From 72b2d2e155a7fa9f473f9d34d501a880463b4037 Mon Sep 17 00:00:00 2001 From: wangchongwu <759291707@qq.com> Date: Wed, 22 Jan 2025 00:12:46 +0800 Subject: [PATCH] push --- main.cpp | 8 +- stitch/src/API_VideoStitch.h | 32 ++----- stitch/src/Arith_BAGraph.cpp | 0 stitch/src/Arith_BAGraph.h | 64 -------------- stitch/src/Arith_BATask.cpp | 67 +++++++++++++++ stitch/src/Arith_BATask.h | 44 ++++++++++ stitch/src/Arith_FeaMatch.h | 2 +- ...nsicStitcher.cpp => Arith_GeoStitcher.cpp} | 61 ++++++++++--- ...xtrinsicStitcher.h => Arith_GeoStitcher.h} | 22 +++-- stitch/src/Arith_VideoStitch.cpp | 85 ++++++------------- stitch/src/Arith_VideoStitch.h | 15 ++-- stitch/src/StitchStruct.h | 41 +++++++++ 12 files changed, 260 insertions(+), 181 deletions(-) delete mode 100644 stitch/src/Arith_BAGraph.cpp delete mode 100644 stitch/src/Arith_BAGraph.h create mode 100644 stitch/src/Arith_BATask.cpp create mode 100644 stitch/src/Arith_BATask.h rename stitch/src/{Arith_ExtrinsicStitcher.cpp => Arith_GeoStitcher.cpp} (71%) rename stitch/src/{Arith_ExtrinsicStitcher.h => Arith_GeoStitcher.h} (87%) create mode 100644 stitch/src/StitchStruct.h diff --git a/main.cpp b/main.cpp index decd1aa..18b960c 100644 --- a/main.cpp +++ b/main.cpp @@ -101,15 +101,13 @@ int main(int, char**) fread(pFrameIR,2,IMAGE_WIDTH_IR*(IMAGE_HEIGHT_IR + PARA_IR_LINE),file); - if(i % 2 != 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.nFrmID = i; info.camInfo.nFocus = Paras_IR.Paras_IR.caminfo.nFocal; info.camInfo.fPixelSize = Paras_IR.Paras_IR.caminfo.nPixleSize; @@ -167,7 +165,7 @@ int main(int, char**) //<< endl; - stitcher->Updata(frame,info); + stitcher->GeoStitch(frame,info); } diff --git a/stitch/src/API_VideoStitch.h b/stitch/src/API_VideoStitch.h index e2e075c..09f138c 100644 --- a/stitch/src/API_VideoStitch.h +++ b/stitch/src/API_VideoStitch.h @@ -15,30 +15,7 @@ #define STD_STITCH_API __attribute__ ((visibility("default"))) #endif -#include "Arith_CommonDef.h" -#include "opencv2/opencv.hpp" -#include "PlatformDefine.h" -// 帧内外方位元素 -struct FrameInfo -{ - AirCraftInfo craft; - CamInfo camInfo; - ServoInfo servoInfo; - int nEvHeight;//相对高差 - int nWidth; - int nHeight; -}; - -// 全景图配置 -struct PanInfo -{ - int m_pan_width; - int m_pan_height; - float scale;// 比例尺 - float map_shiftX;// 平移X - float map_shiftY;// 平移Y -}; - +#include "StitchStruct.h" class STD_STITCH_API API_VideoStitch { @@ -48,8 +25,11 @@ public: // 初始化拼接 virtual PanInfo Init(FrameInfo info) = 0; - // 输入帧 - virtual BYTE8 Updata(GD_VIDEO_FRAME_S img, FrameInfo para) = 0; + // 几何校正快拼 + virtual BYTE8 GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para) = 0; + + // 基于特征点拼接，全局光束平差方法 + virtual BYTE8 BAStitch(GD_VIDEO_FRAME_S img, FrameInfo para) = 0; // 获取全景图 virtual GD_VIDEO_FRAME_S ExportPanAddr() = 0; diff --git a/stitch/src/Arith_BAGraph.cpp