first commit

nodes/proc/vp_frame_fusion_node.h

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+#pragma once
+
+#include "../vp_node.h"
+
+namespace vp_nodes {
+    // fuse video frames from 2 channels based on the given calibration points.
+    // only support to fuse 2 channels at the same time so far, fuse the first to second or vice versa, just fuse directly did not check the timestamp of frame.
+    class vp_frame_fusion_node: public vp_node
+    {
+    private:
+        std::shared_ptr<vp_objects::vp_frame_meta> tmp_des = nullptr;
+        cv::Mat trans_mat;
+        int src_channel_index = 0;
+        int des_channel_index = 1;
+
+        void fuse(cv::Mat& src_canvas, cv::Mat& des_canvas);
+    protected:
+        virtual std::shared_ptr<vp_objects::vp_meta> handle_frame_meta(std::shared_ptr<vp_objects::vp_frame_meta> meta) override;
+    public:
+        vp_frame_fusion_node(std::string node_name, 
+                            std::vector<vp_objects::vp_point> src_points,   // 4 calibration points of the source frame
+                            std::vector<vp_objects::vp_point> des_points,   // 4 calibration points of the destination frame
+                            int src_channel_index = 0, 
+                            int des_channel_index = 1);
+        ~vp_frame_fusion_node();
+    };
+}