diff --git a/CMakeLists.txt b/CMakeLists.txt
index c6c2b5f..999e0e4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,9 +5,10 @@ SET(ArithStitchDir stitch)
 
 IF(WIN32)
     set(OpenCV_DIR "C:/opencv/build/x64/vc14/lib")
+    set(CMAKE_TOOLCHAIN_FILE "C:/Users/75929/vcpkg/scripts/buildsystems/vcpkg.cmake")
 ELSE(WIN32)
     set(OpenCV_DIR "/home/wcw/opencv-3.4.16/install/share/OpenCV")
-ENDIF(WIN32)
+ENDIF(WIN32)                
 
 
 find_package(OpenCV REQUIRED)
diff --git a/main.cpp b/main.cpp
index 93821f2..f7f8e9e 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,6 +1,7 @@
 #include <iostream>
 #include "API_VideoStitch.h"
 #include "S729.h"
+#include "PlatformDefine.h"
 #include <string.h>
 #include "opencv2/opencv.hpp"
 using namespace std;
@@ -87,7 +88,11 @@ int main(int, char**)
     auto stitcher = API_VideoStitch::Create(IMAGE_WIDTH_IR,IMAGE_HEIGHT_IR);
 	//stitcher->Test();
 
+    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
+    //return 0;
     FILE* file = fopen("../20241219152917_4.xraw","rb");
 
     
@@ -96,7 +101,7 @@ int main(int, char**)
 
         fread(pFrameIR,2,IMAGE_WIDTH_IR*(IMAGE_HEIGHT_IR + PARA_IR_LINE),file);
 
-        if(i % 3 != 0)
+        if(i % 2 != 0)
         {
             continue;
         }
@@ -127,35 +132,43 @@ int main(int, char**)
 
         Map16BitTo8Bit(pFrameIR,IMAGE_WIDTH_IR*IMAGE_HEIGHT_IR,pImageIR);
 
-        cv::Mat src(IMAGE_HEIGHT_IR,IMAGE_WIDTH_IR,CV_8UC1,pImageIR);
+        cv::Mat mat_src(IMAGE_HEIGHT_IR, IMAGE_WIDTH_IR, CV_8UC1, pImageIR);
+		frame.enPixelFormat = GD_PIXEL_FORMAT_GRAY_Y8;
+		frame.u32Width = IMAGE_WIDTH_IR;
+		frame.u32Height = IMAGE_HEIGHT_IR;
+		frame.u64VirAddr[0] = pImageIR;
+        
+
+        
+
 
         if(i == 0)
         {
             stitcher->Init(info);
+
+            pan = stitcher->ExportPanAddr();
+
+            mat_pan = cv::Mat(pan.u32Height, pan.u32Width, CV_8UC1, pan.u64VirAddr[0]);
         }
         else
         {
-   //         info.craft.stAtt.fYaw = 0;
-   //         info.craft.stAtt.fPitch = 0;
-   //         info.craft.stAtt.fRoll = 0;
-   //         info.servoInfo.fServoAz = 0;
-			//info.servoInfo.fServoPt = 0;
+            //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
+            //<< endl;
 
-            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
-            << endl;
-            stitcher->Updata(src,info);
 
+            stitcher->Updata(frame,info);
 
-        }
 
-        imshow("src", src);
+        }
+        //imshow("src", mat_src);
+        imshow("pan", mat_pan);
         waitKey(1);
 
     }
     
 
-
+    waitKey(0);
 
