class FeaStitch : public API_FeaStitch
{
public:
	FeaStitch();
	~FeaStitch();

	GenPanInfo Init(GD_VIDEO_FRAME_S img, FrameInfo info);
	void SetOutput(std::string filename, std::string outdir);
	SINT32 Run(GD_VIDEO_FRAME_S img, FrameInfo para);
	GD_VIDEO_FRAME_S ExportPanAddr();
	cv::Mat ExportPanMat();

private:
	void SetBase(cv::Mat& img, FrameInfo& info, EdgeDirection edgeDirection);
	EdgeDirection isNearEdge(cv::Mat& H);
	void calculateInitialOffset(EdgeDirection direction, int& offsetX, int& offsetY);
	float calculateIOU(const cv::Mat& H1, const cv::Mat& H2, const cv::Size& imgSize);
	bool checkHContinuity(const cv::Mat& prevH, const cv::Mat& currH);

	FeatureMatcher* _FeaMatcher;
	std::vector<FrameInfo> _paraVec;
	std::vector<cv::Mat> _imgVec;
	std::vector<std::vector<cv::KeyPoint>> _keypointsVec;
	std::vector<cv::Mat> _descriptorsVec;
	std::vector<cv::Mat> _currMatrix;
	cv::Mat _panImage;
	GenPanInfo _panPara;
	SINT32 _totalFrameCnt;
	SINT32 _failedFrameCnt;  // 连续失败帧计数
};