From d6dc1e073be87902b672ab2ca4dd00d1fca6b9bd Mon Sep 17 00:00:00 2001
From: wangchongwu <759291707@qq.com>
Date: Fri, 7 Feb 2025 10:36:31 +0800
Subject: [PATCH] =?UTF-8?q?=E9=87=8D=E6=9E=842?=
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---
 main.cpp                         |  4 ++--
 stitch/src/Arith_BATask.cpp      |  2 +-
 stitch/src/Arith_GeoSolver.cpp   | 28 ++++++++++++++++++++++++++++
 stitch/src/Arith_GeoSolver.h     |  3 +++
 stitch/src/Arith_VideoStitch.cpp |  6 +++---
 stitch/src/Arith_VideoStitch.h   |  2 +-
 6 files changed, 38 insertions(+), 7 deletions(-)

diff --git a/main.cpp b/main.cpp
index d49c544..a4e7300 100644
--- a/main.cpp
+++ b/main.cpp
@@ -206,8 +206,8 @@ int main(int, char**)
             //waitKey(1);
         }
 
-        //imshow("pan", mat_pan);
-        // waitKey(1);
+        imshow("pan", mat_pan);
+        waitKey(1);
 
 
 
diff --git a/stitch/src/Arith_BATask.cpp b/stitch/src/Arith_BATask.cpp
index c5980f0..23b1e18 100644
--- a/stitch/src/Arith_BATask.cpp
+++ b/stitch/src/Arith_BATask.cpp
@@ -250,7 +250,7 @@ void BA_Task::optimizeBA(cv::Mat H_pan)
 
     // 配置求解器
     ceres::Solver::Options options;
-    options.max_num_iterations = 3; // 增加最大迭代次数
+    options.max_num_iterations = 1; // 增加最大迭代次数
     options.function_tolerance = 1e-8; // 设置更严格的函数值容忍度
     options.gradient_tolerance = 1e-10; // 设置更严格的梯度容忍度
     options.parameter_tolerance = 1e-10; // 设置更严格的参数容忍度
diff --git a/stitch/src/Arith_GeoSolver.cpp b/stitch/src/Arith_GeoSolver.cpp
index 83d55fa..2b783b3 100644
--- a/stitch/src/Arith_GeoSolver.cpp
+++ b/stitch/src/Arith_GeoSolver.cpp
@@ -238,6 +238,34 @@ cv::Mat GeoSolver::findHomography(Proj proj)
 	return H;
 }
 
+cv::Mat GeoSolver::findHomography(FrameInfo info)
+{
+	Proj _proj = AnlayseTform(info);
+
+	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;
+}
+
 
 // 计算多边形的面积
 double polygonArea(const vector<cv::Point2f>& points)
diff --git a/stitch/src/Arith_GeoSolver.h b/stitch/src/Arith_GeoSolver.h
index d940aad..f690908 100644
--- a/stitch/src/Arith_GeoSolver.h
+++ b/stitch/src/Arith_GeoSolver.h
@@ -57,6 +57,9 @@ public:
     // 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);
+
     // 设置起始拼接点外参
     void SetOriginPoint(FrameInfo info);
 
diff --git a/stitch/src/Arith_VideoStitch.cpp b/stitch/src/Arith_VideoStitch.cpp
index 74351b8..70dcc8d 100644
--- a/stitch/src/Arith_VideoStitch.cpp
+++ b/stitch/src/Arith_VideoStitch.cpp
@@ -145,7 +145,7 @@ BYTE8 VideoStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para)
 	cv::Mat H1 = _GeoStitcher->findHomography(t_Proj);
 
 	// Geo2Pan H
-	cv::Mat H2 = getHFromGeo2Pan(_panPara);
+	cv::Mat H2 = getAffineFromGeo2Pan(_panPara);
 
 	cv::Mat H = H2 * H1;
 
@@ -175,7 +175,7 @@ SINT32 VideoStitch::BAStitch(GD_VIDEO_FRAME_S img, FrameInfo para)
 
 SINT32 VideoStitch::BAOpt()
 {
-	_BATask->optimizeBA(getHFromGeo2Pan(_panPara));
+	_BATask->optimizeBA(getAffineFromGeo2Pan(_panPara));
 	return 0;
 }
 
@@ -232,7 +232,7 @@ GD_VIDEO_FRAME_S VideoStitch::ExportPanAddr()
 	return pan_out;
 }
 
-cv::Mat VideoStitch::getHFromGeo2Pan(PanInfo _pan)
+cv::Mat VideoStitch::getAffineFromGeo2Pan(PanInfo _pan)
 {
 	Mat H = (Mat_<double>(3, 3) << _pan.scale, 0, _pan.map_shiftX,
 		0, -_pan.scale, _panPara.m_pan_height + _pan.map_shiftY,
diff --git a/stitch/src/Arith_VideoStitch.h b/stitch/src/Arith_VideoStitch.h
index a8a9bff..129496b 100644
--- a/stitch/src/Arith_VideoStitch.h
+++ b/stitch/src/Arith_VideoStitch.h
@@ -44,7 +44,7 @@ private:
 
     PanInfo _panPara;//全景图配置
 
-    cv::Mat getHFromGeo2Pan(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(PanInfo _pan);//计算全景图投影，从地理系到全景地图，统一计算
 
 
     cv::Mat _pan;