一种局部warp的加速技巧

stitch/src/Arith_BlendMap.cpp

@@ -15,11 +15,6 @@ MapBlend::MapBlend(FileCache<FrameCache>* cache, UPanInfo upan_info)
 	_panMask = cv::Mat::zeros(upan_info.m_pan_height, upan_info.m_pan_width, CV_8UC1);
 
 
-	// 临时空间
-	_panTmp = cv::Mat(upan_info.m_pan_height, upan_info.m_pan_width, CV_8UC4, cv::Scalar(0, 0, 0, 0));
-
-	_maskTmp = cv::Mat::zeros(upan_info.m_pan_height, upan_info.m_pan_width, CV_8UC1);
-
 
 	_upan_info = upan_info;
 }
@@ -38,19 +33,34 @@ cv::Mat MapBlend::getPanMaskMat()
 	return _panMask;
 }
 
+// 超大图幅的局部投影
+void warpPerspectiveROI(const Mat& src, Mat& pano, const Mat& H, const cv::Rect& roi)
+{
+	// 1. 修正H矩阵
+	Mat H_adj = H.clone();
+	H_adj.at<double>(0, 2) -= roi.x;
+	H_adj.at<double>(1, 2) -= roi.y;
+
+	// 2. ROI视图
+	Mat pano_roi = pano(roi);
+
+	// 3. 局部warp
+	warpPerspective(src, pano_roi, H_adj, roi.size(),
+		cv::INTER_LINEAR, cv::BORDER_TRANSPARENT);
+}
 
 
 void MapBlend::FrameMap(cv::Mat src, cv::Mat H_Geo, cv::Mat mapH, BLEND_TYPE blendType)
 {
-	//return FrameMap_1(src, H_Geo, mapH);
-
 	// 与全景图的H相乘
 	cv::Mat H = mapH * H_Geo;
 
+	// 计算当前处理的全景图包围框
+	cv::Rect2f  box = warpRectWithH_2Rect(H, src.size());
+
 	// 利用H投影当前帧到全景
-	//cv::Mat imagetmp(_panImage.size(), CV_8UC3, cv::Scalar(0, 0, 0));
+	warpPerspectiveROI(src, _panImage, H, box);
-	_panTmp.setTo(0);
+
-	cv::warpPerspective(src, _panTmp, H, _panTmp.size(), cv::INTER_NEAREST, cv::BORDER_TRANSPARENT);
 
 	cv::Mat mask = cv::Mat::ones(cv::Size(src.cols, src.rows), CV_8UC1);
 
@@ -62,8 +72,10 @@ void MapBlend::FrameMap(cv::Mat src, cv::Mat H_Geo, cv::Mat mapH, BLEND_TYPE ble
 	mask(cv::Rect(mask.cols - margin, margin, margin, mask.rows - 2 * margin)) = 0; // 右边
 
 
-	_maskTmp.setTo(0);
+	// 当前帧的mask
-	cv::warpPerspective(mask, _maskTmp, H, _panTmp.size(), cv::INTER_NEAREST, cv::BORDER_CONSTANT, cv::Scalar(0));
+	warpPerspectiveROI(mask, _panMask, H, box);
+
+
 
 	// 收缩一圈消除虚线
 	//cv::erode(_maskTmp, _maskTmp,
@@ -76,7 +88,7 @@ void MapBlend::FrameMap(cv::Mat src, cv::Mat H_Geo, cv::Mat mapH, BLEND_TYPE ble
 	}
 	else if (blendType == INCREASE)
 	{
-		_maskTmp = _maskTmp & (~_panMask);  //只拷贝未覆盖区域
+		//_maskTmp = _maskTmp & (~_panMask);  //只拷贝未覆盖区域
 	}
 	else if (blendType == DIS_BLEND)
 	{
@@ -132,18 +144,12 @@ void MapBlend::FrameMap(cv::Mat src, cv::Mat H_Geo, cv::Mat mapH, BLEND_TYPE ble
 
 	}
 
-	//// 显示mask
+	////// 显示mask
 	//cv::Mat maskshow;
-	//cv::resize(warped_mask, maskshow, cv::Size(warped_mask.rows / 8, warped_mask.cols / 8));
+	//cv::resize(_panMask, maskshow, cv::Size(_panMask.rows / 8, _panMask.cols / 8));
 	//imshow("warped_mask", maskshow *255);
 	//cv::waitKey(1);
 
-	_panTmp.copyTo(_panImage, _maskTmp);
-
-	// 保存遮罩
-	_maskTmp.copyTo(_panMask, _maskTmp);
-
-
 }
 #include <omp.h>
 void MapBlend::FrameMap_1(cv::Mat src, cv::Mat H_Geo, cv::Mat mapH)
@@ -223,18 +229,20 @@ void MapBlend::BatchMap(vector<KeyType> frameInd, cv::Mat mapH, BLEND_TYPE blend
 			continue;
 		}
 
