devbox
小舞很执着
这个屌丝很懒，什么也没留下！
关注作者
热门标签
热门文章
当前位置:   article > 正文

自动驾驶AVM环视算法--超广角模式/转向模式/3D碗型投影模式/窄边模式/车轮模式等的实现_3d环视 碗状

作者：小舞很执着 | 2024-07-23 11:17:10

赞

踩

3d环视 碗状

测试环境

opencv310

vs2022

参考：金书世界

算法源码获取：

链接：链接：https://pan.baidu.com/s/1eYELF2WLLkTJunwXVsWxFg 提取码：k2un

算法的主要实现和运行结果的显示

全功能展示

截图

视频

AVM全景的多视图模式--各功能合集

1、AVM全景的多视图模式--碗型投影任意角度旋转展示

算法的原理：主要是是根据四个相机内外参数拼接图像，并将显示的结果图像投影到3D的碗型投影曲面。

主要的实现代码如下所示

  1.     //设置输出显示的视频分辨率
  2. 	IplImage* img_AVM_WAN = cvCreateImage(cvSize(1280, 1440), 8, 3);
  3. 	//读取测试图片
  4. 	IplImage* img_F = cvLoadImage("Front.png");
  5. 	IplImage* img_B = cvLoadImage("Back.png");
  6. 	IplImage* img_L = cvLoadImage("Left.png");
  7. 	IplImage* img_R = cvLoadImage("Right.png");
  8. 	//设置输出视频分辨率和帧率
  9. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\Wan_Angle.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 1440));
  10. 	//定义参数结构体
  11. 	js_AVM_obj AVMData_WAN;
  12. 	//初始化虚拟相机的角度参数
  13. 	AVMData_WAN.A_rx = 120; //[72 114]
  14. 	AVMData_WAN.A_ry = 0;//[0 360]
  15. 	AVMData_WAN.A_rz = 0;//[-20 20]
  16. 	//设置当前的运行步骤
  17. 	int stept_index = 0;
  18. 	while (1)
  19. 	{
  20. 		//初始化
  21. 		js_init_avm_pic(&AVMData_WAN, img_AVM_WAN->width, img_AVM_WAN->height, 1);
  22. 		//运行函数
  23. 		js_getAVM_TOP(&AVMData_WAN, img_AVM_WAN->imageData, img_F->imageData, img_B->imageData, img_L->imageData, img_R->imageData, img_F->width, img_F->height, img_AVM_WAN->width, img_AVM_WAN->height, img_AVM_WAN->nChannels, 1);
  24.  
  25. 		//角度调整实现输出任意角度的视图
  26. 		switch (stept_index)
  27. 		{
  28. 		case 0://x轴
  29. 			AVMData_WAN.A_rx = AVMData_WAN.A_rx - 1;
  30. 			if (AVMData_WAN.A_rx == 70)
  31. 			{
  32. 				stept_index = 1;
  33. 				AVMData_WAN.A_ry = 0;
  34. 			}
  35. 			break;
  36. 		case 1://y轴
  37. 			AVMData_WAN.A_ry = AVMData_WAN.A_ry + 1;
  38. 			if (AVMData_WAN.A_ry == 450)
  39. 			{
  40. 				stept_index = 2;
  41. 				AVMData_WAN.A_rx = 90;
  42. 				AVMData_WAN.A_rz = -20;
  43. 			}
  44. 			break;
  45. 		case 2://z轴
  46. 			AVMData_WAN.A_rz = AVMData_WAN.A_rz + 1;
  47. 			if (AVMData_WAN.A_rz == 20)
  48. 			{
  49. 				stept_index = 3;
  50. 			}
  51. 			break;
  52. 		default:
  53. 			break;
  54. 		}
  55. 		if (stept_index == 3)break;
  56.  
  57.  
  58. 		cvShowImage("img", img_AVM_WAN);
  59.  
  60. 		cvWriteFrame(writer, img_AVM_WAN);
  61. 		cvWaitKey(10);
  62.  
  63. 		free(AVMData_WAN.Ftable);
  64. 		free(AVMData_WAN.Btable);
  65. 		free(AVMData_WAN.Ltable);
  66. 		free(AVMData_WAN.Rtable);
  67.  
  68. 	}
  69.  
  70. 	cvReleaseVideoWriter(&writer);
  71. 	cvWaitKey(0);

测试结果视频

AVM全景的多视图模式--碗型投影任意角度旋转展示

2、AVM全景的后视模式--倒车模式

主要的功能：在启动倒车后输出后视的视图，用观察车辆后方是否安全。

主函数的测试代码

  1. //设置输出显示的视频分辨率
  2. 	IplImage* img_AVM_FBLR = cvCreateImage(cvSize(1280, 1440), 8, 3);
  3. 	//设置输出视频分辨率和帧率
  4. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\FBLR_B.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 1440));
  5. 	cvNamedWindow("视频播放", CV_WINDOW_AUTOSIZE);
  6. 	//读取测试视频
  7. 	CvCapture* C_img_F = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Front.avi");
  8. 	CvCapture* C_img_B = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Back.avi");
  9. 	CvCapture* C_img_L = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Left.avi");
  10. 	CvCapture* C_img_R = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Right.avi");
  11. 	IplImage* img_F, * img_B, * img_L, * img_R;
  12. 	//定义参数结构体
  13. 	js_AVM_obj  AVMData_FBLR;
  14. 	//初始化
  15. 	js_init_avm_FBLR(&AVMData_FBLR, img_AVM_FBLR->width, img_AVM_FBLR->height, 1);//B
  16.  
  17. 	img_F = cvQueryFrame(C_img_F);
  18. 	img_B = cvQueryFrame(C_img_B);
  19. 	img_L = cvQueryFrame(C_img_L);
  20. 	img_R = cvQueryFrame(C_img_R);
  21. 	int num = 0;
  22. 	while (img_F = cvQueryFrame(C_img_F))
  23. 	{
  24. 		img_B = cvQueryFrame(C_img_B);
  25. 		img_L = cvQueryFrame(C_img_L);
  26. 		img_R = cvQueryFrame(C_img_R);
  27. 		//运行函数
  28. 		js_getAVM_FBLR(&AVMData_FBLR, img_AVM_FBLR->imageData, img_F->imageData, img_B->imageData, img_L->imageData, img_R->imageData, img_F->width, img_F->height, img_AVM_FBLR->width, img_AVM_FBLR->height, img_AVM_FBLR->nChannels, 1);
  29. 		
  30. 		cvWriteFrame(writer, img_AVM_FBLR);
  31.  
  32.  
  33. 		cvShowImage("视频播放", img_AVM_FBLR);
  34. 		char c = cvWaitKey(1);
  35. 		if (c == 27)break;
  36. 		num++;
  37. 	}
  38. 	cvReleaseVideoWriter(&writer);
  39. 	cvReleaseCapture(&C_img_F);
  40. 	cvReleaseCapture(&C_img_B);
  41. 	cvReleaseCapture(&C_img_L);
  42. 	cvReleaseCapture(&C_img_R);
  43. 	cvDestroyWindow("视频播放");

