#include "S732.h"
#include <iostream>
#include "API_UnderStitch.h"
#include "PlatformDefine.h"
#include <string.h>
#include "opencv2/opencv.hpp"
#include <random>
#include <string>


using namespace cv;
using namespace std;

void ProcessVL(string filePath)
{
    auto stitcher = API_UnderStitch::Create();
    stitcher->SetOutput("BT", "google_tiles");


    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

    FILE* file = fopen(filePath.c_str(), "rb");

    cv::VideoWriter output;


    int i = 0;


    SINT32 nVLFrameSize = 1.5 * (S732_VL_W * S732_VL_H + S732_VL_W * PARA_VL_LINE_S732);
    unsigned char* pFrameVL = new unsigned char[nVLFrameSize];

    while (!feof(file))
    {
        fread(pFrameVL, 1, nVLFrameSize, file);

        STD_DTArith_Record732 Paras_VL = { 0 };
        memcpy(&Paras_VL, (unsigned char*)(pFrameVL + int(1.5 * S732_VL_W * S732_VL_H)), sizeof(STD_DTArith_Record732));

        FrameInfo info = { 0 };
        info.nFrmID = i;

        info.camInfo.fPixelSize = Paras_VL.trackInputPara.stCameraInfo.fPixelSize;

        info.camInfo.nFocus = Paras_VL.trackInputPara.stCameraInfo.nFocus;

        info.craft.stAtt.fYaw = Paras_VL.trackInputPara.stAirCraftInfo.stAtt.fYaw;
        info.craft.stAtt.fPitch = Paras_VL.trackInputPara.stAirCraftInfo.stAtt.fPitch;
        info.craft.stAtt.fRoll = Paras_VL.trackInputPara.stAirCraftInfo.stAtt.fRoll;

        info.craft.stPos.B = Paras_VL.trackInputPara.stAirCraftInfo.stPos.B;
        info.craft.stPos.L = Paras_VL.trackInputPara.stAirCraftInfo.stPos.L;
        info.craft.stPos.H = Paras_VL.trackInputPara.stAirCraftInfo.stPos.H;


        info.nEvHeight = info.craft.stPos.H - 1360;

        info.servoInfo.fServoAz = Paras_VL.trackInputPara.stServoInfo.fServoAz;
        info.servoInfo.fServoPt = Paras_VL.trackInputPara.stServoInfo.fServoPt;

        info.nWidth = S732_VL_W;
        info.nHeight = S732_VL_H;


        //info.craft.stAtt.fYaw += gr.generate();
        //info.craft.stAtt.fPitch += gr.generate();
        //info.craft.stAtt.fRoll += gr.generate();

        cv::Mat mat_src(S732_VL_H * 1.5, S732_VL_W, CV_8UC1, pFrameVL);
        cv::Mat IMG;
        cv::cvtColor(mat_src, IMG, cv::COLOR_YUV2BGR_NV12);


        cv::Mat IMG_show;
        cv::resize(IMG, IMG_show, cv::Size(IMG.cols / 4, IMG.rows / 4));
        imshow("IMG_show", IMG_show);

        frame.enPixelFormat = GD_PIXEL_FORMAT_NV12;
        frame.u32Width = S732_VL_W;
        frame.u32Height = S732_VL_H;
        frame.u64VirAddr[0] = pFrameVL;

        //imwrite("D:/imgVL_u.jpg", IMG);


        if (i == 0 /*|| i == 200*/)
        {
            stitcher->Init(info);

            UPanConfig cfg = { 0 };
            cfg.bOutGoogleTile = 1;
            cfg.bOutFrameTile = 0;
            stitcher->SetConfig(cfg);

            stitcher->SetOutput("baotou","E:/google_tiles");


            pan = stitcher->ExportPanAddr();

            mat_pan = cv::Mat(pan.u32Height, pan.u32Width, CV_8UC4, pan.u64VirAddr[0]);

            output.open("E:/output.mp4", VideoWriter::fourcc('H', '2', '6', '4'), 5, Size(pan.u32Width / 8, pan.u32Height / 8), true);
            if (!output.isOpened())
            {
                cout << "打开视频失败" << endl;
                return;
            }
        }
        else
        {
            std::cout << info.craft.stPos.B << " " << info.craft.stPos.L << " " << info.craft.stPos.H << " "
                << info.craft.stAtt.fYaw << " " << info.craft.stAtt.fPitch << " " << info.craft.stAtt.fRoll << " "
                << info.servoInfo.fServoAz << " " << info.servoInfo.fServoPt + 90
                << std::endl;

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

            tm.stop();

            cout << "time:" << tm.getTimeMilli() << endl;
        }

        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 / 8, pan_rgb.rows / 8));

        output.write(pan_rgb_ds);

        imshow("pan_opt", pan_rgb_ds);


        waitKey(1);

        i = i + 1;
    }

    cv::TickMeter tm;
    tm.start();
    // 处理帧
    stitcher->OptAndOutCurrPan();

    tm.stop();

    cout << "time opt:" << tm.getTimeMilli() << endl;


    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 / 8, pan_rgb.rows / 8));

    for (int i = 0; i < 25; i++)
    {
        cv::putText(pan_rgb_ds, "BA opt", cv::Point(100, 40), 0, 1, cv::Scalar(255, 0, 0));
        output.write(pan_rgb_ds);
    }


    waitKey(1);


    output.release();
}











int main()
{
    ProcessVL("D:/S732挂飞1101/20251101_091550742_2.yuv");
	return 0;
}