo _pan);//计算全景图投影，从地理系到全景地图，统一计算 + UPanInfo InitMap(FrameInfo info); private: @@ -65,7 +63,7 @@ private: MapBlend* _BlendTask;// 融合模块 - PanInfo _panPara;//全景图配置 + UPanInfo _panPara;//全景图配置 cv::Mat _H_pan;//全景图投影矩阵：从地理系到全景地图 diff --git a/stitch/src/GoogleTile.cpp b/stitch/src/GoogleTile.cpp index 90223c5..3fd83be 100644 --- a/stitch/src/GoogleTile.cpp +++ b/stitch/src/GoogleTile.cpp @@ -97,10 +97,10 @@ void googleTile::ExportTile(cv::Mat _pan, TileInfo panInfo, std::string dir,std: cv::Mat tile = _pan(tileRect); // 标准web瓦片尺寸 - if (tile.cols != 256 || tile.rows != 256) - { - cv::resize(tile, tile, cv::Size(256, 256)); - } + // if (tile.cols != 256 || tile.rows != 256) + // { + // cv::resize(tile, tile, cv::Size(256, 256)); + // } // 生成文件名 std::string tileDir = dir + "/" + std::to_string(zoom); diff --git a/stitch/src/StitchStruct.h b/stitch/src/StitchStruct.h index 2339b82..c7d1d10 100644 --- a/stitch/src/StitchStruct.h +++ b/stitch/src/StitchStruct.h @@ -21,8 +21,8 @@ struct FrameInfo int nHeight; }; -// 全景图配置 -struct PanInfo +// 下视全景图配置 +struct UPanInfo { int m_pan_width; int m_pan_height; @@ -32,6 +32,17 @@ struct PanInfo }; +// 前视全景图配置 +struct FPanInfo +{ + int m_pan_width; + int m_pan_height; + float fAglRes; + ANGLE32F range; + ANGLE32F center; +}; + + // 匹配关系网，BA的边 struct Match_Net { @@ -42,7 +53,7 @@ struct Match_Net #define IMG_CACHE_SIZE (1920 * 1080 * 2) //图像缓存尺寸 -#define FEA_NUM_MAX 500 // 单帧特征点数量 +#define FEA_NUM_MAX 500 // 单帧特征点数量 #define FEA_DES_SIZE 128 // 特征点描述子尺度 // 帧缓存:按照固定大小设计，便于管理 @@ -56,4 +67,19 @@ struct FrameCache cv::KeyPoint _pt[FEA_NUM_MAX]; FLOAT32 _desp[FEA_NUM_MAX * FEA_DES_SIZE]; DOUBLE64 H[9];// H矩阵 -}; \ No newline at end of file +}; + + + +// 前视拼接相关 + + +// 前视极坐标范围 +struct PoleArea +{ + float left; + float right; + float up; + float bottom; +}; +