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518 lines
14 KiB
518 lines
14 KiB
#include <iostream>
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#include "API_UnderStitch.h"
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#include "API_FrontStitch.h"
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#include "S729.h"
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#include "PlatformDefine.h"
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#include <string.h>
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#include "opencv2/opencv.hpp"
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#include <random>
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using namespace std;
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using namespace cv;
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class GaussianRandom {
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public:
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GaussianRandom(double mean = 0.0, double stddev = 1.0, double amplitude = 1.0)
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: generator(std::random_device{}()),
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distribution(mean, stddev),
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amplitude(amplitude) {}
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double generate() {
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return amplitude * distribution(generator);
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}
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private:
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std::mt19937 generator;
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std::normal_distribution<double> distribution;
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double amplitude;
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};
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void Map16BitTo8Bit(unsigned short *psh16BitData, long lDataLen, BYTE *pby8BitData)
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{
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if (psh16BitData == NULL || pby8BitData == NULL || lDataLen <= 0)
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{
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return;
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}
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//指向直方图的数据指针
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int *pHist = new int[65536];
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memset(pHist, 0, 65536 * sizeof(int));
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int i = 0;
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for(i = 0; i < lDataLen; i+=10)
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{
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pHist[psh16BitData[i]]++;
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}
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//设置阈值大小为: AreaSigma*图象大小/100
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int nSigma = 0.02*lDataLen;
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int nSum = 0;
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int nMin = 0;
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int nMax = 0;
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//求映射的最大最小值
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for(i = 0; i < 65536; i++)
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{
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nSum += pHist[i];
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if(nSum >= nSigma)
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{
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nMin = i;
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break;
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}
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}
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nSum = 0;
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for(i = 65535; i >= 0; i--)
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{
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nSum += pHist[i];
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if(nSum >= nSigma)
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{
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nMax = i;
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break;
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}
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}
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//计算对比度亮度
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float K = (float)(120.0/(nMax - nMin + 1));
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float C = (float)(-K * nMin);
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//图像映射
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for (i = 0; i < lDataLen; i++)
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{
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int nValue = (int)(K * psh16BitData[i] + C);
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if (nValue < 0)
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{
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pby8BitData[i] = 0;
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}
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else if (nValue > 255)
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{
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pby8BitData[i] = 255;
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}
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else
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{
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pby8BitData[i] = nValue;
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}
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}
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delete[] pHist;
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}
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// 红外帧
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unsigned short pFrameIR[IMAGE_WIDTH_IR*(IMAGE_HEIGHT_IR + PARA_IR_LINE)] = {0};
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unsigned char pImageIR[IMAGE_WIDTH_IR*(IMAGE_HEIGHT_IR)] = {0};
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// 电视帧
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unsigned char pFrameVL[IMAGE_WIDTH_VL * (IMAGE_HEIGHT_VL + PARA_IR_LINE) * 2] = { 0 };
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unsigned char pImageVL[IMAGE_WIDTH_VL * (IMAGE_HEIGHT_VL) * 2] = { 0 };
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void ProcessIR(string filePath, string outname)
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{
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auto stitcher = API_UnderStitch::Create();
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stitcher->SetOutput(outname, "D:/google_tiles");
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GD_VIDEO_FRAME_S frame = { 0 };//输入帧
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GD_VIDEO_FRAME_S pan = { 0 };//输出全景
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cv::Mat mat_pan;//全景显示
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FILE* file = fopen(filePath.c_str(), "rb");
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GaussianRandom gr(0.0, 1, 0.0);
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int i = 0;