 }
diff --git a/public_include/AI_API.h b/public_include/AI_API.h
deleted file mode 100644
index 06f7771..0000000
--- a/public_include/AI_API.h
+++ /dev/null
@@ -1,274 +0,0 @@
-/*
- * @Author: turboLIU
- * @Date: 2022-11-02 15:04:08
- * @LastEditTime: 2024-10-25 09:17:48
- * @Description: Do not edit
- * @FilePath: /Algo_ACL_Common/API/AI_API.h
- */
-#ifndef AI_API
-#define AI_API
-#include <string>
-#include "detection_type_api.h"
-
-using namespace AIGO;
-
-
-#ifdef __cplusplus
-extern "C"{
-#endif
-/**
- * @brief 算法启动前，最先年调用该函数，用于设置NPU硬件环境
- * 
- * @return int 非0表示环境异常
- */
-int Init_ACL();
-/**
- * @brief Set the deque size object
- * 
- * @param irdetin
- * @param visdetin 
- * @param irsegin
- * @param vissegin 
- * @param irdetout 
- * @param visdetout 
- * @param irsegout 
- * @param vissegout 
- * @param irdetres 
- * @param visdetres 
- * @param irsegres 
- * @param vissegres 
- * @return int 
- */
-int set_deque_size(int irdetin=3, int visdetin=3, int irsegin=3, int vissegin=3, int irdetout=5, int visdetout = 5, int irsegout = 5, int vissegout = 5,
-                    int irdetres = 10, int visdetres = 10, int irsegres = 10, int vissegres = 10);
-int get_deque_size(int &irdetin, int &visdetin, int &irsegin, int &vissegin, int &irdetout, int &visdetout, int &irsegout, int &vissegout,
-                    int &irdetres, int &visdetres, int &irsegres, int &vissegres);
-int reset_dequeu_size(int irdetin=30, int visdetin=30, int irsegin=30, int vissegin=30, int irdetout=50, int visdetout = 50, int irsegout = 50, int vissegout = 50,
-                    int irdetres = 100, int visdetres = 100, int irsegres = 100, int vissegres = 100);
-/**
- * @brief Set the stream size object 
- *        init 函数调用之前，设置模型宽高；默认 1280， 1024
- * 
- * @param width 模型宽  默认1280
- * @param height 模型高 默认1024
- * @return int 
- */
-int set_stream_size(int width, int height, MODE mode);
-int get_stream_size(int &width, int &height, MODE mode);
-int reset_stream_size(int width, int height, MODE mode);
-/**
- * @brief 同时初始化检测和分割模型
- * 
- * @param irdetmodel 红外检测模型
- * @param visdetmodel 可见光检测模型
- * @param irsegmodel 红外分割模型
- * @param vissegmodel 可见光分割模型
- * @return int 
- */
-int Init_AI(const char* irdetmodel, const char* visdetmodel, const char* irsegmodel, const char* vissegmodel);
-
-int Det_VL(ImgMat frame, std::vector<objinfo> &outputs);
-
-int Det_IR(ImgMat frame, std::vector<objinfo> &outputs);
-
-int Seg_VL(ImgMat frame, TenMat* output);
-
-int Seg_IR(ImgMat frame, TenMat* output);
-
-/**
- * @brief 运行检测分割算法，异步接口，调用get_result函数获取结果
- * 
- * @param img 
- * @param GoDet 是否执行检测算法
- * @param GoSeg 是否执行分割算法
- * @param cropFlag 是否中心裁减，裁减大小通过 set_ROIArea 设置
- * @return int 
- */
-int runAsync(ImgMat img, bool GoDet=true, bool GoSeg=true, bool cropFlag=false);
-/**
- * @brief Get the result object，获取已异步结果
- * 
- * @param timestamp 
- * @param dets 
- * @param maskImg 
- * @param front: true: 先进先出， false: 后进先出
- * @param single true：仅获取当前光源的算法结果， false：获取双光结果
- * @return int -1:队列被释放； 1: 队列为空; 0: 成功从队列获取结果；
- */
-int get_result(long long &timestamp, std::vector<objinfo> &dets, TenMat * maskImg, bool front=true, MODE mode=VIS); // async
-/**
- * @brief 由可见光为主光源，切换至红外为主光源
- * 
- * @return int 
- */
-int switch_vis_to_ir();
-/**
- * @brief 由红外为主光源，切换至可见光为主光源
- * 
- * @return int 
- */
-int switch_ir_to_vis();
-/**
- * @brief Set the dropout param 
- * 
- * @param drop  true: drop deque front data, false: not drop data, 默认: false
- * @return int 
- */
-int set_dropout_param(bool drop);
-/**
- * @brief Get the dropout param
- * 
- * @param drop 
- * @return int 
- */
-int get_dropout_param(bool &drop);
-/**
- * @brief 设置分割类型，可时时生效
- * 
- * @param mode IR or VIS
- * @param road segment road or not
- * @param bridge segment bridge or not
- * @param water segment water or not
- * @param building segment building or not
- * @return int 
- */
-int set_seg_classes(MODE mode, bool road, bool bridge, bool water, bool building);
-
-/**
- * @brief Set the nms threshold object
- * 
- * @param nms 
- * @return int 
- */
-int set_nms_threshold(float nms);
-/**
- * @brief Get the nms threshold object
- * 
- * @param nms 
- * @return int 
- */
-int get_nms_threshold(float& nms);
-/**
- * @brief Set the det threshold object
- * 
- * @param threshold 置信度
- * @param idx 1～15，设置哪一个种类的置信度，种类编号参见CLASSTYPE
- * @return int 
- */
-int set_det_threshold(float threshold, int idx);
-/**
- * @brief Get the det threshold object
- * 
- * @param threshold 置信度
- * @param idx 1～15，设置哪一个种类的置信度，种类编号参见CLASSTYPE
