|
|
#include "API_UnderStitch.h"
|
|
|
#include "opencv2/opencv.hpp"
|
|
|
#include "Arith_GeoSolver.h"
|
|
|
#include "Arith_FeaMatch.h"
|
|
|
#include "StitchStruct.h"
|
|
|
#include "Arith_BATask.h"
|
|
|
#include "FileCache.h"
|
|
|
#include "GoogleTile.h"
|
|
|
#include "Arith_BlendMap.h"
|
|
|
|
|
|
class UnderStitch :public API_UnderStitch
|
|
|
{
|
|
|
public:
|
|
|
UnderStitch(std::string cachedir = "./cache");
|
|
|
~UnderStitch();
|
|
|
|
|
|
UPanInfo Init(FrameInfo info);
|
|
|
|
|
|
void SetOutput(std::string filename, std::string outdir);
|
|
|
|
|
|
|
|
|
BYTE8 GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para);
|
|
|
|
|
|
// 实时裁切瓦片
|
|
|
void CutTileRealTime();
|
|
|
|
|
|
// 接收帧
|
|
|
SINT32 ReceiveFrame(GD_VIDEO_FRAME_S img, FrameInfo para);
|
|
|
|
|
|
// 处理帧
|
|
|
SINT32 ProcessFrame();
|
|
|
|
|
|
// 输出地理产品:kml png全景
|
|
|
bool ExportGeoPng();
|
|
|
|
|
|
//
|
|
|
bool ExportGoogleTile();
|
|
|
|
|
|
public:
|
|
|
|
|
|
GD_VIDEO_FRAME_S ExportPanAddr();
|
|
|
|
|
|
// 全景图地理信息计算
|
|
|
PointBLH getBLHFromPan(cv::Point2f ptInPan, cv::Mat _H_panPara);
|
|
|
cv::Point2f getPanXYFromBLH(PointBLH ptInBLH, cv::Mat _H_panPara);
|
|
|
|
|
|
private:
|
|
|
cv::Mat getAffineFromGeo2Pan(UPanInfo _pan);//计算全景图投影，从地理系到全景地图，统一计算
|
|
|
UPanInfo InitMap(FrameInfo info);
|
|
|
|
|
|
private:
|
|
|
|
|
|
|
|
|
vector<KeyType> _recvFrameKey;// 接收帧总表
|
|
|
|
|
|
FileCache<FrameCache>* _cache;//文件缓存，存储外部传入的原始帧信息以及预处理结果
|
|
|
|
|
|
|
|
|
|
|
|
private:
|
|
|
googleTile _googleProduct;
|
|
|
|
|
|
GeoSolver* _GeoSolver;//外参计算
|
|
|
|
|
|
FeatureMatcher* _FeaMatcher;//特征匹配
|
|
|
|
|
|
BA_Task* _BATask;//BA
|
|
|
|
|
|
MapBlend* _BlendTask;// 融合模块
|
|
|
|
|
|
private:
|
|
|
UPanInfo _panPara;//全景图配置
|
|
|
|
|
|
TileInfo _panTile;//全景图瓦片配置
|
|
|
|
|
|
cv::Mat _H_pan;//全景图投影矩阵：从地理系到全景地图
|
|
|
|
|
|
vector<TileInfo> _taskTilesVec;//划分的小瓦片方案
|
|
|
|
|
|
cv::Mat _panImage;
|
|
|
|
|
|
cv::Mat _panMask; //覆盖区域遮罩
|
|
|
|
|
|
int _totalFrameCnt;//处理帧计数
|
|
|
|
|
|
private:
|
|
|
|
|
|
string _kmlPath;
|
|
|
string _filename;//输出文件标识
|
|
|
string _outDir;//输出拼接成果路径
|
|
|
string _cacheDir;//缓存路径，优先使用SSD
|
|
|
|
|
|
}; |