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while (!feof(file))
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{
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fread(pFrameIR, 2, IMAGE_WIDTH_IR * (IMAGE_HEIGHT_IR + PARA_IR_LINE), file);
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S729paras_IR Paras_IR = { 0 };
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memcpy(&Paras_IR, (unsigned char*)(pFrameIR + IMAGE_WIDTH_IR * IMAGE_HEIGHT_IR), sizeof(S729paras_IR));
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FrameInfo info = { 0 };
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info.nFrmID = i;
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info.camInfo.nFocus = Paras_IR.Paras_IR.caminfo.nFocal;
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info.camInfo.fPixelSize = Paras_IR.Paras_IR.caminfo.nPixleSize;
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info.craft.stAtt.fYaw = Paras_IR.Paras_IR.airCraftInfo.fYaw;
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info.craft.stAtt.fPitch = Paras_IR.Paras_IR.airCraftInfo.fPitch;
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info.craft.stAtt.fRoll = Paras_IR.Paras_IR.airCraftInfo.fRoll;
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info.craft.stPos.B = Paras_IR.Paras_IR.airCraftInfo.B;
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info.craft.stPos.L = Paras_IR.Paras_IR.airCraftInfo.L;
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info.craft.stPos.H = Paras_IR.Paras_IR.airCraftInfo.H;
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info.nEvHeight = Paras_IR.Paras_IR.airCraftInfo.H - 25;
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info.servoInfo.fServoAz = Paras_IR.Paras_IR.servoInfo.fAz;
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info.servoInfo.fServoPt = Paras_IR.Paras_IR.servoInfo.fPz + 90;
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info.nWidth = IMAGE_WIDTH_IR;
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info.nHeight = IMAGE_HEIGHT_IR;
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info.craft.stAtt.fYaw += gr.generate();
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info.craft.stAtt.fPitch += gr.generate();
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info.craft.stAtt.fRoll += gr.generate();
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Map16BitTo8Bit(pFrameIR, IMAGE_WIDTH_IR * IMAGE_HEIGHT_IR, pImageIR);
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cv::Mat mat_src(IMAGE_HEIGHT_IR, IMAGE_WIDTH_IR, CV_8UC1, pImageIR);
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frame.enPixelFormat = GD_PIXEL_FORMAT_GRAY_Y8;
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frame.u32Width = IMAGE_WIDTH_IR;
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frame.u32Height = IMAGE_HEIGHT_IR;
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frame.u64VirAddr[0] = pImageIR;
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if (i == 0)
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{
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stitcher->Init(info);
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pan = stitcher->ExportPanAddr();
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mat_pan = cv::Mat(pan.u32Height, pan.u32Width, CV_8UC4, pan.u64VirAddr[0]);
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}
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else
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{
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if (i % 15 != 0)
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{
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i = i + 1;
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continue;
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}
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std::cout << info.craft.stPos.B << " " << info.craft.stPos.L << " " << info.craft.stPos.H << " "
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<< info.craft.stAtt.fYaw << " " << info.craft.stAtt.fPitch << " " << info.craft.stAtt.fRoll << " "
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<< info.servoInfo.fServoAz << " " << info.servoInfo.fServoPt
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<< std::endl;
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// 基于外参的快拼
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stitcher->Run(frame, info);
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cv::Mat res;
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cv::resize(mat_pan, res, cv::Size(pan.u32Width / 4, pan.u32Height / 4));
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imshow("pan_opt", res);
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waitKey(1);
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}
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i = i + 1;
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}
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stitcher->OptAndOutCurrPan();
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cv::Mat res;
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cv::resize(mat_pan, res, cv::Size(pan.u32Width / 4, pan.u32Height / 4));
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imshow("pan_opt", res);
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waitKey(0);
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}
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void ProcessVL(string filePath,string outname)
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{
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auto stitcher = API_UnderStitch::Create();
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stitcher->SetOutput(outname, "google_tiles");
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GD_VIDEO_FRAME_S frame = { 0 };//输入帧
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GD_VIDEO_FRAME_S pan = { 0 };//输出全景
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cv::Mat mat_pan;//全景显示
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FILE* file = fopen(filePath.c_str(), "rb");
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cv::VideoWriter output;
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GaussianRandom gr(0.0, 1, 0.0);
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int i = 0;
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while (!feof(file))
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{
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SINT32 nVLFrameSize = 1.5 * IMAGE_WIDTH_VL * IMAGE_HEIGHT_VL + IMAGE_WIDTH_VL * PARA_IR_LINE;
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fread(pFrameVL, 1, nVLFrameSize, file);
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S729paras_VL Paras_VL = { 0 };
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memcpy(&Paras_VL, (unsigned char*)(pFrameVL + int(1.5 * IMAGE_WIDTH_VL * IMAGE_HEIGHT_VL)), sizeof(S729paras_VL));
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FrameInfo info = { 0 };
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info.nFrmID = i;
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info.camInfo.nFocus = Paras_VL.Paras_VL.caminfo.nFocal;
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info.camInfo.fPixelSize = Paras_VL.Paras_VL.caminfo.nPixleSize;
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info.craft.stAtt.fYaw = Paras_VL.Paras_VL.airCraftInfo.fYaw;
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info.craft.stAtt.fPitch = Paras_VL.Paras_VL.airCraftInfo.fPitch;
