From 5540528a1d3167acd561a1766ff95fc40089e478 Mon Sep 17 00:00:00 2001
From: wangchongwu <759291707@qq.com>
Date: Mon, 24 Nov 2025 14:11:46 +0800
Subject: [PATCH] update

---
 stitch/src/Arith_BATask.cpp      |  22 +++---
 stitch/src/Arith_BATask.h        |   4 +-
 stitch/src/Arith_BlendMap.cpp    |   3 +-
 stitch/src/Arith_UnderStitch.cpp | 120 +++++++++++++++++++++++++++----
 stitch/src/Arith_UnderStitch.h   |   7 ++
 stitch/src/FileCache.h           |   2 +-
 stitch/src/GoogleTile.cpp        |   9 ++-
 stitch/src/GoogleTile.h          |   2 +-
 stitch/src/Version.h             |   2 +-
 tests/S732/decodedata.cpp        |   4 +-
 tests/S732/stitch_S732.cpp       |  43 +++++------
 tests/S732/stitch_udp.cpp        |   4 +-
 12 files changed, 164 insertions(+), 58 deletions(-)

diff --git a/stitch/src/Arith_BATask.cpp b/stitch/src/Arith_BATask.cpp
index 2184c57..8304a26 100644
--- a/stitch/src/Arith_BATask.cpp
+++ b/stitch/src/Arith_BATask.cpp
@@ -83,9 +83,9 @@ struct HomographyResidual
 
 
         // 约束投影位置不变
-        residual[2] = (P_r1 - pS1_E).squaredNorm();
-        residual[3] = (P_r2 - pS2_E).squaredNorm();
-        residual[4] = (P_r3 - pS3_E).squaredNorm();
+        residual[1] = (P_r1 - pS1_E).squaredNorm();
+        residual[2] = (P_r2 - pS2_E).squaredNorm();
+        residual[3] = (P_r3 - pS3_E).squaredNorm();
 
 
         return true;
@@ -298,15 +298,17 @@ void BA_Task::OptFrame(vector<KeyType> frameInd,cv::Mat H_map, std::unordered_ma
             {
                 _MatchMat.at<int>(i, j) = matches.size();
                 _MatchMat.at<int>(j, i) = matches.size();
+
+                #ifdef SHOW_MATCH
+                    // 绘制匹配结果
+                    drawMatch(i, j, matches, H_map);
+                #endif
             }
             else
             {
                 continue;
             }
-#ifdef SHOW_MATCH
-            // 绘制匹配结果
-            drawMatch(i, j, matches, H_map);
-#endif
+
             
             // 添加匹配点对的残差块
             for (int m = 0; m < matches.size(); m++)
@@ -333,7 +335,7 @@ void BA_Task::OptFrame(vector<KeyType> frameInd,cv::Mat H_map, std::unordered_ma
                 ceres::CostFunction* cost_function =
                     new ceres::AutoDiffCostFunction<HomographyResidual, 4, 8, 8>(
                         new HomographyResidual(keypoint_i, keypoint_j, Hi0, Hj0));
-                problemH2.AddResidualBlock(cost_function, scale_loss, h_list[i], h_list[j]);
+                problemH2.AddResidualBlock(cost_function, nullptr, h_list[i], h_list[j]);
 #endif
 
 #ifdef OPT_SE3
@@ -352,13 +354,13 @@ void BA_Task::OptFrame(vector<KeyType> frameInd,cv::Mat H_map, std::unordered_ma
 
