拼接库扩展为下视拼接和前视拼接两个功能开发

main.cpp

@@ -1,5 +1,6 @@
 #include <iostream>
-#include "API_VideoStitch.h"
+#include "API_UnderStitch.h"
+#include "API_FrontStitch.h"
 #include "S729.h"
 #include "PlatformDefine.h"
 #include <string.h>
@@ -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_y8/22.video","22");
-    ProcessVL("H:/vl_1920_1080_para40_y8/20241219152643_1.video", "20241219152643_1");
+    //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_y8/20241219152917_4.video", "20241219152917_4");
-    ProcessVL("H:/vl_1920_1080_para40_y8/20241219153515_10.video", "20241219153515_10");
+    //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");
 }

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);
+};

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 API_UnderStitch* Create(SINT32 nWidth, SINT32 nHeight);
-    static void Destroy(API_VideoStitch* obj);
+    static void Destroy(API_UnderStitch* obj);
 };

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 <opencv2/opencv.hpp>
+#include <omp.h>
+
+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;
+}

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

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<cv::Point2f> 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;
-}
+}
+
+PointXYZ getNUEFromENG(PointXYZ p)
+{
+	PointXYZ ptrans = { 0 };
+
+
+}
+
+PointXYZ getENGFromNUE(PointXYZ p)
+{
+	return PointXYZ();
+}
+

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
+    // 设置起始拼接点外参，返回当前光轴大地指向
-    void SetOriginPoint(FrameInfo info);
+    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<cv::Point2f>& quad1, const vector<cv
 cv::Point2f warpPointWithH(cv::Mat H,cv::Point2f srcPt);
 
 // H映射多边形，按照顺时针
-vector<cv::Point2f> warpRectWithH(cv::Mat H,cv::Size size);
+vector<cv::Point2f> warpRectWithH(cv::Mat H,cv::Size size);
+
+// 坐标系统转换
+PointXYZ getNUEFromENG(PointXYZ p);
+PointXYZ getENGFromNUE(PointXYZ p);

stitch/src/Arith_UnderStitch.cpp

@@ -1,5 +1,5 @@
-#include "API_VideoStitch.h"
+#include "API_UnderStitch.h"
-#include "Arith_VideoStitch.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<FrameCache>();
@@ -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_<double>(3, 3) << _pan.scale, 0, _pan.map_shiftX,
 		0, -_pan.scale, _pan.m_pan_height + _pan.map_shiftY,

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);
+    UnderStitch(SINT32 nWidth, SINT32 nHeight);
-    ~VideoStitch();
+    ~UnderStitch();
-
-    PanInfo Init(FrameInfo info);
 
+    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
+    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
-    PanInfo     InitMap(FrameInfo info);
+    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
 

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)
+            // if (tile.cols != 256 || tile.rows != 256)
-            {
+            // {
-               cv::resize(tile, tile, cv::Size(256, 256));
+            //    cv::resize(tile, tile, cv::Size(256, 256));
-            }
+            // }
 
             // 生成文件名
             std::string tileDir = dir + "/" + std::to_string(zoom);

stitch/src/StitchStruct.h

@@ -21,8 +21,8 @@ struct FrameInfo
     int nHeight;
 };
 
-// 全景图配置
+// 下视全景图配置
-struct PanInfo
+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
-};
+};
+
+
+
+// 前视拼接相关
+
+
+// 前视极坐标范围
+struct PoleArea
+{
+    float left;
+    float right;
+    float up;
+    float bottom;
+};
+