- * @return int 
- */
-int get_det_threshold(float &threshold, int idx);
-/**
- * @brief Set the seg threshold object
- * 
- * @param thr 
- * @return int 
- */
-int set_seg_threshold(float thr);
-/**
- * @brief Get the seg threshold object
- * 
- * @return float 
- */
-float get_seg_threshold();
-/**
- * @brief 设置数据流模式，仅支持: BGR，RGB，NV12， NV21； 默认RGB
- * 
- * @param m 
- * @return int 
- */
-int set_StreamMode(INPUT_LAYOUT m);
-/**
- * @brief Get the StreamMode object
- * 
- * @return INPUT_LAYOUT 
- */
-INPUT_LAYOUT get_StreamMode();
-
-/**
- * @brief 算法关闭时调用，释放算法内部资源
- * 
- * @return int 
- */
-int Uninit_AI();
-/**
- * @brief only deinit hardware
- * 
- * @return int 
- */
-int Uninit_ACL();
-/**
- * @brief Set the ROIArea object
- * 
- * @param x1 lefttop
- * @param y1 lefttop
- * @param x2 botright
- * @param y2  botright
- * @return int 
- */
-int set_ROIArea(int x1, int y1, int x2, int y2);
-
-int setLabelMap(uint32_t A[], uint32_t B[], uint32_t len);
-
-
-class DETECTION_API
-{
-private:
-    /* data */
-public:
-    DETECTION_API(/* args */);
-    ~DETECTION_API();
-public:
-
-    int netWidth=0;
-    int netHeight = 0;
-    int clsnum = 0;
-    std::vector<std::vector<float>> anchors;// = {{7,11, 9,21, 21,15},{16,39, 31,24, 57,27},{43,59, 90,59, 131,116}};
-
-    void* AIGOhandle=NULL;
-
-    int AIGOinit(const char* modename, int deviceID=0);
-    int AIGOpreprocess(ImgMat img, bool doCopy=true);
-    int AIGOinfer();
-    int AIGOpostprocess(std::vector<objinfo> &results);
-    int AIGOdeinit();
-};
-
-class SEGMENTION_API
-{
-private:
-    /* data */
-public:
-    SEGMENTION_API(/* args */);
-    ~SEGMENTION_API();
-
-    int netWidth = 0;
-    int netHeight = 0;
-    int clsnum = 0;
-
-    void* AIGOhandle = NULL;
-
-    int AIGOinit(const char* modename, int deviceID=0);
-    int AIGOpreprocess(ImgMat img, bool doCopy=true);
-    int AIGOinfer();
-    int AIGOpostprocess();
-    int AIGOdeinit();
-};
-
-
-
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
\ No newline at end of file
diff --git a/public_include/detection_type_api.h b/public_include/detection_type_api.h
deleted file mode 100644
index 82379ce..0000000
--- a/public_include/detection_type_api.h
+++ /dev/null
@@ -1,131 +0,0 @@
-/*
- * @Author: turboLIU
- * @Date: 2022-07-27 14:12:19
- * @LastEditTime: 2024-09-27 09:18:16
- * @Description: Do not edit
- * @FilePath: /C/include/detection_type_api.h
- */
-#ifndef DETECTION_TYPE_API
-#define DETECTION_TYPE_API
-
-
-#define NMS_UNION 1
-#define NMS_MIN 2
-#include <string>
-#include <vector>
-#include "PlatformDefine.h"
-
-namespace AIGO{
-
-
-
-typedef enum{
-    IR = 1,
-    VIS = 2
-}MODE;
-
-typedef enum{
-    CHW = 1,
-    HWC = 2,
-    WHC = 3,
-}DATA_LAYOUT;
-
-typedef enum{
-    RGB = 1,
-    BGR = 2,
-    RGBA = 3,
-    BGRA = 4,
-    NV12 = 5, // uv
-    NV21 = 6, // vu
-}INPUT_LAYOUT;
-
-
-typedef enum{
-  AI_DT_UNDEFINED = -1,   //未知数据类型，默认值。
-  AI_FLOAT = 0,
-  AI_FLOAT16 = 1,
-  AI_INT8 = 2,
-  AI_INT32 = 3,
-  AI_UINT8 = 4,
-  AI_INT16 = 6,
-  AI_UINT16 = 7,
-  AI_UINT32 = 8,
-  AI_INT64 = 9,
-  AI_UINT64 = 10,
-  AI_DOUBLE = 11,
-  AI_BOOL = 12,
-  AI_STRING = 13,
-  AI_COMPLEX64 = 16,
-  AI_COMPLEX128 = 17,
-  AI_BF16 = 27
-}DATATYPE;
-
-
-typedef struct tag_ID_idx
-{
-    /* data */
-    int x_loc;
-    int y_loc;
-    int z_loc;
-    float score;
-}ID_idx;
-
-typedef struct tag_IDX
-{
-    /* data */
-    float x;
-    float y;
-    float z;
-    float score;
-}IDX;
-
-
-typedef struct tag_Objinfo
-{
-    /* data */
-    float x1;
-    float y1;
-    float x2;
-    float y2;
-    float score;
-    int classNum;
-    int ID;
-    int trackID;
-    float area;
-
-}objinfo;
-
-
-
-typedef struct tag_ImgMat
-{
-    /* data */
-    unsigned char* data=NULL;
-    int width=0;
-    int height=0;
-    int depth=0;
-    DATA_LAYOUT layout=HWC;
-    INPUT_LAYOUT inlayout = RGB;
-    int frameID=0;
-    MODE mode = IR;
-    // bool relayout=false;
-    long long timestamp = 0;
-    long long cfg = 0; // address of GD_VIDEO_FRAME_S structure 
-}ImgMat;
-
-typedef struct tag_TenMat
-{
-    /* data */
-    void * data = nullptr;
-    int width=0;
-    int height=0;
-    int depth=0;
-    size_t dataByte=0;
-    DATATYPE type;
-    DATA_LAYOUT layout;
-    int elementNum = 0;
-    long long timestamp = 0;
-}TenMat;
-
-}
-#endif
\ No newline at end of file
diff --git a/stitch/CMakeLists.txt b/stitch/CMakeLists.txt
index 9342228..741a97c 100644
--- a/stitch/CMakeLists.txt
+++ b/stitch/CMakeLists.txt
@@ -12,6 +12,11 @@ endif()
 
