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#include <iostream>
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#include <fstream>
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#include "S729.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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#include <direct.h>
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typedef unsigned char BYTE;
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typedef unsigned int SINT32;
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using namespace std;
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using namespace cv;
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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 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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// 转换S729 raw到jpg和txt
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void convertS729_IR(string inputFile, string outputPath)
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{
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std::cout << "Converting S729...\n";
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FILE* file = fopen(inputFile.c_str(), "rb");
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if (!file) {
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std::cerr << "Error opening file: " << inputFile << std::endl;
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return;
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}
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// 打开txt文件用于存储文件名以及对应的参数
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std::ofstream txtFile(outputPath + "list.txt");
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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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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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// 保存jpg图像
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std::string jpgFile = outputPath + "/" + "frame_" + std::to_string(i) + ".jpg";
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cv::imwrite(jpgFile, mat_src);
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// 写入txt文件
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txtFile << std::fixed << std::setprecision(6);
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txtFile << "Frame " << i << ","
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<< Paras_IR.Paras_IR.airCraftInfo.B<< ","
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<<Paras_IR.Paras_IR.airCraftInfo.L<< ","
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<<Paras_IR.Paras_IR.airCraftInfo.H<< ","
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<<Paras_IR.Paras_IR.airCraftInfo.H<< ","
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<<Paras_IR.Paras_IR.servoInfo.fAz<< ","
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<<Paras_IR.Paras_IR.servoInfo.fPz<< ","
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<<Paras_IR.Paras_IR.caminfo.nFocal<< ","
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<<Paras_IR.Paras_IR.caminfo.nPixleSize
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<< "\n";
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i++;
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}
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// 关闭文件
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fclose(file);
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txtFile.close();
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std::cout << "Conversion completed. Output saved to " << outputPath << "list.txt\n";
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// Conversion logic for S729 goes here
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}
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void convertS729_VL(string inputFile, string outputPath)
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{
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std::cout << "convertS729_VL\n";
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FILE* file = fopen(inputFile.c_str(), "rb");
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if (!file) {
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std::cerr << "Error opening file: " << inputFile << std::endl;
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return;
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}
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// 打开txt文件用于存储文件名以及对应的参数
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std::ofstream txtFile(outputPath + "/list.txt");
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int i = 0;
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while (!feof(file))
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{
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printf("%d\n",i);
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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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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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//imshow("",IMG);
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//waitKey(1);
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// 保存jpg图像
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std::string jpgFile = outputPath + "/" + "frame_" + std::to_string(i) + ".jpg";
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cv::imwrite(jpgFile, IMG);
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// 写入txt文件
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txtFile << std::fixed << std::setprecision(6);
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txtFile << "Frame " << i << ","
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<< Paras_VL.Paras_VL.airCraftInfo.B<< ","
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<<Paras_VL.Paras_VL.airCraftInfo.L<< ","
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<<Paras_VL.Paras_VL.airCraftInfo.H<< ","
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<<Paras_VL.Paras_VL.airCraftInfo.H<< ","
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<<Paras_VL.Paras_VL.airCraftInfo.fYaw<< ","
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<<Paras_VL.Paras_VL.airCraftInfo.fPitch<< ","
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<<Paras_VL.Paras_VL.airCraftInfo.fRoll<< ","
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<<Paras_VL.Paras_VL.servoInfo.fAz<< ","
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<<Paras_VL.Paras_VL.servoInfo.fPz<< ","
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<<Paras_VL.Paras_VL.caminfo.nFocal<< ","
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<<Paras_VL.Paras_VL.caminfo.nPixleSize
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<< "\n";
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i++;
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}
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// 关闭文件
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fclose(file);
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txtFile.close();
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std::cout << "Conversion completed. Output saved to " << outputPath << "list.txt\n";
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}
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// 解析DJI SRT文件
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struct FrameData
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{
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int frameNumber;
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std::string timeRange;
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int frameCnt;
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std::string timestamp;
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float focal_len = 0;
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float dzoom_ratio = 0;
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double latitude = 0;
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double longitude = 0;
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float rel_alt = 0;
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float abs_alt = 0;
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float gb_yaw = 0;
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float gb_pitch = 0;
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float gb_roll = 0;
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// 衍生参数
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float real_focal_mm = 0;
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float pixel_size_um = 0;
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};
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float extractValueAfter(const std::string& line, const std::string& key)
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{
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size_t pos = line.find(key);
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if (pos == std::string::npos) return 0;
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pos += key.length();
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size_t end = line.find(' ', pos);
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if (end == std::string::npos) end = line.length();
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return std::stof(line.substr(pos, end - pos));
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}
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double extractDoubleAfter(const std::string& line, const std::string& key)
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{
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size_t pos = line.find(key);
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if (pos == std::string::npos) return 0;
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pos += key.length();
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size_t end = line.find(' ', pos);
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if (end == std::string::npos) end = line.length();
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return std::stod(line.substr(pos, end - pos));
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}
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// 获取真实焦距和像元尺寸
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void inferCameraParams_H20(FrameData& frame, const std::string& filename)
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{
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const float full_frame_diag = 43.3f;
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float sensor_diag = 0.0f;
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if (filename.find("_W") != std::string::npos) {
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sensor_diag = 9.4f;
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frame.pixel_size_um = 1.98f;
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}
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else if (filename.find("_Z") != std::string::npos) {