测试结果视频（由于当前的测试视频不是倒车的视频，所以视频及用于展示视角）

AVM全景的后视模式--倒车模式

3、AVM全景的左转弯模式--左转向模式

主要的功能：在启动转向后输出转向左视的视图，用观察车辆左方是否安全。

主函数的测试代码

  1. IplImage* img_AVM_FBLR = cvCreateImage(cvSize(1280, 1440), 8, 3);
  2. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\FBLR_L.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 1440));
  3. 	cvNamedWindow("视频播放", CV_WINDOW_AUTOSIZE);
  4. 	CvCapture* C_img_F = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Front.avi");
  5. 	CvCapture* C_img_B = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Back.avi");
  6. 	CvCapture* C_img_L = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Left.avi");
  7. 	CvCapture* C_img_R = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Right.avi");
  8. 	IplImage* img_F, * img_B, * img_L, * img_R;
  9. 	js_AVM_obj AVMData_FBLR;
  10.  
  11. 	js_init_avm_FBLR(&AVMData_FBLR, img_AVM_FBLR->width, img_AVM_FBLR->height, 2);//L
  12.  
  13. 	img_F = cvQueryFrame(C_img_F);
  14. 	img_B = cvQueryFrame(C_img_B);
  15. 	img_L = cvQueryFrame(C_img_L);
  16. 	img_R = cvQueryFrame(C_img_R);
  17. 	int num = 0;
  18. 	while (img_F = cvQueryFrame(C_img_F))
  19. 	{
  20. 		img_B = cvQueryFrame(C_img_B);
  21. 		img_L = cvQueryFrame(C_img_L);
  22. 		img_R = cvQueryFrame(C_img_R);
  23. 		js_getAVM_FBLR(&AVMData_FBLR, img_AVM_FBLR->imageData, img_F->imageData, img_B->imageData, img_L->imageData, img_R->imageData, img_F->width, img_F->height, img_AVM_FBLR->width, img_AVM_FBLR->height, img_AVM_FBLR->nChannels, 1);
  24.  
  25. 		cvWriteFrame(writer, img_AVM_FBLR);
  26.  
  27.  
  28. 		cvShowImage("视频播放", img_AVM_FBLR);
  29. 		char c = cvWaitKey(1);
  30. 		if (c == 27)break;
  31. 		num++;
  32. 	}
  33. 	cvReleaseVideoWriter(&writer);
  34. 	cvReleaseCapture(&C_img_F);
  35. 	cvReleaseCapture(&C_img_B);
  36. 	cvReleaseCapture(&C_img_L);
  37. 	cvReleaseCapture(&C_img_R);
  38. 	cvDestroyWindow("视频播放");

测试结果视频

AVM全景的后视模式--左转向模式

4、AVM全景的后视模式--行车模式

主要的功能：在行车状态下的前视的视图，用观察车辆前方是否安全。

主函数的测试代码

  1. IplImage* img_AVM_FBLR = cvCreateImage(cvSize(1280, 1440), 8, 3);
  2. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\FBLR_F.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 1440));
  3. 	cvNamedWindow("视频播放", CV_WINDOW_AUTOSIZE);
  4. 	CvCapture* C_img_F = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Front.avi");
  5. 	CvCapture* C_img_B = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Back.avi");
  6. 	CvCapture* C_img_L = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Left.avi");
  7. 	CvCapture* C_img_R = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Right.avi");
  8. 	IplImage* img_F, * img_B, * img_L, * img_R;
  9. 	js_AVM_obj AVMData_FBLR;
  10.  
  11. 	js_init_avm_FBLR(&AVMData_FBLR, img_AVM_FBLR->width, img_AVM_FBLR->height, 0);//F
  12.  
  13. 	img_F = cvQueryFrame(C_img_F);
  14. 	img_B = cvQueryFrame(C_img_B);
  15. 	img_L = cvQueryFrame(C_img_L);
  16. 	img_R = cvQueryFrame(C_img_R);
  17. 	int num = 0;
  18. 	while (img_F = cvQueryFrame(C_img_F))
  19. 	{
  20. 		img_B = cvQueryFrame(C_img_B);
  21. 		img_L = cvQueryFrame(C_img_L);
  22. 		img_R = cvQueryFrame(C_img_R);
  23. 		js_getAVM_FBLR(&AVMData_FBLR, img_AVM_FBLR->imageData, img_F->imageData, img_B->imageData, img_L->imageData, img_R->imageData, img_F->width, img_F->height, img_AVM_FBLR->width, img_AVM_FBLR->height, img_AVM_FBLR->nChannels, 1);
  24.  
  25. 		cvWriteFrame(writer, img_AVM_FBLR);
  26.  
  27.  
  28. 		cvShowImage("视频播放", img_AVM_FBLR);
  29. 		char c = cvWaitKey(1);
  30. 		if (c == 27)break;
  31. 		num++;
  32. 	}
  33. 	cvReleaseVideoWriter(&writer);
  34. 	cvReleaseCapture(&C_img_F);
  35. 	cvReleaseCapture(&C_img_B);
  36. 	cvReleaseCapture(&C_img_L);
  37. 	cvReleaseCapture(&C_img_R);
  38. 	cvDestroyWindow("视频播放");

