#pragma once
#include "Arith_CommonDef.h"
#include "opencv2/opencv.hpp"
#include "PlatformDefine.h"

using std::vector;
using cv::Point2d;
using cv::Point2f;
using cv::Mat;
using cv::Mat_;

// 帧内外方位元素
struct FrameInfo
{
    int nFrmID;//帧编号，唯一ID
    AirCraftInfo craft;
    CamInfo camInfo;
    ServoInfo servoInfo;
    int nEvHeight;//相对高差
    int nWidth;
    int nHeight;
};

// 全景图配置
struct PanInfo
{
    int m_pan_width;
    int m_pan_height;
    float scale;// 比例尺
    float map_shiftX;// 平移X
    float map_shiftY;// 平移Y
};


// 匹配关系网，BA的边
struct Match_Net
{
    int imgNo;                    //! image no. start from 0
    vector<int> relatedImgs;      //! the position index of overlap-image in visitOrder
    vector<vector<Point2d> > PointSet;
};


#define IMG_CACHE_SIZE  (1920 * 1080 * 3)   //图像缓存尺寸
#define FEA_NUM_MAX   500                      // 单帧特征点数量
#define FEA_DES_SIZE 128                    // 特征点描述子尺度

// 帧缓存:按照固定大小设计，便于管理
struct FrameCache
{
    FrameInfo _para;
    GD_VIDEO_FRAME_S _frame_info;
    BYTE8 _data[IMG_CACHE_SIZE];
    cv::KeyPoint _pt[FEA_NUM_MAX];
    FLOAT32 _desp[FEA_NUM_MAX * FEA_DES_SIZE];

    DOUBLE64 H[9];// H矩阵
};