diff --git a/.gitignore b/.gitignore
index abdb027..b0bc5fc 100644
--- a/.gitignore
+++ b/.gitignore
@@ -48,4 +48,5 @@ build
 install
 *.xraw
 
-
+.vscode
+.vs
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 507664d..9d25c50 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,5 +26,14 @@ add_executable(stitch main.cpp   "3rdParty/my_ceres_vc17/include/ceres/version.h
 
 target_link_libraries(stitch ${OpenCV_LIBS} ${LIB_STITCH})
 
+
+add_executable(stitch_DJ "ProcDJ.cpp")
+target_link_libraries(stitch_DJ ${OpenCV_LIBS} ${LIB_STITCH})
+
+
+
+
+
+
 # 可执行文件输出路径
 set(EXECUTABLE_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/Bin)
diff --git a/ProcDJ.cpp b/ProcDJ.cpp
new file mode 100644
index 0000000..d4254fa
--- /dev/null
+++ b/ProcDJ.cpp
@@ -0,0 +1,336 @@
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <vector>
+#include <string>
+#include <iostream>
+#include "API_UnderStitch.h"
+#include "API_FrontStitch.h"
+#include "PlatformDefine.h"
+#include <string.h>
+#include "opencv2/opencv.hpp"
+#include <random>
+struct FrameData {
+    int frameNumber;
+    std::string timeRange;
+    int frameCnt;
+    std::string timestamp;
+    float focal_len = 0;
+    float dzoom_ratio = 0;
+    double latitude = 0;
+    double longitude = 0;
+    float rel_alt = 0;
+    float abs_alt = 0;
+    float gb_yaw = 0;
+    float gb_pitch = 0;
+    float gb_roll = 0;
+
+
+    // 衍生参数
+    float real_focal_mm = 0;
+    float pixel_size_um = 0;
+};
+
+float extractValueAfter(const std::string& line, const std::string& key) {
+    size_t pos = line.find(key);
+    if (pos == std::string::npos) return 0;
+    
+    pos += key.length();
+    size_t end = line.find(' ', pos);
+    if (end == std::string::npos) end = line.length();
+    
+    return std::stof(line.substr(pos, end - pos));
+}
+
+double extractDoubleAfter(const std::string& line, const std::string& key) {
+    size_t pos = line.find(key);
+    if (pos == std::string::npos) return 0;
+    
+    pos += key.length();
+    size_t end = line.find(' ', pos);
+    if (end == std::string::npos) end = line.length();
+    
+    return std::stod(line.substr(pos, end - pos));
+}
+
+// 获取真实焦距和像元尺寸
+void inferCameraParams_H20(FrameData& frame, const std::string& filename) 
+{
+    const float full_frame_diag = 43.3f;
+    float sensor_diag = 0.0f;
+
+    if (filename.find("_W") != std::string::npos) {
+        sensor_diag = 9.4f;
+        frame.pixel_size_um = 1.98f;
+    }
+    else if (filename.find("_Z") != std::string::npos) {
+        sensor_diag = 7.7f;
+        frame.pixel_size_um = 2.4f;
+    }
+    else if (filename.find("_T") != std::string::npos) {
+        sensor_diag = 10.9f;
+        frame.pixel_size_um = 12.0f;
+    }
+    else {
+        sensor_diag = 9.4f;
+        frame.pixel_size_um = 1.98f;
+    }
+
+    frame.real_focal_mm = frame.focal_len * (sensor_diag / full_frame_diag);
+}
+// 获取真实焦距和像元尺寸
+void inferCameraParams_H30(FrameData& frame, const std::string& filename) 
+{
+    const float full_frame_diag = 43.3f;
+    float sensor_diag = 0.0f;
+
+    if (filename.find("_W") != std::string::npos) {
+    frame.real_focal_mm = 6.72;
+    frame.pixel_size_um = 2.4;
+    }
+    else if (filename.find("_Z") != std::string::npos) {
+
+    }
+    else if (filename.find("_T") != std::string::npos) {
+        frame.real_focal_mm = 24;
+        frame.pixel_size_um = 12;
+    }
+    else {
+
+    }
+
+    //frame.real_focal_mm = frame.focal_len * (sensor_diag / full_frame_diag);
+}
+std::vector<FrameData> parseDJISRT(const std::string& filename) {
+    std::vector<FrameData> frames;
+    std::ifstream file(filename);
+    
+    if (!file.is_open()) {
+        std::cerr << "Error: Could not open file " << filename << std::endl;
+        return frames;
+    }
+
+    std::string lines[5];
+    while (std::getline(file, lines[0])) {  // Frame number line
+        // Read next 4 lines
