切瓦片改为后台运行

.gitignore

@@ -60,3 +60,9 @@ install
 
 *.png
 *.kml
+
+
+
+# 保留 3rdparty 整个文件夹内容
+!/3rdparty/
+!/3rdparty/**

CMakeLists.txt

@@ -7,7 +7,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 IF(WIN32)
 	# ======== OpenCV 配置 ========
-	set(OpenCV_DIR "C:/opencv/build/x64/vc14/lib")
+	set(OpenCV_DIR "C:/lib/opencv455/build/x64/vc14/lib")
 	find_package(OpenCV REQUIRED)
 	include_directories(${OpenCV_INCLUDE_DIRS})
 	link_libraries(${OpenCV_LIBS})
@@ -79,7 +79,7 @@ IF(WIN32)
 	# ======== FFMPEG配置 ========
 	set(FFMPEG_DIR "C:/Lib/ffmpeg4")
 	set(FFMPEG_INCLUDE_DIRS ${FFMPEG_DIR}/include)
-	set(FFMPEG_LIBS_DIR ${FFMPEG_DIR}/lib/x64)
+	set(FFMPEG_LIBS_DIR ${FFMPEG_DIR}/lib/)
 	include_directories(${FFMPEG_DIR})
 	include_directories(${FFMPEG_INCLUDE_DIRS})
 

stitch/src/Arith_BlendMap.cpp

@@ -90,7 +90,7 @@ void MapBlend::FrameMap(cv::Mat src, cv::Mat H_Geo, cv::Mat mapH, BLEND_TYPE ble
 
 
 
-	cv::Mat mask = cv::Mat::ones(cv::Size(src.cols, src.rows), CV_8UC1);
+	cv::Mat mask = cv::Mat::ones(cv::Size(src.cols, src.rows), CV_8UC1) * 255;
 
 	// 设置上下左右边缘区域为 0
 	int margin = 5;  // 可根据实际需求调整，5 像素作为边缘区域
@@ -101,7 +101,7 @@ void MapBlend::FrameMap(cv::Mat src, cv::Mat H_Geo, cv::Mat mapH, BLEND_TYPE ble
 
 
 	// 当前帧的mask
-	warpPerspectiveROI(mask, mask, H);
+	warpPerspectiveROI(mask, _panMask, H);
 
 	//cv::warpPerspective(mask, mask, H, _panImage.size());
 

stitch/src/Arith_UnderStitch.cpp

@@ -7,7 +7,7 @@
 #include <opencv2/opencv.hpp>
 #include <omp.h>
 #include "utils/Arith_ThreadPool.h"
-#include "utils/Arith_Timer.h"
+#include "utils/Arith_timer.h"
 
 #ifdef _WIN32
 #include <direct.h>
@@ -335,7 +335,16 @@ SINT32 UnderStitch::Run(GD_VIDEO_FRAME_S frame, FrameInfo para)
 		// 输出当前所有瓦片，再不输出就会丢失当前全景中的瓦片
 		LOG_INFO("Start ExportTileSet");
 
-		_googleProduct.ExportTileSet(panImage, panMask, _taskTilesVec, _outDir, _filename + std::to_string(_lastFrameKey));
+		auto todoTiles = _taskTilesVec;
+
+
+		// 切图放入线程池中后台处理
+		_threadPool.commit([this, mat_pan = panImage.clone(), mat_mask = panMask.clone(), tilesvec = todoTiles, outdirpath = _outDir, filename = _filename + std::to_string(_lastFrameKey)]() {
+			_googleProduct.ExportTileSet(mat_pan, mat_mask, tilesvec, outdirpath, filename);
+			}, "ExportTileSet");
+
+
+		// _googleProduct.ExportTileSet(panImage, panMask, _taskTilesVec, _outDir, _filename + std::to_string(_lastFrameKey));
 
 
 		// 重新初始化投影参数

stitch/src/GoogleTile.cpp

@@ -45,7 +45,7 @@ void googleTile::ExportGeoPng(cv::Mat _pan, TileInfo info, std::string dir)
     WriteKml(taskTiles, kml_path);
 
 }
-
+#include "Log/Logger.h"
 void googleTile::ExportTileSet(cv::Mat _pan, cv::Mat _panMask, vector<TileInfo> taskTilesVec, std::string dir,std::string fileString)
 {
 
@@ -57,6 +57,7 @@ void googleTile::ExportTileSet(cv::Mat _pan, cv::Mat _panMask, vector<TileInfo>
     // 过滤掉无效瓦片
     vector<TileInfo> vaildTilesVec;
 
+
     for (size_t i = 0; i < taskTilesVec.size(); i++)
     {
         TileInfo tile = taskTilesVec[i];
@@ -119,7 +120,7 @@ void googleTile::ExportTileSet(cv::Mat _pan, cv::Mat _panMask, vector<TileInfo>
 