测试结果视频

AVM全景的后视模式--行车模式

5、AVM全景的转弯模式--右转模式

主要的功能：在启动转向后输出转向右视的视图，用观察车辆右方是否安全。

主函数的测试代码

  1.     IplImage* img_AVM_FBLR = cvCreateImage(cvSize(1280, 1440), 8, 3);
  2. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\FBLR_R.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 1440));
  3. 	cvNamedWindow("视频播放", CV_WINDOW_AUTOSIZE);
  4. 	CvCapture* C_img_F = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Front.avi");
  5. 	CvCapture* C_img_B = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Back.avi");
  6. 	CvCapture* C_img_L = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Left.avi");
  7. 	CvCapture* C_img_R = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Right.avi");
  8. 	IplImage* img_F, * img_B, * img_L, * img_R;
  9. 	js_AVM_obj AVMData_FBLR;
  10. 	js_init_avm_FBLR(&AVMData_FBLR, img_AVM_FBLR->width, img_AVM_FBLR->height, 3);//R
  11.  
  12. 	img_F = cvQueryFrame(C_img_F);
  13. 	img_B = cvQueryFrame(C_img_B);
  14. 	img_L = cvQueryFrame(C_img_L);
  15. 	img_R = cvQueryFrame(C_img_R);
  16. 	int num = 0;
  17. 	while (img_F = cvQueryFrame(C_img_F))
  18. 	{
  19. 		img_B = cvQueryFrame(C_img_B);
  20. 		img_L = cvQueryFrame(C_img_L);
  21. 		img_R = cvQueryFrame(C_img_R);
  22. 		js_getAVM_FBLR(&AVMData_FBLR, img_AVM_FBLR->imageData, img_F->imageData, img_B->imageData, img_L->imageData, img_R->imageData, img_F->width, img_F->height, img_AVM_FBLR->width, img_AVM_FBLR->height, img_AVM_FBLR->nChannels, 1);
  23. 		cvWriteFrame(writer, img_AVM_FBLR);
  24.  
  25.  
  26. 		cvShowImage("视频播放", img_AVM_FBLR);
  27. 		char c = cvWaitKey(1);
  28. 		if (c == 27)break;
  29. 		num++;
  30. 	}
  31. 	cvReleaseVideoWriter(&writer);
  32. 	cvReleaseCapture(&C_img_F);
  33. 	cvReleaseCapture(&C_img_B);
  34. 	cvReleaseCapture(&C_img_L);
  35. 	cvReleaseCapture(&C_img_R);
  36. 	cvDestroyWindow("视频播放");

测试结果视频

AVM全景的转弯模式--右转模式

6、AVM全景的多视角模式--全景俯视模式模式

主要的功能：全景的俯视图主要用于观察车辆周围是否安全和盲区的监测。

主函数的测试代码

  1. IplImage* img_AVM_TOP = cvCreateImage(cvSize(1280, 1440), 8, 3);
  2. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\TOP.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 1440));
  3. 	cvNamedWindow("视频播放", CV_WINDOW_AUTOSIZE);
  4. 	CvCapture* C_img_F = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Front.avi");
  5. 	CvCapture* C_img_B = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Back.avi");
  6. 	CvCapture* C_img_L = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Left.avi");
  7. 	CvCapture* C_img_R = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Right.avi");
  8. 	IplImage* img_F, * img_B, * img_L, * img_R;
  9. 	js_AVM_obj AVMData_TOP;
  10. 	
  11. 	js_init_avm(&AVMData_TOP, img_AVM_TOP->width, img_AVM_TOP->height, 0);
  12. 	
  13. 	img_F = cvQueryFrame(C_img_F);
  14. 	img_B = cvQueryFrame(C_img_B);
  15. 	img_L = cvQueryFrame(C_img_L);
  16. 	img_R = cvQueryFrame(C_img_R);
  17. 	int num = 0;
  18. 	while (img_F = cvQueryFrame(C_img_F))
  19. 	{
  20. 		img_B = cvQueryFrame(C_img_B);
  21. 		img_L = cvQueryFrame(C_img_L);
  22. 		img_R = cvQueryFrame(C_img_R);
  23. 		js_getAVM_TOP(&AVMData_TOP, img_AVM_TOP->imageData, img_F->imageData, img_B->imageData, img_L->imageData, img_R->imageData, img_F->width, img_F->height, img_AVM_TOP->width, img_AVM_TOP->height, img_AVM_TOP->nChannels, 0);
  24.  
  25. 		cvWriteFrame(writer, img_AVM_TOP);
  26.  
  27.  
  28. 		cvShowImage("视频播放", img_AVM_TOP);
  29. 		char c = cvWaitKey(1);
  30. 		if (c == 27)break;
  31. 		num++;
  32. 	}
  33. 	cvReleaseVideoWriter(&writer);
  34. 	cvReleaseCapture(&C_img_F);
  35. 	cvReleaseCapture(&C_img_B);
  36. 	cvReleaseCapture(&C_img_L);
  37. 	cvReleaseCapture(&C_img_R);
  38. 	cvDestroyWindow("视频播放");