+		// 获取图像数据
+		cv::Mat src = getRGBAMatFromGDFrame(_t_frame_cache->_frame_info, _t_frame_cache->_data);
+
 		// 读取当前H
 		cv::Mat H1 = cv::Mat(3, 3, CV_64FC1, _t_frame_cache->H);
 
 		// 与全景图的H相乘
 		cv::Mat H = mapH * H1;
 
-		// 利用H投影当前帧到全景
+		// 计算当前处理的全景图包围框
-		//cv::Mat imagetmp(_panImage.size(), CV_8UC3, cv::Scalar(0, 0, 0));
+		cv::Rect2f  box = warpRectWithH_2Rect(H, src.size());
 
-		// 获取图像数据
+		// 利用H投影当前帧到全景
-		cv::Mat src = getRGBAMatFromGDFrame(_t_frame_cache->_frame_info, _t_frame_cache->_data);
+		warpPerspectiveROI(src, _panImage, H, box);
-		cv::warpPerspective(src, _panTmp, H, _panTmp.size(), cv::INTER_LINEAR, cv::BORDER_TRANSPARENT);
 
 		cv::Mat mask = cv::Mat::ones(cv::Size(src.cols, src.rows), CV_8UC1);
 
@@ -245,17 +253,13 @@ void MapBlend::BatchMap(vector<KeyType> frameInd, cv::Mat mapH, BLEND_TYPE blend
 		mask(cv::Rect(0, margin, margin, mask.rows - 2 * margin)) = 0;   // 左边
 		mask(cv::Rect(mask.cols - margin, margin, margin, mask.rows - 2 * margin)) = 0; // 右边
 
-
+		// 当前帧的mask
-		cv::warpPerspective(mask, _maskTmp, H, _panTmp.size(), cv::INTER_NEAREST, cv::BORDER_CONSTANT, cv::Scalar(0));
+		warpPerspectiveROI(mask, _panMask, H, box);
 
 		//// 收缩一圈消除虚线
 		//cv::erode(warped_mask, warped_mask,
 		//	cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3, 3)));
 
-		_panTmp.copyTo(_panImage, _maskTmp);
-
-		// 保存遮罩
-		_maskTmp.copyTo(_panMask, _maskTmp);
 
 		//imshow("mask", pan_mask);
 		//waitKey(1);

stitch/src/Arith_BlendMap.h

@@ -59,9 +59,9 @@ private:
 
 	cv::Mat _panMask; //覆盖区域遮罩
 
-private:
+//private:
-	cv::Mat _panTmp; // 临时全景图
+//	cv::Mat _panTmp; // 临时全景图
-	cv::Mat _maskTmp;// 临时mask
+//	cv::Mat _maskTmp;// 临时mask
 };
 
 

stitch/src/Arith_UnderStitch.cpp

@@ -328,7 +328,7 @@ SINT32 UnderStitch::Run(GD_VIDEO_FRAME_S frame, FrameInfo para)
 		panImage.setTo(0);
 		panMask.setTo(0);
 
-		//_MapBlender->BatchMap(_recvFrameKey, _H_pan);
+		_MapBlender->BatchMap(_recvFrameKey, _H_pan);
 
         return 0;
     }

stitch/src/Version.h

@@ -2,5 +2,5 @@
 
 #pragma once
 #include <string>
-std::string BUILD_TIME = "BUILD_TIME 2025_11_02-22.09.40";
+std::string BUILD_TIME = "BUILD_TIME 2025_11_02-23.20.59";
 std::string VERSION = "BUILD_VERSION 1.0.1";

tests/decodedata.cpp

@@ -699,7 +699,7 @@ int DecodeData::DecodeRGBImageAndPara(unsigned char *RGBBuffer, H264SEI_Para_732
 
         tm.stop();
 
-        printf("time cost:%f\n", tm.getTimeSec());
+        printf("time cost:%f ms\n", tm.getTimeMilli());
 
         pan = m_underStitcher->ExportPanAddr();
         cv::Mat mat_pan = cv::Mat(pan.u32Height, pan.u32Width, CV_8UC4, pan.u64VirAddr[0]);

tests/stitch_udp.cpp

@@ -12,7 +12,7 @@ int main(int argc, char* argv[])
     m_DecodeData->m_CurrentVideo = 1;//0:红外，1：可见光
     m_DecodeData->m_LocalHeight = 1365;// 本地海拔
     m_DecodeData->Init();
-    m_DecodeData->processFileInChunks(filestr, 10 * 1024);
+    m_DecodeData->processFileInChunks(filestr, 6 * 1024);
 
     return 0;
 }