     }
 
-
+    LOG_INFO("taskTilesVec : {}，{}", fileString, taskTilesVec.size());
     // 输出KML
     WriteKml(vaildTilesVec,dir + "/" + fileString + "_z" + std::to_string(zoom) + ".kml");
 

stitch/src/Version.h

@@ -2,5 +2,5 @@
 
 #pragma once
 #include <string>
-std::string BUILD_TIME = "BUILD_TIME 2025_11_07-14.24.17";
+std::string BUILD_TIME = "BUILD_TIME 2025_11_10-17.19.53";
 std::string VERSION = "BUILD_VERSION 1.0.1";

tests/stitch_Genaral.cpp

@@ -34,10 +34,15 @@ void Run_FrontStitch(std::string picFloder)
 
     stitcher->Init(para, ScanRange{-30,30}, ScanRange{-15,-1});
 
-    cv::VideoWriter writer("pan.mp4", cv::VideoWriter::fourcc('M', 'P', '4', 'V'), 5, cv::Size(pan.u32Width, pan.u32Height));
 
     pan = stitcher->ExportPanAddr();
 
+    cv::VideoWriter writer("pan.mp4", cv::VideoWriter::fourcc('M', 'P', '4', 'V'), 50, cv::Size(pan.u32Width, pan.u32Height));
+    if (!writer.isOpened()) {
+        std::cout << "Error: Failed to create video writer!" << std::endl;
+        return;
+    }
+
     cv::Mat mat_pan = cv::Mat(pan.u32Height, pan.u32Width, CV_8UC3, pan.u64VirAddr[0]);
 
     frame.enPixelFormat = GD_PIXEL_FORMAT_RGB_PACKED;
@@ -79,12 +84,16 @@ void Run_FrontStitch(std::string picFloder)
         cv::Mat res;
         cv::resize(mat_pan, res, cv::Size(pan.u32Width / 2, pan.u32Height / 2));
         imshow("pan", res);
-        cv::waitKey(1);
 
-        cv::cvtColor(mat_pan, mat_pan, cv::COLOR_GRAY2BGR);
 
-        cv::Mat rgb(pan.u32Height, pan.u32Width, CV_8UC3);
+        if(cv::waitKey(1) == 27)
-        writer.write(rgb);
+        {
+            break;
+        }
+        
+
+
+        writer.write(mat_pan);
     }
     writer.release();
 }
@@ -179,6 +188,6 @@ int main(int argc, char** argv)
 
 
 
-    Run_UnderStitch("F:/DJI_20250418152649_0005_W_output");
+    Run_FrontStitch("/media/wang/think/包头/20250928_145957066_9前视扫描_output");
     return 0;
 }

tests/stitch_S732.cpp

@@ -13,7 +13,7 @@ using namespace std;
 
 void ProcessVL(string filePath)
 {
-    auto stitcher = API_UnderStitch::Create();
+    auto stitcher = API_UnderStitch::Create("F:/cache");
     stitcher->SetOutput("BT", "google_tiles");
 
 
@@ -42,6 +42,8 @@ void ProcessVL(string filePath)
     std::deque<cv::Mat> MatBuffer;
     const int matdelayFrames = 2; // 假设延迟3帧
 
+    fseek(file, nVLFrameSize * 80, SEEK_SET);
+
     while (!feof(file))
     {
         fread(pFrameVL, 1, nVLFrameSize, file);
@@ -89,9 +91,9 @@ void ProcessVL(string filePath)
 
         cv::cvtColor(bright, bright, cv::COLOR_GRAY2BGR);
 
-        cv::Mat IMG_show;
+
-        cv::resize(IMG, IMG_show, cv::Size(IMG.cols / 4, IMG.rows / 4));
+        cv::namedWindow("IMG_show", cv::WINDOW_NORMAL);
-        imshow("IMG_show", IMG_show);
+        imshow("IMG_show", IMG);
 
 
 
@@ -123,17 +125,17 @@ void ProcessVL(string filePath)
             UPanConfig cfg = { 0 };
             cfg.bOutGoogleTile = 1;
             cfg.bOutFrameTile = 0;
-            cfg.bUseBA = 1;
+            cfg.bUseBA = 0;
             stitcher->SetConfig(cfg);
 
-            stitcher->SetOutput("baotou","E:/google_tiles");
+            stitcher->SetOutput("baotou","F:/google_tiles");
 
 
             pan = stitcher->ExportPanAddr();
 
             mat_pan = cv::Mat(pan.u32Height, pan.u32Width, CV_8UC4, pan.u64VirAddr[0]);
 
-            output.open("E:/output.mp4", VideoWriter::fourcc('M', 'P', '4', 'V'), 25, Size(pan.u32Width / 8, pan.u32Height / 8), true);
+            output.open("output.mp4", VideoWriter::fourcc('M', 'P', '4', 'V'), 50, Size(pan.u32Width / 8, pan.u32Height / 8), true);
             if (!output.isOpened())
             {
                 cout << "打开视频失败" << endl;
@@ -176,6 +178,8 @@ void ProcessVL(string filePath)
         }
 
         i = i + 1;
+
+
     }
 
     //cv::TickMeter tm;
@@ -200,6 +204,6 @@ void ProcessVL(string filePath)
 
 int main()
 {
-    ProcessVL("D:/S732挂飞1101/20251101_092143724_3.yuv");
+    ProcessVL("F:/包头/20251101/20251101_091550742_2.yuv");
 	return 0;
 }