stichVideo/main.cpp

#include <iostream>
#include "API_VideoStitch.h"
#include "S729.h"
#include <string.h>
#include "opencv2/opencv.hpp"
using namespace std;
using namespace cv;

void Map16BitTo8Bit(unsigned short *psh16BitData, long lDataLen, BYTE *pby8BitData)
{
    if (psh16BitData == NULL || pby8BitData == NULL || lDataLen <= 0)
    {
        return;
    }

    //指向直方图的数据指针
    int *pHist = new int[65536];
    memset(pHist, 0, 65536 * sizeof(int));

    int i = 0;
    for(i = 0; i < lDataLen; i+=10)
    {
        pHist[psh16BitData[i]]++;
    }

    //设置阈值大小为: AreaSigma*图象大小/100
    int nSigma = 0.02*lDataLen;
    int nSum = 0;
    int nMin = 0;
    int nMax = 0;

    //求映射的最大最小值
    for(i = 0; i < 65536; i++)
    {
        nSum += pHist[i];
        if(nSum >= nSigma)
        {
            nMin = i;
            break;
        }
    }

    nSum = 0;

    for(i = 65535; i >= 0; i--)
    {
        nSum += pHist[i];
        if(nSum >= nSigma)
        {
            nMax = i;
            break;
        }
    }

    //计算对比度亮度
    float K = (float)(120.0/(nMax - nMin + 1));
    float C = (float)(-K * nMin);

    //图像映射
    for (i = 0; i < lDataLen; i++)
    {
        int nValue = (int)(K * psh16BitData[i] + C);
        if (nValue < 0)
        {
            pby8BitData[i] = 0;
        }
        else if (nValue > 255)
        {
            pby8BitData[i] = 255;
        }
        else
        {
            pby8BitData[i] = nValue;
        }
    }

    delete[] pHist;
}


// 红外帧
unsigned short pFrameIR[IMAGE_WIDTH_IR*(IMAGE_HEIGHT_IR + PARA_IR_LINE)] = {0};
unsigned char pImageIR[IMAGE_WIDTH_IR*(IMAGE_HEIGHT_IR)] = {0};

int main(int, char**)
{
    auto stitcher = API_VideoStitch::Create(IMAGE_WIDTH_IR,IMAGE_HEIGHT_IR);
	//stitcher->Test();


    FILE* file = fopen("../20241219152917_4.xraw","rb");

    
    for (size_t i = 0; i < 900; i++)
    {

        fread(pFrameIR,2,IMAGE_WIDTH_IR*(IMAGE_HEIGHT_IR + PARA_IR_LINE),file);

        if(i % 3 != 0)
        {
            continue;
        }

        S729paras_IR Paras_IR = { 0 };
	    memcpy(&Paras_IR, (unsigned char*)(pFrameIR + IMAGE_WIDTH_IR*IMAGE_HEIGHT_IR), sizeof(S729paras_IR));
        
        FrameInfo info = {0};
        info.camInfo.nFocus = Paras_IR.Paras_IR.caminfo.nFocal;
        info.camInfo.fPixelSize = Paras_IR.Paras_IR.caminfo.nPixleSize;

        info.craft.stAtt.fYaw = Paras_IR.Paras_IR.airCraftInfo.fYaw;
        info.craft.stAtt.fPitch = Paras_IR.Paras_IR.airCraftInfo.fPitch;
        info.craft.stAtt.fRoll = Paras_IR.Paras_IR.airCraftInfo.fRoll;

        info.craft.stPos.B = Paras_IR.Paras_IR.airCraftInfo.B;
        info.craft.stPos.L = Paras_IR.Paras_IR.airCraftInfo.L;
        info.craft.stPos.H = Paras_IR.Paras_IR.airCraftInfo.H;


        info.nEvHeight = Paras_IR.Paras_IR.airCraftInfo.H;

        info.servoInfo.fServoAz = Paras_IR.Paras_IR.servoInfo.fAz;
        info.servoInfo.fServoPt = Paras_IR.Paras_IR.servoInfo.fPz + 90;

        info.nWidth = IMAGE_WIDTH_IR;
        info.nHeight = IMAGE_HEIGHT_IR;

        Map16BitTo8Bit(pFrameIR,IMAGE_WIDTH_IR*IMAGE_HEIGHT_IR,pImageIR);

        cv::Mat src(IMAGE_HEIGHT_IR,IMAGE_WIDTH_IR,CV_8UC1,pImageIR);

        if(i == 0)
        {
            stitcher->Init(info);
        }
        else
        {
   //         info.craft.stAtt.fYaw = 0;
   //         info.craft.stAtt.fPitch = 0;
   //         info.craft.stAtt.fRoll = 0;
   //         info.servoInfo.fServoAz = 0;
			//info.servoInfo.fServoPt = 0;

            cout << info.craft.stPos.B << " " <<info.craft.stPos.L << " " << info.craft.stPos.H << " "
            << info.craft.stAtt.fYaw << " " << info.craft.stAtt.fPitch << " " << info.craft.stAtt.fRoll<< " "
            << info.servoInfo.fServoAz << " " << info.servoInfo.fServoPt
            << endl;
            stitcher->Updata(src,info);


        }

        imshow("src", src);
        waitKey(1);

    }
    



}