#include "API_UnderStitch.h"
#include "opencv2/opencv.hpp"
#include "Arith_GeoSolver.h"
#include "Arith_FeaMatch.h"
#include "StitchStruct.h"
#include "Arith_BATask.h"
#include "FileCache.h"
#include "GoogleTile.h"
#include "Arith_BlendMap.h"

class UnderStitch :public API_UnderStitch
{
public:
    UnderStitch(SINT32 nWidth, SINT32 nHeight);
    ~UnderStitch();

    UPanInfo Init(FrameInfo info);

    BYTE8 GeoStitch(GD_VIDEO_FRAME_S img, FrameInfo para);

    // 接收帧
    SINT32 ReceiveFrame(GD_VIDEO_FRAME_S img, FrameInfo para);

    // 处理帧
    SINT32 ProcessFrame();

    // 输出地理产品:kml png全景
    bool ExportGeoPng(std::string dir, std::string name);

    // 
    bool ExportGoogleTile(std::string dir, std::string name);

public:

    GD_VIDEO_FRAME_S     ExportPanAddr();

    // 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);

private:
    cv::Mat getAffineFromGeo2Pan(UPanInfo _pan);//计算全景图投影，从地理系到全景地图，统一计算
    UPanInfo     InitMap(FrameInfo info);

private:


    vector<KeyType> _recvFrameKey;// 接收帧总表

    FileCache<FrameCache>* _cache;//文件缓存，存储外部传入的原始帧信息以及预处理结果



private:
    googleTile _googleProduct;

	GeoSolver* _GeoSolver;//外参计算

    FeatureMatcher* _FeaMatcher;//特征匹配

    BA_Task* _BATask;//BA

    MapBlend* _BlendTask;// 融合模块


    UPanInfo _panPara;//全景图配置

	cv::Mat _H_pan;//全景图投影矩阵：从地理系到全景地图



    cv::Mat _panImage;

    cv::Mat _panMask; //覆盖区域遮罩

    int _totalFrameCnt;//处理帧计数

};