#pragma once

#include "Arith_CoordModule.h"
#include "Arith_SysStruct.h"
#include "opencv2/opencv.hpp"
#include "StitchStruct.h"

// 前视扫描投影变换模型
// 
// cuda显存资源
struct cuda_Mem
{
    unsigned char* global_cuda_Frame;
    unsigned char* global_cuda_Pan;
    unsigned char* global_cuda_pan_mask;
    double* global_cuda_H_inv_data;
};

Pole getPoleFromImgWithH(cv::Mat H, cv::Point2f pt, float dep);
cv::Point2f getImgPosFromPole(cv::Mat H_inv, Pole _pole, float dep);
Pole getPoleFromFPan(cv::Point2f pt, FPanInfo _panPara);
cv::Point2f getFPanFromPole(Pole _pole, FPanInfo _panPara);