+        for (int i = 1; i < 5; ++i) {
+            if (!std::getline(file, lines[i])) break;
+        }
+
+        FrameData frame;
+        
+        // Line 1: Frame number
+        frame.frameNumber = std::stoi(lines[0]);
+        
+        // Line 2: Time range (00:00:00,000 --> 00:00:00,033)
+        frame.timeRange = lines[1];
+        
+        // Line 3: FrameCnt and timestamp
+        std::istringstream iss(lines[2]);
+        std::string temp;
+        iss >> temp >> frame.frameCnt >> frame.timestamp;
+        
+        // Line 4: Metadata (direct field extraction)
+        const std::string& meta = lines[3];
+        frame.focal_len = extractValueAfter(meta, "focal_len: ");
+        frame.dzoom_ratio = extractValueAfter(meta, "dzoom_ratio: ");
+        frame.latitude = extractDoubleAfter(meta, "latitude: ");
+        frame.longitude = extractDoubleAfter(meta, "longitude: ");
+        frame.rel_alt = extractValueAfter(meta, "rel_alt: ");
+        frame.abs_alt = extractValueAfter(meta, "abs_alt: ");
+        frame.gb_yaw = extractValueAfter(meta, "gb_yaw: ");
+        frame.gb_pitch = extractValueAfter(meta, "gb_pitch: ");
+        frame.gb_roll = extractValueAfter(meta, "gb_roll: ");
+
+        inferCameraParams_H30(frame, filename);
+
+        frames.push_back(frame);
+        
+        // Skip the empty line (line 5)
+    }
+    
+    file.close();
+    return frames;
+}
+
+
+void ProcDJVideo(vector<std::string> videoPathList, vector<std::string> srtPathList)
+{
+    auto stitcher = API_UnderStitch::Create();
+
+    stitcher->SetOutput("DJI", "D:/google_tiles");
+
+
+    // dsample 
+    int nDownSample = 1;
+
+    GD_VIDEO_FRAME_S frame = { 0 };//输入帧
+    GD_VIDEO_FRAME_S pan = { 0 };//输出全景
+
+    cv::Mat mat_pan;//全景显示
+
+
+    cv::VideoCapture cap(videoPathList[0]);
+
+    // Get video properties
+    double fps = cap.get(cv::CAP_PROP_FPS);
+    int width = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_WIDTH));
+    int height = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_HEIGHT));
+    int frame_count = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_COUNT));
+
+    std::vector<FrameData> srt_init = parseDJISRT(srtPathList[0]);
+
+    FrameInfo info = { 0 };
+    info.nFrmID = 0;
+    info.camInfo.nFocus = srt_init[0].real_focal_mm;
+    info.camInfo.fPixelSize = srt_init[0].pixel_size_um * nDownSample;
+
+    info.craft.stAtt.fYaw = srt_init[0].gb_yaw;
+    info.craft.stAtt.fPitch = srt_init[0].gb_pitch + 90;
+    info.craft.stAtt.fRoll = srt_init[0].gb_roll;
+
+    info.craft.stPos.B = srt_init[0].latitude;
+    info.craft.stPos.L = srt_init[0].longitude;
+    info.craft.stPos.H = srt_init[0].abs_alt;
+
+
+    info.nEvHeight = srt_init[0].abs_alt - srt_init[0].rel_alt;
+
+    info.servoInfo.fServoAz = 0;
+    info.servoInfo.fServoPt = 0;
+
+    info.nWidth = width / nDownSample;
+    info.nHeight = height / nDownSample;
+
+    // 初始化
+    stitcher->Init(info);
+
+    cap.release();
+
+    for (size_t vid = 0; vid < videoPathList.size(); vid++)
+    {
+        printf("Proc %s\n", videoPathList[vid].c_str());
+        cv::VideoCapture cap(videoPathList[vid]);
+        std::vector<FrameData> srt = parseDJISRT(srtPathList[vid]);
+
+        int frmID = 0;
+        while (true)
+        {
+            cv::Mat mat;
+
+            // Read a new frame
+            cap >> mat;
+
+            // Check if frame is empty (end of video)
+            if (mat.empty()) {
+                std::cout << "End of video\n";
+                cap.release();
+                break;
+            }
+
+            frmID++;
+            Mat mat_ds2;
+
+            cv::resize(mat, mat_ds2, cv::Size(width / nDownSample, height / nDownSample));
+
+
+
+            FrameInfo info = { 0 };
+            info.nFrmID = frmID;
+            info.camInfo.nFocus = srt[frmID].real_focal_mm;
+            info.camInfo.fPixelSize = srt[frmID].pixel_size_um * nDownSample;
