From a6a1df27790206dadcbf96c0c12cc7dacfbe80cf Mon Sep 17 00:00:00 2001 From: wangchongwu <759291707@qq.com> Date: Fri, 7 Feb 2025 10:28:15 +0800 Subject: [PATCH] =?UTF-8?q?=E9=87=8D=E6=9E=841?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- stitch/src/API_VideoStitch.h | 1 - stitch/src/Arith_BATask.cpp | 2 +- stitch/src/Arith_BATask.h | 6 +- stitch/src/Arith_FeaMatch.cpp | 2 +- ...th_GeoStitcher.cpp => Arith_GeoSolver.cpp} | 60 +++++------------- ...{Arith_GeoStitcher.h => Arith_GeoSolver.h} | 17 +++-- stitch/src/Arith_VideoStitch.cpp | 62 ++++++++++--------- stitch/src/Arith_VideoStitch.h | 9 +-- 8 files changed, 65 insertions(+), 94 deletions(-) rename stitch/src/{Arith_GeoStitcher.cpp => Arith_GeoSolver.cpp} (81%) rename stitch/src/{Arith_GeoStitcher.h => Arith_GeoSolver.h} (93%) diff --git a/stitch/src/API_VideoStitch.h b/stitch/src/API_VideoStitch.h index ce517ec..eac4426 100644 --- a/stitch/src/API_VideoStitch.h +++ b/stitch/src/API_VideoStitch.h @@ -40,7 +40,6 @@ public: virtual SINT32 ReceiveFrame(GD_VIDEO_FRAME_S img, FrameInfo para) = 0; - virtual SINT32 ProcFrame() = 0; public: static API_VideoStitch* Create(SINT32 nWidth, SINT32 nHeight); diff --git a/stitch/src/Arith_BATask.cpp b/stitch/src/Arith_BATask.cpp index f606907..c5980f0 100644 --- a/stitch/src/Arith_BATask.cpp +++ b/stitch/src/Arith_BATask.cpp @@ -71,7 +71,7 @@ private: -BA_Task::BA_Task(GeoStitcher * pGeoTrans) +BA_Task::BA_Task(GeoSolver * pGeoTrans) { _GeoStitcher = pGeoTrans; _FeaMatcher = new FeatureMatcher(DetectorType::SIFT, MatcherType::FLANN); diff --git a/stitch/src/Arith_BATask.h b/stitch/src/Arith_BATask.h index 9145a87..50889f2 100644 --- a/stitch/src/Arith_BATask.h +++ b/stitch/src/Arith_BATask.h @@ -13,7 +13,7 @@ #include "StitchStruct.h" #include #include -#include "Arith_GeoStitcher.h" +#include "Arith_GeoSolver.h" #include "Arith_FeaMatch.h" using cv::Mat_; @@ -24,7 +24,7 @@ using cv::Mat_; class BA_Task { public: - BA_Task(GeoStitcher* pGeoTrans); + BA_Task(GeoSolver* pGeoTrans); ~BA_Task(); // 加入优化帧 @@ -45,7 +45,7 @@ private: SINT32 CalMatchMat(float fiou_thre);//计算匹配性矩阵(以IOU约束) private: - GeoStitcher* _GeoStitcher;//外参计算 + GeoSolver* _GeoStitcher;//外参计算 FeatureMatcher* _FeaMatcher;//特征匹配 PanInfo _panPara;//全景图配置 diff --git a/stitch/src/Arith_FeaMatch.cpp b/stitch/src/Arith_FeaMatch.cpp index b084c06..22328d9 100644 --- a/stitch/src/Arith_FeaMatch.cpp +++ b/stitch/src/Arith_FeaMatch.cpp @@ -1,5 +1,5 @@ #include "Arith_FeaMatch.h" -#include "Arith_GeoStitcher.h" +#include "Arith_GeoSolver.h" using std::vector; using cv::KeyPoint; diff --git a/stitch/src/Arith_GeoStitcher.cpp b/stitch/src/Arith_GeoSolver.cpp similarity index 81% rename from stitch/src/Arith_GeoStitcher.cpp rename to stitch/src/Arith_GeoSolver.cpp index 341f71e..83d55fa 100644 --- a/stitch/src/Arith_GeoStitcher.cpp +++ b/stitch/src/Arith_GeoSolver.cpp @@ -1,58 +1,28 @@ -#include "Arith_GeoStitcher.h" +#include "Arith_GeoSolver.h" #include "Arith_VideoStitch.h" #include "Arith_Utils.h" #include "Arith_CoordModule.h" #include "Arith_SysStruct.h" using namespace cv; -GeoStitcher::GeoStitcher() +GeoSolver::GeoSolver() { } -GeoStitcher::~GeoStitcher() +GeoSolver::~GeoSolver() { } -PanInfo GeoStitcher::InitMap(FrameInfo info) -{ - // 设置拼接原点 - SetOriginPoint(info); - - // 转换关系计算 - Proj t_Proj = AnlayseTform(info); - - // 帧中心的大地坐标，将其平移到全景图中心 - cv::Point2f ct_geo = Trans_uv2Geo(cv::Point2f(info.nWidth / 2, info.nHeight / 2), t_Proj.tf_p2g); - - // 全景图初始化 - PanInfo panPara = {0}; - panPara.m_pan_width = 1000;//全景宽 - panPara.m_pan_height = 1000;//全景高 - panPara.scale = 0.5;//比例尺,1m = ?pix - - // 直接无平移解算 - auto cur = Trans_Geo2pan(ct_geo, panPara); - - // 计算平移到全景图固定点的平移量，从此处开始拼接 - int planX = 200; - int planY = 200; - - panPara.map_shiftX = planX - (cur.x);//平移X - panPara.map_shiftY = planY - (cur.y);//平移Y - - return panPara; -} - -cv::Point2f GeoStitcher::project(cv::Point2f pos_pan, Proj m_Proj, PanInfo pan) +cv::Point2f GeoSolver::project(cv::Point2f pos_pan, Proj m_Proj, PanInfo pan) { cv::Point2f pos_geo = Trans_pan2Geo(pos_pan, pan); cv::Point2f pos_frame = Trans_Geo2uv(pos_geo, m_Proj.tf_g2p); return pos_frame; } -cv::Point2f GeoStitcher::back_project(cv::Point2f pos_frame, Proj m_Proj, PanInfo pan) +cv::Point2f GeoSolver::back_project(cv::Point2f pos_frame, Proj m_Proj, PanInfo pan) { cv::Point2f pos_geo = Trans_uv2Geo(pos_frame, m_Proj.tf_p2g); @@ -61,12 +31,12 @@ cv::Point2f GeoStitcher::back_project(cv::Point2f pos_frame, Proj m_Proj, PanInf return pos_pan; } -void GeoStitcher::SetOriginPoint(FrameInfo info) +void GeoSolver::SetOriginPoint(FrameInfo info) { originPoint = getXYZFromBLH(info.craft.stPos); } -cv::Point2f GeoStitcher::Trans_uv2Geo(cv::Point2f pos_frame, TForm form) +cv::Point2f GeoSolver::Trans_uv2Geo(cv::Point2f pos_frame, TForm form) { Mat point = (Mat_(3, 1) << pos_frame.x, pos_frame.y, 1); Mat result = form.R * point; @@ -80,7 +50,7 @@ cv::Point2f GeoStitcher::Trans_uv2Geo(cv::Point2f pos_frame, TForm form) return cv::Point2f(warpedX, warpedY); } -cv::Point2f GeoStitcher::Trans_Geo2uv(cv::Point2f pos_geo, TForm form_inv) +cv::Point2f GeoSolver::Trans_Geo2uv(cv::Point2f pos_geo, TForm form_inv) { // 先平移到当前相机位置 cv::Point2f pos_cam = pos_geo; @@ -97,7 +67,7 @@ cv::Point2f GeoStitcher::Trans_Geo2uv(cv::Point2f pos_geo, TForm form_inv) return cv::Point2f(warpedX, warpedY); } -cv::Point2f GeoStitcher::Trans_pan2Geo(cv::Point2f pos_pan, PanInfo panPara) +cv::Point2f GeoSolver::Trans_pan2Geo(cv::Point2f pos_pan, PanInfo panPara) { double x = (pos_pan.x - panPara.map_shiftX) / panPara.scale; double y = (panPara.m_pan_height - (pos_pan.y - panPara.map_shiftY)) / panPara.scale; @@ -105,7 +75,7 @@ cv::Point2f GeoStitcher::Trans_pan2Geo(cv::Point2f pos_pan, PanInfo panPara) return cv::Point2f(x, y); } -cv::Point2f GeoStitcher::Trans_Geo2pan(cv::Point2f pos_geo, PanInfo panPara) +cv::Point2f GeoSolver::Trans_Geo2pan(cv::Point2f pos_geo, PanInfo panPara) { double pan_x = pos_geo.x * panPara.scale + panPara.map_shiftX; double pan_y = (panPara.m_pan_height - pos_geo.y * panPara.scale) + panPara.map_shiftY; @@ -114,7 +84,7 @@ cv::Point2f GeoStitcher::Trans_Geo2pan(cv::Point2f pos_geo, PanInfo panPara) -Mat GeoStitcher::Mat_TransENGMove(FrameInfo info) +Mat GeoSolver::Mat_TransENGMove(FrameInfo info) { PointXYZ ptCurr = getXYZFromBLH(info.craft.stPos); PointXYZ diff = getNUEXYZFromCGCSXYZ(ptCurr, originPoint); @@ -127,7 +97,7 @@ Mat GeoStitcher::Mat_TransENGMove(FrameInfo info) return move; } -Mat GeoStitcher::Mat_TransENG2uv(FrameInfo info) +Mat GeoSolver::Mat_TransENG2uv(FrameInfo info) { //从地理坐标系转像素坐标 @@ -198,7 +168,7 @@ Mat GeoStitcher::Mat_TransENG2uv(FrameInfo info) -Proj GeoStitcher::AnlayseTform(FrameInfo info) +Proj GeoSolver::AnlayseTform(FrameInfo info) { Proj projection; // 从像方->地理 @@ -212,7 +182,7 @@ Proj GeoStitcher::AnlayseTform(FrameInfo info) return projection; } -cv::Mat GeoStitcher::findHomography(Proj proj, PanInfo pan) +cv::Mat GeoSolver::findHomography(Proj proj, PanInfo pan) { // 同名点计算，从像方到全景 cv::Point2f leftTop_map = back_project(cv::Point2f(0,0), proj, pan); @@ -241,7 +211,7 @@ cv::Mat GeoStitcher::findHomography(Proj proj, PanInfo pan) return H; } -cv::Mat GeoStitcher::findHomography(Proj proj) +cv::Mat GeoSolver::findHomography(Proj proj) { std::vector srcPoints; srcPoints.push_back(cv::Point2f(0, 0)); diff --git a/stitch/src/Arith_GeoStitcher.h b/stitch/src/Arith_GeoSolver.h similarity index 93% rename from stitch/src/Arith_GeoStitcher.h rename to stitch/src/Arith_GeoSolver.h index 964da87..d940aad 100644 --- a/stitch/src/Arith_GeoStitcher.h +++ b/stitch/src/Arith_GeoSolver.h @@ -32,15 +32,14 @@ struct Proj -class GeoStitcher +class GeoSolver { public: // 构造函数 - GeoStitcher(); - ~GeoStitcher(); + GeoSolver(); + ~GeoSolver(); + - // 初始化地理参数和全景图参数 - PanInfo InitMap(FrameInfo info); // 投影：从全景图到帧 cv::Point2f project(cv::Point2f pos_pan, Proj m_Proj, PanInfo pan); @@ -58,9 +57,10 @@ public: // 建立全景图与归一化地理系的H矩阵 cv::Mat findHomography(Proj proj); -public: - + // 设置起始拼接点外参 + void SetOriginPoint(FrameInfo info); +public: // 帧像方-地理坐标 cv::Point2f Trans_uv2Geo(cv::Point2f pos_frame, TForm form); @@ -81,8 +81,7 @@ public: private: - // 设置起始拼接点外参 - void SetOriginPoint(FrameInfo info); + PointXYZ originPoint;//成图初始点的地心地固坐标，作为拼接参考 }; diff --git a/stitch/src/Arith_VideoStitch.cpp b/stitch/src/Arith_VideoStitch.cpp index 52db3ec..74351b8 100644 --- a/stitch/src/Arith_VideoStitch.cpp +++ b/stitch/src/Arith_VideoStitch.cpp @@ -22,7 +22,7 @@ void