From cda013b9d0ed025cff0ae49d1e5674ef2160c6a0 Mon Sep 17 00:00:00 2001 From: wangchongwu <759291707@qq.com> Date: Tue, 11 Feb 2025 16:12:09 +0800 Subject: [PATCH] =?UTF-8?q?=E5=AE=9E=E7=8E=B0=E8=B0=B7=E6=AD=8Ckml?= =?UTF-8?q?=E4=BA=A7=E5=93=81=E8=BE=93=E5=87=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CMakeLists.txt | 2 +- main.cpp | 45 +++++-- stitch/CMakeLists.txt | 19 ++- stitch/src/API_VideoStitch.h | 12 +- stitch/src/Arith_BATask.cpp | 5 +- stitch/src/Arith_GeoSolver.cpp | 29 ++++- stitch/src/Arith_GeoSolver.h | 11 +- stitch/src/Arith_VideoStitch.cpp | 136 +++++++++++++++----- stitch/src/Arith_VideoStitch.h | 17 ++- stitch/src/GoogleTile.cpp | 214 ++++++++++++++++--------------- stitch/src/GoogleTile.h | 37 ++++-- stitch/src/utils/Arith_Utils.cpp | 10 +- stitch/src/utils/Arith_Utils.h | 2 +- 13 files changed, 340 insertions(+), 199 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 671d3e6..edc023c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 3.5.0) +cmake_minimum_required(VERSION 3.15.0) project(stitch VERSION 0.1.0 LANGUAGES C CXX) set(CMAKE_CXX_STANDARD 17) diff --git a/main.cpp b/main.cpp index a2e2d8a..4fe6bc8 100644 --- a/main.cpp +++ b/main.cpp @@ -149,7 +149,7 @@ void ProcessIR() info.craft.stPos.H = Paras_IR.Paras_IR.airCraftInfo.H; - info.nEvHeight = Paras_IR.Paras_IR.airCraftInfo.H; + info.nEvHeight = Paras_IR.Paras_IR.airCraftInfo.H - 25; info.servoInfo.fServoAz = Paras_IR.Paras_IR.servoInfo.fAz; info.servoInfo.fServoPt = Paras_IR.Paras_IR.servoInfo.fPz + 90; @@ -183,7 +183,7 @@ void ProcessIR() pan = stitcher->ExportPanAddr(); - mat_pan = cv::Mat(pan.u32Height, pan.u32Width, CV_8UC3, pan.u64VirAddr[0]); + mat_pan = cv::Mat(pan.u32Height, pan.u32Width, CV_8UC4, pan.u64VirAddr[0]); } else { @@ -215,6 +215,9 @@ void ProcessIR() imshow("pan_opt", mat_pan); waitKey(0); + // 输出谷歌png + stitcher->ExportGeoPng("D:/", "IR_pan"); + } void ProcessVL() @@ -228,7 +231,8 @@ void ProcessVL() FILE* file = fopen("D:/wangchongwu_gitea_2023/20241219152643_1.video", "rb"); - + //FILE* file = fopen("H:/21.video", "rb"); + GaussianRandom gr(0.0, 1, 0.0); for (size_t i = 0; i < 600; i++) @@ -253,7 +257,7 @@ void ProcessVL() info.craft.stPos.H = Paras_VL.Paras_VL.airCraftInfo.H; - info.nEvHeight = 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; @@ -286,11 +290,11 @@ void ProcessVL() pan = stitcher->ExportPanAddr(); - mat_pan = cv::Mat(pan.u32Height, pan.u32Width, CV_8UC1, pan.u64VirAddr[0]); + mat_pan = cv::Mat(pan.u32Height, pan.u32Width, CV_8UC4, pan.u64VirAddr[0]); } else { - if (i % 10 != 0) + if (i % 20 != 0) { continue; } @@ -299,33 +303,46 @@ void ProcessVL() << info.servoInfo.fServoAz << " " << info.servoInfo.fServoPt << std::endl; + cv::TickMeter tm; + tm.start(); // 基于外参的快拼 stitcher->GeoStitch(frame, info); + tm.stop(); + + cout << "time:" << tm.getTimeMilli() << endl; + // 接收帧 auto a = stitcher->ReceiveFrame(frame, info); } - - imshow("VL", IMG); + imshow("pan_opt", mat_pan); waitKey(1); - - - } + cv::TickMeter tm; + tm.start(); + // 处理帧 + stitcher->ProcessFrame(); + tm.stop(); - + cout << "time opt:" << tm.getTimeMilli() << endl; imshow("pan_opt", mat_pan); waitKey(0); + + // 输出谷歌png + stitcher->ExportGeoPng("D:/", "VL_pan"); + + // 输出谷歌tile + stitcher->ExportGoogleTile("D:/", "VL_pan"); } int