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#include <pybind11/pybind11.h>
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#include <pybind11/stl.h> // 用于绑定 std::string 等
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#include <pybind11/numpy.h>
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#include <pybind11/stl/filesystem.h>
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#include "StitchStruct.h" // 包含 API_UnderStitch 的定义
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#include "Arith_UnderStitch.h"
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#include "Arith_GeoSolver.h"
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// 可能还需要包含其他依赖项，如 OpenCV 的绑定头文件
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namespace py = pybind11;
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// 声明外部的辅助绑定函数
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void bind_public_structures(py::module_ &m);
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void bind_api_understitch(py::module_ &m);
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PYBIND11_MODULE(UStitcher, m) {
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m.doc() = "pybind11 bindings for UnderStitcher.";
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// 绑定通用数据结构
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bind_public_structures(m);
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// 绑定下视模块接口
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bind_api_understitch(m);
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}
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void bind_api_understitch(py::module_& m) {
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// UPanConfig
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py::class_<UPanConfig>(m, "UPanConfig", "下视拼接参数控制")
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.def(py::init<>())
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.def_readwrite("bUseBA", &UPanConfig::bUseBA, "开启BA")
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.def_readwrite("bOutFrameTile", &UPanConfig::bOutFrameTile, "输出单帧正射图")
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.def_readwrite("bOutGoogleTile", &UPanConfig::bOutGoogleTile, "输出谷歌瓦片");
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// FrameInfo
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py::class_<FrameInfo>(m, "FrameInfo", "帧内外方位元素")
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.def(py::init<>())
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.def_readwrite("nFrmID", &FrameInfo::nFrmID, "帧编号，唯一ID")
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.def_readwrite("craft", &FrameInfo::craft, "载体信息")
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.def_readwrite("camInfo", &FrameInfo::camInfo, "相机信息")
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.def_readwrite("servoInfo", &FrameInfo::servoInfo, "伺服状态")
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.def_readwrite("nEvHeight", &FrameInfo::nEvHeight, "相对高差")
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.def_readwrite("nWidth", &FrameInfo::nWidth)
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.def_readwrite("nHeight", &FrameInfo::nHeight);
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// UPanInfo
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py::class_<UPanInfo>(m, "UPanInfo", "下视全景图配置")
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.def(py::init<>())
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.def_readwrite("m_pan_width", &UPanInfo::m_pan_width)
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.def_readwrite("m_pan_height", &UPanInfo::m_pan_height)
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.def_readwrite("scale", &UPanInfo::scale, "比例尺")
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.def_readwrite("map_shiftX", &UPanInfo::map_shiftX, "平移X")
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.def_readwrite("map_shiftY", &UPanInfo::map_shiftY, "平移Y");
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// ----------------------------------------------------
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// 2. 绑定 API_UnderStitch 类
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// ----------------------------------------------------
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py::class_<API_UnderStitch>(m, "API_UnderStitch")
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// py::init() 是不必要的，因为它是抽象类
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// 绑定纯虚函数 (这些函数需要在 C++ 派生类中实现)
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.def("Init", &API_UnderStitch::Init,
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py::arg("info"), "初始化拼接")
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.def("SetOutput", &API_UnderStitch::SetOutput,
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py::arg("name"), py::arg("outdir"), "设置输出标识和路径")
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.def("Run", &API_UnderStitch::Run,
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py::arg("img"), py::arg("para"), "运行拼接流程")
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.def("Stop", &API_UnderStitch::Stop,
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"中止拼接流程")
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.def("SetConfig", &API_UnderStitch::SetConfig,
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py::arg("config"), "运行参数配置")
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.def("ExportPanAddr", &API_UnderStitch::ExportPanAddr,
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py::return_value_policy::reference_internal, // 返回引用，确保 C++ 对象不被析构
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"获取全景图")
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.def("ExportPanMat", &API_UnderStitch::ExportPanMat,
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py::return_value_policy::copy, // 通常 cv::Mat 返回时是深拷贝
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"获取全景图cv::Mat")
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//getHomography
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.def("getHomography", &API_UnderStitch::getHomography,
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py::return_value_policy::copy, // 通常 cv::Mat 返回时是深拷贝
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"获取H映射矩阵:从像方到物方")
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//----------------------------------------------------
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//3. 绑定静态工厂方法 (Factory Methods)
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//----------------------------------------------------
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// 绑定 Create 方法
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.def_static("Create", &API_UnderStitch::Create,
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py::arg("cachedir") = "./cache",
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py::return_value_policy::take_ownership, // 返回指针，需要 Python 管理其生命周期
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"创建 API_UnderStitch 实例")
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// 绑定 Destroy 方法
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// 注意：这里需要 pybind11::arg::none() 来明确指出该函数没有返回值
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.def_static("Destroy", &API_UnderStitch::Destroy,
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py::arg("obj"),
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"销毁 API_UnderStitch 实例")
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;
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}
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