记录关于Video——stitching的问题

最新推荐文章于 2023-11-23 14:15:19 发布

seaun163

最新推荐文章于 2023-11-23 14:15:19 发布

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分类专栏： ROS机器人系统

本文链接：https://blog.csdn.net/seaun163/article/details/50233465

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本文档探讨了使用OpenCV进行视频拼接时遇到的帧跟踪问题。在跟踪关键帧的过程中，注意到在特定条件下，关键帧的保存出现错误，导致后续关键帧与前一帧相同。代码中涉及了特征点检测、光流估计和homography矩阵计算等步骤，问题可能出现在这些环节。目前定位到问题发生于`frames.push_back(nextFrame)`之后，需要进一步检查代码逻辑以找出原因。

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环境：

#include <android/log.h>
#define TAG "myDemo-jni" // 閺夆晜鐟ら柌婊堝及椤栨繂娈伴悗瑙勭煯缁犵喖鎯冮崙銕闁汇劌瀚悥锝囨嫚閿燂拷
#define LOGD(...) __android_log_print(ANDROID_LOG_DEBUG,TAG,__VA_ARGS__) // 閻庤鐭粻鐑睴GD缂侇偉顕ч悗锟�
//__android_log_print(ANDROID_LOG_INFO, "Loaded cascade classifier false", "Loaded cascade classifier false");

//鐠嬪啰鏁pencv鎼达拷
#include <opencv2/core/core.hpp>
#include <opencv2/opencv.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/stitching/stitcher.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/nonfree/nonfree.hpp>
#include <opencv2/legacy/legacy.hpp>

//鐠嬪啰鏁lfeat鎼达拷
//extern "C" {
//#include <vl/generic.h>
//#include <vl/dsift.h>
//#include <vl/sift.h>
//}

//鐠嬪啰鏁ら崗鏈电铂鎼达拷
#include "Image.h"
#include "ImageFeature.h"
#include "feasTracking_fast.h"
//#include "ImageProcessing.h"
#include "project.h"
#include "BPFlow.h"
#include "vl_imwbackward.h"
#include "mosaicAll_inpainting.h"
#include "detectObject.h"
//鐠嬪啰鏁ら崗鏈电铂鎼达拷
#include <vector>
#include <math.h>
//#include <windows.h>
#include <stdio.h>

//鐠嬪啰鏁ら懛顏勭箒閸愭瑧娈戞径瀛樻瀮娴狅拷
#include "basic_function.h"
#include "computeDisp_.h"
//#include "face_detect.h"

using namespace std;
using namespace cv;

//vector<Mat> Keyframes;
//vector<Mat> H_ ;
extern string sensorPath_;

///#define OPEN_FROM_FILE
#define LOAD_FRAME

//const char *faceCascadeFilename = sensorPath_+"//"+"lbpcascade_frontalface.xml";
//const string faceCascadeFilename = sensorPath_+"//"+"lbpcascade_frontalface.xml";
//const char* video_addr = "videos\\2.avi";
const int resize_factor = 1;
const double PI = 3.14159265;
const bool try_use_gpu = true;
//float ratio = 0.5;

//Mat key_frame1, key_frame2;
//Mat H1, H2,H_temp,mid,ref_,mask,mos;
//vector<Mat> homography;
//int fuse_width =40,limit=2;

//Mat mid;
//Mat ,ref_;

Point motionFlow(vector<Point2f> &prev_points, vector<Point2f> &cur_points)
{
int sum_x = 0, sum_y = 0;
int ave_x, ave_y;
int sz = cur_points.size();
for (int i=0; i<cur_points.size(); i++)
{
sum_x += (cur_points[i].x - prev_points[i].x);
sum_y += (cur_points[i].y - prev_points[i].y);
}
ave_x = sum_x/sz;