CPP 静态合成
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163
AdasSourrondView-main/avm_app_demo.cpp
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163
AdasSourrondView-main/avm_app_demo.cpp
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/***
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* function: 360 surrond view combine c++ demo
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* author: joker.mao
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* date: 2023/07/15
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* copyright: ADAS_EYES all right reserved
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*/
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#include "common.h"
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#define DEBUG
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#define AWB_LUN_BANLANCE_ENALE 1
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// Compute blend weight that handles empty (black) regions
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// Outside overlap: G=1 where imA has content, G=0 where imA is black
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// Inside overlap: smooth transition using horizontal gradient
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static cv::Mat make_blend_weight(const cv::Mat& imA, const cv::Mat& imB, bool l2r) {
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int h = imA.rows, cw = imA.cols;
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cv::Mat grayA, grayB, maskA, maskB;
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cv::cvtColor(imA, grayA, cv::COLOR_BGR2GRAY);
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cv::cvtColor(imB, grayB, cv::COLOR_BGR2GRAY);
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cv::threshold(grayA, maskA, 5, 255, cv::THRESH_BINARY);
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cv::threshold(grayB, maskB, 5, 255, cv::THRESH_BINARY);
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cv::Mat both = maskA & maskB;
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cv::Mat wm(h, cw, CV_32FC1);
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for (int y = 0; y < h; ++y) {
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for (int x = 0; x < cw; ++x) {
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if (both.at<uchar>(y, x)) {
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float t = (float)x / (float)(cw - 1);
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wm.at<float>(y, x) = l2r ? t : (1.0f - t);
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} else if (maskA.at<uchar>(y, x)) {
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wm.at<float>(y, x) = 1.0f;
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} else {
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wm.at<float>(y, x) = 0.0f;
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}
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}
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}
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return wm;
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}
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int main(int argc, char** argv)
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{
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if (argc != 2) {
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std::cout << "usage:\n\t" << argv[0] << " path\n";
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return -1;
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}
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std::cout << argv[0] << " app start running..." << std::endl;
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std::string data_path = std::string(argv[1]);
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cv::Mat car_img;
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cv::Mat origin_dir_img[4];
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cv::Mat undist_dir_img[4];
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cv::Mat merge_weights_img[4];
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cv::Mat out_put_img;
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CameraPrms prms[4];
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//1.read image
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car_img = cv::imread(data_path + "/images/car.png");
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cv::resize(car_img, car_img, cv::Size(xr - xl, yb - yt));
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out_put_img = cv::Mat(cv::Size(total_w, total_h), CV_8UC3, cv::Scalar(0, 0, 0));
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//1. read calibration prms
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for (int i = 0; i < 4; ++i) {
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auto& prm = prms[i];
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prm.name = camera_names[i];
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auto ok = read_prms(data_path + "/yaml/" + prm.name + ".yaml", prm);
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if (!ok) {
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return -1;
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}
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}
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//2.lum equalization and awb for four channel image
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std::vector<cv::Mat*> srcs;
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for (int i = 0; i < 4; ++i) {
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auto& prm = prms[i];
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origin_dir_img[i] = cv::imread(data_path + "/images/" + prm.name + ".png");
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srcs.push_back(&origin_dir_img[i]);
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}
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#if AWB_LUN_BANLANCE_ENALE
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awb_and_lum_banlance(srcs);
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#endif
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//3. undistort image
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for (int i = 0; i < 4; ++i) {
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auto& prm = prms[i];
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cv::Mat& src = origin_dir_img[i];
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undist_by_remap(src, src, prm);
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cv::warpPerspective(src, src, prm.project_matrix, project_shapes[prm.name]);