+
+            info.craft.stAtt.fYaw = srt[frmID].gb_yaw;
+            info.craft.stAtt.fPitch = srt[frmID].gb_pitch + 90;
+            info.craft.stAtt.fRoll = srt[frmID].gb_roll;
+
+            info.craft.stPos.B = srt[frmID].latitude;
+            info.craft.stPos.L = srt[frmID].longitude;
+            info.craft.stPos.H = srt[frmID].abs_alt;
+
+
+            info.nEvHeight = srt[frmID].abs_alt;
+
+            info.servoInfo.fServoAz = 0;
+            info.servoInfo.fServoPt = 0;
+
+            info.nWidth = mat_ds2.cols;
+            info.nHeight = mat_ds2.rows;
+
+
+            frame.enPixelFormat = GD_PIXEL_FORMAT_RGB_PACKED;
+            frame.u32Width = mat_ds2.cols;
+            frame.u32Height = mat_ds2.rows;
+            frame.u64VirAddr[0] = mat_ds2.data;
+
+            if (frmID % 100 != 0)
+            {
+                continue;
+            }
+            std::cout << info.craft.stPos.B << " " << info.craft.stPos.L << " " << info.craft.stPos.H << " "
+                << info.craft.stAtt.fYaw << " " << info.craft.stAtt.fPitch << " " << info.craft.stAtt.fRoll << " "
+                << info.servoInfo.fServoAz << " " << info.servoInfo.fServoPt
+                << std::endl;
+
+            cv::TickMeter tm;
+            tm.start();
+            // 基于外参的快拼
+            stitcher->Run(frame, info);
+
+            tm.stop();
+
+			mat_pan = stitcher->ExportPanMat();
+            Mat pan_rgb, pan_rgb_ds;
+            cv::cvtColor(mat_pan, pan_rgb, cv::COLOR_BGRA2BGR);
+
+            cv::resize(pan_rgb, pan_rgb_ds, cv::Size(pan_rgb.cols / 8, pan_rgb.rows / 8));
+
+            imshow("pan_rgb", pan_rgb_ds);
+            cv::waitKey(1);
+
+        }
+
+        cv::TickMeter tm;
+        tm.start();
+        // 处理帧
+        stitcher->OptAndOutCurrPan();
+
+        tm.stop();
+
+        std::cout << "time opt:" << tm.getTimeMilli() << std::endl;
+
+
+
+    }
+}
+
+
+
+
+
+using std::string;
+
+int main()
+{
+    vector<std::string> videoPathList;
+    vector<std::string> srtPathList;
+
+    string folder = "F:/DJI_202504181507_016/";
+
+    //
+    videoPathList.push_back(folder + "DJI_20250418152649_0005_W.MP4");
+	srtPathList.push_back(folder + "DJI_20250418152649_0005_W.srt");
+
+   //videoPathList.push_back(folder + "DJI_20250418153043_0006_T.MP4");
+   //srtPathList.push_back(folder + "DJI_20250418153043_0006_T.srt");
+
+   //videoPathList.push_back(folder + "DJI_20250418152649_0005_T.MP4");
+   //srtPathList.push_back(folder + "DJI_20250418152649_0005_T.srt");
+
+
+
+    ProcDJVideo(videoPathList, srtPathList);
+    return 0;
+}
+
+
diff --git a/doc/吊舱扫描景像拼接算法方案.docx b/doc/吊舱扫描景像拼接算法方案.docx
index 43a3f0a..87dc516 100644
Binary files a/doc/吊舱扫描景像拼接算法方案.docx and b/doc/吊舱扫描景像拼接算法方案.docx differ
diff --git a/outputSrt.py b/outputSrt.py
new file mode 100644
index 0000000..03455ce
--- /dev/null
+++ b/outputSrt.py
@@ -0,0 +1,9 @@
+import ffmpeg
+
+input_file = "I:/DJI_20250418144441_0002_W.MP4"
+output_file = "I:/DJI_20250418144441_0002_W.srt"
+
+ffmpeg.input(input_file).output(output_file).run()
+
+
+
diff --git a/public_include/Arith_CommonDef.h b/public_include/Arith_CommonDef.h
index 3677bf7..cea6acc 100644
--- a/public_include/Arith_CommonDef.h
+++ b/public_include/Arith_CommonDef.h
@@ -466,7 +466,7 @@ typedef struct tagAirCraftInfo
 // 相机信息
 typedef struct tagCamInfo
 {
-    int             nFocus;                     //实时焦距值 
+    float             nFocus;                     //实时焦距值 
     float           fPixelSize;                 //像元尺寸
     GLB_VIDEO_TYPE   unVideoType;                //视频源类型
     int             dCamx;                      //像主点偏移x，0- 图像中心 ，不知道就填0
diff --git a/stitch/CMakeLists.txt b/stitch/CMakeLists.txt
index 6d68e34..ad9a57b 100644
--- a/stitch/CMakeLists.txt
+++ b/stitch/CMakeLists.txt
@@ -7,7 +7,7 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/src/Version.h.in ${CMAKE_CURRENT_SOUR
 
