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#include "utils.h"
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Utils::Utils()
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{
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}
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Utils::~Utils()
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{
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}
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int Utils::open(const std::string & folder)
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{
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this->m_order = 0;
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this->folder = folder;
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std::ifstream file(folder + "/list.txt");
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if (!file.is_open())
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{
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std::cout << "错误：无法打开文件 " << folder + "list.txt" << std::endl;
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return 0;
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}
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std::string line;
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int lineCount = 0;
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int successCount = 0;
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while (getline(file, line))
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{
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// 跳过空行
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if (line.empty())
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{
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continue;
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}
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lineCount++;
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// 按照文件名-经纬高-角度-内参读取到frameInfoList中
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FrameInfo frameInfo = {0};
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// 解析每行数据：Frame 序号,纬度,经度,绝对高,相对高,偏航,俯仰,横滚,伺服方位,伺服俯仰,焦距,像素大小
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int frameId;
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double lat, lon, height1, height2;
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double angle1, angle2, angle3, angle4, angle5;
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float param1, param2;
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// 使用sscanf解析字符串
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if (sscanf(line.c_str(), "Frame %d,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%f,%f",
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&frameId, &lat, &lon, &height1, &height2,
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&angle1, &angle2, &angle3, &angle4, &angle5,
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¶m1, ¶m2) == 12)
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{
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// 解析Frame序号
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frameInfo.nFrmID = frameId;
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// 解析经纬度
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frameInfo.craft.stPos.B = lat; // 纬度
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frameInfo.craft.stPos.L = lon; // 经度
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// 解析高度（取第一个高度值）
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frameInfo.craft.stPos.H = height1;
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frameInfo.nEvHeight = height2;
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// 解析角度信息
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frameInfo.craft.stAtt.fRoll = angle3; // 横滚角
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frameInfo.craft.stAtt.fPitch = angle2; // 俯仰角
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frameInfo.craft.stAtt.fYaw = angle1; // 方位角
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// 解析伺服信息
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frameInfo.servoInfo.fServoAz = angle4; // 伺服方位角
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frameInfo.servoInfo.fServoPt = angle5; // 伺服俯仰角
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// 解析内参信息
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frameInfo.camInfo.fPixelSize = param2; // 像元尺寸
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frameInfo.camInfo.nFocus = param1; // 焦距
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// 设置默认值
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frameInfo.craft.nPlaneID = 1;
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frameInfo.camInfo.dCamx = 0; // 像主点偏移x
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frameInfo.camInfo.dCamy = 0; // 像主点偏移y
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frameInfo.servoInfo.fServoAzSpeed = 0.0f; // 伺服方位角速度
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frameInfo.servoInfo.fServoPtSpeed = 0.0f; // 伺服俯仰角速度
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//frameInfo.nWidth = 1920; // 默认图像宽度
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//frameInfo.nHeight = 1080; // 默认图像高度
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// 添加到列表中
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frameInfoList.push_back(frameInfo);
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successCount++;
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}
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else
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{
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std::cout << "警告：第 " << lineCount << " 行解析失败: " << line << std::endl;
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}
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}
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file.close();
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std::cout << "读取完成：总共 " << lineCount << " 行，成功解析 " << successCount << " 行" << std::endl;
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return lineCount;
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}
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std::pair<FrameInfo, cv::Mat> Utils::readInfoAndMat()
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{
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FrameInfo info = frameInfoList[m_order];
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// 读取图片
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std::string picPath = folder + "/" + "frame_" + std::to_string(info.nFrmID) + ".jpg";
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cv::Mat mat = cv::imread(picPath);
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m_order++;
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// 如果读取失败，则返回空
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if (mat.empty())
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{
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std::cout << "读取失败：" << picPath << std::endl;
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return std::make_pair(info, cv::Mat());
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}
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info.nWidth = mat.cols;
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info.nHeight = mat.rows;
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return std::make_pair(info, mat.clone());
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}
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