b/stitch/src/Arith_BAGraph.cpp deleted file mode 100644 index e69de29..0000000 diff --git a/stitch/src/Arith_BAGraph.h b/stitch/src/Arith_BAGraph.h deleted file mode 100644 index 3a3dd6e..0000000 --- a/stitch/src/Arith_BAGraph.h +++ /dev/null @@ -1,64 +0,0 @@ -#include -#include -#include -#include - -// 定义相机节点 -struct CameraNode { - int cameraId; // 相机 ID - cv::Mat R; // 旋转矩阵 - cv::Mat t; // 平移向量 - cv::Mat K; // 内参矩阵 -}; - -// 定义三维点节点 -struct PointNode { - int pointId; // 三维点 ID - cv::Point3f X; // 三维点坐标 -}; - -// 定义观测边 -struct ObservationEdge { - int cameraId; // 相机 ID - int pointId; // 三维点 ID - cv::Point2f x; // 观测到的二维点坐标 -}; - -// 定义 Bundle Adjustment 图结构 -class BundleAdjustmentGraph { -public: - // 添加相机节点 - void addCameraNode(const CameraNode& camera) { - cameras[camera.cameraId] = camera; - } - - // 添加三维点节点 - void addPointNode(const PointNode& point) { - points[point.pointId] = point; - } - - // 添加观测边 - void addObservationEdge(const ObservationEdge& edge) { - observations.push_back(edge); - } - - // 获取相机节点 - CameraNode getCameraNode(int cameraId) { - return cameras[cameraId]; - } - - // 获取三维点节点 - PointNode getPointNode(int pointId) { - return points[pointId]; - } - - // 获取观测边 - std::vector getObservationEdges() { - return observations; - } - -private: - std::map cameras; // 相机节点集合 - std::map points; // 三维点节点集合 - std::vector observations; // 观测边集合 -}; \ No newline at end of file diff --git a/stitch/src/Arith_BATask.cpp b/stitch/src/Arith_BATask.cpp new file mode 100644 index 0000000..d6ca5ca --- /dev/null +++ b/stitch/src/Arith_BATask.cpp @@ -0,0 +1,67 @@ +#include "Arith_BATask.h" +#include "ceres/ceres.h" +using namespace ceres; + +struct CostFunctor { + template + bool operator()(const T* const x, T* residual) const { + residual[0] = 10.0 - x[0]; + return true; + } +}; + +BA_Task::BA_Task() +{ + // 来个100帧 + _imgVec.reserve(100); +} + +BA_Task::~BA_Task() +{ +} + +SINT32 BA_Task::addFrame(GD_VIDEO_FRAME_S img, FrameInfo para) +{ + // 缓存图像帧 + if (img.enPixelFormat == GD_PIXEL_FORMAT_E::GD_PIXEL_FORMAT_GRAY_Y8) + { + _imgVec.emplace_back(Mat(img.u32Height, img.u32Width, CV_8UC1, img.u64VirAddr[0])); + } + + + + return _imgVec.size(); +} + + + + + + +void BA_Task::Test() +{ + google::InitGoogleLogging("ceres"); + + // The variable to solve for with its initial value. It will be + // mutated in place by the solver. + double x = 0.5; + const double initial_x = x; + + // Build the problem. + ceres::Problem problem; + + // Set up the only cost function (also known as residual). This uses + // auto-differentiation to obtain the derivative (jacobian). + ceres::CostFunction* cost_function = + new ceres::AutoDiffCostFunction(new CostFunctor); + problem.AddResidualBlock(cost_function, nullptr, &x); + + // Run the solver! + ceres::Solver::Options options; + options.minimizer_progress_to_stdout = true; + ceres::Solver::Summary summary; + ceres::Solve(options, &problem, &summary); + + std::cout << summary.BriefReport() << "\n"; + std::cout << "x : " << initial_x << " -> " << x << "\n"; +} diff --git a/stitch/src/Arith_BATask.h b/stitch/src/Arith_BATask.h new file mode 100644 index 0000000..fa2d15a --- /dev/null +++ b/stitch/src/Arith_BATask.h @@ -0,0 +1,44 @@ +// 全局BA +/*********版权所有（C）2025，武汉高德红外股份有限公司*************************************** +* 文件名称： Arith_BAProc.h +* 文件标识：BA +* 内容摘要：光束平差 +* 其它说明： +* 当前版本：V0.5 +* 创建作者：04046wcw +* 创建日期：2025/01/15 +* 包含关系： +*****************************************************************************************/ +#pragma once +#include "StitchStruct.h" + +using cv::Mat_; + + + + + +class BA_Task +{ +public: + BA_Task(); + ~BA_Task(); + + SINT32 addFrame(GD_VIDEO_FRAME_S img, FrameInfo para); + + void Test(); +private: + Mat_ _similarityMat;//配准点邻接表 + + + + //超大空间，考虑文件cache todo！ +private: + vector _imgVec;//图像缓存 + vector _FeaPtVec;//特征点缓存 + + + +}; + + diff --git a/stitch/src/Arith_FeaMatch.h b/stitch/src/Arith_FeaMatch.h index 365d230..f7ec4d7 100644 --- a/stitch/src/Arith_FeaMatch.h +++ b/stitch/src/Arith_FeaMatch.h @@ -25,7 +25,7 @@ enum MatcherType class FeatureMatcher { public: - + // 构造函数 FeatureMatcher(DetectorType detectorType, MatcherType matcherType); diff --git a/stitch/src/Arith_ExtrinsicStitcher.cpp b/stitch/src/Arith_GeoStitcher.cpp similarity index 71% rename from stitch/src/Arith_ExtrinsicStitcher.cpp rename to stitch/src/Arith_GeoStitcher.cpp index 95eb9e4..9dc6056 100644 --- a/stitch/src/Arith_ExtrinsicStitcher.cpp +++ b/stitch/src/Arith_GeoStitcher.cpp @@ -1,19 +1,19 @@ -#include "Arith_ExtrinsicStitcher.h" +#include "Arith_GeoStitcher.h" #include "Arith_VideoStitch.h" #include "Arith_Utils.h" #include "Arith_CoordModule.h" #include "Arith_SysStruct.h" using namespace cv; -ExtrinsicStitcher::ExtrinsicStitcher() +GeoStitcher::GeoStitcher() { } -ExtrinsicStitcher::~ExtrinsicStitcher() +GeoStitcher::~GeoStitcher() { } -PanInfo ExtrinsicStitcher::InitMap(FrameInfo info) +PanInfo GeoStitcher::InitMap(FrameInfo info) { // 设置拼接原点 SetOriginPoint(info); @@ -45,14 +45,14 @@ PanInfo ExtrinsicStitcher::InitMap(FrameInfo info) -cv::Point2f ExtrinsicStitcher::project(cv::Point2f pos_pan, Proj m_Proj, PanInfo pan) +cv::Point2f GeoStitcher::project(cv::Point2f pos_pan, Proj m_Proj, PanInfo pan) { cv::Point2f pos_geo = Trans_pan2Geo(pos_pan, pan); cv::Point2f pos_frame = Trans_Geo2uv(pos_geo, m_Proj.tf_g2p); return pos_frame; } -cv::Point2f ExtrinsicStitcher::back_project(cv::Point2f pos_frame, Proj m_Proj, PanInfo pan) +cv::Point2f GeoStitcher::back_project(cv::Point2f pos_frame, Proj m_Proj, PanInfo pan) { cv::Point2f pos_geo = Trans_uv2Geo(pos_frame, m_Proj.tf_p2g); @@ -61,12 +61,12 @@ cv::Point2f ExtrinsicStitcher::back_project(cv::Point2f pos_frame, Proj