main(int, char**) { - ProcessIR(); - //ProcessVL(); + //ProcessIR(); + ProcessVL(); } \ No newline at end of file diff --git a/stitch/CMakeLists.txt b/stitch/CMakeLists.txt index e16324a..592ab50 100644 --- a/stitch/CMakeLists.txt +++ b/stitch/CMakeLists.txt @@ -12,14 +12,14 @@ endif() IF(WIN32) set(OpenCV_DIR "D:/opencv410_vc17") - set(Ceres_DIR "C:/Lib/ceres") - + +# set(CMAKE_TOOLCHAIN_FILE "D:/wangchongwu_gitea_2023/vcpkg-2025.01.13/scripts/buildsystems/vcpkg.cmake") +# set(Ceres_DIR "D:/wangchongwu_gitea_2023/vcpkg-2025.01.13/packages/ceres_x64-windows/share/ceres") +# set(Eigen3_DIR "D:/wangchongwu_gitea_2023/vcpkg-2025.01.13/packages/eigen3_x64-windows/share/eigen3") +# set(glog_DIR "D:/wangchongwu_gitea_2023/vcpkg-2025.01.13/packages/glog_x64-windows/share/glog") ELSE(WIN32) - ENDIF(WIN32) - - find_package(Ceres REQUIRED) include_directories(${CERES_INCLUDE_DIRS}) @@ -58,11 +58,10 @@ target_link_libraries(${LIB_STITCH} # # # gcc编译器要求0警告 # if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU") -# # 只导出指明的符号 -# add_definitions(-fvisibility=hidden) +# # 只导出指明的符号 +# add_definitions(-fvisibility=hidden) -# # 警告：必须在如下编译器配置下编译通过 -# target_compile_options(${LIB_STITCH} PRIVATE -Werror -Wreturn-type) +# # 警告：必须在如下编译器配置下编译通过 +# target_compile_options(${LIB_STITCH} PRIVATE -Werror -Wreturn-type) # endif() - set(LIBRARY_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/Bin) # 输出算法库路径 diff --git a/stitch/src/API_VideoStitch.h b/stitch/src/API_VideoStitch.h index ede01da..6115b9e 100644 --- a/stitch/src/API_VideoStitch.h +++ b/stitch/src/API_VideoStitch.h @@ -34,18 +34,14 @@ public: // 处理帧 virtual SINT32 ProcessFrame() = 0; - - // 获取全景图 virtual GD_VIDEO_FRAME_S ExportPanAddr() = 0; + // 输出地理产品:kml png全景 + virtual bool ExportGeoPng(std::string dir, std::string name) = 0; - - //// 基于特征点拼接，全局光束平差方法，分为更新和优化调整两个接口 - //virtual SINT32 BAStitch(GD_VIDEO_FRAME_S img, FrameInfo para) = 0; - //virtual SINT32 BAOpt() = 0; - - + // 输出地理产品:谷歌标准瓦片 + virtual bool ExportGoogleTile(std::string dir, std::string name) = 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 5241b97..ec67466 100644 --- a/stitch/src/Arith_BATask.cpp +++ b/stitch/src/Arith_BATask.cpp @@ -1,8 +1,11 @@ #include "Arith_BATask.h" +#define GLOG_USE_GLOG_EXPORT #include "ceres/ceres.h" #include "Arith_GeoSolver.h" #include "math.h" using namespace ceres; + + // 定义残差结构体 struct HomographyResidual { @@ -85,7 +88,7 @@ BA_Task::BA_Task(FileCache* cache) _cache = cache; _FeaMatcher = new FeatureMatcher(DetectorType::SIFT, MatcherType::FLANN); - google::InitGoogleLogging("ceres"); + //google::InitGoogleLogging("ceres"); } BA_Task::~BA_Task() diff --git a/stitch/src/Arith_GeoSolver.cpp b/stitch/src/Arith_GeoSolver.cpp index 7d1f88f..41f92be 100644 --- a/stitch/src/Arith_GeoSolver.cpp +++ b/stitch/src/Arith_GeoSolver.cpp @@ -38,18 +38,35 @@ void GeoSolver::SetOriginPoint(FrameInfo info) origininfo = info; } -PointBLH GeoSolver::getBLH(cv::Mat H, cv::Point2f pt) +PointBLH GeoSolver::getBLHFromFrame(cv::Mat H, cv::Point2f pt) { cv::Point2f pt_Geo = warpPointWithH(H, pt); + return getBLHFromGeo(pt_Geo); +} - PointXYZ pt_XYZ = { 0 }; - pt_XYZ.X = pt_Geo.x; - pt_XYZ.Y = pt_Geo.y; - pt_XYZ.Z = -origininfo.nEvHeight; - PointBLH res = getBLHFromXYZ(getCGCSXYZFromNUEXYZ(pt_XYZ, originPoint)); +PointBLH