测试结果视频

AVM全景的多视角模式，全景俯视模式模式

7、AVM全景的超广角模式--右视超广角模式（当前拼接位置对齐存在问题，暂未解决）

主要的功能：超广角就是用观察正前方和左右两侧是否存在快速接近的物体，主要是视角大可以近视看到180度的视角。

主函数的测试代码

  1. IplImage* img_AVM_WideAngle = cvCreateImage(cvSize(1280, 720), 8, 3);
  2.  
  3. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\WideAngle_R.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 720));
  4. 	cvNamedWindow("视频播放", CV_WINDOW_AUTOSIZE);
  5. 	CvCapture* C_img_F = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Front.avi");
  6. 	CvCapture* C_img_B = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Back.avi");
  7. 	CvCapture* C_img_L = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Left.avi");
  8. 	CvCapture* C_img_R = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Right.avi");
  9. 	IplImage* img_F, * img_B, * img_L, * img_R;
  10. 	js_AVM_obj AVMData_WideAngle;
  11. 	js_init_avm_WideAngle(&AVMData_WideAngle, img_AVM_WideAngle->width, img_AVM_WideAngle->height, 1, 0);//0:F 1:B 
  12.  
  13.  
  14.  
  15. 	img_F = cvQueryFrame(C_img_F);
  16. 	img_B = cvQueryFrame(C_img_B);
  17. 	img_L = cvQueryFrame(C_img_L);
  18. 	img_R = cvQueryFrame(C_img_R);
  19. 	int num = 0;
  20. 	while (img_F = cvQueryFrame(C_img_F))
  21. 	{
  22. 		img_B = cvQueryFrame(C_img_B);
  23. 		img_L = cvQueryFrame(C_img_L);
  24. 		img_R = cvQueryFrame(C_img_R);
  25. 		js_getAVM_WideAngle(&AVMData_WideAngle, img_AVM_WideAngle->imageData, img_R->imageData, img_F->width, img_F->height, img_AVM_WideAngle->width, img_AVM_WideAngle->height, img_AVM_WideAngle->nChannels, 1, 0);
  26.  
  27. 		cvLine(img_AVM_WideAngle, cvPoint(276, 0), cvPoint(276, 720), CV_RGB(0, 0, 0), 3);
  28. 		cvLine(img_AVM_WideAngle, cvPoint(1003, 0), cvPoint(1003, 720), CV_RGB(0, 0, 0), 3);
  29.  
  30. 		cvWriteFrame(writer, img_AVM_WideAngle);
  31.  
  32.  
  33. 		cvShowImage("视频播放", img_AVM_WideAngle);
  34. 		char c = cvWaitKey(1);
  35. 		if (c == 27)break;
  36. 		num++;
  37. 	}
  38. 	cvReleaseVideoWriter(&writer);
  39. 	cvReleaseCapture(&C_img_F);
  40. 	cvReleaseCapture(&C_img_B);
  41. 	cvReleaseCapture(&C_img_L);
  42. 	cvReleaseCapture(&C_img_R);
  43. 	cvDestroyWindow("视频播放");

测试结果视频

AVM全景的超广角模式--右视超广角模式

8、AVM全景的超广角模式--后视超广角模式（当前拼接位置对齐存在问题，暂未解决）

主要的功能：超广角就是用观察正前方和左右两侧是否存在快速接近的物体，主要是视角大可以近视看到180度的视角。

主函数的测试代码

  1. 	IplImage* img_AVM_WideAngle = cvCreateImage(cvSize(1280, 720), 8, 3);
  2.  
  3. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\WideAngle_B.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 720));
  4. 	cvNamedWindow("视频播放", CV_WINDOW_AUTOSIZE);
  5. 	CvCapture* C_img_F = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Front.avi");
  6. 	CvCapture* C_img_B = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Back.avi");
  7. 	CvCapture* C_img_L = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Left.avi");
  8. 	CvCapture* C_img_R = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Right.avi");
  9. 	IplImage* img_F, * img_B, * img_L, * img_R;
  10. 	js_AVM_obj AVMData_WideAngle;
  11. 	js_init_avm_WideAngle(&AVMData_WideAngle, img_AVM_WideAngle->width, img_AVM_WideAngle->height, 1, 0);//0:F 1:B 
  12.  
  13. 	img_F = cvQueryFrame(C_img_F);
  14. 	img_B = cvQueryFrame(C_img_B);
  15. 	img_L = cvQueryFrame(C_img_L);
  16. 	img_R = cvQueryFrame(C_img_R);
  17. 	int num = 0;
  18. 	while (img_F = cvQueryFrame(C_img_F))
  19. 	{
  20. 		img_B = cvQueryFrame(C_img_B);
  21. 		img_L = cvQueryFrame(C_img_L);
  22. 		img_R = cvQueryFrame(C_img_R);
  23. 		js_getAVM_WideAngle(&AVMData_WideAngle, img_AVM_WideAngle->imageData, img_B->imageData,img_F->width, img_F->height, img_AVM_WideAngle->width, img_AVM_WideAngle->height, img_AVM_WideAngle->nChannels, 1, 0);
  24.  
  25. 		cvLine(img_AVM_WideAngle, cvPoint(276, 0), cvPoint(276, 720), CV_RGB(0, 0, 0), 3);
  26. 		cvLine(img_AVM_WideAngle, cvPoint(1003, 0), cvPoint(1003, 720), CV_RGB(0, 0, 0), 3);
  27.  
  28. 		cvWriteFrame(writer, img_AVM_WideAngle);
  29.  
  30.  
  31. 		cvShowImage("视频播放", img_AVM_WideAngle);
  32. 		char c = cvWaitKey(1);
  33. 		if (c == 27)break;
  34. 		num++;
  35. 	}
  36. 	cvReleaseVideoWriter(&writer);
  37. 	cvReleaseCapture(&C_img_F);
  38. 	cvReleaseCapture(&C_img_B);
  39. 	cvReleaseCapture(&C_img_L);
  40. 	cvReleaseCapture(&C_img_R);
  41. 	cvDestroyWindow("视频播放");