m_Proj, return pos_pan; } -void ExtrinsicStitcher::SetOriginPoint(FrameInfo info) +void GeoStitcher::SetOriginPoint(FrameInfo info) { originPoint = getXYZFromBLH(info.craft.stPos); } -cv::Point2f ExtrinsicStitcher::Trans_uv2Geo(cv::Point2f pos_frame, TForm form) +cv::Point2f GeoStitcher::Trans_uv2Geo(cv::Point2f pos_frame, TForm form) { Mat point = (Mat_(3, 1) << pos_frame.x, pos_frame.y, 1); Mat result = form.R * point; @@ -80,7 +80,7 @@ cv::Point2f ExtrinsicStitcher::Trans_uv2Geo(cv::Point2f pos_frame, TForm form) return cv::Point2f(warpedX, warpedY); } -cv::Point2f ExtrinsicStitcher::Trans_Geo2uv(cv::Point2f pos_geo, TForm form_inv) +cv::Point2f GeoStitcher::Trans_Geo2uv(cv::Point2f pos_geo, TForm form_inv) { // 先平移到当前相机位置 cv::Point2f pos_cam = pos_geo; @@ -97,7 +97,7 @@ cv::Point2f ExtrinsicStitcher::Trans_Geo2uv(cv::Point2f pos_geo, TForm form_inv) return cv::Point2f(warpedX, warpedY); } -cv::Point2f ExtrinsicStitcher::Trans_pan2Geo(cv::Point2f pos_pan, PanInfo panPara) +cv::Point2f GeoStitcher::Trans_pan2Geo(cv::Point2f pos_pan, PanInfo panPara) { double x = (pos_pan.x - panPara.map_shiftX) / panPara.scale; double y = (panPara.m_pan_height - (pos_pan.y - panPara.map_shiftY)) / panPara.scale; @@ -105,7 +105,7 @@ cv::Point2f ExtrinsicStitcher::Trans_pan2Geo(cv::Point2f pos_pan, PanInfo panPar return cv::Point2f(x, y); } -cv::Point2f ExtrinsicStitcher::Trans_Geo2pan(cv::Point2f pos_geo, PanInfo panPara) +cv::Point2f GeoStitcher::Trans_Geo2pan(cv::Point2f pos_geo, PanInfo panPara) { double pan_x = pos_geo.x * panPara.scale + panPara.map_shiftX; double pan_y = (panPara.m_pan_height - pos_geo.y * panPara.scale) + panPara.map_shiftY; @@ -114,7 +114,7 @@ cv::Point2f ExtrinsicStitcher::Trans_Geo2pan(cv::Point2f pos_geo, PanInfo panPar -Mat ExtrinsicStitcher::Mat_TransENGMove(FrameInfo info) +Mat GeoStitcher::Mat_TransENGMove(FrameInfo info) { PointXYZ ptCurr = getXYZFromBLH(info.craft.stPos); PointXYZ diff = getNUEXYZFromCGCSXYZ(ptCurr, originPoint); @@ -127,7 +127,7 @@ Mat ExtrinsicStitcher::Mat_TransENGMove(FrameInfo info) return move; } -Mat ExtrinsicStitcher::Mat_TransENG2uv(FrameInfo info) +Mat GeoStitcher::Mat_TransENG2uv(FrameInfo info) { //从地理坐标系转像素坐标 @@ -198,7 +198,7 @@ Mat ExtrinsicStitcher::Mat_TransENG2uv(FrameInfo info) -Proj ExtrinsicStitcher::AnlayseTform(FrameInfo info) +Proj GeoStitcher::AnlayseTform(FrameInfo info) { Proj projection; // 从像方->地理 @@ -213,3 +213,36 @@ Proj ExtrinsicStitcher::AnlayseTform(FrameInfo info) } +// 计算多边形的面积 +double polygonArea(const vector& points) +{ + double area = 0.0; + int n = points.size(); + for (int i = 0; i < n; i++) { + int j = (i + 1) % n; + area += points[i].x * points[j].y - points[j].x * points[i].y; + } + return abs(area) / 2.0; +} + +// 计算两个四边形的 IOU +double computeQuadrilateralIOU(const vector& quad1, const vector& quad2) +{ + // 将四边形转换为多边形 + vector poly1 = quad1; + vector poly2 = quad2; + + // 计算交集多边形 + vector intersectionPolygon; + intersectConvexConvex(poly1, poly2, intersectionPolygon); + + // 计算面积 + double area1 = polygonArea(poly1); + double area2 = polygonArea(poly2); + double intersectionArea = polygonArea(intersectionPolygon); + double unionArea = area1 + area2 - intersectionArea; + + // 计算 IOU + if (unionArea == 0) return 0.0; // 避免除零错误 + return intersectionArea / unionArea; +} \ No newline at end of file diff --git a/stitch/src/Arith_ExtrinsicStitcher.h b/stitch/src/Arith_GeoStitcher.h similarity index 87% rename from stitch/src/Arith_ExtrinsicStitcher.h rename to stitch/src/Arith_GeoStitcher.h index 318bf8f..837645d 100644 --- a/stitch/src/Arith_ExtrinsicStitcher.h +++ b/stitch/src/Arith_GeoStitcher.h @@ -10,9 +10,8 @@ * 包含关系： *****************************************************************************************/ #pragma once -#include -#include "Arith_CommonDef.h" -#include "API_VideoStitch.h" +#include "StitchStruct.h" + // 像方-物方转换关系 @@ -30,12 +29,15 @@ struct Proj TForm tf_g2p;//从地理坐标系到帧的Rt矩阵 }; -class ExtrinsicStitcher + + + +class GeoStitcher { public: // 构造函数 - ExtrinsicStitcher(); - ~ExtrinsicStitcher(); + GeoStitcher(); + ~GeoStitcher(); // 初始化地理参数和全景图参数 PanInfo InitMap(FrameInfo info); @@ -76,4 +78,10 @@ private: void SetOriginPoint(FrameInfo info); PointXYZ originPoint;//成图初始点的地心地固坐标，作为拼接参考 -}; \ No newline at end of file +}; + +// 多边形面积 +double polygonArea(const vector& points); + +// 计算两个四边形的 IOU +double computeQuadrilateralIOU(const vector& quad1, const vector& quad2); diff --git a/stitch/src/Arith_VideoStitch.cpp b/stitch/src/Arith_VideoStitch.cpp index a2718c3..654229e 100644 --- a/stitch/src/Arith_VideoStitch.cpp +++ b/stitch/src/Arith_VideoStitch.cpp @@ -22,78 +22,41 @@ void API_VideoStitch::Destroy(API_VideoStitch * obj) VideoStitch::VideoStitch(SINT32 nWidth, SINT32 nHeight) { - m_GeoStitcher = new ExtrinsicStitcher(); + _GeoStitcher = new GeoStitcher(); - m_FeaMatcher = new FeatureMatcher(DetectorType::ORB, MatcherType::FLANN); - memset(&m_pan, 0, sizeof(GD_VIDEO_FRAME_S)); + _FeaMatcher = new FeatureMatcher(DetectorType::ORB, MatcherType::FLANN); + memset(&_pan, 0, sizeof(GD_VIDEO_FRAME_S)); } VideoStitch::~VideoStitch() { - delete m_GeoStitcher; + delete _GeoStitcher; } -#include "ceres/ceres.h" -using namespace ceres; -struct CostFunctor { - template - bool operator()(const T* const x, T* residual) const { - residual[0] = 10.0 - x[0]; - return true; - } -}; void VideoStitch::Test() { - google::InitGoogleLogging("ceres"); - - // The variable to solve for with its initial value. It will be - // mutated in place by the solver. - double x = 0.5; - const double initial_x = x; - - // Build the problem. - ceres::Problem problem; - - // Set up the only cost function (also known