 add_definitions(-D_SILENCE_EXPERIMENTAL_FILESYSTEM_DEPRECATION_WARNING)
 
-SET(ENABLE_CUDA TRUE)
+SET(ENABLE_CUDA FALSE)
 
 
 IF(ENABLE_CUDA)
diff --git a/stitch/src/API_FrontStitch.h b/stitch/src/API_FrontStitch.h
index 2f01f1f..084bfa7 100644
--- a/stitch/src/API_FrontStitch.h
+++ b/stitch/src/API_FrontStitch.h
@@ -38,6 +38,8 @@ public:
     virtual GD_VIDEO_FRAME_S ExportPanAddr() = 0;
 
 
+
+
 public:
     static API_FrontStitch* Create(std::string cachedir = "./cache");
     static void Destroy(API_FrontStitch* obj);
diff --git a/stitch/src/API_UnderStitch.h b/stitch/src/API_UnderStitch.h
index 7acb915..d916f7a 100644
--- a/stitch/src/API_UnderStitch.h
+++ b/stitch/src/API_UnderStitch.h
@@ -41,6 +41,11 @@ public:
     // 获取全景图
     virtual GD_VIDEO_FRAME_S ExportPanAddr() = 0;
 
+    // 获取全景图mat
+    virtual cv::Mat ExportPanMat() = 0;
+
+
+
 public:
     static API_UnderStitch* Create(std::string cachedir = "./cache");
     static void Destroy(API_UnderStitch* obj);
diff --git a/stitch/src/Arith_BATask.cpp b/stitch/src/Arith_BATask.cpp
index 773e453..fa34f18 100644
--- a/stitch/src/Arith_BATask.cpp
+++ b/stitch/src/Arith_BATask.cpp
@@ -3,6 +3,7 @@
 #include "ceres/ceres.h"
 #include "Arith_GeoSolver.h"
 #include "math.h"
+#include "Arith_Utils.h"
 using namespace ceres;
 
 
@@ -173,7 +174,7 @@ void BA_Task::OptFrame(vector<KeyType> frameInd,cv::Mat H_map)
                 cv::KeyPoint keypoint_i = _FeaPtVec[i][mc.queryIdx];
                 cv::KeyPoint keypoint_j = _FeaPtVec[j][mc.trainIdx];
 
-                ceres::LossFunction* loss_function = new ceres::HuberLoss(35);
+                ceres::LossFunction* loss_function = new ceres::HuberLoss(30);
 
                 cv::Mat H1 = _origMatrix[i];
                 cv::Mat H2 = _origMatrix[j];
@@ -275,7 +276,7 @@ int BA_Task::readFrameInfo(vector<KeyType> frameInd)
 