 find_package(OpenMP REQUIRED)
 
+find_package(Ceres REQUIRED)
+include_directories(${CERES_INCLUDE_DIRS})
+
+
+
 
 # 公共头文件（放置在最前面，所有后面定义的模块才都能找到）
 SET(ArithTrkPubInc ${CMAKE_SOURCE_DIR}/public_include)
@@ -29,22 +34,21 @@ set(ArithSrcDIR_MAIN "src") # 库源文件路径
 # 使用当前目录、Common目录源码构建
 file(GLOB libsrcs ${ArithSrcDIR_MAIN}/*.cpp ${ArithSrcDIR_MAIN}/*.c ${ArithSrcDIR_MAIN}/*.h ${ArithSrcDIR_MAIN}/*.hpp)
 file(GLOB CommonSrc ${ArithSrcDIR_MAIN}/utils/*.cpp ${ArithSrcDIR_MAIN}/utils/*.c ${ArithSrcDIR_MAIN}/utils/*.h ${ArithSrcDIR_MAIN}/utils/*.hpp)
-file(GLOB utmsrc ${ArithSrcDIR_MAIN}/utils/*.cpp ${ArithSrcDIR_MAIN}/utils/*.c ${ArithSrcDIR_MAIN}/utils/*.h ${ArithSrcDIR_MAIN}/utils/*.hpp)
 
-add_library(${LIB_STITCH} SHARED ${libsrcs} ${CommonSrc} ${utmsrc}) # 构建算法库
+add_library(${LIB_STITCH} SHARED ${libsrcs} ${CommonSrc}) # 构建算法库
 
 # 设置包含路径
 target_include_directories(${LIB_STITCH} PUBLIC
     ${ArithTrkPubInc}
     ${ArithSrcDIR_MAIN}
     ${ArithSrcDIR_MAIN}/utils
-    ${ArithSrcDIR_MAIN}/utm
 )
 
 # 算法库链接
 target_link_libraries(${LIB_STITCH}
     OpenMP::OpenMP_CXX
-    ${OpenCV_LIBS})
+    ${OpenCV_LIBS}
+    ${CERES_LIBRARIES})
 
 # # gcc编译器要求0警告
 if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
diff --git a/stitch/src/API_VideoStitch.h b/stitch/src/API_VideoStitch.h
index 12c0f93..e2e075c 100644
--- a/stitch/src/API_VideoStitch.h
+++ b/stitch/src/API_VideoStitch.h
@@ -17,6 +17,7 @@
 
 #include "Arith_CommonDef.h"
 #include "opencv2/opencv.hpp"
+#include "PlatformDefine.h"
 // 帧内外方位元素
 struct FrameInfo
 {
@@ -28,17 +29,31 @@ struct FrameInfo
     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
+};
+
 
 class STD_STITCH_API API_VideoStitch
 {
 public:
     virtual ~API_VideoStitch() = default;
 
-    virtual BBOOL		Init(FrameInfo info) = 0;
-    virtual BYTE8       Updata(cv::Mat img, FrameInfo para) = 0;
+    // 初始化拼接
+    virtual PanInfo		Init(FrameInfo info) = 0;
+
+    // 输入帧
+    virtual BYTE8       Updata(GD_VIDEO_FRAME_S img, FrameInfo para) = 0;
+
+	// 获取全景图
+	virtual GD_VIDEO_FRAME_S ExportPanAddr() = 0;
 
