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-//
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-// lenz_stitcher.hpp
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-// LenzCameraNativeModuleForRN
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-//
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-// Created by lr on 2023/2/8.
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-//
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-
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-#ifndef lenz_stitcher_hpp
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-#define lenz_stitcher_hpp
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-
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-#if __cplusplus && __has_include(<opencv2/imgcodecs/ios.h>)
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-
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-#import <opencv2/core/ocl.hpp>
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-#import <opencv2/opencv.hpp>
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-
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-#include <iostream>
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-#include <thread>
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-#include <vector>
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-#include <string>
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-#include <random>
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-#include <math.h>
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-#include <dirent.h>
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-#include <sys/types.h>
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-#include <sys/stat.h>
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-#include <unistd.h>
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-
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-using namespace cv;
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-using namespace cv::detail;
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-using namespace cv::ocl;
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-using namespace std;
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-
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-#define STITCH_STATUS_INIT 0
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-#define STITCH_STATUS_CHECKING 1
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-#define STITCH_STATUS_STITCHING 2
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-#define STITCH_STATUS_FREE 3
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-#define STITCH_STATUS_FAILED 4
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-
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-#define FEATURE_HEIGHT 300
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-#define STITCH_HEIGHT 300
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-#define BIG_STITCH_HEIGHT 1000
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-#define BIG_FEATURE_HEIGHT 800
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-
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-#define MAX_SIZE 4000 // 缩略图的最大尺寸，长或宽都不能超过MAX_SIZE*MAX_SIZE，否则直接报错
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-#define BIG_MAX_SIZE 10000 // 拼接大图的最大尺寸, 长或宽都不能超过BIG_MAX_SIZE
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-
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-struct stitch_data
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-{
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- Mat scaled_gray_frame;
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- float work_scale;
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- vector<Point2f> good_keypoints;
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- Mat descriptors;
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- Mat homo = (Mat_<double>(3, 3) << 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); // store homography matrix to base image
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- Mat base_homo = (Mat_<double>(3, 3) << 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); // store homography matrix to last base image
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-};
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-
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-struct LinePara
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-{
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- float k;
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- float b;
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-};
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-
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-string test_image_path = "";
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-
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-class LenzStitcher
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-{
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-public:
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- string task_id = "";
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- string local_path = "";
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- int stitcher_status = STITCH_STATUS_INIT; // 0: initialized, 1: checking, 2: stitching, 3: free
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-
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- int failed_count = 0; // 当前连续失败的帧数
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- int failed_thresh = 10; // 连续5帧失败才返回失败
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- vector<float> last_move_distances; // 记录存下来的最近10帧的移动距离，算均值，大于阈值的时候提示速度过快
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-
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- float iou_thresh = 0.7; // iou低于该阈值的时候把这张图片存下来
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- float area_thresh = 0.5; // area threshold for green box
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- float angle_thresh = 10; // angle threshold for green box
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- float inline_thresh = 0.1; // 光流法匹配的点的比例至少要大于这个值，才认为是正确的映射矩阵
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- int matches_thresh = 10; // 前后两帧基于光流的匹配点的个数的阈值，低于该值则无法进行拼接
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- float check_match_conf = 0.2f;
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- int frame_index = 0;
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- vector<Point2f> last_warp_points; // 上一张存下来的图的四个点在拼接图上的坐标
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- int big_frame_index = 0; // 存下来的帧的信息
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- float total_shift_x = 0;
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- float total_shift_y = 0;
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-
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- Mat last_frame;
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- Mat last_stitch_image = Mat(); // 最后一张拼接缩略图
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- int last_direction = 0; // 上一帧的手机移动方向
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- vector<float> last_angles = vector<float>{90, 90, 90, 90};
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- vector<float> last_scales = vector<float>{1, 1, 1, 1};
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- string last_stitch_image_path = ""; // 拼接缩略图的本地路径
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- stitch_data last_check_data; // 上一帧的数据
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- string big_stitch_image_path = ""; // 拼接大图的本地路径
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-
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- string test_image_path = ""; // test
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-
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- LenzStitcher(string input_id);
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- int *ofcheck_stitch(Mat &frame, int const direction, int const is_last_one); // 输入每一帧实时产生拼接缩略图
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-
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- bool get_big_image(int get_big_image); // 在收到当前帧是最后一帧的时候运行，会用之前存下来的帧数据产生最后的拼接大图
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- void remove_local_path();
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-};
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-
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-bool is_good_homo(const vector<Point2f> &corners, const Mat &frame, float area_thresh, float angle_thresh);
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-bool is_convex(const vector<Point2f> &corners);
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-float calc_area(const vector<Point2f> &corners, const Mat &frame);
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-float min_axis(vector<float> input_list);
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-float max_axis(vector<float> input_list);
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-float calc_angle(const vector<cv::Point2f> &conners);
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-float calc_vangle(const vector<cv::Point2f> &conners);
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-float calc_hangle(const vector<cv::Point2f> &conners);
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-void double_match(const Mat &query_des, const Mat &train_des, vector<DMatch> &good_matches, float check_match_conf);
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-void single_match(const Mat &query_des, const Mat &train_des, vector<DMatch> &good_matches, float check_match_conf);
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-void getFilePath(const char *path, const char *filename, char *filepath);
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-void deleteFile(const char *path);
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-bool isFloderexit(const char *path);
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-void randomSelectKeyPoints(vector<KeyPoint> kpts, vector<Point2f> &pts, int max_num);
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-void optimizeSeam(Mat &last_img, Mat &stitched_image, vector<Point2f> &corners);
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-void getLinePara(float x1, float y1, float x2, float y2, LinePara &LP);
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-float point_2_line(float k, float b, float k2, float x, float y);
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-int get_direction(vector<Point2f> &frame_corners, vector<Point2f> &transpose_corners);
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-float get_move_distance(vector<Point2f> &frame_center, vector<Point2f> &transpose_center);
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-int dcmp(float x);
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-float cross(Point2f a, Point2f b, Point2f c);
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-float CPIA(vector<Point2f> a, vector<Point2f> b, int na, int nb);
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-float SPIA(vector<Point2f> a, vector<Point2f> b, int na, int nb);
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-Point2f get_intersection_point(Point2f a, Point2f b, Point2f c, Point2f d);
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-float PolygonArea(vector<Point2f> p, int n);
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-float single_quadrangle_iou(vector<Point2f> pts1, vector<Point2f> pts2);
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-float single_box_iou(vector<Point2f> pts1, vector<Point2f> pts2);
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-void stitch_big_image(Mat frame, vector<float> angles, vector<float> scales, int direction, int big_frame_index);
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-void cylindrical_projection(Mat &img, Mat &output, float angle);
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-void SphericalProjection(Mat& imgMat, Mat& output, float angle);
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-void fill_contours(vector<vector<Point>> contours, Mat &source_image, Mat &target_image);
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-float angle_of_two_vector(Point2f &pt1, Point2f &pt2, Point2f &c);
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-void calc_angles(vector<Point2f> &conners);
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-
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-#endif
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-
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-#endif
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lxy