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sensor_diag = 7.7f;
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frame.pixel_size_um = 2.4f;
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}
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else if (filename.find("_T") != std::string::npos) {
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sensor_diag = 10.9f;
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frame.pixel_size_um = 12.0f;
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}
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else {
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sensor_diag = 9.4f;
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frame.pixel_size_um = 1.98f;
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}
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frame.real_focal_mm = frame.focal_len * (sensor_diag / full_frame_diag);
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}
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// 获取真实焦距和像元尺寸
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void inferCameraParams_H30(FrameData& frame, const std::string& filename)
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{
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const float full_frame_diag = 43.3f;
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float sensor_diag = 0.0f;
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if (filename.find("_W") != std::string::npos) {
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frame.real_focal_mm = 6.72;
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frame.pixel_size_um = 2.4;
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}
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else if (filename.find("_Z") != std::string::npos) {
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}
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else if (filename.find("_T") != std::string::npos) {
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frame.real_focal_mm = 24;
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frame.pixel_size_um = 12;
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}
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else {
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}
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//frame.real_focal_mm = frame.focal_len * (sensor_diag / full_frame_diag);
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}
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std::vector<FrameData> parseDJISRT(const std::string& filename) {
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std::vector<FrameData> frames;
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std::ifstream file(filename);
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if (!file.is_open()) {
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std::cerr << "Error: Could not open file " << filename << std::endl;
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return frames;
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}
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std::string lines[5];
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while (std::getline(file, lines[0])) { // Frame number line
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// Read next 4 lines
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for (int i = 1; i < 5; ++i) {
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if (!std::getline(file, lines[i])) break;
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}
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FrameData frame;
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// Line 1: Frame number
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frame.frameNumber = std::stoi(lines[0]);
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// Line 2: Time range (00:00:00,000 --> 00:00:00,033)
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frame.timeRange = lines[1];
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// Line 3: FrameCnt and timestamp
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std::istringstream iss(lines[2]);
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std::string temp;
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iss >> temp >> frame.frameCnt >> frame.timestamp;
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// Line 4: Metadata (direct field extraction)
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const std::string& meta = lines[3];
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frame.focal_len = extractValueAfter(meta, "focal_len: ");
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frame.dzoom_ratio = extractValueAfter(meta, "dzoom_ratio: ");
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frame.latitude = extractDoubleAfter(meta, "latitude: ");
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frame.longitude = extractDoubleAfter(meta, "longitude: ");
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frame.rel_alt = extractValueAfter(meta, "rel_alt: ");
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frame.abs_alt = extractValueAfter(meta, "abs_alt: ");
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frame.gb_yaw = extractValueAfter(meta, "gb_yaw: ");
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frame.gb_pitch = extractValueAfter(meta, "gb_pitch: ");
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frame.gb_roll = extractValueAfter(meta, "gb_roll: ");
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inferCameraParams_H30(frame, filename);
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frames.push_back(frame);
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// Skip the empty line (line 5)
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}
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file.close();
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return frames;
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}
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void convertDJ(string videoPath, string outputPath)
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{
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cv::VideoCapture cap(videoPath);
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// Get video properties
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double fps = cap.get(cv::CAP_PROP_FPS);
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int width = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_WIDTH));
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int height = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_HEIGHT));
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int frame_count = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_COUNT));
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// 解析srt文件
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string srtPath = videoPath.substr(0, videoPath.find_last_of('.')) + ".srt";
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std::vector<FrameData> srt = parseDJISRT(srtPath);
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// 打开txt文件用于存储文件名以及对应的参数
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std::ofstream txtFile(outputPath + "/list.txt");
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int frmID = 0;
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while (true)
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{
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printf("%d\n",frmID);
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cv::Mat mat;
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// Read a new frame
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cap >> mat;
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// Check if frame is empty (end of video)
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if (mat.empty())
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{
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std::cout << "End of video\n";
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cap.release();
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break;
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}
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frmID++;
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if(frmID%25 !=0)
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{
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continue;
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}
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// 保存jpg图像
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std::string jpgFile = outputPath + "/" + "frame_" + std::to_string(frmID) + ".jpg";
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cv::imwrite(jpgFile, mat);
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// 写入txt文件
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txtFile << std::fixed << std::setprecision(6);
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txtFile << "Frame " << frmID << ","
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<< srt[frmID].latitude<< ","
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<<srt[frmID].longitude<< ","
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<<srt[frmID].abs_alt<< ","
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<<srt[frmID].rel_alt<< ","
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<<srt[frmID].gb_yaw<< ","
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<<srt[frmID].gb_pitch + 90<< ","
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<<srt[frmID].gb_roll<< ","
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<<0<< ","
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<<-90<< ","
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<<srt[frmID].real_focal_mm<< ","
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<<srt[frmID].pixel_size_um
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<< "\n";
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}
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}
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int main(int argc, char** argv)
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{
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std::cout << "Hello, from convert!\n";
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|
|
|
|
|
|
if (argc < 2) {
|
|
|
std::cerr << "Usage: " << argv[0] << " <input_file> <output_path>" << std::endl;
|
|
|
return 1;
|
|
|
}
|
|
|
|
|
|
string inputFilePath = argv[1];
|
|
|
|
|
|
// 去除后缀，在同级目录建立output文件夹
|
|
|
string inputFileName = inputFilePath.substr(0, inputFilePath.find_last_of('.'));
|
|
|
string outputPath = inputFileName + "_output";
|
|
|
if (_mkdir(outputPath.c_str()) == -1)
|
|
|
{
|
|
|
std::cerr << "Error: Could not create output directory " << outputPath << std::endl;
|
|
|
return 1;
|
|
|
}
|
|
|
|
|
|
//convertS729_VL(inputFilePath, outputPath); // Replace with actual input and output file names
|
|
|
|
|
|
convertDJ(inputFilePath, outputPath); // Replace with actual input and output file names
|
|
|
|
|
|
return 0;
|
|
|
}
|
