from __future__ import annotations

from typing import Any, TypeAlias

from numpy.typing import NDArray

ImageLike: TypeAlias = NDArray[Any]


class PointBLH:
    """地理坐标系（单位：度）."""

    B: float
    L: float
    H: float

    def __init__(self) -> None: ...


class EulerRPY:
    """RPY 姿态角（单位：度）."""

    fRoll: float
    fPitch: float
    fYaw: float

    def __init__(self) -> None: ...


class AirCraftInfo:
    """载体信息."""

    nPlaneID: int
    stPos: PointBLH
    stAtt: EulerRPY

    def __init__(self) -> None: ...


class CamInfo:
    """相机信息."""

    nFocus: int
    fPixelSize: float
    unVideoType: int
    dCamx: float
    dCamy: float
    fAglReso: float

    def __init__(self) -> None: ...


class ServoInfo:
    """伺服状态."""

    fServoAz: float
    fServoPt: float
    fServoAzSpeed: float
    fServoPtSpeed: float

    def __init__(self) -> None: ...


class FrameInfo:
    """帧内外方位元素."""

    nFrmID: int
    craft: AirCraftInfo
    camInfo: CamInfo
    servoInfo: ServoInfo
    nEvHeight: int
    nWidth: int
    nHeight: int

    def __init__(self) -> None: ...


class UPanInfo:
    """下视全景图配置."""

    m_pan_width: int
    m_pan_height: int
    scale: float
    map_shiftX: float
    map_shiftY: float

    def __init__(self) -> None: ...


class UPanConfig:
    """下视拼接参数控制."""

    bUseBA: bool
    bOutFrameTile: bool
    bOutGoogleTile: bool

    def __init__(self) -> None: ...


class API_UnderStitch:
    """视频帧下视地理拼接."""

    def Init(self, info: FrameInfo) -> UPanInfo:
        """初始化拼接，返回全景图配置."""
        ...

    def SetOutput(self, name: str, outdir: str) -> None:
        """配置输出标识和目录."""
        ...

    def Run(self, img: ImageLike, para: FrameInfo) -> int:
        """运行拼接流程（cv::Mat/numpy.ndarray）."""
        ...

    def Stop(self) -> None:
        """中止拼接流程."""
        ...

    def SetConfig(self, config: UPanConfig) -> None:
        """更新运行参数."""
        ...

    def OptAndOutCurrPan(self) -> int:
        """立即优化并输出当前全景图."""
        ...

    def ExportPanMat(self) -> ImageLike:
        """获取当前全景图像."""
        ...

    def getHomography(self, info: FrameInfo) -> ImageLike:
        """根据帧信息返回单应性矩阵."""
        ...

    @staticmethod
    def Create(cachedir: str = "./cache") -> API_UnderStitch:
        """创建 API_UnderStitch 实例."""
        ...

    @staticmethod
    def Destroy(obj: API_UnderStitch) -> None:
        """销毁 API_UnderStitch 实例."""
        ...


__all__ = [
    "API_UnderStitch",
    "AirCraftInfo",
    "CamInfo",
    "EulerRPY",
    "FrameInfo",
    "ImageLike",
    "PointBLH",
    "ServoInfo",
    "UPanConfig",
    "UPanInfo",
]