 #ifdef SHOW_MATCH
 			// 读取图像
-			cv::Mat img = cv::Mat(_t_frame_cache->_frame_info.u32Height, _t_frame_cache->_frame_info.u32Width,CV_8UC1, _t_frame_cache->_data);
+			cv::Mat img = getRGBAMatFromGDFrame(_t_frame_cache->_frame_info, _t_frame_cache->_data);
 			_imgVec.push_back(img.clone());
 #endif
 
diff --git a/stitch/src/Arith_FeaMatch.cpp b/stitch/src/Arith_FeaMatch.cpp
index 2a8432b..e68c430 100644
--- a/stitch/src/Arith_FeaMatch.cpp
+++ b/stitch/src/Arith_FeaMatch.cpp
@@ -67,7 +67,7 @@ void FeatureMatcher::matchFeatures_WithH(vector<KeyPoint> keypoints1, cv::Mat& d
         auto warp_pt1 = warpPointWithH(H1, keypoints1[mc.queryIdx].pt);
         auto warp_pt2 = warpPointWithH(H2, keypoints2[mc.trainIdx].pt);
 
-        if (fabs(warp_pt1.x - warp_pt2.x) + fabs(warp_pt1.y - warp_pt2.y) < 800)
+        if (fabs(warp_pt1.x - warp_pt2.x) + fabs(warp_pt1.y - warp_pt2.y) < 20)
         {
             matches.push_back(mc);
         }
diff --git a/stitch/src/Arith_UnderStitch.cpp b/stitch/src/Arith_UnderStitch.cpp
index d2a5fec..2f3d707 100644
--- a/stitch/src/Arith_UnderStitch.cpp
+++ b/stitch/src/Arith_UnderStitch.cpp
@@ -6,6 +6,18 @@
 #include <opencv2/opencv.hpp>
 #include <omp.h>
 
+#ifdef _WIN32
+#include <direct.h>
+#include <io.h>
+#define MKDIR(dir) _mkdir(dir)
+#define ACCESS _access
+#else
+#include <sys/stat.h>
+#include <unistd.h>
+#define MKDIR(dir) mkdir(dir, 0777)
+#define ACCESS access
+#endif
+
 using namespace std;
 using namespace cv;
 
@@ -62,9 +74,9 @@ UPanInfo UnderStitch::InitMap(FrameInfo info)
 
 	// 全景图初始化
 	UPanInfo panPara = { 0 };
-	panPara.m_pan_width = MIN(info.nWidth * 5,3000);//全景宽
-	panPara.m_pan_height = MIN(info.nWidth * 5, 3000);//全景高
-	panPara.scale = gsd;//比例尺,1m = ?pix
+	panPara.m_pan_width = MIN(info.nWidth * 5,8000);//全景宽
+	panPara.m_pan_height = MIN(info.nWidth * 5, 8000);//全景高
+	panPara.scale = 6;//比例尺,1m = ?pix
 
 
 	// 直接无平移解算
@@ -72,8 +84,8 @@ UPanInfo UnderStitch::InitMap(FrameInfo info)
 	auto cur = warpPointWithH(H_0, ct_geo);
 
 	// 计算平移到全景图固定点的平移量，从此处开始拼接
-	int planX = panPara.m_pan_width/2;
-	int planY = panPara.m_pan_height/2;
+	int planX = panPara.m_pan_width/2 + 500;
+	int planY = panPara.m_pan_height - 500;
 
 
 	panPara.map_shiftX = planX - (cur.x);//平移X
@@ -130,6 +142,12 @@ void UnderStitch::SetOutput(std::string filename, std::string outdir)
 	_filename = filename;
 	_outDir = outdir;
 	_kmlPath = _outDir + "/" + _filename + ".kml";
+
+	// 创建输出目录
+	if (ACCESS(_outDir.c_str(), 0) != 0)
+	{
+		MKDIR(_outDir.c_str());
+	}
 }
 
 void UnderStitch::SetConfig(UPanConfig config)
@@ -140,16 +158,8 @@ void UnderStitch::SetConfig(UPanConfig config)
 SINT32 UnderStitch::Run(GD_VIDEO_FRAME_S img, FrameInfo para)
 {
 	// 快拼
-	auto dst = GeoStitch(img, para);
+	GeoStitch(img, para);
 