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info.craft.stAtt.fRoll = Paras_VL.Paras_VL.airCraftInfo.fRoll;
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info.craft.stPos.B = Paras_VL.Paras_VL.airCraftInfo.B;
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info.craft.stPos.L = Paras_VL.Paras_VL.airCraftInfo.L;
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info.craft.stPos.H = Paras_VL.Paras_VL.airCraftInfo.H;
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info.nEvHeight = Paras_VL.Paras_VL.airCraftInfo.H - 25;
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info.servoInfo.fServoAz = Paras_VL.Paras_VL.servoInfo.fAz;
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info.servoInfo.fServoPt = Paras_VL.Paras_VL.servoInfo.fPz + 90;
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info.nWidth = IMAGE_WIDTH_VL;
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info.nHeight = IMAGE_HEIGHT_VL;
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//info.craft.stAtt.fYaw += gr.generate();
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//info.craft.stAtt.fPitch += gr.generate();
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//info.craft.stAtt.fRoll += gr.generate();
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cv::Mat mat_src(IMAGE_HEIGHT_VL * 1.5, IMAGE_WIDTH_VL, CV_8UC1, pFrameVL);
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cv::Mat IMG;
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cv::cvtColor(mat_src, IMG, cv::COLOR_YUV2BGR_NV12);
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frame.enPixelFormat = GD_PIXEL_FORMAT_NV12;
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frame.u32Width = IMAGE_WIDTH_VL;
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frame.u32Height = IMAGE_HEIGHT_VL;
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frame.u64VirAddr[0] = pFrameVL;
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//imwrite("D:/imgVL_u.jpg", IMG);
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if (i == 0 /*|| i == 200*/)
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{
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stitcher->Init(info);
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pan = stitcher->ExportPanAddr();
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mat_pan = cv::Mat(pan.u32Height, pan.u32Width, CV_8UC4, pan.u64VirAddr[0]);
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output.open("D:/output.mp4", VideoWriter::fourcc('H', '2', '6', '4'), 5, Size(pan.u32Width/8, pan.u32Height/8), true);
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if (!output.isOpened())
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{
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cout << "打开视频失败" << endl;
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return;
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}
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}
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else
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{
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if (i % 20 != 0)
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{
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i = i + 1;
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continue;
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}
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std::cout << info.craft.stPos.B << " " << info.craft.stPos.L << " " << info.craft.stPos.H << " "
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<< info.craft.stAtt.fYaw << " " << info.craft.stAtt.fPitch << " " << info.craft.stAtt.fRoll << " "
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<< info.servoInfo.fServoAz << " " << info.servoInfo.fServoPt
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<< std::endl;
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cv::TickMeter tm;
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tm.start();
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// 基于外参的快拼
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stitcher->Run(frame, info);
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tm.stop();
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cout << "time:" << tm.getTimeMilli() << endl;
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}
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Mat pan_rgb, pan_rgb_ds;
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cv::cvtColor(mat_pan, pan_rgb, cv::COLOR_BGRA2BGR);
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cv::resize(pan_rgb, pan_rgb_ds, cv::Size(pan_rgb.cols / 8, pan_rgb.rows / 8));
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output.write(pan_rgb_ds);
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imshow("pan_opt", pan_rgb_ds);
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waitKey(1);
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i = i + 1;
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}
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cv::TickMeter tm;
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tm.start();
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// 处理帧
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stitcher->OptAndOutCurrPan();
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tm.stop();
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cout << "time opt:" << tm.getTimeMilli() << endl;
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Mat pan_rgb, pan_rgb_ds;
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cv::cvtColor(mat_pan, pan_rgb, cv::COLOR_BGRA2BGR);
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cv::resize(pan_rgb, pan_rgb_ds, cv::Size(pan_rgb.cols / 8, pan_rgb.rows / 8));
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for (int i = 0; i < 25; i++)
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{
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cv::putText(pan_rgb_ds, "BA opt", cv::Point(100, 40), 0, 1, cv::Scalar(255, 0, 0));
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output.write(pan_rgb_ds);
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}
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waitKey(1);
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output.release();
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}
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// 处理前视可见光扫描
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void ProcessFrontVL(string filePath)
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{
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auto stitcher = API_FrontStitch::Create();
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GD_VIDEO_FRAME_S frame = { 0 };//输入帧
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GD_VIDEO_FRAME_S pan = { 0 };//输出全景
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cv::Mat mat_pan;//全景显示
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FILE* file = fopen(filePath.c_str(), "rb");
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GaussianRandom gr(0.0, 1, 0.0);
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SINT32 nVLFrameSize = 1.5 * IMAGE_WIDTH_VL * IMAGE_HEIGHT_VL + IMAGE_WIDTH_VL * PARA_IR_LINE;
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cv::VideoWriter output;
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int i = 0;
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while (!feof(file))
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{
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fread(pFrameVL, 1, nVLFrameSize, file);