     // 配置求解器
     ceres::Solver::Options options;
-    options.max_num_iterations = 10; // 增加最大迭代次数
+    options.max_num_iterations = 5; // 增加最大迭代次数
     options.function_tolerance = 1e-15; // 设置更严格的函数值容忍度
     options.gradient_tolerance = 1e-15; // 设置更严格的梯度容忍度
     options.parameter_tolerance = 1e-15; // 设置更严格的参数容忍度
     options.minimizer_progress_to_stdout = true;
     //options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY; // 使用稀疏求解器
-    options.num_threads = 8; // 使用多线程
+    options.num_threads = 12; // 使用多线程
 
     
     ceres::Solver::Summary summary;
diff --git a/stitch/src/Arith_BATask.h b/stitch/src/Arith_BATask.h
index f526d94..5611902 100644
--- a/stitch/src/Arith_BATask.h
+++ b/stitch/src/Arith_BATask.h
@@ -18,8 +18,8 @@
 
 //#define SHOW_MATCH
 
-//#define OPT_H
-#define OPT_SE3
+#define OPT_H
+//#define OPT_SE3
 
 class  BA_Task
 {
diff --git a/stitch/src/Arith_BlendMap.cpp b/stitch/src/Arith_BlendMap.cpp
index 460f8f9..3032fe8 100644
--- a/stitch/src/Arith_BlendMap.cpp
+++ b/stitch/src/Arith_BlendMap.cpp
@@ -257,7 +257,7 @@ void MapBlend::BatchMapWithH(const vector<KeyType> frameInd, const cv::Mat mapH,
 
 	// 读1帧，取出常规信息，宽高等
 	_cache->get(frameInd[0], _t_frame_cache);
-
+//#pragma omp parallel for
 	for (int i = 0; i < frameInd.size(); i++)
 	{
 		KeyType key = frameInd[i];
@@ -284,7 +284,6 @@ void MapBlend::BatchMapWithH(const vector<KeyType> frameInd, const cv::Mat mapH,
 		{
 			continue; // 完全在外面，直接跳过
 		}
-			
 
 		//帧在视场内，读取文件缓存 
 		if (!_cache->get(key, _t_frame_cache))
diff --git a/stitch/src/Arith_UnderStitch.cpp b/stitch/src/Arith_UnderStitch.cpp
index aac04e6..9ba4fb3 100644
--- a/stitch/src/Arith_UnderStitch.cpp
+++ b/stitch/src/Arith_UnderStitch.cpp
@@ -51,7 +51,7 @@ UnderStitch::UnderStitch(std::string cachedir)
 	_cacheDir = cachedir;
 	
 	// 创建缓存对象
-	_cache = new FileCache<FrameCache>(100, cachedir);
+	_cache = new FileCache<FrameCache>(500, cachedir);
 
 	_GeoSolver = new GeoSolver();
 
@@ -237,8 +237,8 @@ UPanInfo UnderStitch::InitMap_SCAN(FrameInfo para, float ptRange)
 	float min_y = min(min(ct_geo_left.y, ct_geo_right.y), min(ct_geo_left_fly.y, ct_geo_right_fly.y));
 	float max_y = max(max(ct_geo_left.y, ct_geo_right.y), max(ct_geo_left_fly.y, ct_geo_right_fly.y));
 
-	float E_range = (max_x - min_x) * 1.2;
-	float N_range = (max_y - min_y) * 1.2;
+	float E_range = (max_x - min_x) * 1.3;
+	float N_range = (max_y - min_y) * 1.3;
 
 	// 不损失分辨率的全景图尺寸
 	panPara.m_pan_width = E_range / scale_max;
@@ -381,7 +381,7 @@ UPanInfo UnderStitch::Init(FrameInfo info)
 
 	// 摆扫45度初始化地图尺寸
 #ifdef SCAN_MODE
-	_panPara = InitMap_SCAN(info,45);
+	_panPara = InitMap_SCAN(info,42);
 #else
 	// 常规初始化全景图（基于内存限制）
 	_panPara = InitMap(info);
@@ -399,6 +399,9 @@ UPanInfo UnderStitch::Init(FrameInfo info)
 	_config.bUseBA = false;
 	_config.bOutFrameTile = false;
 
+	// 
+	infoLast = info;
+
 	LOG_INFO("Init success");
 	return _panPara;
 }
@@ -443,12 +446,43 @@ bool UnderStitch::isFrameInPanView(const cv::Size& frameSize, const cv::Mat& H,
     return false;  // 需要触发处理
 }
 
