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135 lines
3.4 KiB
135 lines
3.4 KiB
#include "API_VideoStitch.h"
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#include "Arith_VideoStitch.h"
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#include "Arith_Utils.h"
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#include "Arith_CoordModule.h"
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#include <opencv2/opencv.hpp>
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#include <omp.h>
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using namespace std;
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using namespace cv;
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API_VideoStitch * API_VideoStitch::Create(SINT32 nWidth, SINT32 nHeight)
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{
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return new VideoStitch(nWidth,nHeight);
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}
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void API_VideoStitch::Destroy(API_VideoStitch * obj)
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{
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delete obj;
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}
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VideoStitch::VideoStitch(SINT32 nWidth, SINT32 nHeight)
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{
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_GeoStitcher = new GeoStitcher();
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memset(&_pan, 0, sizeof(GD_VIDEO_FRAME_S));
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_BATask = new BA_Task(_GeoStitcher);
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}
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VideoStitch::~VideoStitch()
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{
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delete _GeoStitcher;
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}
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void VideoStitch::Test()
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{
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}
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PanInfo VideoStitch::Init(FrameInfo info)
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{
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_panPara = _GeoStitcher->InitMap(info);
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_BATask->setPanPara(_panPara);
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_pan = cv::Mat::zeros(_panPara.m_pan_height, _panPara.m_pan_width, CV_8UC1);
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return _panPara;
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}
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BYTE8 VideoStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para)
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{
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Proj t_Proj = _GeoStitcher->AnlayseTform(para);
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// 计算帧的map四至
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cv::Point2f leftTop_map = _GeoStitcher->back_project(cv::Point2f(0,0), t_Proj, _panPara);
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cv::Point2f rightTop_map = _GeoStitcher->back_project(cv::Point2f(img.u32Width,0), t_Proj, _panPara);
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cv::Point2f rightBottom_map = _GeoStitcher->back_project(cv::Point2f(img.u32Width,img.u32Height), t_Proj, _panPara);
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cv::Point2f leftBottom_map = _GeoStitcher->back_project(cv::Point2f(0,img.u32Height), t_Proj, _panPara);
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auto H = _GeoStitcher->findHomography(t_Proj,_panPara);
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leftTop_map = warpPointWithH(H,cv::Point2f(0,0));
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rightTop_map = warpPointWithH(H,cv::Point2f(img.u32Width,0));
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rightBottom_map = warpPointWithH(H,cv::Point2f(img.u32Width,img.u32Height));
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leftBottom_map = warpPointWithH(H,cv::Point2f(0,img.u32Height));
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// 计算全景图的范围
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int right = max(max(max(leftTop_map.x, leftBottom_map.x), rightTop_map.x), rightBottom_map.x);
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int left = min(min(min(leftTop_map.x, leftBottom_map.x), rightTop_map.x), rightBottom_map.x);
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int top = min(min(min(leftTop_map.y, leftBottom_map.y), rightTop_map.y), rightBottom_map.y);
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int bottom = max(max(max(leftTop_map.y, leftBottom_map.y), rightTop_map.y), rightBottom_map.y);
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int xRange = right - left;
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int yRnage = bottom - top;
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//反映射到像素坐标
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int valid_top = std::max(0, top);
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int valid_bottom = std::min(_pan.cols, bottom);
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int valid_left = std::max(0, left);
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int valid_right = std::min(_pan.rows, right);
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#pragma omp parallel for
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for (int i = valid_top; i < valid_bottom; i++)
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{
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for (int j = valid_left; j < valid_right; j++)
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{
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//转换为pixel坐标
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cv::Point2f p_img = _GeoStitcher->project(Point2f(j, i), t_Proj, _panPara);
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p_img = warpPointWithH(H.inv(),Point2f(j, i));
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if (p_img.x >= 0 && p_img.y >= 0 && p_img.x < img.u32Width && p_img.y < img.u32Height)
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{
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_pan.data[i * _pan.rows + j] =
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FourPointInterpolation(img.u64VirAddr[0], img.u32Width, img.u32Height, p_img.x, p_img.y);
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}
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}
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}
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return 0;
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}
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SINT32 VideoStitch::BAStitch(GD_VIDEO_FRAME_S img, FrameInfo para)
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{
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SINT32 nFrameCnt = _BATask->addFrame(img,para);
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return 0;
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}
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SINT32 VideoStitch::BAOpt()
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{
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_BATask->optimizeBA();
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return 0;
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}
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GD_VIDEO_FRAME_S VideoStitch::ExportPanAddr()
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{
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GD_VIDEO_FRAME_S pan_out;
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pan_out.enPixelFormat = GD_PIXEL_FORMAT_GRAY_Y8;
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pan_out.u32Width = _panPara.m_pan_width;
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pan_out.u32Height = _panPara.m_pan_height;
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pan_out.u64VirAddr[0] = _pan.data;
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return pan_out;
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}
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