测试结果视频

AVM全景的超广角模式--后视超广角模式

9、AVM全景的超广角模式--前视超广角模式（当前拼接位置对齐存在问题，暂未解决）

主要的功能：超广角就是用观察正前方和左右两侧是否存在快速接近的物体，主要是视角大可以近视看到180度的视角。

主函数的测试代码

  1. IplImage* img_AVM_WideAngle  = cvCreateImage(cvSize(1280, 720), 8, 3);
  2.  
  3. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\WideAngle_F.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 720));
  4. 	cvNamedWindow("视频播放", CV_WINDOW_AUTOSIZE);
  5. 	CvCapture* C_img_F = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Front.avi");
  6. 	CvCapture* C_img_B = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Back.avi");
  7. 	CvCapture* C_img_L = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Left.avi");
  8. 	CvCapture* C_img_R = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Right.avi");
  9. 	IplImage* img_F, *img_B, *img_L, *img_R;
  10. 	js_AVM_obj AVMData_WideAngle;
  11. 	js_init_avm_WideAngle(&AVMData_WideAngle, img_AVM_WideAngle->width, img_AVM_WideAngle->height, 1,0);//0:F 1:B 
  12.  
  13. 	img_F = cvQueryFrame(C_img_F);
  14. 	img_B = cvQueryFrame(C_img_B);
  15. 	img_L = cvQueryFrame(C_img_L);
  16. 	img_R = cvQueryFrame(C_img_R);
  17. 	int num = 0;
  18. 	while (img_F = cvQueryFrame(C_img_F))
  19. 	{
  20.  
  21. 		js_getAVM_WideAngle(&AVMData_WideAngle, img_AVM_WideAngle->imageData, img_F->imageData, img_F->width, img_F->height, img_AVM_WideAngle->width, img_AVM_WideAngle->height, img_AVM_WideAngle->nChannels, 1, 0);
  22.  
  23. 		cvLine(img_AVM_WideAngle, cvPoint(276, 0), cvPoint(276, 720), CV_RGB(0, 0, 0), 3);
  24. 		cvLine(img_AVM_WideAngle, cvPoint(1003, 0), cvPoint(1003, 720), CV_RGB(0, 0, 0), 3);
  25.  
  26.  		cvWriteFrame(writer, img_AVM_WideAngle);
  27.  
  28.  
  29. 		cvShowImage("视频播放", img_AVM_WideAngle);
  30. 		char c = cvWaitKey(1);
  31. 		if (c == 27)break;
  32. 		num++;
  33. 	}
  34. 	cvReleaseVideoWriter(&writer);
  35. 	cvReleaseCapture(&C_img_F);
  36. 	cvReleaseCapture(&C_img_B);
  37. 	cvReleaseCapture(&C_img_L);
  38. 	cvReleaseCapture(&C_img_R);
  39. 	cvDestroyWindow("视频播放");

测试结果视频

AVM全景的超广角模式--前视超广角模式

10、AVM全景的超广角模式--左视超广角模式（当前拼接位置对齐存在问题，暂未解决）

主要的功能：超广角就是用观察正前方和左右两侧是否存在快速接近的物体，主要是视角大可以近视看到180度的视角。

主函数的测试代码

  1. 	IplImage* img_AVM_WideAngle = cvCreateImage(cvSize(1280, 720), 8, 3);
  2.  
  3. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\WideAngle_L.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 720));
  4. 	cvNamedWindow("视频播放", CV_WINDOW_AUTOSIZE);
  5. 	CvCapture* C_img_F = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Front.avi");
  6. 	CvCapture* C_img_B = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Back.avi");
  7. 	CvCapture* C_img_L = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Left.avi");
  8. 	CvCapture* C_img_R = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Right.avi");
  9. 	IplImage* img_F, * img_B, * img_L, * img_R;
  10. 	js_AVM_obj AVMData_WideAngle;
  11.  
  12. 	js_init_avm_WideAngle(&AVMData_WideAngle, img_AVM_WideAngle->width, img_AVM_WideAngle->height, 1, 0);//0:F 1:B 
  13.  
  14.  
  15. 	img_F = cvQueryFrame(C_img_F);
  16. 	img_B = cvQueryFrame(C_img_B);
  17. 	img_L = cvQueryFrame(C_img_L);
  18. 	img_R = cvQueryFrame(C_img_R);
  19. 	int num = 0;
  20. 	while (img_F = cvQueryFrame(C_img_F))
  21. 	{
  22. 		img_B = cvQueryFrame(C_img_B);
  23. 		img_L = cvQueryFrame(C_img_L);
  24. 		img_R = cvQueryFrame(C_img_R);
  25. 		js_getAVM_WideAngle(&AVMData_WideAngle, img_AVM_WideAngle->imageData, img_L->imageData, img_F->width, img_F->height, img_AVM_WideAngle->width, img_AVM_WideAngle->height, img_AVM_WideAngle->nChannels, 1, 0);
  26.  
  27. 		cvLine(img_AVM_WideAngle, cvPoint(276, 0), cvPoint(276, 720), CV_RGB(0, 0, 0), 3);
  28. 		cvLine(img_AVM_WideAngle, cvPoint(1003, 0), cvPoint(1003, 720), CV_RGB(0, 0, 0), 3);
  29.  
  30. 		cvWriteFrame(writer, img_AVM_WideAngle);
  31.  
  32.  
  33. 		cvShowImage("视频播放", img_AVM_WideAngle);
  34. 		char c = cvWaitKey(1);
  35. 		if (c == 27)break;
  36. 		num++;
  37. 	}
  38. 	cvReleaseVideoWriter(&writer);
  39. 	cvReleaseCapture(&C_img_F);
  40. 	cvReleaseCapture(&C_img_B);
  41. 	cvReleaseCapture(&C_img_L);
  42. 	cvReleaseCapture(&C_img_R);
  43. 	cvDestroyWindow("视频播放");