+
+cv::Mat gammaCorrect(const cv::Mat& src, double gamma)
+{
+	cv::Mat lut(1, 256, CV_8U);
+	for (int i = 0; i < 256; i++)
+		lut.at<uchar>(i) = pow(i / 255.0, gamma) * 255.0;
+
+	cv::Mat dst;
+	cv::LUT(src, lut, dst);
+	return dst.clone();
+}
+
+
 SINT32 UnderStitch::Run(GD_VIDEO_FRAME_S frame, FrameInfo para)
 {
+	stopWatch sw;
 	LOG_INFO("Run Frame {}", para.nFrmID);
 	TransPitch(para);
 
-	run_test(para);
+
+	LOG_INFO("B:{} L:{} H:{} Yaw:{} Pitch:{} Roll:{},fAz:{} fPt:{},camf:{},camPixel:{}", 
+		para.craft.stPos.B, para.craft.stPos.L, para.craft.stPos.H, para.craft.stAtt.fYaw, para.craft.stAtt.fPitch, para.craft.stAtt.fRoll,
+		para.servoInfo.fServoAz, para.servoInfo.fServoPt,para.camInfo.nFocus,para.camInfo.fPixelSize);
+
+	//run_test(para);
+
+	// 统计扫描方向
+	int dir = StatScanDir(para);
+
+	if (dir == 1)
+	{
+		printf("++++++++++++++++++++\n");
+	}
+	else
+	{
+		printf("--------------------\n");
+	}
 
     //// 视频帧筛选
     if (!FilterFrame(para))
@@ -473,6 +507,20 @@ SINT32 UnderStitch::Run(GD_VIDEO_FRAME_S frame, FrameInfo para)
 		cv::Size(_panPara.m_pan_width, _panPara.m_pan_height)))
 	{
 
+		//cv::Mat pan_ds;
+  //      Mat pan_rgb_ds(cv::Size(panImage.cols / 2, panImage.rows / 2),CV_8UC3);
+
+        // cv::resize(panImage, pan_ds, cv::Size(panImage.cols / 2, panImage.rows / 2));
+		// cv::cvtColor(pan_ds, pan_rgb_ds, cv::COLOR_BGRA2BGR);
+    	// imwrite(_outDir + "/" + _filename + std::to_string(_lastFrameKey) + "_z" +  "_pan.png", pan_rgb_ds);
+
+
+		//OptAndOutCurrPan(_baCurrViewKey);
+
+  //      cv::resize(panImage, pan_ds, cv::Size(panImage.cols / 2, panImage.rows / 2));
+		//cv::cvtColor(pan_ds, pan_rgb_ds, cv::COLOR_BGRA2BGR);
+  //  	imwrite(_outDir + "/" + _filename + std::to_string(_lastFrameKey) + "_z" +  "_pan_AFTER.png", pan_rgb_ds);
+
 		LOG_INFO("Frame {} is out of pan view, reinitializing projection parameters", para.nFrmID);
 
 		// 输出当前所有瓦片，再不输出就会丢失当前全景中的瓦片
@@ -486,6 +534,8 @@ SINT32 UnderStitch::Run(GD_VIDEO_FRAME_S frame, FrameInfo para)
 			_googleProduct.ExportTileSet(mat_pan, mat_mask, tilesvec, outdirpath, filename);
 			}, "ExportTileSet");
 
+	
+
 		// _googleProduct.ExportTileSet(panImage, panMask, _taskTilesVec, _outDir, _filename + std::to_string(_lastFrameKey));
 
 		// 重新初始化投影参数
@@ -514,9 +564,24 @@ SINT32 UnderStitch::Run(GD_VIDEO_FRAME_S frame, FrameInfo para)
 		return 0;
 	}
 