as residual). This uses - // auto-differentiation to obtain the derivative (jacobian). - ceres::CostFunction* cost_function = - new ceres::AutoDiffCostFunction(new CostFunctor); - problem.AddResidualBlock(cost_function, nullptr, &x); - - // Run the solver! - ceres::Solver::Options options; - options.minimizer_progress_to_stdout = true; - ceres::Solver::Summary summary; - ceres::Solve(options, &problem, &summary); - - std::cout << summary.BriefReport() << "\n"; - std::cout << "x : " << initial_x << " -> " << x << "\n"; + } PanInfo VideoStitch::Init(FrameInfo info) { - m_panPara = m_GeoStitcher->InitMap(info); + _panPara = _GeoStitcher->InitMap(info); - m_pan = cv::Mat::zeros(m_panPara.m_pan_height, m_panPara.m_pan_width, CV_8UC1); + _pan = cv::Mat::zeros(_panPara.m_pan_height, _panPara.m_pan_width, CV_8UC1); - return m_panPara; + return _panPara; } -BYTE8 VideoStitch::Updata(GD_VIDEO_FRAME_S img, FrameInfo para) +BYTE8 VideoStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para) { - Proj t_Proj = m_GeoStitcher->AnlayseTform(para); - - cv::Mat frame(img.u32Height, img.u32Width, CV_8UC1, img.u64VirAddr[0]); - std::vector keypoints; - cv::Mat descriptors; - m_FeaMatcher->extractFeatures(frame, keypoints, descriptors); + Proj t_Proj = _GeoStitcher->AnlayseTform(para); // 计算帧的map四至 - cv::Point2f leftTop_map = m_GeoStitcher->back_project(cv::Point2f(0,0), t_Proj, m_panPara); - cv::Point2f rightTop_map = m_GeoStitcher->back_project(cv::Point2f(img.u32Width,0), t_Proj, m_panPara); - cv::Point2f rightBottom_map = m_GeoStitcher->back_project(cv::Point2f(img.u32Width,img.u32Height), t_Proj, m_panPara); - cv::Point2f leftBottom_map = m_GeoStitcher->back_project(cv::Point2f(0,img.u32Height), t_Proj, m_panPara); + cv::Point2f leftTop_map = _GeoStitcher->back_project(cv::Point2f(0,0), t_Proj, _panPara); + cv::Point2f rightTop_map = _GeoStitcher->back_project(cv::Point2f(img.u32Width,0), t_Proj, _panPara); + cv::Point2f rightBottom_map = _GeoStitcher->back_project(cv::Point2f(img.u32Width,img.u32Height), t_Proj, _panPara); + cv::Point2f leftBottom_map = _GeoStitcher->back_project(cv::Point2f(0,img.u32Height), t_Proj, _panPara); // 计算全景图的范围 @@ -108,9 +71,9 @@ BYTE8 VideoStitch::Updata(GD_VIDEO_FRAME_S img, FrameInfo para) //反映射到像素坐标 int valid_top = std::max(0, top); - int valid_bottom = std::min(m_pan.cols, bottom); + int valid_bottom = std::min(_pan.cols, bottom); int valid_left = std::max(0, left); - int valid_right = std::min(m_pan.rows, right); + int valid_right = std::min(_pan.rows, right); #pragma omp parallel for for (int i = valid_top; i < valid_bottom; i++) @@ -118,11 +81,11 @@ BYTE8 VideoStitch::Updata(GD_VIDEO_FRAME_S img, FrameInfo para) for (int j = valid_left; j < valid_right; j++) { //转换为pixel坐标 - cv::Point2f p_img = m_GeoStitcher->project(Point2f(j, i), t_Proj, m_panPara); + cv::Point2f