-	virtual void       Test() = 0;
- 
 public:
     static API_VideoStitch* Create(SINT32 nWidth, SINT32 nHeight);
     static void Destroy(API_VideoStitch* obj);
diff --git a/stitch/src/Arith_ExtrinsicStitcher.cpp b/stitch/src/Arith_ExtrinsicStitcher.cpp
new file mode 100644
index 0000000..31c50cf
--- /dev/null
+++ b/stitch/src/Arith_ExtrinsicStitcher.cpp
@@ -0,0 +1,216 @@
+#include "Arith_ExtrinsicStitcher.h"
+#include "Arith_VideoStitch.h"
+#include "Arith_Utils.h"
+#include "Arith_CoordModule.h"
+#include "Arith_SysStruct.h"
+using namespace cv;
+
+ExtrinsicStitcher::ExtrinsicStitcher()
+{
+}
+
+ExtrinsicStitcher::~ExtrinsicStitcher()
+{
+}
+
+PanInfo ExtrinsicStitcher::InitMap(FrameInfo info)
+{
+	// 设置拼接原点
+	SetOriginPoint(info);
+
+	// 转换关系计算
+	Proj t_Proj = AnlayseTform(info);
+
+	// 帧中心的大地坐标，将其平移到全景图中心
+	cv::Point2f ct_geo = Trans_uv2Geo(cv::Point2f(info.nWidth / 2, info.nHeight / 2), t_Proj.tf_p2g);
+
+	// 全景图初始化
+	PanInfo panPara = {0};
+	panPara.m_pan_width = 1000;//全景宽
+	panPara.m_pan_height = 1000;//全景高
+	panPara.scale = 0.5;//比例尺,1m = ?pix
+
+	// 直接无平移解算
+	auto cur = Trans_Geo2pan(ct_geo, panPara);
+
+	// 计算平移到全景图固定点的平移量，从此处开始拼接
+	int planX = 200;
+	int planY = 100;
+
+	panPara.map_shiftX = planX - (cur.x);//平移X
+	panPara.map_shiftY = planY - (cur.y);//平移Y
+
+	return panPara;
+}
+
+
+
+cv::Point2f ExtrinsicStitcher::project(cv::Point2f pos_pan, Proj m_Proj, PanInfo pan)
+{
+	cv::Point2f pos_geo = Trans_pan2Geo(pos_pan, pan);
+	cv::Point2f pos_frame = Trans_Geo2uv(pos_geo, m_Proj.tf_g2p);
+	return pos_frame;
+}
+
+cv::Point2f ExtrinsicStitcher::back_project(cv::Point2f pos_frame, Proj m_Proj, PanInfo pan)
+{
+	cv::Point2f pos_geo = Trans_uv2Geo(pos_frame, m_Proj.tf_p2g);
+
+	cv::Point2f pos_pan = Trans_Geo2pan(pos_geo, pan);
+
+	return pos_pan;
+}
+
+void ExtrinsicStitcher::SetOriginPoint(FrameInfo info)
+{
+	originPoint = info;
+}
+
+cv::Point2f ExtrinsicStitcher::Trans_uv2Geo(cv::Point2f pos_frame, TForm form)
+{
+	Mat point = (Mat_<double>(3, 1) << pos_frame.x, pos_frame.y, 1);
+	Mat result = form.R * point;
+	// 转局部地理系
+	double warpedX = result.at<double>(0, 0) / result.at<double>(2, 0);
+	double warpedY = result.at<double>(1, 0) / result.at<double>(2, 0);
+	// 平移到原点地理系
+	warpedX += form.T.at<double>(0, 0);
+	warpedY += form.T.at<double>(1, 0);
+
+	return cv::Point2f(warpedX, warpedY);
+}
+
+cv::Point2f ExtrinsicStitcher::Trans_Geo2uv(cv::Point2f pos_geo, TForm form_inv)
+{
+	// 先平移到当前相机位置
+	cv::Point2f pos_cam = pos_geo;
+	pos_cam.x = pos_geo.x + form_inv.T.at<double>(0, 0);
+	pos_cam.y = pos_geo.y + form_inv.T.at<double>(1, 0);
+
+	Mat point = (Mat_<double>(3, 1) << pos_cam.x, pos_cam.y, 1);
+	Mat result = form_inv.R * point;
+
+	// 转像方
+	double warpedX = result.at<double>(0, 0) / result.at<double>(2, 0);
+	double warpedY = result.at<double>(1, 0) / result.at<double>(2, 0);
+
+	return cv::Point2f(warpedX, warpedY);
+}
+
+cv::Point2f ExtrinsicStitcher::Trans_pan2Geo(cv::Point2f pos_pan, PanInfo panPara)
+{
+	double x = (pos_pan.x - panPara.map_shiftX) / panPara.scale;
+	double y = (panPara.m_pan_height - (pos_pan.y - panPara.map_shiftY)) / panPara.scale;
+
+	return cv::Point2f(x, y);
+}
+
+cv::Point2f ExtrinsicStitcher::Trans_Geo2pan(cv::Point2f pos_geo, PanInfo panPara)
+{
+	double pan_x = pos_geo.x * panPara.scale + panPara.map_shiftX;
+	double pan_y = (panPara.m_pan_height - pos_geo.y * panPara.scale) + panPara.map_shiftY;
+	return cv::Point2f(pan_x, pan_y);
+}
+
+
+
+Mat ExtrinsicStitcher::Mat_TransENGMove(FrameInfo info)
+{
+	PointXYZ ptCurr = getXYZFromBLH(info.craft.stPos);
+	PointXYZ ptOrig = getXYZFromBLH(originPoint.craft.stPos);
+	PointXYZ diff = getNUEXYZFromCGCSXYZ(ptCurr, ptOrig);
+
+	Mat move = Mat::zeros(3, 1, CV_64F);
+
+	move.at<double>(0, 0) = diff.Z;
+	move.at<double>(1, 0) = diff.X;
+	move.at<double>(2, 0) = diff.Y;
+	return move;
+}
+
+Mat ExtrinsicStitcher::Mat_TransENG2uv(FrameInfo info)
+{
+	//从地理坐标系转像素坐标
+