+
+	//if (dir == -1)
+	//{
+	//	cv::Mat src1(frame.u32Height, frame.u32Width, CV_8UC3, (void*)frame.u64VirAddr[0]);
+	//	src1 = src1  + cv::Scalar(30, 30, 30);
+	//}
+	//if (dir == 1 && para.servoInfo.fServoPt < 0)
+	//{
+	//	int delta = ABS(para.servoInfo.fServoPt);
+	//	cv::Mat src1(frame.u32Height, frame.u32Width, CV_8UC3, (void*)frame.u64VirAddr[0]);
+	//	src1 = src1  + cv::Scalar(delta, delta, delta);
+	//}
+
+
 	// 获取RGBA图像
 	cv::Mat src = getRGBAMatFromGDFrame(frame, frame.u64VirAddr[0]);
 
+
 	// 输出单帧谷歌瓦片
 	if (_config.bOutFrameTile)
 	{
@@ -534,16 +599,19 @@ SINT32 UnderStitch::Run(GD_VIDEO_FRAME_S frame, FrameInfo para)
 
 	if (_config.bUseBA && TriggerBA(para))
 	{
-		// 异步执行BA优化
-		_threadPool.commit(
-			[this]() {
-				OptAndOutCurrPan(_baWindowKey);
-			},
-			"BA_Optimization"
-		);
+	// 异步执行BA优化
+	_threadPool.commit(
+	 	[this]() {
+	 		OptAndOutCurrPan(_baWindowKey);
+	 	},
+	 	"BA_Optimization"
+	);
 
 	}
 
+	LOG_INFO("stitch total times:{}", sw.elapsed_ms());
+
+
 	return 0;
 
 }
@@ -580,7 +648,7 @@ SINT32 UnderStitch::OptAndOutCurrPan(vector<KeyType> workFrame)
 	// 输出当前所有瓦片
 	LOG_INFO("ExportTileSet");
 	_googleProduct.ExportTileSet(_MapBlender->getPanImageMat(), _MapBlender->getPanMaskMat(), 
-		_taskTilesVec, _outDir, _filename + std::to_string(_lastFrameKey));
+		_taskTilesVec, _outDir, _filename + std::to_string(_lastFrameKey),false);
 
 	return workFrame.size();
 }
@@ -608,7 +676,13 @@ bool UnderStitch::FilterFrame(FrameInfo para)
 	}
 
 	// 扫描角过大，跳过
-	if (ABS(para.servoInfo.fServoPt) > 45)
+	if (ABS(para.servoInfo.fServoPt) > 37)
+	{
+		return false;
+	}
+
+	// 姿态不稳定，跳过
+	if(ABS(para.craft.stAtt.fRoll) > 5)
 	{
 		return false;
 	}
@@ -1030,6 +1104,24 @@ void UnderStitch::TransPitch(FrameInfo& info)
 	info.servoInfo.fServoPt += 90;
 }
 
+int UnderStitch::StatScanDir(FrameInfo& para)
+{
+	double d = para.servoInfo.fServoPt - infoLast.servoInfo.fServoPt;
+	infoLast = para;
+
+	// 指数平滑趋势
+	ScanTrend = 0.2 * ScanTrend + 0.8 * d;
+
+	int dir = 0;
+
+	if (ScanTrend > 0.2)
+		dir = 1;
+	else if (ScanTrend < -0.2)
+		dir = -1;
+
+	return dir;
+}
+
 
 
 cv::Mat UnderStitch::getAffineFromGeo2Pan(UPanInfo _pan)
diff --git a/stitch/src/Arith_UnderStitch.h b/stitch/src/Arith_UnderStitch.h
index 4526262..dc472c8 100644
--- a/stitch/src/Arith_UnderStitch.h
+++ b/stitch/src/Arith_UnderStitch.h
@@ -59,6 +59,9 @@ public:
 private:
     // 俯仰零位转换
     void TransPitch(FrameInfo& para);
+
+    // 扫描方向判别
+    int StatScanDir(FrameInfo& para);
      