GeoSolver::getBLHFromGeo(cv::Point2f ptInGeo) +{ + PointXYZ ptNUE = { 0 }; + // 本模块使用的地理系是东(x)-北(y)-地(z),需要转换一下 + ptNUE.X = ptInGeo.y; + ptNUE.Y = -origininfo.nEvHeight; + ptNUE.Z = ptInGeo.x; + PointBLH res = getBLHFromXYZ(getCGCSXYZFromNUEXYZ(ptNUE, originPoint)); return res; } +cv::Point2f GeoSolver::getGeoFromBLH(PointBLH ptPos) +{ + cv::Point2f ptInGeo = { 0 }; + PointXYZ ptNUE = { 0 }; + ptNUE = getNUEXYZFromCGCSXYZ(getXYZFromBLH(ptPos), originPoint); + // 本模块使用的地理系是东(x)-北(y)-地(z),需要转换一下 + ptInGeo.x = ptNUE.Z; + ptInGeo.y = ptNUE.X; + + return ptInGeo; +} + cv::Point2f GeoSolver::Trans_uv2Geo(cv::Point2f pos_frame, TForm form) { Mat point = (Mat_(3, 1) << pos_frame.x, pos_frame.y, 1); diff --git a/stitch/src/Arith_GeoSolver.h b/stitch/src/Arith_GeoSolver.h index 2fa4f75..ac134ee 100644 --- a/stitch/src/Arith_GeoSolver.h +++ b/stitch/src/Arith_GeoSolver.h @@ -3,7 +3,7 @@ * 文件名称： Arith_GeoStitcher.h * 文件标识：吊舱视频帧外参拼接 * 内容摘要：基于机载下视外部参数的几何校正,支持独立工作,也可以作为特征拼接的外参初始值 -* 其它说明： +* 其它说明：【注意：为了便于推导，局部地理坐标系采用的是东-北-地坐标系，使用大地坐标转换工具时注意转换。】 * 当前版本：V0.5 * 创建作者：04046wcw * 创建日期：2025/01/15 @@ -46,11 +46,13 @@ public: void SetOriginPoint(FrameInfo info); // 根据H计算原始像方的经纬度 - PointBLH getBLH(cv::Mat H, cv::Point2f pt); + PointBLH getBLHFromFrame(cv::Mat H, cv::Point2f ptInFrame); + // 计算局部地理系下目标的经纬度 + PointBLH getBLHFromGeo(cv::Point2f ptInGeo); - - // 根据NUE地理坐标，计算 + // 经纬度转换为局部地理系坐 + cv::Point2f getGeoFromBLH(PointBLH ptPos); private: // 计算当前帧像方-地理坐标系R t（反投影关系） @@ -72,7 +74,6 @@ private: private: - PointXYZ originPoint;//成图初始点的地心地固坐标，作为拼接参考 FrameInfo origininfo; diff --git a/stitch/src/Arith_VideoStitch.cpp b/stitch/src/Arith_VideoStitch.cpp index 46d2d25..3de7597 100644 --- a/stitch/src/Arith_VideoStitch.cpp +++ b/stitch/src/Arith_VideoStitch.cpp @@ -27,7 +27,7 @@ VideoStitch::VideoStitch(SINT32 nWidth, SINT32 nHeight) _FeaMatcher = new FeatureMatcher(DetectorType::SIFT, MatcherType::FLANN); - _cache = new FileCache(20,"./cache"); + _cache = new FileCache(100,"./cache"); _BATask = new BA_Task(_cache); @@ -53,17 +53,17 @@ PanInfo VideoStitch::InitMap(FrameInfo info) // 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 + panPara.m_pan_width = 1500;//全景宽 + panPara.m_pan_height = 1500;//全景高 + panPara.scale = 0.6;//比例尺,1m = ?pix // 直接无平移解算 cv::Mat H_0 = getAffineFromGeo2Pan(panPara); auto cur = warpPointWithH(H_0, ct_geo); // 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; + int planX = 500; + int planY = 500; panPara.map_shiftX = planX - (cur.x);//平移X panPara.map_shiftY = planY - (cur.y);//平移Y @@ -82,7 +82,12 @@ PanInfo VideoStitch::Init(FrameInfo info) { _panPara = InitMap(info); - _panImage = cv::Mat::zeros(_panPara.m_pan_height, _panPara.m_pan_width, CV_8UC3); + _panImage = cv::Mat::zeros(_panPara.m_pan_height, _panPara.m_pan_width, CV_8UC4); + + _panMask = cv::Mat::zeros(_panPara.m_pan_height, _panPara.m_pan_width, CV_8UC1); + + //auto p1 = getBLHFromPan(cv::Point2f(7420, 2800), _H_pan); + //auto p2 = getPanXYFromBLH(p1, _H_pan); return _panPara; } @@ -143,7 +148,7 @@ PanInfo VideoStitch::Init(FrameInfo info) BYTE8 VideoStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para) { - cv::Mat src = getRGBMatFromGDFrame(img,img.u64VirAddr[0]); + cv::Mat src = getRGBAMatFromGDFrame(img,img.u64VirAddr[0]); // uv2Geo H cv::Mat H1 = _GeoSolver->findHomography(para); @@ -153,11 +158,11 @@ BYTE8 VideoStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para) // 利用H投影当前帧到全景 cv::Mat imagetmp(_panImage.size(), CV_8UC3, cv::Scalar(0, 0, 0)); - cv::warpPerspective(src, imagetmp, H, imagetmp.size()); + cv::warpPerspective(src, imagetmp, H, imagetmp.size(), cv::INTER_LINEAR, cv::BORDER_TRANSPARENT); cv::Mat mask = cv::Mat::ones(src.size(), CV_8UC1) * 255; cv::Mat warped_mask; - cv::warpPerspective(mask, warped_mask, H, imagetmp.size()); + cv::warpPerspective(mask, warped_mask, H, imagetmp.size(), cv::INTER_LINEAR); imagetmp.copyTo(_panImage, warped_mask); return 0; @@ -200,7 +205,7 @@ SINT32 VideoStitch::ReceiveFrame(GD_VIDEO_FRAME_S img, FrameInfo para) cv::Mat descriptors; - cv::Mat src = getRGBMatFromGDFrame(img, img.u64VirAddr[0]); + cv::Mat src = getRGBAMatFromGDFrame(img, img.u64VirAddr[0]); _FeaMatcher->extractFeatures(src, keypoints, descriptors); size_t keyNum = MIN(keypoints.size(), FEA_NUM_MAX); @@ -238,35 +243,31 @@ SINT32 VideoStitch::ProcessFrame() vector vec_opt; // 优化所有帧 - _BATask->OptFrame(_recvFrameKey, _H_pan); + //_BATask->OptFrame(_recvFrameKey, _H_pan); // 重投影所有帧到全景 mapFrame(_recvFrameKey); + // 正反算验证 + // auto _t_frame_cache = std::make_shared(); + //bool flag = _cache->get(10, _t_frame_cache); - auto _t_frame_cache = std::make_shared(); - bool flag = _cache->get(10, _t_frame_cache); - // 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 = _H_pan * H1; - - - cv::Point2f p_GEO = CalGeoInfo(warpPointWithH(H, cv::Point2f(0, 0)), _H_pan); - + //// 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 = _H_pan * H1; - PointBLH BLHpT = _GeoSolver->getBLH(H1, cv::Point2f(640, 512)); - + //PointBLH res = getBLHFromPan(warpPointWithH(H, cv::Point2f(519, 483)), _H_pan); + //PointBLH BLHpT = _GeoSolver->getBLHFromFrame(H1, cv::Point2f(519, 483)); return 0; } void VideoStitch::mapFrame(vector frameInd) { - _panImage.setTo(255); + _panImage.setTo(0); // 从文件缓存获取帧 auto _t_frame_cache = std::make_shared(); @@ -290,20 +291,82 @@ void VideoStitch::mapFrame(vector frameInd) cv::Mat imagetmp(_panImage.size(), CV_8UC3, cv::Scalar(0, 0, 0)); // 获取图像数据 - cv::Mat src = getRGBMatFromGDFrame(_t_frame_cache->_frame_info, _t_frame_cache->_data); + cv::Mat src = getRGBAMatFromGDFrame(_t_frame_cache->_frame_info, _t_frame_cache->_data); - cv::warpPerspective(src, imagetmp, H, imagetmp.size()); + cv::warpPerspective(src, imagetmp, H, imagetmp.size(), cv::INTER_LINEAR, cv::BORDER_TRANSPARENT); - cv::Mat mask = cv::Mat::ones(src.size(), CV_8UC1) * 255; + cv::Mat mask = cv::Mat::ones(cv::Size(src.cols - 200,src.rows - 200), CV_8UC1) * 255; cv::Mat warped_mask; - cv::warpPerspective(mask, warped_mask, H, imagetmp.size()); + cv::warpPerspective(mask, warped_mask, H, imagetmp.size(), cv::INTER_LINEAR); imagetmp.copyTo(_panImage, warped_mask); + // 保存遮罩 + warped_mask.copyTo(_panMask, warped_mask); + + //imshow("mask", _panMask); + //waitKey(1); + } } +bool VideoStitch::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); + auto P2 = getBLHFromPan(cv::Point2f(_panImage.cols, 0), _H_pan); + + auto P3 = getBLHFromPan(cv::Point2f(_panImage.cols, _panImage.rows), _H_pan); + auto P4 = getBLHFromPan(cv::Point2f(0, _panImage.rows), _H_pan); + + auto minL = min(min(min(P1.L, P2.L), P3.L), P4.L); + auto maxL = max(max(max(P1.L, P2.L), P3.L), P4.L); + + auto minB = min(min(min(P1.B, P2.B), P3.B), P4.B); + auto maxB = max(max(max(P1.B, P2.B), P3.B), P4.B); + + TileInfo info = { 0 }; + + info.north = maxB; + info.south = minB; + info.east = minL; + info.west = maxL; + + // 输出谷歌地图产品 + _googleProduct.ExportGeoPng(_panImage, info, dir, name); + + return 0; +} + + + +bool VideoStitch::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); + auto P2 = getBLHFromPan(cv::Point2f(_panImage.cols, 0), _H_pan); + + auto P3 = getBLHFromPan(cv::Point2f(_panImage.cols, _panImage.rows), _H_pan); + auto P4 = getBLHFromPan(cv::Point2f(0, _panImage.rows), _H_pan); + + auto minL = min(min(min(P1.L, P2.L), P3.L), P4.L); + auto maxL = max(max(max(P1.L, P2.L), P3.L), P4.L); + + auto minB = min(min(min(P1.B, P2.B), P3.B), P4.B); + auto maxB = max(max(max(P1.B, P2.B), P3.B), P4.B); + + TileInfo info = { 0 }; + + info.north = maxB; + info.south = minB; + info.east = minL; + info.west = maxL; + + _googleProduct.ExportTile(_panImage, info, dir, name); + return 0; +} + GD_VIDEO_FRAME_S VideoStitch::ExportPanAddr() @@ -318,14 +381,23 @@ GD_VIDEO_FRAME_S VideoStitch::ExportPanAddr() return pan_out; } -cv::Point2f VideoStitch::CalGeoInfo(cv::Point2f ptInPan, cv::Mat _H_panPara) +PointBLH VideoStitch::getBLHFromPan(cv::Point2f ptInPan, cv::Mat _H_panPara) { cv::Mat H_inv = _H_panPara.inv(); + // 解算到局部地理系 cv::Point2f ptInGeo = warpPointWithH(H_inv,ptInPan); + return _GeoSolver->getBLHFromGeo(ptInGeo); +} + +cv::Point2f VideoStitch::getPanXYFromBLH(PointBLH ptInBLH, cv::Mat _H_panPara) +{ + // 经纬度转局部地理系 + cv::Point2f ptGeo = _GeoSolver->getGeoFromBLH(ptInBLH); - return ptInGeo; + // 投影到全景图 + return warpPointWithH(_H_panPara, ptGeo);; } cv::Mat VideoStitch::getAffineFromGeo2Pan(PanInfo _pan) diff --git a/stitch/src/Arith_VideoStitch.h b/stitch/src/Arith_VideoStitch.h index 65009f4..642f08f 100644 --- a/stitch/src/Arith_VideoStitch.h +++ b/stitch/src/Arith_VideoStitch.h @@ -5,6 +5,7 @@ #include "StitchStruct.h" #include "Arith_BATask.h" #include "FileCache.h" +#include "GoogleTile.h" class VideoStitch:public API_VideoStitch { @@ -25,13 +26,19 @@ public: // 投影到全景图 void mapFrame(vector frameInd); + // 输出地理产品:kml png全景 + bool ExportGeoPng(std::string dir, std::string name); + + // + bool ExportGoogleTile(std::string dir, std::string name); + public: GD_VIDEO_FRAME_S ExportPanAddr(); // 全景图地理信息计算 - cv::Point2f CalGeoInfo(cv::Point2f ptInPan, cv::Mat _H_panPara); - + PointBLH getBLHFromPan(cv::Point2f ptInPan, cv::Mat _H_panPara); + cv::Point2f getPanXYFromBLH(PointBLH ptInBLH, cv::Mat _H_panPara); private: @@ -45,6 +52,7 @@ private: private: + googleTile _googleProduct; GeoSolver* _GeoSolver;//外参计算 @@ -52,15 +60,18 @@ private: BA_Task* _BATask;//BA - PanInfo _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 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 _panImage; + cv::Mat _panMask; //覆盖区域遮罩 + int _totalFrameCnt;//处理帧计数 }; \ No newline at end of file diff --git a/stitch/src/GoogleTile.cpp b/stitch/src/GoogleTile.cpp index 8a7eb84..1526747 100644 --- a/stitch/src/GoogleTile.cpp +++ b/stitch/src/GoogleTile.cpp @@ -6,14 +6,63 @@ #include #include -googleTile::googleTile(const cv::Mat& img, const std::vector>& geoCorners, int zoom, const std::string& outputDir) +using