p_img = _GeoStitcher->project(Point2f(j, i), t_Proj, _panPara); if (p_img.x >= 0 && p_img.y >= 0 && p_img.x < img.u32Width && p_img.y < img.u32Height) { - m_pan.data[i * m_pan.rows + j] = + _pan.data[i * _pan.rows + j] = FourPointInterpolation(img.u64VirAddr[0], img.u32Width, img.u32Height, p_img.x, p_img.y); } } @@ -132,14 +95,20 @@ BYTE8 VideoStitch::Updata(GD_VIDEO_FRAME_S img, FrameInfo para) return 0; } +BYTE8 VideoStitch::BAStitch(GD_VIDEO_FRAME_S img, FrameInfo para) +{ + + return BYTE8(); +} + GD_VIDEO_FRAME_S VideoStitch::ExportPanAddr() { GD_VIDEO_FRAME_S pan_out; pan_out.enPixelFormat = GD_PIXEL_FORMAT_GRAY_Y8; - pan_out.u32Width = m_panPara.m_pan_width; - pan_out.u32Height = m_panPara.m_pan_height; - pan_out.u64VirAddr[0] = m_pan.data; + pan_out.u32Width = _panPara.m_pan_width; + pan_out.u32Height = _panPara.m_pan_height; + pan_out.u64VirAddr[0] = _pan.data; return pan_out; } diff --git a/stitch/src/Arith_VideoStitch.h b/stitch/src/Arith_VideoStitch.h index 50ded57..0709be6 100644 --- a/stitch/src/Arith_VideoStitch.h +++ b/stitch/src/Arith_VideoStitch.h @@ -1,7 +1,8 @@ #include "API_VideoStitch.h" #include "opencv2/opencv.hpp" -#include "Arith_ExtrinsicStitcher.h" +#include "Arith_GeoStitcher.h" #include "Arith_FeaMatch.h" +#include "StitchStruct.h" class VideoStitch:public API_VideoStitch { @@ -15,7 +16,9 @@ public: public: PanInfo Init(FrameInfo info); - BYTE8 Updata(GD_VIDEO_FRAME_S img, FrameInfo para); + BYTE8 GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para); + + BYTE8 BAStitch(GD_VIDEO_FRAME_S img, FrameInfo para); GD_VIDEO_FRAME_S ExportPanAddr(); private: @@ -24,13 +27,13 @@ private: private: - ExtrinsicStitcher* m_GeoStitcher;//外参计算 + GeoStitcher* _GeoStitcher;//外参计算 - FeatureMatcher* m_FeaMatcher;//特征匹配 + FeatureMatcher* _FeaMatcher;//特征匹配 - PanInfo m_panPara;//全景图配置 - cv::Mat m_pan; + PanInfo _panPara;//全景图配置 + cv::Mat _pan; }; \ No newline at end of file diff --git a/stitch/src/StitchStruct.h b/stitch/src/StitchStruct.h new file mode 100644 index 0000000..79906eb --- /dev/null +++ b/stitch/src/StitchStruct.h @@ -0,0 +1,41 @@ +#pragma once +#include "Arith_CommonDef.h" +#include "opencv2/opencv.hpp" +#include "PlatformDefine.h" + +using std::vector; +using cv::Point2d; +using cv::Point2f; +using cv::Mat; +using cv::Mat_; + +// 帧内外方位元素 +struct FrameInfo +{ + int nFrmID;//帧编号，唯一ID + AirCraftInfo craft; + CamInfo camInfo; + ServoInfo servoInfo; + int nEvHeight;//相对高差 + int nWidth; + int nHeight; +}; + +// 全景图配置 +struct PanInfo +{ + int m_pan_width; + int m_pan_height; + float scale;// 比例尺 + float map_shiftX;// 平移X + float map_shiftY;// 平移Y +}; + + +// 匹配关系网，BA的边 +struct Match_Net +{ + int imgNo; //! image no. start from 0 + vector relatedImgs; //! the position index of overlap-image in visitOrder + vector > PointSet; +}; \ No newline at end of file