测试结果视频

AVM全景的超广角模式--左视超广角模式

11、AVM全景的车轮模式--行车左前车轮模式

主要的功能：在行车状态是左转时用于观察车辆左侧的近处是否存在刮碰车辆的风险。

主函数的测试代码

  1. IplImage* img_AVM_Wheel = cvCreateImage(cvSize(1280, 1440), 8, 3);
  2.  
  3. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\Wheel_FL.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 1440));
  4. 	cvNamedWindow("视频播放", CV_WINDOW_AUTOSIZE);
  5. 	CvCapture* C_img_F = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Front.avi");
  6. 	CvCapture* C_img_B = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Back.avi");
  7. 	CvCapture* C_img_L = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Left.avi");
  8. 	CvCapture* C_img_R = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Right.avi");
  9. 	IplImage* img_F, * img_B, * img_L, * img_R;
  10. 	js_AVM_obj AVMData_Wheel;
  11. 	
  12. 	js_init_avm_Wheel(&AVMData_Wheel, img_AVM_Wheel->width, img_AVM_Wheel->height,0);//FL:0 FR:1 BL:2 BR:3 
  13.  
  14. 	img_F = cvQueryFrame(C_img_F);
  15. 	img_B = cvQueryFrame(C_img_B);
  16. 	img_L = cvQueryFrame(C_img_L);
  17. 	img_R = cvQueryFrame(C_img_R);
  18. 	int num = 0;
  19. 	while (img_F = cvQueryFrame(C_img_F))
  20. 	{
  21. 		img_B = cvQueryFrame(C_img_B);
  22. 		img_L = cvQueryFrame(C_img_L);
  23. 		img_R = cvQueryFrame(C_img_R);
  24. 		js_getAVM_Wheel(&AVMData_Wheel, img_AVM_Wheel->imageData, img_F->imageData, img_B->imageData, img_L->imageData, img_R->imageData, img_F->width, img_F->height, img_AVM_Wheel->width, img_AVM_Wheel->height, img_AVM_Wheel->nChannels, 1,0);
  25. 		
  26. 		cvWriteFrame(writer, img_AVM_Wheel);
  27.  
  28.  
  29. 		cvShowImage("视频播放", img_AVM_Wheel);
  30. 		char c = cvWaitKey(1);
  31. 		if (c == 27)break;
  32. 		num++;
  33. 	}
  34. 	cvReleaseVideoWriter(&writer);
  35. 	cvReleaseCapture(&C_img_F);
  36. 	cvReleaseCapture(&C_img_B);
  37. 	cvReleaseCapture(&C_img_L);
  38. 	cvReleaseCapture(&C_img_R);
  39. 	cvDestroyWindow("视频播放");

测试结果视频

AVM全景的车轮模式--行车左前车轮模式

12、AVM全景的车轮模式--行车右前车轮模式

主要的功能：在行车状态是右转时用于观察车辆右侧的近处是否存在刮碰车辆的风险。

主函数的测试代码

  1. 	IplImage* img_AVM_Wheel = cvCreateImage(cvSize(1280, 1440), 8, 3);
  2.  
  3. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\Wheel_FR.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 1440));
  4. 	cvNamedWindow("视频播放", CV_WINDOW_AUTOSIZE);
  5. 	CvCapture* C_img_F = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Front.avi");
  6. 	CvCapture* C_img_B = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Back.avi");
  7. 	CvCapture* C_img_L = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Left.avi");
  8. 	CvCapture* C_img_R = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Right.avi");
  9. 	IplImage* img_F, * img_B, * img_L, * img_R;
  10. 	js_AVM_obj AVMData_Wheel;
  11.  
  12. 	js_init_avm_Wheel(&AVMData_Wheel, img_AVM_Wheel->width, img_AVM_Wheel->height, 1);//FL:0 FR:1 BL:2 BR:3 
  13. 	
  14. 	img_F = cvQueryFrame(C_img_F);
  15. 	img_B = cvQueryFrame(C_img_B);
  16. 	img_L = cvQueryFrame(C_img_L);
  17. 	img_R = cvQueryFrame(C_img_R);
  18. 	int num = 0;
  19. 	while (img_F = cvQueryFrame(C_img_F))
  20. 	{
  21. 		img_B = cvQueryFrame(C_img_B);
  22. 		img_L = cvQueryFrame(C_img_L);
  23. 		img_R = cvQueryFrame(C_img_R);
  24. 		js_getAVM_Wheel(&AVMData_Wheel, img_AVM_Wheel->imageData, img_F->imageData, img_B->imageData, img_L->imageData, img_R->imageData, img_F->width, img_F->height, img_AVM_Wheel->width, img_AVM_Wheel->height, img_AVM_Wheel->nChannels, 1, 1);
  25. 		
  26. 		cvWriteFrame(writer, img_AVM_Wheel);
  27.  
  28.  
  29. 		cvShowImage("视频播放", img_AVM_Wheel);
  30. 		char c = cvWaitKey(1);
  31. 		if (c == 27)break;
  32. 		num++;
  33. 	}
  34. 	cvReleaseVideoWriter(&writer);
  35. 	cvReleaseCapture(&C_img_F);
  36. 	cvReleaseCapture(&C_img_B);
  37. 	cvReleaseCapture(&C_img_L);
  38. 	cvReleaseCapture(&C_img_R);
  39. 	cvDestroyWindow("视频播放");

测试结果视频

AVM全景的车轮模式--行车右前车轮模式

13、AVM全景的车轮模式--倒车右后车轮模式

主要的功能：在倒车状态是左转时用于观察车辆左侧的近处是否存在刮碰车辆的风险。

主函数的测试代码

  1. 	IplImage* img_AVM_Wheel = cvCreateImage(cvSize(1280, 1440), 8, 3);
  2.  
  3. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\Wheel_BR.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 1440));
  4. 	cvNamedWindow("视频播放", CV_WINDOW_AUTOSIZE);
  5. 	CvCapture* C_img_F = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Front.avi");
  6. 	CvCapture* C_img_B = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Back.avi");
  7. 	CvCapture* C_img_L = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Left.avi");
  8. 	CvCapture* C_img_R = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Right.avi");
  9. 	IplImage* img_F, * img_B, * img_L, * img_R;
  10. 	js_AVM_obj AVMData_Wheel;
  11. 	
  12. 	js_init_avm_Wheel(&AVMData_Wheel, img_AVM_Wheel->width, img_AVM_Wheel->height, 3);//FL:0 FR:1 BL:2 BR:3 
  13.  
  14. 	img_F = cvQueryFrame(C_img_F);
  15. 	img_B = cvQueryFrame(C_img_B);
  16. 	img_L = cvQueryFrame(C_img_L);
  17. 	img_R = cvQueryFrame(C_img_R);
  18. 	int num = 0;
  19. 	while (img_F = cvQueryFrame(C_img_F))
  20. 	{
  21. 		img_B = cvQueryFrame(C_img_B);
  22. 		img_L = cvQueryFrame(C_img_L);
  23. 		img_R = cvQueryFrame(C_img_R);
  24. 		js_getAVM_Wheel(&AVMData_Wheel, img_AVM_Wheel->imageData, img_F->imageData, img_B->imageData, img_L->imageData, img_R->imageData, img_F->width, img_F->height, img_AVM_Wheel->width, img_AVM_Wheel->height, img_AVM_Wheel->nChannels, 1, 3);
  25. 		cvWriteFrame(writer, img_AVM_Wheel);
  26.  
  27.  
  28. 		cvShowImage("视频播放", img_AVM_Wheel);
  29. 		char c = cvWaitKey(1);
  30. 		if (c == 27)break;
  31. 		num++;
  32. 	}
  33. 	cvReleaseVideoWriter(&writer);
  34. 	cvReleaseCapture(&C_img_F);
  35. 	cvReleaseCapture(&C_img_B);
  36. 	cvReleaseCapture(&C_img_L);
  37. 	cvReleaseCapture(&C_img_R);
  38. 	cvDestroyWindow("视频播放");