std::string; + +googleTile::googleTile() +{ + +} + +googleTile::~googleTile() { - image_ = img.clone(); - geoCorners_ = geoCorners; - zoom_ = zoom; - outputDir_ = outputDir; } +void googleTile::ExportGeoPng(cv::Mat _pan, TileInfo info, std::string dir, std::string name) +{ + // 保存全景图 + string png_path = dir + "/" + name + ".png"; + cv::imwrite(png_path, _pan); + + + // 写入kml + string kml_path = dir + "/" + name + ".kml"; + std::ofstream kml_file(kml_path); + + // 写入 KML 文件的头部 + kml_file << "" << std::endl; + kml_file << "" << std::endl; + kml_file << "" << std::endl; + + // 写入 GroundOverlay 元素 + kml_file << "" << std::endl; + kml_file << " My Panoramic Image" << std::endl; + kml_file << " " << std::endl; + kml_file << " " << name + ".png" << "" << std::endl; + kml_file << " " << std::endl; + + // 使用四个角点计算 LatLonBox + kml_file << " " << std::endl; + kml_file << " " << info.north << "" << std::endl; // 经度范围 + kml_file << " " << info.south << "" << std::endl; + kml_file << " " << info.east << "" << std::endl; // 纬度范围 + kml_file << " " << info.west << "" << std::endl; + kml_file << " " << std::endl; + + // 写入 KML 文件的尾部 + kml_file << "" << std::endl; + kml_file << "" << std::endl; + kml_file << "" << std::endl; + + kml_file.close(); +} + +void googleTile::ExportTile(cv::Mat _pan, TileInfo info, std::string dir, std::string name) +{ + +} + + + cv::Point2f googleTile::latLonToGlobal(double lat, double lon) { double tileSize = 256.0; @@ -52,103 +101,68 @@ cv::Mat googleTile::computeHomography() return cv::getPerspectiveTransform(srcPts, dstPts); } -void googleTile::generateKML(const std::vector& tiles) -{ - std::string kmlPath = outputDir_ + "/tiles.kml"; - std::ofstream ofs(kmlPath); - if (!ofs) - { - std::cerr << "无法创建 KML 文件: " << kmlPath << std::endl; - return; - } - ofs << "\n"; - ofs << "\n"; - ofs << " \n"; - - for (const auto& tile : tiles) - { - ofs << " \n"; - ofs << " " << zoom_ << "/" << tile.x << "/" << tile.y << ".png\n"; - ofs << " \n"; - ofs << " " << zoom_ << "/" << tile.x << "/" << tile.y << ".png\n"; - ofs << " \n"; - ofs << " \n"; - ofs << " " << tile.north << "\n"; - ofs << " " << tile.south << "\n"; - ofs << " " << tile.east << "\n"; - ofs << " " << tile.west << "\n"; - ofs << " \n"; - ofs << " \n"; - } - - ofs << " \n"; - ofs << "\n"; - - ofs.close(); - std::cout << "生成 KML 文件：" << kmlPath << std::endl; -} void googleTile::generateTiles() { - std::filesystem::create_directories(outputDir_); - cv::Mat H = computeHomography(); - - std::vector globalCorners; - for (const auto& corner : geoCorners_) - { - globalCorners.push_back(latLonToGlobal(corner.first, corner.second)); - } - - float minX = globalCorners[0].x, maxX = globalCorners[0].x; - float minY = globalCorners[0].y, maxY = globalCorners[0].y; - - for (const auto& p : globalCorners) - { - minX = std::min(minX, p.x); - maxX = std::max(maxX, p.x); - minY = std::min(minY, p.y); - maxY = std::max(maxY, p.y); - } - - int tileSize = 256; - int xTileMin = static_cast(std::floor(minX / tileSize)); - int xTileMax = static_cast(std::floor(maxX / tileSize)); - int yTileMin = static_cast(std::floor(minY / tileSize)); - int yTileMax = static_cast(std::floor(maxY / tileSize)); - - std::vector tileInfos; - - for (int tx = xTileMin; tx <= xTileMax; tx++) - { - for (int ty = yTileMin; ty <= yTileMax; ty++) - { - std::vector tileGlobalPts = { - {cv::Point2f(tx * tileSize, ty * tileSize)}, - {cv::Point2f((tx + 1) * tileSize, ty * tileSize)}, - {cv::Point2f((tx + 1) * tileSize, (ty + 1) * tileSize)}, - {cv::Point2f(tx * tileSize, (ty + 1) * tileSize)} }; - - std::vector tileImgPts; - cv::perspectiveTransform(tileGlobalPts, tileImgPts, H); - - //cv::Mat tileTransform = cv::getPerspectiveTransform(tileImgPts, { - // {0, 0}, {tileSize, 0}, {tileSize, tileSize}, {0, tileSize} }); - - cv::Mat tileImg; - //cv::warpPerspective(image_, tileImg, tileTransform, cv::Size(tileSize, tileSize)); - - std::string tileDir = outputDir_ + "/" + std::to_string(zoom_) + "/" + std::to_string(tx); - std::filesystem::create_directories(tileDir); - std::string tilePath = tileDir + "/" + std::to_string(ty) + ".png"; - - cv::imwrite(tilePath, tileImg); - tileInfos.push_back({ tx, ty, globalToLatLon({cv::Point2f(tx * tileSize, ty * tileSize)}).first, - globalToLatLon({cv::Point2f((tx + 1) * tileSize, (ty + 1) * tileSize)}).first, - globalToLatLon({cv::Point2f((tx + 1) * tileSize, (ty + 1) * tileSize)}).second, - globalToLatLon({cv::Point2f(tx * tileSize, ty * tileSize)}).second }); - } - } - - generateKML(tileInfos); + //std::filesystem::create_directories(outputDir_); + //cv::Mat H = computeHomography(); + + //std::vector globalCorners; + //for (const auto& corner : geoCorners_) + //{ + // globalCorners.push_back(latLonToGlobal(corner.first, corner.second)); + //} + + //float minX = globalCorners[0].x, maxX = globalCorners[0].x; + //float minY = globalCorners[0].y, maxY = globalCorners[0].y; + + //for (const auto& p : globalCorners) + //{ + // minX = std::min(minX, p.x); + // maxX = std::max(maxX, p.x); + // minY = std::min(minY, p.y); + // maxY = std::max(maxY, p.y); + //} + + //int tileSize = 256; + //int xTileMin = static_cast(std::floor(minX / tileSize)); + //int xTileMax = static_cast(std::floor(maxX / tileSize)); + //int yTileMin = static_cast(std::floor(minY / tileSize)); + //int yTileMax = static_cast(std::floor(maxY / tileSize)); + + //std::vector tileInfos; + + //for (int tx = xTileMin; tx <= xTileMax; tx++) + //{ + // for (int ty = yTileMin; ty <= yTileMax; ty++) + // { + // std::vector tileGlobalPts = { + // {cv::Point2f(tx * tileSize, ty * tileSize)}, + // {cv::Point2f((tx + 1) * tileSize, ty * tileSize)}, + // {cv::Point2f((tx + 1) * tileSize, (ty + 1) * tileSize)}, + // {cv::Point2f(tx * tileSize, (ty + 1) * tileSize)} }; + + // std::vector tileImgPts; + // cv::perspectiveTransform(tileGlobalPts, tileImgPts, H); + + // //cv::Mat tileTransform = cv::getPerspectiveTransform(tileImgPts, { + // // {0, 0}, {tileSize, 0}, {tileSize, tileSize}, {0, tileSize} }); + + // cv::Mat tileImg; + // //cv::warpPerspective(image_, tileImg, tileTransform, cv::Size(tileSize, tileSize)); + + // std::string tileDir = outputDir_ + "/" + std::to_string(zoom_) + "/" + std::to_string(tx); + // std::filesystem::create_directories(tileDir); + // std::string tilePath = tileDir + "/" + std::to_string(ty) + ".png"; + + // cv::imwrite(tilePath, tileImg); + // tileInfos.push_back({ tx, ty, globalToLatLon({cv::Point2f(tx * tileSize, ty * tileSize)}).first, + // globalToLatLon({cv::Point2f((tx + 1) * tileSize, (ty + 1) * tileSize)}).first, + // globalToLatLon({cv::Point2f((tx + 1) * tileSize, (ty + 1) * tileSize)}).second, + // globalToLatLon({cv::Point2f(tx * tileSize, ty * tileSize)}).second }); + // } + //} + + //generateKML(tileInfos); } diff --git a/stitch/src/GoogleTile.h b/stitch/src/GoogleTile.h index 121361f..6b08436 100644 --- a/stitch/src/GoogleTile.h +++ b/stitch/src/GoogleTile.h @@ -5,20 +5,31 @@ #include #include +struct TileInfo +{ + int x; + int y; + double north; + double south; + double east; + double west; +}; + + class googleTile { public: - struct TileInfo - { - int x; - int y; - double north; - double south; - double east; - double west; - }; - - googleTile(const cv::Mat& img, const std::vector>& geoCorners, int zoom, const std::string& outputDir); + googleTile(); + ~googleTile(); + +public: + // 输出kml png + void ExportGeoPng(cv::Mat _pan, TileInfo info, std::string dir, std::string name); + + // 输出tile + void ExportTile(cv::Mat _pan, TileInfo info, std::string dir, std::string name); + +public: void generateTiles(); @@ -26,12 +37,12 @@ private: cv::Mat image_; std::vector> geoCorners_; // 左上、右上、右下、左下 int zoom_; - std::string outputDir_; + cv::Point2f latLonToGlobal(double lat, double lon); std::pair globalToLatLon(const cv::Point2f& pt); cv::Mat computeHomography(); - void generateKML(const std::vector& tiles); + }; #endif // GOOGLE_TILE_H diff --git a/stitch/src/utils/Arith_Utils.cpp b/stitch/src/utils/Arith_Utils.cpp index dc1691f..aff6ff0 100644 --- a/stitch/src/utils/Arith_Utils.cpp +++ b/stitch/src/utils/Arith_Utils.cpp @@ -303,16 +303,16 @@ std::string GetDynamicLibraryPath() -cv::Mat getRGBMatFromGDFrame(GD_VIDEO_FRAME_S frame, void* pArr) +cv::Mat getRGBAMatFromGDFrame(GD_VIDEO_FRAME_S frame, void* pArr) { // 针对拼接，目前支持Y8和NV12 - cv::Mat dst(frame.u32Height, frame.u32Width, CV_8UC3); + cv::Mat dst(frame.u32Height, frame.u32Width, CV_8UC4); //y8类型 if (frame.enPixelFormat == GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y8) { cv::Mat mat(frame.u32Height, frame.u32Width, CV_8UC1, pArr); - cv::cvtColor(mat, dst, cv::COLOR_GRAY2BGR); + cv::cvtColor(mat, dst, cv::COLOR_GRAY2BGRA); return dst.clone(); } @@ -320,7 +320,7 @@ cv::Mat getRGBMatFromGDFrame(GD_VIDEO_FRAME_S frame, void* pArr) if (frame.enPixelFormat == GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_NV12) { cv::Mat mat(frame.u32Height * 1.5, frame.u32Width, CV_8UC1, pArr); - cv::cvtColor(mat, dst, cv::COLOR_YUV2BGR_NV12); + cv::cvtColor(mat, dst, cv::COLOR_YUV2BGRA_NV12); return dst.clone(); } @@ -328,10 +328,10 @@ cv::Mat getRGBMatFromGDFrame(GD_VIDEO_FRAME_S frame, void* pArr) if (frame.enPixelFormat == GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_RGB_PACKED) { cv::Mat mat(frame.u32Height, frame.u32Width, CV_8UC3, pArr); + cv::cvtColor(mat, dst, cv::COLOR_BGR2BGRA); return mat.clone(); } - return cv::Mat(); } diff --git a/stitch/src/utils/Arith_Utils.h b/stitch/src/utils/Arith_Utils.h index 26e8ce2..6789fa8 100644 --- a/stitch/src/utils/Arith_Utils.h +++ b/stitch/src/utils/Arith_Utils.h @@ -9,7 +9,7 @@ using cv::Point2d; using cv::Point2f; // 将GD帧转为 cv::Mat RGB -cv::Mat getRGBMatFromGDFrame(GD_VIDEO_FRAME_S frame,void* pArr); +cv::Mat getRGBAMatFromGDFrame(GD_VIDEO_FRAME_S frame,void* pArr); unsigned char FourPointInterpolation(unsigned char* pSrcImage, int iWidth, int iHeight, float x, float y);