重构3

main.cpp

@@ -187,10 +187,10 @@ int main(int, char**)
             << std::endl;
 
             // 基于地理系的拼接
-            //stitcher->GeoStitch(frame,info);
+            stitcher->GeoStitch(frame,info);
 
             // 基于地理+BA拼接
-            auto nNum = stitcher->BAStitch(frame,info);
+            //auto nNum = stitcher->BAStitch(frame,info);
             
             // test接口
             //if (info.nFrmID == 30 || info.nFrmID == 40)

stitch/src/Arith_BATask.cpp

@@ -95,8 +95,8 @@ SINT32 BA_Task::addFrame(GD_VIDEO_FRAME_S img, FrameInfo para)
     _paraVec.push_back(para);
 
     // 缓存初始H
-    Proj t_Proj = _GeoStitcher->AnlayseTform(para);
-    auto H = _GeoStitcher->findHomography(t_Proj);
+    //Proj t_Proj = _GeoStitcher->AnlayseTform(para);
+    auto H = _GeoStitcher->findHomography(para);
     _origMatrix.push_back(H.clone());
     _currMatrix.push_back(H.clone());
 

stitch/src/Arith_GeoSolver.cpp

@@ -15,21 +15,21 @@ GeoSolver::~GeoSolver()
 
 
 
-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 GeoSolver::back_project(cv::Point2f pos_frame, Proj m_Proj, PanInfo pan)
-{
-	cv::Point2f pos_geo = Trans_uv2Geo(pos_frame, m_Proj.tf_p2g);
-
-	cv::Point2f pos_pan = Trans_Geo2pan(pos_geo, pan);
-
-	return pos_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 GeoSolver::back_project(cv::Point2f pos_frame, Proj m_Proj, PanInfo pan)
+//{
+//	cv::Point2f pos_geo = Trans_uv2Geo(pos_frame, m_Proj.tf_p2g);
+//
+//	cv::Point2f pos_pan = Trans_Geo2pan(pos_geo, pan);
+//
+//	return pos_pan;
+//}
 
 void GeoSolver::SetOriginPoint(FrameInfo info)
 {
@@ -182,61 +182,7 @@ Proj GeoSolver::AnlayseTform(FrameInfo info)
 	return projection;
 }
 
-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);
-	cv::Point2f rightTop_map = back_project(cv::Point2f(1000,0), proj, pan);
-	cv::Point2f rightBottom_map = back_project(cv::Point2f(1000,1000), proj, pan);
-	cv::Point2f leftBottom_map = back_project(cv::Point2f(0,1000), proj, pan);
-
-
-    std::vector<cv::Point2f> srcPoints;
-    srcPoints.push_back(cv::Point2f(0,0)); 
-    srcPoints.push_back(cv::Point2f(1000,0)); 
-    srcPoints.push_back(cv::Point2f(1000,1000)); 
-    srcPoints.push_back(cv::Point2f(0,1000));
-
-    // 目标图像（全景图）的四个顶点坐标
-    std::vector<cv::Point2f> dstPoints;
-    dstPoints.push_back(leftTop_map); // 左
-    dstPoints.push_back(rightTop_map); // 右上
-    dstPoints.push_back(rightBottom_map); // 右下
-    dstPoints.push_back(leftBottom_map); // 左下
-
-    // 计算单应性矩阵 H
-    cv::Mat H = cv::findHomography(srcPoints, dstPoints);
-
-
-	return H;
-}
-
-cv::Mat GeoSolver::findHomography(Proj proj)
-{
-	std::vector<cv::Point2f> srcPoints;
-	srcPoints.push_back(cv::Point2f(0, 0));
-	srcPoints.push_back(cv::Point2f(1000, 0));
-	srcPoints.push_back(cv::Point2f(1000, 1000));
-	srcPoints.push_back(cv::Point2f(0, 1000));
-
-	// 同名点计算，从像方到全景
-	cv::Point2f leftTop_map = Trans_uv2Geo(srcPoints[0], proj.tf_p2g);
-	cv::Point2f rightTop_map = Trans_uv2Geo(srcPoints[1], proj.tf_p2g);
-	cv::Point2f rightBottom_map = Trans_uv2Geo(srcPoints[2], proj.tf_p2g);
-	cv::Point2f leftBottom_map = Trans_uv2Geo(srcPoints[3], proj.tf_p2g);
 
-	// 目标图像（全景图）的四个顶点坐标
-	std::vector<cv::Point2f> dstPoints;
-	dstPoints.push_back(leftTop_map); // 左
-	dstPoints.push_back(rightTop_map); // 右上
-	dstPoints.push_back(rightBottom_map); // 右下
-	dstPoints.push_back(leftBottom_map); // 左下
-
-	// 计算单应性矩阵 H
-	cv::Mat H = cv::findHomography(srcPoints, dstPoints);
-
-	return H;
-}
 
 cv::Mat GeoSolver::findHomography(FrameInfo info)
 {

stitch/src/Arith_GeoSolver.h

@@ -41,21 +41,6 @@ public:
 
 
 
-    // 投影：从全景图到帧
-    cv::Point2f project(cv::Point2f pos_pan, Proj m_Proj, PanInfo pan);
-
-    // 反投影：从帧到全景图
-    cv::Point2f back_project(cv::Point2f pos_frame, Proj m_Proj, PanInfo pan);
-
-
-    // 计算当前帧像方-地理坐标系R t（反投影关系）
-    Proj AnlayseTform(FrameInfo info);
-
-    // 建立H矩阵,经验证与上述反投影过程完全等效，该过程应该可以通过解析直接获得，此处不再深入研究
-    cv::Mat findHomography(Proj proj,PanInfo pan);
-
-    // 建立全景图与归一化地理系的H矩阵
-    cv::Mat findHomography(Proj proj);
 
     // 建立全景图与归一化地理系的H矩阵
     cv::Mat findHomography(FrameInfo info);
@@ -64,6 +49,9 @@ public:
     void SetOriginPoint(FrameInfo info);
 
 public:
+    // 计算当前帧像方-地理坐标系R t（反投影关系）
+    Proj AnlayseTform(FrameInfo info);
+
     // 帧像方-地理坐标
     cv::Point2f Trans_uv2Geo(cv::Point2f pos_frame, TForm form);
 

stitch/src/Arith_VideoStitch.cpp

@@ -56,6 +56,12 @@ PanInfo VideoStitch::InitMap(FrameInfo info)
 	// 直接无平移解算
 	auto cur = _GeoStitcher->Trans_Geo2pan(ct_geo, panPara);
 
+
+	auto cur2 = warpPointWithH(getAffineFromGeo2Pan(panPara), cv::Point2f(info.nWidth / 2, info.nHeight / 2));
+
+
+
+
 	// 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;
@@ -139,10 +145,9 @@ PanInfo VideoStitch::Init(FrameInfo info)
 
 BYTE8 VideoStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para)
 {
-	Proj t_Proj = _GeoStitcher->AnlayseTform(para);
 
 	// uv2Geo H
-	cv::Mat H1 = _GeoStitcher->findHomography(t_Proj);
+	cv::Mat H1 = _GeoStitcher->findHomography(para);
 
 	// Geo2Pan H
 	cv::Mat H2 = getAffineFromGeo2Pan(_panPara);