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S729paras_VL Paras_VL = { 0 };
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memcpy(&Paras_VL, (unsigned char*)(pFrameVL + int(1.5 * IMAGE_WIDTH_VL * IMAGE_HEIGHT_VL)), sizeof(S729paras_VL));
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FrameInfo info = { 0 };
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info.nFrmID = i;
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info.camInfo.nFocus = Paras_VL.Paras_VL.caminfo.nFocal;
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info.camInfo.fPixelSize = Paras_VL.Paras_VL.caminfo.nPixleSize;
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info.craft.stAtt.fYaw = Paras_VL.Paras_VL.airCraftInfo.fYaw;
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info.craft.stAtt.fPitch = Paras_VL.Paras_VL.airCraftInfo.fPitch;
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info.craft.stAtt.fRoll = Paras_VL.Paras_VL.airCraftInfo.fRoll;
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info.craft.stPos.B = Paras_VL.Paras_VL.airCraftInfo.B;
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info.craft.stPos.L = Paras_VL.Paras_VL.airCraftInfo.L;
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info.craft.stPos.H = Paras_VL.Paras_VL.airCraftInfo.H;
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info.nEvHeight = Paras_VL.Paras_VL.airCraftInfo.H - 25;
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info.servoInfo.fServoAz = Paras_VL.Paras_VL.servoInfo.fAz;
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info.servoInfo.fServoPt = Paras_VL.Paras_VL.servoInfo.fPz + 90;
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info.nWidth = IMAGE_WIDTH_VL;
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info.nHeight = IMAGE_HEIGHT_VL;
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info.craft.stAtt.fYaw += gr.generate();
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info.craft.stAtt.fPitch += gr.generate();
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info.craft.stAtt.fRoll += gr.generate();
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cv::Mat mat_src(IMAGE_HEIGHT_VL * 1.5, IMAGE_WIDTH_VL, CV_8UC1, pFrameVL);
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cv::Mat IMG;
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cv::cvtColor(mat_src, IMG, cv::COLOR_YUV2BGR_NV12);
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imwrite("D:/imgVL_f.jpg", IMG);
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//imshow("src", IMG);
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//waitKey(1);
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frame.enPixelFormat = GD_PIXEL_FORMAT_NV12;
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frame.u32Width = IMAGE_WIDTH_VL;
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frame.u32Height = IMAGE_HEIGHT_VL;
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frame.u64VirAddr[0] = pFrameVL;
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if (i == 0)
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{
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stitcher->Init(info, ScanRange{-10,100}, ScanRange{ 56,90 });
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pan = stitcher->ExportPanAddr();
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mat_pan = cv::Mat(pan.u32Height, pan.u32Width, CV_8UC3, pan.u64VirAddr[0]);
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//output.open("F:/output.mp4", VideoWriter::fourcc('H', '2', '6', '4'), 5, Size(pan.u32Width/4, pan.u32Height/4), true);
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//if (!output.isOpened())
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//{
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// cout << "打开视频失败" << endl;
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// return;
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//}
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}
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else
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{
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if (i % 20 != 0)
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{
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i = i + 1;
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continue;
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}
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std::cout << info.craft.stPos.B << " " << info.craft.stPos.L << " " << info.craft.stPos.H << " "
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<< info.craft.stAtt.fYaw << " " << info.craft.stAtt.fPitch << " " << info.craft.stAtt.fRoll << " "
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<< info.servoInfo.fServoAz << " " << info.servoInfo.fServoPt
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<< std::endl;
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cv::TickMeter tm;
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tm.start();
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// 基于外参的快拼
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stitcher->Run(frame, info);
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tm.stop();
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cout << "time:" << tm.getTimeMilli() << endl;
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}
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cv::Mat res;
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cv::resize(mat_pan, res, cv::Size(pan.u32Width / 4, pan.u32Height / 4));
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imshow("pan_opt", res);
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//output << res;
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waitKey(1);
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i = i + 1;
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}
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stitcher->OptAndOutCurrPan();
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cv::Mat res;
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cv::resize(mat_pan, res, cv::Size(pan.u32Width / 4, pan.u32Height / 4));
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imshow("pan_opt", res);
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//output.release();
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waitKey(0);
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|
|
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}
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|
|
|
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int main(int, char**)
|
|
{
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//ProcessIR("F:/S729/22.xraw", "22");
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//ProcessVL("Z:/729dataset/raw/vl_1920_1080_para40_y8/20241219153557_11.video", "20241219152643_1");
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ProcessVL("F:/S729/20241219152917_4.video", "20241219152917_4");
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//ProcessVL("F:/S729/20241219153515_10.video", "20241219153515_10");
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//
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//ProcessVL("F:/S729/20241219153557_11.video", "20241219153557_11");
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|
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//ProcessVL()
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|
|
|
//ProcessFrontVL("F:/S729/1.video");
|
|
} |