#include <pybind11/pybind11.h>
#include <pybind11/stl.h>  // 用于绑定 std::string 等
#include <pybind11/numpy.h>
#include <pybind11/stl/filesystem.h>
#include "StitchStruct.h" // 包含 API_UnderStitch 的定义
#include "Arith_UnderStitch.h"
#include "Arith_GeoSolver.h"
// 可能还需要包含其他依赖项，如 OpenCV 的绑定头文件

namespace py = pybind11;

// 声明外部的辅助绑定函数
void bind_public_structures(py::module_ &m);
void bind_api_understitch(py::module_ &m);


PYBIND11_MODULE(UStitcher, m) {

    m.doc() = "pybind11 bindings for UnderStitcher.";

    // 绑定通用数据结构
    bind_public_structures(m);

    // 绑定下视模块接口
    bind_api_understitch(m);

}





void bind_api_understitch(py::module_& m) {

    // UPanConfig
    py::class_<UPanConfig>(m, "UPanConfig", "下视拼接参数控制")
        .def(py::init<>())
        .def_readwrite("bUseBA", &UPanConfig::bUseBA, "开启BA")
        .def_readwrite("bOutFrameTile", &UPanConfig::bOutFrameTile, "输出单帧正射图")
        .def_readwrite("bOutGoogleTile", &UPanConfig::bOutGoogleTile, "输出谷歌瓦片");

    // FrameInfo
    py::class_<FrameInfo>(m, "FrameInfo", "帧内外方位元素")
        .def(py::init<>())
        .def_readwrite("nFrmID", &FrameInfo::nFrmID, "帧编号，唯一ID")
        .def_readwrite("craft", &FrameInfo::craft, "载体信息")
        .def_readwrite("camInfo", &FrameInfo::camInfo, "相机信息")
        .def_readwrite("servoInfo", &FrameInfo::servoInfo, "伺服状态")
        .def_readwrite("nEvHeight", &FrameInfo::nEvHeight, "相对高差")
        .def_readwrite("nWidth", &FrameInfo::nWidth)
        .def_readwrite("nHeight", &FrameInfo::nHeight);

    // UPanInfo
    py::class_<UPanInfo>(m, "UPanInfo", "下视全景图配置")
        .def(py::init<>())
        .def_readwrite("m_pan_width", &UPanInfo::m_pan_width)
        .def_readwrite("m_pan_height", &UPanInfo::m_pan_height)
        .def_readwrite("scale", &UPanInfo::scale, "比例尺")
        .def_readwrite("map_shiftX", &UPanInfo::map_shiftX, "平移X")
        .def_readwrite("map_shiftY", &UPanInfo::map_shiftY, "平移Y");
    // ----------------------------------------------------
    // 2. 绑定 API_UnderStitch 类
    // ----------------------------------------------------
    py::class_<API_UnderStitch>(m, "API_UnderStitch")
        // py::init() 是不必要的，因为它是抽象类


        // 绑定纯虚函数 (这些函数需要在 C++ 派生类中实现)
        .def("Init", &API_UnderStitch::Init,
            py::arg("info"), "初始化拼接")

        .def("SetOutput", &API_UnderStitch::SetOutput,
            py::arg("name"), py::arg("outdir"), "设置输出标识和路径")

        .def("Run", &API_UnderStitch::Run,
            py::arg("img"), py::arg("para"), "运行拼接流程")

        .def("Stop", &API_UnderStitch::Stop,
            "中止拼接流程")

        .def("SetConfig", &API_UnderStitch::SetConfig,
            py::arg("config"), "运行参数配置")


        .def("ExportPanAddr", &API_UnderStitch::ExportPanAddr,
            py::return_value_policy::reference_internal, // 返回引用，确保 C++ 对象不被析构
            "获取全景图")

        .def("ExportPanMat", &API_UnderStitch::ExportPanMat,
            py::return_value_policy::copy, // 通常 cv::Mat 返回时是深拷贝
            "获取全景图cv::Mat")

        //getHomography
        .def("getHomography", &API_UnderStitch::getHomography,
            py::return_value_policy::copy, // 通常 cv::Mat 返回时是深拷贝
            "获取H映射矩阵:从像方到物方")

        //----------------------------------------------------
        //3. 绑定静态工厂方法 (Factory Methods)
        //----------------------------------------------------

        // 绑定 Create 方法
        .def_static("Create", &API_UnderStitch::Create,
            py::arg("cachedir") = "./cache",
            py::return_value_policy::take_ownership, // 返回指针，需要 Python 管理其生命周期
            "创建 API_UnderStitch 实例")

        // 绑定 Destroy 方法
        // 注意：这里需要 pybind11::arg::none() 来明确指出该函数没有返回值
        .def_static("Destroy", &API_UnderStitch::Destroy,
            py::arg("obj"),
            "销毁 API_UnderStitch 实例")

        ;


}