-	//imshow("dst", dst);
-	//waitKey(1);
-
-	if (_config.bOutGoogleTile)
-	{
-		// 实时裁切瓦片输出
-		CutTileRealTime();
-	}
 
 	if (_config.bUseBA)
 	{
@@ -174,7 +184,7 @@ SINT32 UnderStitch::OptAndOutCurrPan()
 	if (_config.bUseBA)
 	{
 		// 优化所有帧
-		ProcessFrame(_recvFrameKey);
+		//ProcessFrame(_recvFrameKey);
 	}
 
 	// 输出当前所有瓦片
@@ -250,7 +260,13 @@ SINT32  UnderStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para)
 	// 结合全景图投影H
 	cv::Mat H = _H_pan * H1;
 
-	cv::Mat Orth = getOrthImage(img, para);
+	TileInfo info = { 0 };
+	cv::Mat Orth_Image = getOrthImage(src, para, info);
+
+	// 输出单帧谷歌瓦片
+	_googleProduct.ExportGeoPng(Orth_Image, info, _outDir);
+
+
 
 	// 利用H投影当前帧到全景
 	cv::Mat imagetmp(_panImage.size(), CV_8UC3, cv::Scalar(0, 0, 0));
@@ -258,8 +274,6 @@ SINT32  UnderStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para)
 
 
 	cv::Mat mask = cv::Mat::ones(src.size(), CV_8UC1);
-	mask.colRange(0, 200).setTo(0);
-
 
 	cv::Mat warped_mask;
 	cv::warpPerspective(mask, warped_mask, H, imagetmp.size(), cv::INTER_LINEAR);
@@ -268,12 +282,11 @@ SINT32  UnderStitch::GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para)
 	// 覆盖区域掩码更新
 	_panMask = _panMask | warped_mask;
 
-	// 生产快拼瓦片
-	CutTileRealTime();
 
 	return 0;
 }
 
+// 废弃，改为输出单帧正射后的瓦片
 void UnderStitch::CutTileRealTime()
 {
 	// 在4倍降采样图上计算瓦片覆盖情况
@@ -361,6 +374,7 @@ SINT32 UnderStitch::ReceiveFrame(GD_VIDEO_FRAME_S img, FrameInfo para)
 
 
 	cv::Mat src = getRGBAMatFromGDFrame(img, img.u64VirAddr[0]);
+
 	_FeaMatcher->extractFeatures(src, keypoints, descriptors);
 	
 	size_t keyNum = MIN(keypoints.size(), FEA_NUM_MAX);
@@ -448,15 +462,13 @@ bool UnderStitch::ExportGoogleTile()
 	return 0;
 }
 
-cv::Mat UnderStitch::getOrthImage(GD_VIDEO_FRAME_S img, FrameInfo para)
+cv::Mat UnderStitch::getOrthImage(cv::Mat src, FrameInfo para,TileInfo& tile)
 {
 	cv::Mat H = _GeoSolver->findHomography(para);
 
-	cv::Mat src = getRGBAMatFromGDFrame(img, img.u64VirAddr[0]);
-
 	cv::Rect2f roi = warpRectWithH_2Rect(H, src.size());
 
-	float scale = img.u32Width / MAX(roi.width, roi.height);
+	float scale = src.cols / MAX(roi.width, roi.height);
 	float shiftX = -roi.x * scale;
 	float shiftY = (roi.y  + roi.height)* scale;
 
@@ -469,14 +481,32 @@ cv::Mat UnderStitch::getOrthImage(GD_VIDEO_FRAME_S img, FrameInfo para)
 	cv::Mat dst;
 	warpPerspective(src, dst, H_proj * H, cv::Size(roi2.width, roi2.height));
 
-	//imshow("Orth", dst);
-	//imshow("src", src);
-	//waitKey(0);
 
-	imwrite("Orth.jpg", dst);
-	imwrite("src.jpg", src);
+	// 计算全景图的坐标范围
+	auto P1 = _GeoSolver->getBLHFromFrame(H,cv::Point2f(0, 0));
+	auto P2 = _GeoSolver->getBLHFromFrame(H, cv::Point2f(src.cols, 0));
 