+	//[u,v,1]'=Z*M*[X,Y,DH]' = Z*M*[1,0,0;0,1,0;0,0,DH]'*[X,Y,1]'
+	//[u,v,1]'=Z*M(内参)*M(alaph)*M(beta)*M(roll)*M(pitch)*M(yaw)*[X,Y,DH]
+
+
+	// 深度矩阵
+	Mat M_het = (Mat_<double>(3, 3) << 1, 0, 0,
+		0, 1, 0,
+		0, 0, info.nEvHeight
+		);
+
+
+
+	float yaw = info.craft.stAtt.fYaw;
+	Mat M_yaw = (Mat_<double>(3, 3) << cosd(yaw), -sind(yaw), 0,
+		sind(yaw), cosd(yaw), 0,
+		0, 0, 1
+		);
+
+	float pit = info.craft.stAtt.fPitch;
+	Mat M_pitch = (Mat_<double>(3, 3) << 1, 0, 0,
+		0, cosd(pit), -sind(pit),
+		0, sind(pit), cosd(pit)
+		);
+
+	/* 1    0      0
+	0    cos    sin
+	0   -sin    cos
+	*/
+
+	float roll = info.craft.stAtt.fRoll;
+	Mat M_roll = (Mat_<double>(3, 3) << cosd(roll), 0, sind(roll),
+		0, 1, 0,
+		-sind(roll), 0, cosd(roll)
+		);
+
+
+	float beta = info.servoInfo.fServoAz;
+
+	Mat M_beta = (Mat_<double>(3, 3) << cosd(beta), -sind(beta), 0,
+		sind(beta), cosd(beta), 0,
+		0, 0, 1
+		);
+
+
+	float alaph = info.servoInfo.fServoPt;
+
+	Mat M_alaph = (Mat_<double>(3, 3) << 1, 0, 0,
+		0, cosd(alaph), -sind(alaph),
+		0, sind(alaph), cosd(alaph)
+
+		);
+
+	// 内参
+	FLOAT32 fd = info.camInfo.nFocus / info.camInfo.fPixelSize * 1000;
+
+	Mat M_cam = (Mat_<double>(3, 3) << fd, 0, info.nWidth / 2,
+		0, -fd, info.nHeight / 2,
+		0, 0, 1
+		);
+
+	Mat M = M_cam * M_alaph * M_beta * M_roll * M_pitch * M_yaw * M_het;
+	//cout << M_cam * M_alaph * M_beta * M_roll * M_pitch * M_yaw * M_het;
+	return M;
+}
+
+
+
+Proj ExtrinsicStitcher::AnlayseTform(FrameInfo info)
+{
+	Proj projection;
+	// 从像方->地理
+	projection.tf_p2g.R = Mat_TransENG2uv(info).inv();
+	projection.tf_p2g.T = Mat_TransENGMove(info);
+
+	// 从地理->像方
+	projection.tf_g2p.R = Mat_TransENG2uv(info);
+	projection.tf_g2p.T = -projection.tf_p2g.T;
+
+	return projection;
+}
+
+
diff --git a/stitch/src/Arith_ExtrinsicStitcher.h b/stitch/src/Arith_ExtrinsicStitcher.h
new file mode 100644
index 0000000..bf94780
--- /dev/null
+++ b/stitch/src/Arith_ExtrinsicStitcher.h
@@ -0,0 +1,79 @@
+
+/*********版权所有（C）2025，武汉高德红外股份有限公司***************************************
+* 文件名称： Arith_ExtrinsicStitcher.h
+* 文件标识：吊舱视频帧外参拼接
+* 内容摘要：基于机载下视外部参数的几何校正,支持独立工作,也可以作为特征拼接的外参初始值
+* 其它说明：
+* 当前版本：V0.5
+* 创建作者：04046wcw
+* 创建日期：2025/01/15
+* 包含关系：
+*****************************************************************************************/
+#pragma once
+#include <opencv2/opencv.hpp>
+#include "Arith_CommonDef.h"
+#include "API_VideoStitch.h"
+
+
+// 像方-物方转换关系
+struct TForm
+{
+    cv::Mat R;
+    cv::Mat T;
+};
+
+
+// 投影关系,描述反算过程
+struct Proj
+{
+    TForm tf_p2g;//从帧到地理坐标系的Rt矩阵
+    TForm tf_g2p;//从地理坐标系到帧的Rt矩阵
+};
+
+class ExtrinsicStitcher 
+{
+public:
+    // 构造函数
+    ExtrinsicStitcher();
+	~ExtrinsicStitcher();
+
+	// 初始化地理参数和全景图参数
+    PanInfo InitMap(FrameInfo info);
+
+    // 投影：从全景图到帧
+    cv::Point2f project(cv::Point2f pos_pan, Proj m_Proj, PanInfo pan);
+
+    // 反投影：从帧到全景图
+    cv::Point2f back_project(cv::Point2f pos_frame, Proj m_Proj, PanInfo pan);
+
+    // 计算当前帧像方-成图坐标系R t（反投影关系）
+    Proj AnlayseTform(FrameInfo info);
+
+public:
+
+
+    // 帧像方-地理坐标
+    cv::Point2f Trans_uv2Geo(cv::Point2f pos_frame, TForm form);
+
+    // 地理坐标-帧像方
+    cv::Point2f Trans_Geo2uv(cv::Point2f pos_geo, TForm form);
+
+    // 从全景图->地理
+    cv::Point2f Trans_pan2Geo(cv::Point2f pos_pan, PanInfo panPara);
+
+    // 地理->全景图
+    cv::Point2f Trans_Geo2pan(cv::Point2f pos_geo, PanInfo panPara);
+
+    // 平移矩阵，以初始化点为基准，计算当前位置在初始点的地理坐标，那么当前帧所有点的坐标做此平移
+    cv::Mat Mat_TransENGMove(FrameInfo info);
+
+    // 机体ENG(东北地)到像方的 旋转矩阵
+    cv::Mat Mat_TransENG2uv(FrameInfo info);
+
+
+private:
+    // 设置起始拼接点外参
+    void SetOriginPoint(FrameInfo info);
+
+    FrameInfo originPoint;//成图初始点，作为拼接参考
+};
\ No newline at end of file
diff --git a/stitch/src/Arith_VideoStitch.cpp b/stitch/src/Arith_VideoStitch.cpp
index 4a10463..abbe919 100644
--- a/stitch/src/Arith_VideoStitch.cpp
+++ b/stitch/src/Arith_VideoStitch.cpp
@@ -22,80 +22,71 @@ void API_VideoStitch::Destroy(API_VideoStitch * obj)
 