测试结果视频

AVM全景的车轮模式--倒车右后车轮模式

14、AVM全景的车轮模式--倒车左后车轮模式

主要的功能：在到车状态是右转时用于观察车辆右侧的近处是否存在刮碰车辆的风险。

主函数的测试代码

  1. 	IplImage* img_AVM_Wheel = cvCreateImage(cvSize(1280, 1440), 8, 3);
  2.  
  3. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\Wheel_BL.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 1440));
  4. 	cvNamedWindow("视频播放", CV_WINDOW_AUTOSIZE);
  5. 	CvCapture* C_img_F = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Front.avi");
  6. 	CvCapture* C_img_B = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Back.avi");
  7. 	CvCapture* C_img_L = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Left.avi");
  8. 	CvCapture* C_img_R = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Right.avi");
  9. 	IplImage* img_F, * img_B, * img_L, * img_R;
  10. 	js_AVM_obj  AVMData_Wheel;
  11.  
  12. 	js_init_avm_Wheel(&AVMData_Wheel, img_AVM_Wheel->width, img_AVM_Wheel->height, 2);//FL:0 FR:1 BL:2 BR:3 
  13.  
  14. 	img_F = cvQueryFrame(C_img_F);
  15. 	img_B = cvQueryFrame(C_img_B);
  16. 	img_L = cvQueryFrame(C_img_L);
  17. 	img_R = cvQueryFrame(C_img_R);
  18. 	int num = 0;
  19. 	while (img_F = cvQueryFrame(C_img_F))
  20. 	{
  21. 		img_B = cvQueryFrame(C_img_B);
  22. 		img_L = cvQueryFrame(C_img_L);
  23. 		img_R = cvQueryFrame(C_img_R);
  24. 		js_getAVM_Wheel(&AVMData_Wheel, img_AVM_Wheel->imageData, img_F->imageData, img_B->imageData, img_L->imageData, img_R->imageData, img_F->width, img_F->height, img_AVM_Wheel->width, img_AVM_Wheel->height, img_AVM_Wheel->nChannels, 1, 2);
  25. 		
  26.  
  27. 		cvWriteFrame(writer, img_AVM_Wheel);
  28.  
  29.  
  30. 		cvShowImage("视频播放", img_AVM_Wheel);
  31. 		char c = cvWaitKey(1);
  32. 		if (c == 27)break;
  33. 		num++;
  34. 	}
  35. 	cvReleaseVideoWriter(&writer);
  36. 	cvReleaseCapture(&C_img_F);
  37. 	cvReleaseCapture(&C_img_B);
  38. 	cvReleaseCapture(&C_img_L);
  39. 	cvReleaseCapture(&C_img_R);
  40. 	cvDestroyWindow("视频播放");

测试结果视频

AVM全景的车轮模式--倒车左后车轮模式

15、AVM全景的窄边模式--倒车窄边模式

主要的功能：在倒车时通过比较窄的路段用于观察车辆两侧是否安全。

主函数的测试代码

  1. IplImage* img_AVM_NarrowEdge = cvCreateImage(cvSize(1280, 1440), 8, 3);
  2.  
  3.  
  4. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\NarrowEdge_B.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 1440));
  5. 	cvNamedWindow("视频播放", CV_WINDOW_AUTOSIZE);
  6. 	CvCapture* C_img_F = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Front.avi");
  7. 	CvCapture* C_img_B = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Back.avi");
  8. 	CvCapture* C_img_L = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Left.avi");
  9. 	CvCapture* C_img_R = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Right.avi");
  10. 	IplImage* img_F, * img_B, * img_L, * img_R;
  11. 	js_AVM_obj  AVMData_NarrowEdge;
  12. 	
  13. 	js_init_avm_NarrowEdge(&AVMData_NarrowEdge, img_AVM_NarrowEdge->width, img_AVM_NarrowEdge->height, 1);//0F 
  14.  
  15. 	img_F = cvQueryFrame(C_img_F);
  16. 	img_B = cvQueryFrame(C_img_B);
  17. 	img_L = cvQueryFrame(C_img_L);
  18. 	img_R = cvQueryFrame(C_img_R);
  19. 	int num = 0;
  20. 	while (img_F = cvQueryFrame(C_img_F))
  21. 	{
  22. 		img_B = cvQueryFrame(C_img_B);
  23. 		img_L = cvQueryFrame(C_img_L);
  24. 		img_R = cvQueryFrame(C_img_R);
  25. 		js_getAVM_NarrowEdge(&AVMData_NarrowEdge, img_AVM_NarrowEdge->imageData, img_F->imageData, img_B->imageData, img_L->imageData, img_R->imageData, img_F->width, img_F->height, img_AVM_NarrowEdge->width, img_AVM_NarrowEdge->height, img_AVM_NarrowEdge->nChannels, 0);
  26. 		
  27. 		cvLine(img_AVM_NarrowEdge, cvPoint(AVMData_NarrowEdge.LFsrc.x, AVMData_NarrowEdge.LFsrc.y), cvPoint(AVMData_NarrowEdge.LBsrc.x, AVMData_NarrowEdge.LBsrc.y), CV_RGB(255, 255, 0), 3);
  28. 		cvLine(img_AVM_NarrowEdge, cvPoint(AVMData_NarrowEdge.RFsrc.x, AVMData_NarrowEdge.RFsrc.y), cvPoint(AVMData_NarrowEdge.RBsrc.x, AVMData_NarrowEdge.RBsrc.y), CV_RGB(255, 255, 0), 3);
  29. 		cvLine(img_AVM_NarrowEdge, cvPoint(AVMData_NarrowEdge.LBsrc.x, AVMData_NarrowEdge.LBsrc.y), cvPoint(AVMData_NarrowEdge.LBsrc.x + 50, AVMData_NarrowEdge.LBsrc.y), CV_RGB(255, 255, 0), 3);
  30. 		cvLine(img_AVM_NarrowEdge, cvPoint(AVMData_NarrowEdge.RBsrc.x - 50, AVMData_NarrowEdge.RBsrc.y), cvPoint(AVMData_NarrowEdge.RBsrc.x, AVMData_NarrowEdge.RBsrc.y), CV_RGB(255, 255, 0), 3);
  31.  
  32.  
  33. 		cvWriteFrame(writer, img_AVM_NarrowEdge);
  34.  
  35.  
  36. 		cvShowImage("视频播放", img_AVM_NarrowEdge);
  37. 		char c = cvWaitKey(1);
  38. 		if (c == 27)break;
  39. 		num++;
  40. 	}
  41. 	cvReleaseVideoWriter(&writer);
  42. 	cvReleaseCapture(&C_img_F);
  43. 	cvReleaseCapture(&C_img_B);
  44. 	cvReleaseCapture(&C_img_L);
  45. 	cvReleaseCapture(&C_img_R);
  46. 	cvDestroyWindow("视频播放");

