重构完成。

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

@@ -120,10 +120,7 @@ void BA_Task::setPanPara(PanInfo info)
 }
 
 
-void BA_Task::Test()
-{
-    
-}
+
 
 //#define SHOW_MATCH
 void BA_Task::optimizeBA(cv::Mat H_pan)

stitch/src/Arith_BATask.h

@@ -33,7 +33,6 @@ public:
 	// 设置全景参数
 	void setPanPara(PanInfo info);
 
-	void Test();
 
 	// BA优化
 	void optimizeBA(cv::Mat H_pan);

stitch/src/Arith_GeoSolver.cpp

@@ -67,20 +67,7 @@ cv::Point2f GeoSolver::Trans_Geo2uv(cv::Point2f pos_geo, TForm form_inv)
 	return cv::Point2f(warpedX, warpedY);
 }
 
-cv::Point2f GeoSolver::Trans_pan2Geo(cv::Point2f pos_pan, PanInfo panPara)
-{
-	double x = (pos_pan.x - panPara.map_shiftX) / panPara.scale;
-	double y = (panPara.m_pan_height - (pos_pan.y - panPara.map_shiftY)) / panPara.scale;
-
-	return cv::Point2f(x, y);
-}
 
-cv::Point2f GeoSolver::Trans_Geo2pan(cv::Point2f pos_geo, PanInfo panPara)
-{
-	double pan_x = pos_geo.x * panPara.scale + panPara.map_shiftX;
-	double pan_y = (panPara.m_pan_height - pos_geo.y * panPara.scale) + panPara.map_shiftY;
-	return cv::Point2f(pan_x, pan_y);
-}
 
 
 

stitch/src/Arith_GeoSolver.h

@@ -39,16 +39,13 @@ public:
     GeoSolver();
 	~GeoSolver();
 
-
-
-
     // 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);
 
-public:
+private:
     // 计算当前帧像方-地理坐标系R t（反投影关系）
     Proj AnlayseTform(FrameInfo info);
 
@@ -58,11 +55,6 @@ public:
     // 地理坐标-帧像方
     cv::Point2f Trans_Geo2uv(cv::Point2f pos_geo, TForm form);
 
-    // 从全景图->地理
-    cv::Point2f Trans_pan2Geo(cv::Point2f pos_pan, PanInfo panPara);
-
-    // 地理->全景图
-    cv::Point2f Trans_Geo2pan(cv::Point2f pos_geo, PanInfo panPara);
 
     // 平移矩阵，以初始化点为基准，计算当前位置在初始点的地理坐标，那么当前帧所有点的坐标做此平移
     cv::Mat Mat_TransENGMove(FrameInfo info);

stitch/src/Arith_VideoStitch.cpp

@@ -22,16 +22,20 @@ void API_VideoStitch::Destroy(API_VideoStitch * obj)
 
 VideoStitch::VideoStitch(SINT32 nWidth, SINT32 nHeight)
 {
-	_GeoStitcher = new GeoSolver();
+	_GeoSolver = new GeoSolver();
 
-	_BATask = new BA_Task(_GeoStitcher);
+	_BATask = new BA_Task(_GeoSolver);
 
 	_cache = new FileCache(5,"./cache");
+
+	_panPara = { 0 };
 }
 
 VideoStitch::~VideoStitch()
 {
-	delete _GeoStitcher;
+	delete _GeoSolver;
+	delete _BATask;
+	delete _cache;
 }
 
 
@@ -39,28 +43,19 @@ VideoStitch::~VideoStitch()
 PanInfo VideoStitch::InitMap(FrameInfo info)
 {
 	// 设置拼接原点
-	_GeoStitcher->SetOriginPoint(info);
-
-	// 转换关系计算
-	Proj t_Proj = _GeoStitcher->AnlayseTform(info);
+	_GeoSolver->SetOriginPoint(info);
 
-	// 帧中心的大地坐标，将其平移到全景图中心
-	cv::Point2f ct_geo = _GeoStitcher->Trans_uv2Geo(cv::Point2f(info.nWidth / 2, info.nHeight / 2), t_Proj.tf_p2g);
+	cv::Point2f ct_geo = warpPointWithH(_GeoSolver->findHomography(info), cv::Point2f(info.nWidth / 2, info.nHeight / 2));
 
 	// 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.scale = 1;//比例尺,1m = ?pix
 
 	// 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));
-
-
-
+	_H_pan = getAffineFromGeo2Pan(panPara);
+	auto cur = warpPointWithH(_H_pan, 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;
@@ -147,7 +142,7 @@ BYTE8 VideoStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para)
 {
 
 	// uv2Geo H
-	cv::Mat H1 = _GeoStitcher->findHomography(para);
+	cv::Mat H1 = _GeoSolver->findHomography(para);
 
 	// Geo2Pan H
 	cv::Mat H2 = getAffineFromGeo2Pan(_panPara);
@@ -209,22 +204,13 @@ SINT32 VideoStitch::ReceiveFrame(GD_VIDEO_FRAME_S img, FrameInfo para)
 	// 深拷贝图像数据
 	memcpy(_t_frame_cache->_data,img.u64VirAddr[0],imgSize);
 
-
-
-	
-
 	// 加入文件缓存
 	_cache->set(para.nFrmID,_t_frame_cache);
 
-
-
 	return SINT32();
 }
 
 
-
-
-
 GD_VIDEO_FRAME_S VideoStitch::ExportPanAddr()
 {
 	GD_VIDEO_FRAME_S pan_out;
@@ -240,7 +226,7 @@ GD_VIDEO_FRAME_S VideoStitch::ExportPanAddr()
 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,
+		0, -_pan.scale, _pan.m_pan_height + _pan.map_shiftY,
 		0, 0, 1
 		);
 	return H;

stitch/src/Arith_VideoStitch.h

@@ -36,7 +36,7 @@ private:
 
 private:
 
-	GeoSolver* _GeoStitcher;//外参计算
+	GeoSolver* _GeoSolver;//外参计算
 
     
 
@@ -44,6 +44,8 @@ private:
 
     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