CPP 静态合成

AdasSourrondView-main/srcs/prms.hpp

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+/***
+ * function: 360 surrond view combine c++ demo
+ * author: joker.mao
+ * date: 2023/07/15
+ * copyright: ADAS_EYES all right reserved
+*/
+
+#ifndef PRMS_H
+#define PRMS_H
+
+#include <iostream>
+#include <map>
+#include <vector>
+#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+
+static const  char* camera_names[4] = {
+    "front", "left", "back", "right"
+};
+
+static const  char* camera_flip_mir[4] = {
+    "n", "r-", "m", "r+"
+};
+//单个格子10cm
+//--------------------------------------------------------------------
+//(shift_width, shift_height): how far away the birdview looks outside
+//of the calibration pattern in horizontal and vertical directions
+static const  int shift_w = 100;
+static const  int shift_h = 100;
+
+static const  int cali_map_w  = 260;
+static const  int cali_map_h  = 350;
+//size of the gap between the calibration pattern and the car
+//in horizontal and vertical directions
+static const  int inn_shift_w = 8;
+static const  int inn_shift_h = 30;
+
+//total width/height of the stitched image
+static const  int total_w = cali_map_w + 2 * shift_w;
+static const  int total_h = cali_map_h + 2 * shift_h;
+
+//four corners of the rectangular region occupied by the car
+//top-left (x_left, y_top), bottom-right (x_right, y_bottom)
+static const  int xl = shift_w + 55 + inn_shift_w;
+static const  int xr = total_w - xl;
+static const  int yt = shift_h + 55 + inn_shift_h;
+static const  int yb = total_h - yt;
+//--------------------------------------------------------------------
+
+static std::map<std::string, cv::Size> project_shapes = {
+    {"front",  cv::Size(total_w, yt)},
+    {"back",   cv::Size(total_w, yt)},
+    {"left",   cv::Size(total_h, xl)},
+    {"right",  cv::Size(total_h, xl)},
+};
+
+//pixel locations of the four points to be chosen.
+//you must click these pixels in the same order when running
+//the get_projection_map.py script
+static std::map<std::string, std::vector<cv::Point2f>> project_keypoints = {
+    {"front", {cv::Point2f(shift_w + 0, shift_h),
+              cv::Point2f(shift_w + 260, shift_h),
+              cv::Point2f(shift_w + 0, shift_h + 100),
+              cv::Point2f(shift_w + 260, shift_h + 100)}},
+
+    {"back", {cv::Point2f(shift_w + 0, shift_h),
+              cv::Point2f(shift_w + 260, shift_h),
+              cv::Point2f(shift_w + 0, shift_h + 80),
+              cv::Point2f(shift_w + 260, shift_h + 80)}},
+
+    {"left", {cv::Point2f(shift_h + 60, shift_w),
+              cv::Point2f(shift_h + 300, shift_w),
+              cv::Point2f(shift_h + 60, shift_w + 50),
+              cv::Point2f(shift_h + 300, shift_w + 50)}},
+
+    {"right", {cv::Point2f(shift_h + 80, shift_w),
+              cv::Point2f(shift_h + 350, shift_w),
+              cv::Point2f(shift_h + 80, shift_w + 50),
+              cv::Point2f(shift_h + 350, shift_w + 50)}}
+};
+
+#endif