#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;
};