API_VideoStitch::Destroy(API_VideoStitch * obj) VideoStitch::VideoStitch(SINT32 nWidth, SINT32 nHeight) { - _GeoStitcher = new GeoStitcher(); + _GeoStitcher = new GeoSolver(); _BATask = new BA_Task(_GeoStitcher); @@ -35,6 +35,38 @@ VideoStitch::~VideoStitch() } + +PanInfo VideoStitch::InitMap(FrameInfo info) +{ + // 设置拼接原点 + _GeoStitcher->SetOriginPoint(info); + + // 转换关系计算 + Proj t_Proj = _GeoStitcher->AnlayseTform(info); + + // 帧中心的大地坐标，将其平移到全景图中心 + cv::Point2f ct_geo = _GeoStitcher->Trans_uv2Geo(cv::Point2f(info.nWidth / 2, info.nHeight / 2), t_Proj.tf_p2g); + + // 全景图初始化 + PanInfo panPara = { 0 }; + panPara.m_pan_width = 1000;//全景宽 + panPara.m_pan_height = 1000;//全景高 + panPara.scale = 0.5;//比例尺,1m = ?pix + + // 直接无平移解算 + auto cur = _GeoStitcher->Trans_Geo2pan(ct_geo, panPara); + + // 计算平移到全景图固定点的平移量，从此处开始拼接 + int planX = 200; + int planY = 200; + + panPara.map_shiftX = planX - (cur.x);//平移X + panPara.map_shiftY = planY - (cur.y);//平移Y + + return panPara; +} + + void VideoStitch::Test() { @@ -42,7 +74,7 @@ void VideoStitch::Test() PanInfo VideoStitch::Init(FrameInfo info) { - _panPara = _GeoStitcher->InitMap(info); + _panPara = InitMap(info); _BATask->setPanPara(_panPara); @@ -184,32 +216,6 @@ SINT32 VideoStitch::ReceiveFrame(GD_VIDEO_FRAME_S img, FrameInfo para) return SINT32(); } -SINT32 VideoStitch::ProcFrame() -{ - //printf("size:%d\n",_cache->getMemSize()); - //std::shared_ptr loadedFrame1; - // bool bflag1 = _cache->get(30, loadedFrame1); - - //std::shared_ptr loadedFrame2; - //auto bflag2 = _cache->get(40,loadedFrame2); - - //if (bflag1 && loadedFrame1->_frame_info.u32Height > 0) - //{ - // cv::Mat src1(loadedFrame1->_frame_info.u32Height, loadedFrame1->_frame_info.u32Width, CV_8UC1, loadedFrame1->_data); - // imshow("src30",src1); - // waitKey(1); - //} - // - //if (bflag2 && loadedFrame2->_frame_info.u32Height > 0) - //{ - // cv::Mat src2(loadedFrame2->_frame_info.u32Height, loadedFrame2->_frame_info.u32Width, CV_8UC1, loadedFrame2->_data); - // imshow("src40",src2); - // waitKey(0); - //} - - - return 0; -} diff --git a/stitch/src/Arith_VideoStitch.h b/stitch/src/Arith_VideoStitch.h index 6396bdd..a8a9bff 100644 --- a/stitch/src/Arith_VideoStitch.h +++ b/stitch/src/Arith_VideoStitch.h @@ -1,6 +1,6 @@ #include "API_VideoStitch.h" #include "opencv2/opencv.hpp" -#include "Arith_GeoStitcher.h" +#include "Arith_GeoSolver.h" #include "Arith_FeaMatch.h" #include "StitchStruct.h" #include "Arith_BATask.h" @@ -16,6 +16,7 @@ public: PanInfo Init(FrameInfo info); + PanInfo InitMap(FrameInfo info); // 接收帧 SINT32 ReceiveFrame(GD_VIDEO_FRAME_S img, FrameInfo para); @@ -27,10 +28,6 @@ public: SINT32 BAOpt(); - // 处理帧 - SINT32 ProcFrame(); - - GD_VIDEO_FRAME_S ExportPanAddr(); private: @@ -39,7 +36,7 @@ private: private: - GeoStitcher* _GeoStitcher;//外参计算 + GeoSolver* _GeoStitcher;//外参计算