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#pragma once
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#include "Arith_CommonDef.h"
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#include "opencv2/opencv.hpp"
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#include "PlatformDefine.h"
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using std::vector;
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using cv::Point2d;
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using cv::Point2f;
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using cv::Mat;
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using cv::Mat_;
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// 帧内外方位元素
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struct FrameInfo
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{
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int nFrmID;//帧编号，唯一ID
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AirCraftInfo craft;
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CamInfo camInfo;
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ServoInfo servoInfo;
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int nEvHeight;//相对高差
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int nWidth;
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int nHeight;
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};
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// 全景图配置
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struct PanInfo
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{
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int m_pan_width;
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int m_pan_height;
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float scale;// 比例尺
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float map_shiftX;// 平移X
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float map_shiftY;// 平移Y
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};
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// 匹配关系网，BA的边
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struct Match_Net
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{
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int imgNo; //! image no. start from 0
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vector<int> relatedImgs; //! the position index of overlap-image in visitOrder
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vector<vector<Point2d> > PointSet;
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};
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