测试结果视频

AVM全景的窄边模式--倒车窄边模式

16、AVM全景的窄边模式--行车窄边模式

主要的功能：在行车时通过比较窄的路段用于观察车辆两侧是否安全。

主函数的测试代码

  1. 	IplImage* img_AVM_NarrowEdge = cvCreateImage(cvSize(1280, 1440), 8, 3);
  2.  
  3. 	CvVideoWriter* writer = cvCreateVideoWriter("G:\\CSDN\\AVM\\Video1\\NarrowEdge_F.avi", CV_FOURCC('X', 'V', 'I', 'D'), 25, cvSize(1280, 1440));
  4. 	cvNamedWindow("视频播放", CV_WINDOW_AUTOSIZE);
  5. 	CvCapture* C_img_F = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Front.avi");
  6. 	CvCapture* C_img_B = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Back.avi");
  7. 	CvCapture* C_img_L = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Left.avi");
  8. 	CvCapture* C_img_R = cvCreateFileCapture("G:\\CSDN\\AVM\\Video1\\Right.avi");
  9. 	IplImage* img_F, * img_B, * img_L, * img_R;
  10. 	js_AVM_obj AVMData_NarrowEdge;
  11.  
  12. 	js_init_avm_NarrowEdge(&AVMData_NarrowEdge, img_AVM_NarrowEdge->width, img_AVM_NarrowEdge->height,0);//0F 
  13. 	img_F = cvQueryFrame(C_img_F);
  14. 	img_B = cvQueryFrame(C_img_B);
  15. 	img_L = cvQueryFrame(C_img_L);
  16. 	img_R = cvQueryFrame(C_img_R);
  17. 	int num = 0;
  18. 	while (img_F = cvQueryFrame(C_img_F))
  19. 	{
  20. 		img_B = cvQueryFrame(C_img_B);
  21. 		img_L = cvQueryFrame(C_img_L);
  22. 		img_R = cvQueryFrame(C_img_R);
  23. 		js_getAVM_NarrowEdge(&AVMData_NarrowEdge, img_AVM_NarrowEdge->imageData, img_F->imageData, img_B->imageData, img_L->imageData, img_R->imageData, img_F->width, img_F->height, img_AVM_NarrowEdge->width, img_AVM_NarrowEdge->height, img_AVM_NarrowEdge->nChannels, 0);
  24. 		cvLine(img_AVM_NarrowEdge, cvPoint(AVMData_NarrowEdge.LFsrc.x, AVMData_NarrowEdge.LFsrc.y), cvPoint(AVMData_NarrowEdge.LBsrc.x, AVMData_NarrowEdge.LBsrc.y), CV_RGB(255, 255, 0), 3);
  25. 		cvLine(img_AVM_NarrowEdge, cvPoint(AVMData_NarrowEdge.RFsrc.x, AVMData_NarrowEdge.RFsrc.y), cvPoint(AVMData_NarrowEdge.RBsrc.x, AVMData_NarrowEdge.RBsrc.y), CV_RGB(255, 255, 0), 3);
  26. 		cvLine(img_AVM_NarrowEdge, cvPoint(AVMData_NarrowEdge.LFsrc.x, AVMData_NarrowEdge.LFsrc.y), cvPoint(AVMData_NarrowEdge.LFsrc.x+ 50, AVMData_NarrowEdge.LFsrc.y), CV_RGB(255, 255, 0), 3);
  27. 		cvLine(img_AVM_NarrowEdge, cvPoint(AVMData_NarrowEdge.RFsrc.x-50, AVMData_NarrowEdge.RFsrc.y), cvPoint(AVMData_NarrowEdge.RFsrc.x, AVMData_NarrowEdge.RFsrc.y), CV_RGB(255, 255, 0), 3);
  28.  
  29.  
  30. 		cvWriteFrame(writer, img_AVM_NarrowEdge);
  31.  
  32.  
  33. 		cvShowImage("视频播放", img_AVM_NarrowEdge);
  34. 		char c = cvWaitKey(1);
  35. 		if (c == 27)break;
  36. 		num++;
  37. 	}
  38. 	cvReleaseVideoWriter(&writer);
  39. 	cvReleaseCapture(&C_img_F);
  40. 	cvReleaseCapture(&C_img_B);
  41. 	cvReleaseCapture(&C_img_L);
  42. 	cvReleaseCapture(&C_img_R);
  43. 	cvDestroyWindow("视频播放");

测试结果视频

AVM全景的窄边模式--行车窄边模式

声明：本文内容由网友自发贡献，不代表【wpsshop博客】立场，版权归原作者所有，本站不承担相应法律责任。如您发现有侵权的内容，请联系我们。转载请注明出处：https://www.wpsshop.cn/w/小舞很执着/article/detail/869607
推荐阅读
相关标签

Copyright © 2003-2013 www.wpsshop.cn 版权所有，并保留所有权利。

  

闽ICP备14008679号