#include <iostream>
#include <fstream>
#include <sstream>
#include <vector>
#include <string>
#include <iostream>
#include "API_FeaStitch.h"
#include "PlatformDefine.h"
#include <string.h>
#include "opencv2/opencv.hpp"
#include <random>

void ProcDJVideo(std::string videoPathList)
{
    auto stitcher = API_FeaStitch::Create();

    

    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);

    // 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));


    // dsample 
    int nDownSample = 1;

    if (width > 3000)
    {
        nDownSample = 4;
    }



    FrameInfo info = { 0 };
    info.nFrmID = 0;
    info.camInfo.nFocus = 0;
    info.camInfo.fPixelSize = 0;

    info.craft.stAtt.fYaw = 0;
    info.craft.stAtt.fPitch = 0;
    info.craft.stAtt.fRoll = 0;

    info.craft.stPos.B = 0;
    info.craft.stPos.L = 0;
    info.craft.stPos.H = 0;


    info.nEvHeight = 0;

    info.servoInfo.fServoAz = 0;
    info.servoInfo.fServoPt = 0;

    info.nWidth = width / nDownSample;
    info.nHeight = height / nDownSample;

    cv::Mat mat;

    // Read a new frame
    cap >> mat;
    Mat mat_ds2;

    cv::resize(mat, mat_ds2, cv::Size(width / nDownSample, height / nDownSample));

    frame.enPixelFormat = GD_PIXEL_FORMAT_RGB_PACKED;
    frame.u32Width = mat_ds2.cols;
    frame.u32Height = mat_ds2.rows;
    frame.u64VirAddr[0] = mat_ds2.data;

    // 初始化
    stitcher->Init(frame,info);

    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 / 2, pan_rgb.rows / 2));

    imshow("pan_rgb", pan_rgb_ds);
    cv::waitKey(0);

    cv::VideoWriter output;
    output.open("D:/DJ_stitchVL.mp4", cv::VideoWriter::fourcc('H', '2', '6', '4'), 5, cv::Size(mat_pan.cols / 3, mat_pan.rows / 3), true);


    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.nWidth = mat_ds2.cols;
        info.nHeight = mat_ds2.rows;


        frame.enPixelFormat = GD_PIXEL_FORMAT_BGR_PACKED;
        frame.u32Width = mat_ds2.cols;
        frame.u32Height = mat_ds2.rows;
        frame.u64VirAddr[0] = mat_ds2.data;

        if (frmID % 20 != 0)
        {
            continue;
        }


        cv::TickMeter tm;
        tm.start();
        // 基于外参的快拼
        stitcher->Run(frame, info);

        tm.stop();

        printf("cost time:%f\n", tm.getTimeMilli());


        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 / 2, pan_rgb.rows / 2));

        output.write(pan_rgb_ds);

        imshow("pan_rgb", pan_rgb_ds);
        if (cv::waitKey(1) == 27)
        {
            break;
        }

    }



    output.release();

}






using std::string;

int main(int argc, char* argv[])
{
    string videoPath;
    if (argc == 1)
    {
        videoPath = "F:/DJI_202504021349_012/DJI_20250402135211_0001_W.MP4";
    }
    else
    {
		videoPath = argv[1];
    }
    //videoPath = "F:/DJI_202504181507_016/DJI_20250418152649_0005_W.MP4";

    ProcDJVideo(videoPath);
    return 0;
}