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if (camera_flip_mir[i] == "r+") {
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cv::rotate(src, src, cv::ROTATE_90_CLOCKWISE);
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} else if (camera_flip_mir[i] == "r-") {
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cv::rotate(src, src, cv::ROTATE_90_COUNTERCLOCKWISE);
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} else if (camera_flip_mir[i] == "m") {
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cv::rotate(src, src, cv::ROTATE_180);
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}
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//display_mat(src, "project");
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//cv::imwrite(prms.name + "_undist.png", src);
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undist_dir_img[i] = src.clone();
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}
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//4. Compute blend weights from projected images (matches Python get_weight_mask_matrix)
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// mask-based: only blend where both images have content, take fully outside overlap
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merge_weights_img[0] = make_blend_weight(
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undist_dir_img[0](cv::Rect(0, 0, xl, yt)), // FI = front[:, :xl]
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undist_dir_img[1](cv::Rect(0, 0, xl, yt)), // LI = left[:yt, :]
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true); // G increases left→right
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merge_weights_img[1] = make_blend_weight(
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undist_dir_img[0](cv::Rect(xr, 0, xl, yt)), // FII = front[:, xr:]
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undist_dir_img[3](cv::Rect(0, 0, xl, yt)), // RII = right[:yt, :]
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false); // G decreases left→right
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merge_weights_img[2] = make_blend_weight(
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undist_dir_img[2](cv::Rect(0, 0, xl, yt)), // BIII = back[:, :xl]
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undist_dir_img[1](cv::Rect(0, yb, xl, yt)), // LIII = left[yb:, :]
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true); // G increases left→right
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merge_weights_img[3] = make_blend_weight(
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undist_dir_img[2](cv::Rect(xr, 0, xl, yt)), // BIV = back[:, xr:]
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undist_dir_img[3](cv::Rect(0, yb, xl, yt)), // RIV = right[yb:, :]
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false); // G decreases left→right
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//5.start combine
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std::cout << argv[0] << " app start combine" << std::endl;
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car_img.copyTo(out_put_img(cv::Rect(xl, yt, car_img.cols, car_img.rows)));
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//5.1 center copy
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for (int i = 0; i < 4; ++i) {
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cv::Rect roi;
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if (std::string(camera_names[i]) == "front") {
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roi = cv::Rect(xl, 0, xr - xl, yt);
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undist_dir_img[i](roi).copyTo(out_put_img(roi));
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} else if (std::string(camera_names[i]) == "left") {
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roi = cv::Rect(0, yt, xl, yb - yt);
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undist_dir_img[i](roi).copyTo(out_put_img(roi));
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} else if (std::string(camera_names[i]) == "right") {
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roi = cv::Rect(0, yt, xl, yb - yt);
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undist_dir_img[i](roi).copyTo(out_put_img(cv::Rect(xr, yt, total_w - xr, yb - yt)));
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} else if (std::string(camera_names[i]) == "back") {
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roi = cv::Rect(xl, 0, xr - xl, yt);
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undist_dir_img[i](roi).copyTo(out_put_img(cv::Rect(xl, yb, xr - xl, yt)));
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}
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}
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//5.2 four corner merge
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//image order: {front, left, back, right}
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//weight index: 0=left_top, 1=right_top, 2=left_bottom, 3=right_bottom
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cv::Rect roi;
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roi = cv::Rect(0, 0, xl, yt);
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merge_image(undist_dir_img[0](roi), undist_dir_img[1](roi), merge_weights_img[0], out_put_img(roi));
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roi = cv::Rect(xr, 0, xl, yt);
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merge_image(undist_dir_img[0](roi), undist_dir_img[3](cv::Rect(0, 0, xl, yt)), merge_weights_img[1], out_put_img(cv::Rect(xr, 0, xl, yt)));
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roi = cv::Rect(0, yb, xl, yt);
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merge_image(undist_dir_img[2](cv::Rect(0, 0, xl, yt)), undist_dir_img[1](roi), merge_weights_img[2], out_put_img(roi));
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merge_image(undist_dir_img[2](cv::Rect(xr, 0, xl, yt)), undist_dir_img[3](cv::Rect(0, yb, xl, yt)), merge_weights_img[3], out_put_img(cv::Rect(xr, yb, xl, yt)));
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cv::imwrite("ADAS_EYES_360_VIEW.png", out_put_img);
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#ifdef DEBUG
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cv::resize(out_put_img, out_put_img, cv::Size(out_put_img.size())),
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display_mat(out_put_img, "out_put_img");
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#endif
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std::cout << argv[0] << " app finished" << std::endl;
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}
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