     // 判断帧是否在全景图视场内
     bool isFrameInPanView(const cv::Size& frameSize, const cv::Mat& H, const cv::Size& panSize);
@@ -155,4 +158,8 @@ private:
     std::threadpool _threadPool;  // 线程池
 
 
+    SINT32 scanDir; //扫描方向
+    FrameInfo infoLast;//上一帧
+    FLOAT32 ScanTrend;
+
 };
\ No newline at end of file
diff --git a/stitch/src/FileCache.h b/stitch/src/FileCache.h
index 6b2faf6..d5c7c34 100644
--- a/stitch/src/FileCache.h
+++ b/stitch/src/FileCache.h
@@ -118,7 +118,7 @@ void FileCache<T>::evictIfNeeded()
     lru_list_.pop_back();
     cache_.erase(oldest);
 
-    std::cout << "Evicted cache from memory for key: " << oldest << std::endl;
+    std::cout << "cache_size:"<< cache_.size() << "Evicted cache from memory for key: " << oldest << std::endl;
 }
 
 template <typename T>
diff --git a/stitch/src/GoogleTile.cpp b/stitch/src/GoogleTile.cpp
index 5d10897..8f4435c 100644
--- a/stitch/src/GoogleTile.cpp
+++ b/stitch/src/GoogleTile.cpp
@@ -47,7 +47,7 @@ void googleTile::ExportGeoPng(cv::Mat _pan, TileInfo info, std::string dir)
 }
 #include "Log/Logger.h"
 #include "utils/Arith_timer.h"
-void googleTile::ExportTileSet(cv::Mat _pan, cv::Mat _panMask, vector<TileInfo> taskTilesVec, std::string dir,std::string fileString)
+void googleTile::ExportTileSet(cv::Mat _pan, cv::Mat _panMask, vector<TileInfo> taskTilesVec, std::string dir,std::string fileString, bool bKml)
 {
     stopWatch sw;
     int panWidth = _pan.cols;
@@ -120,8 +120,11 @@ void googleTile::ExportTileSet(cv::Mat _pan, cv::Mat _panMask, vector<TileInfo>
 
     }
 
-    // 输出KML
-    WriteKml(vaildTilesVec,dir + "/" + fileString + "_z" + std::to_string(zoom) + ".kml");
+    if (bKml)
+    {
+        // 输出KML
+        WriteKml(vaildTilesVec,dir + "/" + fileString + "_z" + std::to_string(zoom) + ".kml");
+    }
 
 
     LOG_INFO("ExportTileSet TIME:{}", sw.elapsed_ms());
diff --git a/stitch/src/GoogleTile.h b/stitch/src/GoogleTile.h
index 5b9fb8c..c52716d 100644
--- a/stitch/src/GoogleTile.h
+++ b/stitch/src/GoogleTile.h
@@ -51,7 +51,7 @@ public:
     void ExportGeoPng(cv::Mat _pan, TileInfo info, std::string dir);
 
     // 输出tile组
-    void ExportTileSet(cv::Mat _pan, cv::Mat _panMask, vector<TileInfo> taskTilesVec, std::string dir, std::string fileString);
+    void ExportTileSet(cv::Mat _pan, cv::Mat _panMask, vector<TileInfo> taskTilesVec, std::string dir, std::string fileString, bool bKml = true);
 
     // 输出单个tile
     void ExportOneTile(cv::Mat _pan, TileInfo tile, std::string dir, std::string fileString);
diff --git a/stitch/src/Version.h b/stitch/src/Version.h
index 6284459..d879af8 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_11_20-13.13.47";
+std::string BUILD_TIME = "BUILD_TIME 2025_11_24-10.08.46";
 std::string VERSION = "BUILD_VERSION 1.0.1";
diff --git a/tests/S732/decodedata.cpp b/tests/S732/decodedata.cpp
index a00597b..00b2ef1 100644
--- a/tests/S732/decodedata.cpp
+++ b/tests/S732/decodedata.cpp
@@ -196,7 +196,7 @@ void DecodeData::Init()
 
     m_frontStitcher = API_FrontStitch::Create();
 