 VideoStitch::VideoStitch(SINT32 nWidth, SINT32 nHeight)
 {
-
+	m_GeoStitcher = new ExtrinsicStitcher();
+	memset(&m_pan, 0, sizeof(GD_VIDEO_FRAME_S));
 }
 
 VideoStitch::~VideoStitch()
 {
-
+	delete m_GeoStitcher;
 }
 
+#include "ceres/ceres.h"
+using namespace ceres;
+struct CostFunctor {
+  template <typename T>
+  bool operator()(const T* const x, T* residual) const {
+    residual[0] = 10.0 - x[0];
+    return true;
+  }
+};
+
 void VideoStitch::Test()
 {
-	FrameInfo info = {0};
-	info.camInfo.nFocus = 200;
-	info.camInfo.fPixelSize = 25;
-
-	info.craft.stAtt.fYaw = 1;
-	info.craft.stAtt.fPitch = 2;
-	info.craft.stAtt.fRoll = 3;
-
-	info.nEvHeight = 1000;
+  google::InitGoogleLogging("ceres");
 
-	info.servoInfo.fServoAz = 4;
-	info.servoInfo.fServoPt = 5;
+  // The variable to solve for with its initial value. It will be
+  // mutated in place by the solver.
+  double x = 0.5;
+  const double initial_x = x;
 
-	info.nWidth = 1280;
-	info.nHeight = 1024;
+  // Build the problem.
+  ceres::Problem problem;
 
-	Mat R = Mat_TransENG2uv(info);
+  // Set up the only cost function (also known as residual). This uses
+  // auto-differentiation to obtain the derivative (jacobian).
+  ceres::CostFunction* cost_function =
+      new ceres::AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
+  problem.AddResidualBlock(cost_function, nullptr, &x);
 
-	Mat R_inv = R.inv();
-
-	//auto point = getWarpPoint(540,340, (double*)R_inv.data);
-	//std::cout << point.x << " " << point.y << std::endl;
+  // Run the solver!
+  ceres::Solver::Options options;
+  options.minimizer_progress_to_stdout = true;
+  ceres::Solver::Summary summary;
+  ceres::Solve(options, &problem, &summary);
 
+  std::cout << summary.BriefReport() << "\n";
+  std::cout << "x : " << initial_x << " -> " << x << "\n";
 }
 
-BBOOL VideoStitch::Init(FrameInfo info)
+PanInfo VideoStitch::Init(FrameInfo info)
 {
-	// 原点信息
-	originPoint = info;
-
-	// 转换关系计算
-	AnlayseTform(info);
-
-	// 帧中心的大地坐标，将其平移到全景图中心
-	cv::Point2f ct_geo = Trans_uv2Geo(cv::Point2f(info.nWidth / 2, info.nHeight / 2), m_Proj.tf_p2g);
-
-	// 全景图初始化
-	m_Proj.panPara.m_pan_width = 1000;//全景宽
-	m_Proj.panPara.m_pan_height = 1000;//全景高
-	m_Proj.panPara.scale = 0.3;//比例尺,1m = ?pix
+	m_panPara = m_GeoStitcher->InitMap(info);
 
-	// 直接无平移解算
-	auto cur = Trans_Geo2pan(ct_geo, m_Proj.panPara);
+	m_pan = cv::Mat::zeros(m_panPara.m_pan_height, m_panPara.m_pan_width, CV_8UC1);
 
-	m_Proj.panPara.map_shiftX = m_Proj.panPara.m_pan_width / 2 - (cur.x);//平移X
-	m_Proj.panPara.map_shiftY = m_Proj.panPara.m_pan_height / 2 - (cur.y);//平移Y
-
-	// 重新计算,验证已平移到中心
-	//auto cur2 = Trans_Geo2pan(ct_geo, m_Proj.panPara);
-
-	m_pan = Mat::zeros(m_Proj.panPara.m_pan_height, m_Proj.panPara.m_pan_width,CV_8UC1);
-
-	return true;
+	return m_panPara;
 }
 