-	return cv::Mat();
+	auto P3 = _GeoSolver->getBLHFromFrame(H, cv::Point2f(src.cols, src.rows));
+	auto P4 = _GeoSolver->getBLHFromFrame(H, cv::Point2f(0, src.rows));
+
+	auto minL = min(min(min(P1.L, P2.L), P3.L), P4.L);
+	auto maxL = max(max(max(P1.L, P2.L), P3.L), P4.L);
+
+	auto minB = min(min(min(P1.B, P2.B), P3.B), P4.B);
+	auto maxB = max(max(max(P1.B, P2.B), P3.B), P4.B);
+
+	
+
+	tile.boxLatLon.north = maxB;
+	tile.boxLatLon.south = minB;
+	tile.boxLatLon.west = minL;
+	tile.boxLatLon.east = maxL;
+	tile.tileName = _filename + std::to_string(para.nFrmID);
+	tile.href = _filename + std::to_string(para.nFrmID) + ".png";
+
+
+
+	return dst;
 }
 
 GD_VIDEO_FRAME_S UnderStitch::ExportPanAddr()
@@ -491,6 +521,11 @@ GD_VIDEO_FRAME_S UnderStitch::ExportPanAddr()
 	return pan_out;
 }
 
+cv::Mat UnderStitch::ExportPanMat()
+{
+	return _panImage;
+}
+
 PointBLH UnderStitch::getBLHFromPan(cv::Point2f ptInPan, cv::Mat _H_panPara)
 {
 	cv::Mat H_inv = _H_panPara.inv();
diff --git a/stitch/src/Arith_UnderStitch.h b/stitch/src/Arith_UnderStitch.h
index 4abd19f..eeea0fb 100644
--- a/stitch/src/Arith_UnderStitch.h
+++ b/stitch/src/Arith_UnderStitch.h
@@ -46,12 +46,16 @@ private:
     bool ExportGoogleTile();
 
     // 正射校正
-    cv::Mat getOrthImage(GD_VIDEO_FRAME_S img, FrameInfo para);
+    cv::Mat getOrthImage(cv::Mat src, FrameInfo para, TileInfo& tile);
+
+
 
 public:
 
     GD_VIDEO_FRAME_S     ExportPanAddr();
 
+    cv::Mat ExportPanMat();
+
     // 全景图地理信息计算
     PointBLH getBLHFromPan(cv::Point2f ptInPan, cv::Mat _H_panPara);
 	cv::Point2f getPanXYFromBLH(PointBLH ptInBLH, cv::Mat _H_panPara);
diff --git a/stitch/src/StitchStruct.h b/stitch/src/StitchStruct.h
index 346cc5a..81814c2 100644
--- a/stitch/src/StitchStruct.h
+++ b/stitch/src/StitchStruct.h
@@ -49,7 +49,7 @@ struct Match_Net
 };
 
 
-#define IMG_CACHE_SIZE  (1920 * 1080 * 2)   //图像缓存尺寸
+#define IMG_CACHE_SIZE  (3840 * 2160 * 3)   //图像缓存尺寸
 #define FEA_NUM_MAX   500                   // 单帧特征点数量
 #define FEA_DES_SIZE 128                    // 特征点描述子尺度
 
diff --git a/stitch/src/Version.h b/stitch/src/Version.h
index de60ae4..822627e 100644
--- a/stitch/src/Version.h
+++ b/stitch/src/Version.h
@@ -2,5 +2,5 @@
 
 #pragma once
 #include <string>
-std::string BUILD_TIME = "BUILD_TIME 2025_03_26-10.45.34";
+std::string BUILD_TIME = "BUILD_TIME 2025_04_29-08.56.38";
 std::string VERSION = "BUILD_VERSION 1.0.1";
diff --git a/stitch/src/utils/Arith_Utils.cpp b/stitch/src/utils/Arith_Utils.cpp
index be553a1..ccf3fd9 100644
--- a/stitch/src/utils/Arith_Utils.cpp
+++ b/stitch/src/utils/Arith_Utils.cpp
@@ -329,7 +329,7 @@ cv::Mat getRGBAMatFromGDFrame(GD_VIDEO_FRAME_S frame, void* pArr)
 	{
 		cv::Mat mat(frame.u32Height, frame.u32Width, CV_8UC3, pArr);
 		cv::cvtColor(mat, dst, cv::COLOR_BGR2BGRA);
-		return mat.clone();
+		return dst.clone();
 	}
 
 	return cv::Mat();