-    m_underStitcher = API_UnderStitch::Create("d:/google_tiles/cache");
+    m_underStitcher = API_UnderStitch::Create("D:/google_tiles/cache");
 }
 
 void DecodeData::UnInit()
@@ -681,7 +681,7 @@ int DecodeData::DecodeRGBImageAndPara(unsigned char *RGBBuffer, H264SEI_Para_732
 
         m_underStitcher->SetConfig(cfg);
 
-        m_underStitcher->SetOutput("baotou", "E:/google_tiles");
+        m_underStitcher->SetOutput("baotou", "D:/google_tiles");
     }
     else
     {
diff --git a/tests/S732/stitch_S732.cpp b/tests/S732/stitch_S732.cpp
index 327821a..e3b0f8d 100644
--- a/tests/S732/stitch_S732.cpp
+++ b/tests/S732/stitch_S732.cpp
@@ -13,7 +13,7 @@ using namespace std;
 
 void ProcessVL(string filePath)
 {
-    auto stitcher = API_UnderStitch::Create("D:/cache");
+    auto stitcher = API_UnderStitch::Create("/home/wang/cache");
     stitcher->SetOutput("BT", "google_tiles");
 
 
@@ -24,6 +24,8 @@ void ProcessVL(string filePath)
 
     FILE* file = fopen(filePath.c_str(), "rb");
 
+    
+
     cv::VideoWriter output;
 
 
@@ -40,9 +42,9 @@ void ProcessVL(string filePath)
     const int delayFrames = 5; // 假设延迟3帧
 
     std::deque<cv::Mat> MatBuffer;
-    const int matdelayFrames = 2; // 假设延迟3帧
+    const int matdelayFrames = 1; // 假设延迟3帧
 
-    fseek(file, nVLFrameSize * 80, SEEK_SET);
+    fseek(file, nVLFrameSize * 5, SEEK_SET);
 
     while (!feof(file))
     {
@@ -66,7 +68,7 @@ void ProcessVL(string filePath)
         info_rev.craft.stPos.L = Paras_VL.trackInputPara.stAirCraftInfo.stPos.L;
         info_rev.craft.stPos.H = Paras_VL.trackInputPara.stAirCraftInfo.stPos.H;
 
-        info_rev.nEvHeight = info_rev.craft.stPos.H - 1200;
+        info_rev.nEvHeight = info_rev.craft.stPos.H - 1250;
 
         info_rev.servoInfo.fServoAz = Paras_VL.trackInputPara.stServoInfo.fServoAz;
         info_rev.servoInfo.fServoPt = Paras_VL.trackInputPara.stServoInfo.fServoPt;
@@ -81,21 +83,21 @@ void ProcessVL(string filePath)
         cv::cvtColor(mat_src, IMG, cv::COLOR_YUV2GRAY_NV21);
         
 
-        cv::Mat f;
-        IMG.convertTo(f, CV_32F, 1.0 / 255.0);
-        cv::pow(f, 0.8, f);    // gamma < 1 => 变亮
-        cv::Mat bright;
-        f.convertTo(bright, CV_8U, 255.0);
-
-        cv::cvtColor(bright, bright, cv::COLOR_GRAY2BGR);
+        //cv::Mat f;
+        //IMG.convertTo(f, CV_32F, 1.0 / 255.0);
+        //cv::pow(f, 0.8, f);    // gamma < 1 => 变亮
+        //cv::Mat bright;
+        //f.convertTo(bright, CV_8U, 255.0);
 
+        //cv::cvtColor(bright, bright, cv::COLOR_GRAY2BGR);
+        cv::cvtColor(IMG, IMG, cv::COLOR_GRAY2BGR);
 
         cv::namedWindow("IMG_show", cv::WINDOW_NORMAL);
         imshow("IMG_show", IMG);
 
 
 
-        MatBuffer.push_back(bright.clone());
+        MatBuffer.push_back(IMG.clone());
 
         if (MatBuffer.size() < matdelayFrames)
         {
@@ -121,19 +123,19 @@ void ProcessVL(string filePath)
             stitcher->Init(info);
 
             UPanConfig cfg = { 0 };
-            cfg.bOutGoogleTile = 0;
+            cfg.bOutGoogleTile = 1;
             cfg.bOutFrameTile = 0;
-            cfg.bUseBA = 0;
+            cfg.bUseBA = 1;
             stitcher->SetConfig(cfg);
 
-            stitcher->SetOutput("baotou","F:/google_tiles");
+            stitcher->SetOutput("baotou","/home/wang/google_tiles");
 
 
             pan = stitcher->ExportPanAddr();
 
             mat_pan = cv::Mat(pan.u32Height, pan.u32Width, CV_8UC4, pan.u64VirAddr[0]);
 
-            output.open("output.mp4", VideoWriter::fourcc('M', 'P', '4', 'V'), 50, Size(pan.u32Width / 8, pan.u32Height / 8), true);
+            output.open("output.mp4", VideoWriter::fourcc('M', 'P', '4', 'V'), 50, Size(pan.u32Width / 10, pan.u32Height / 10), true);
             if (!output.isOpened())
             {
                 cout << "打开视频失败" << endl;
@@ -157,9 +159,10 @@ void ProcessVL(string filePath)
             cout << "time:" << tm.getTimeMilli() << endl;
         }
 
+        
         Mat pan_ds; 
-        Mat pan_rgb_ds(cv::Size(mat_pan.cols / 8, mat_pan.rows / 8),CV_8UC3);
-        cv::resize(mat_pan, pan_ds, cv::Size(mat_pan.cols / 8, mat_pan.rows / 8));
+        Mat pan_rgb_ds(cv::Size(mat_pan.cols / 10, mat_pan.rows / 10),CV_8UC3);
+        cv::resize(mat_pan, pan_ds, cv::Size(mat_pan.cols / 10, mat_pan.rows / 10));
 
         cv::cvtColor(pan_ds, pan_rgb_ds, cv::COLOR_BGRA2BGR);
 
@@ -184,7 +187,7 @@ void ProcessVL(string filePath)
     //cv::TickMeter tm;
     //tm.start();
     //// 处理帧
-    //stitcher->OptAndOutCurrPan();
+    stitcher->OptAndOutCurrPan();
 
     //tm.stop();
 
@@ -203,7 +206,7 @@ void ProcessVL(string filePath)
 
 int main()
 {
-    ProcessVL("/media/wang/think/S732/扫描视频/20251116_091223317_10.yuv");
+    ProcessVL("/media/wang/data/包头/20251121/20251121_155930045_16.yuv");
 	return 0;
 }
 
diff --git a/tests/S732/stitch_udp.cpp b/tests/S732/stitch_udp.cpp
index 5ae429b..06cf855 100644
--- a/tests/S732/stitch_udp.cpp
+++ b/tests/S732/stitch_udp.cpp
@@ -5,12 +5,12 @@ int main(int argc, char* argv[])
 {
     DecodeData* m_DecodeData = new DecodeData();
 
-    std::string filestr = "D:/Project/S732/1101VL.dat";
+    std::string filestr = "F:/包头/S732显控/1101VL.dat";
 
     //std::string filestr = "E:/03855jcw/S732/H265data/1080ir2.dat";
 
     m_DecodeData->m_CurrentVideo = 1;//0:红外，1：可见光
-    m_DecodeData->m_LocalHeight = 1365;// 本地海拔
+    m_DecodeData->m_LocalHeight = 1200;// 本地海拔
     m_DecodeData->Init();
     m_DecodeData->processFileInChunks(filestr, 6 * 1024);