-BYTE8 VideoStitch::Updata(Mat img, FrameInfo para)
+BYTE8 VideoStitch::Updata(GD_VIDEO_FRAME_S img, FrameInfo para)
 {
-	AnlayseTform(para);
+	Proj t_Proj = m_GeoStitcher->AnlayseTform(para);
 
 	// 计算帧的map四至
-	cv::Point2f leftTop_map = back_project(cv::Point2f(0,0), m_Proj);
-	cv::Point2f rightTop_map = back_project(cv::Point2f(img.cols,0), m_Proj);
-	cv::Point2f rightBottom_map = back_project(cv::Point2f(img.cols,img.rows), m_Proj);
-	cv::Point2f leftBottom_map = back_project(cv::Point2f(0,img.rows), m_Proj);
+	cv::Point2f leftTop_map = m_GeoStitcher->back_project(cv::Point2f(0,0), t_Proj, m_panPara);
+	cv::Point2f rightTop_map = m_GeoStitcher->back_project(cv::Point2f(img.u32Width,0), t_Proj, m_panPara);
+	cv::Point2f rightBottom_map = m_GeoStitcher->back_project(cv::Point2f(img.u32Width,img.u32Height), t_Proj, m_panPara);
+	cv::Point2f leftBottom_map = m_GeoStitcher->back_project(cv::Point2f(0,img.u32Height), t_Proj, m_panPara);
 
 
 	// 计算全景图的范围
@@ -109,194 +100,41 @@ BYTE8 VideoStitch::Updata(Mat img, FrameInfo para)
 	int yRnage = bottom - top;
 
 	//反映射到像素坐标
+	int valid_top = std::max(0, top);
+	int valid_bottom = std::min(m_pan.cols, bottom);
+	int valid_left = std::max(0, left);
+	int valid_right = std::min(m_pan.rows, right);
 
-	for (int i = top; i < bottom; i++)
+#pragma omp parallel for
+	for (int i = valid_top; i < valid_bottom; i++)
 	{
-		for (int j = left; j < right; j++)
+		for (int j = valid_left; j < valid_right; j++)
 		{
-			if (i < 0 || j < 0 || i >= m_pan.rows || j >= m_pan.cols)
-				continue;
 			//转换为pixel坐标
-			cv::Point2f p_img = project(Point2f(j, i), m_Proj);
+			cv::Point2f p_img = m_GeoStitcher->project(Point2f(j, i), t_Proj, m_panPara);
 
-			if (p_img.x < 0 || p_img.y < 0 || p_img.x > img.cols || p_img.y > img.rows)
+			if (p_img.x >= 0 && p_img.y >= 0 && p_img.x < img.u32Width && p_img.y < img.u32Height)
 			{
-				continue;
+				m_pan.data[i * m_pan.rows + j] =
+					FourPointInterpolation(img.u64VirAddr[0], img.u32Width, img.u32Height, p_img.x, p_img.y);
 			}
-			//线性插值
-			m_pan.data[i* m_pan.cols + j] =
-			FourPointInterpolation(img.data, img.cols, img.rows, p_img.x, p_img.y);
 		}
 	}
 
 
-	
-	cv::imshow("pan", m_pan);
-	cv::waitKey(1);
-
-    return BYTE8();
-}
-
-
-cv::Point2f VideoStitch::project(cv::Point2f pos_pan, Proj m_Proj)
-{
-	cv::Point2f pos_geo = Trans_pan2Geo(pos_pan, m_Proj.panPara);
-	cv::Point2f pos_frame = Trans_Geo2uv(pos_geo, m_Proj.tf_g2p);
-	return pos_frame;
-}
-
-cv::Point2f VideoStitch::back_project(cv::Point2f pos_frame, Proj m_Proj)
-{
-	cv::Point2f pos_geo = Trans_uv2Geo(pos_frame, m_Proj.tf_p2g);
-
-	cv::Point2f pos_pan = Trans_Geo2pan(pos_geo, m_Proj.panPara);
-
-	return pos_pan;
-}
-
-cv::Point2f VideoStitch::Trans_uv2Geo(cv::Point2f pos_frame, TForm form)
-{
-	Mat point = (Mat_<double>(3, 1) << pos_frame.x, pos_frame.y, 1);
-	Mat result = form.R * point;
-	// 转局部地理系
-	double warpedX = result.at<double>(0, 0) / result.at<double>(2, 0);
-	double warpedY = result.at<double>(1, 0) / result.at<double>(2, 0);
-	// 平移到原点地理系
-	warpedX += form.T.at<double>(0, 0);
-	warpedY += form.T.at<double>(1, 0);
-
-	return cv::Point2f(warpedX, warpedY);
-}
-
-cv::Point2f VideoStitch::Trans_Geo2uv(cv::Point2f pos_geo, TForm form_inv)
-{
-	// 先平移到当前相机位置
-	cv::Point2f pos_cam = pos_geo;
-	pos_cam.x = pos_geo.x + form_inv.T.at<double>(0, 0);
-	pos_cam.y = pos_geo.y + form_inv.T.at<double>(1, 0);
-
-	Mat point = (Mat_<double>(3, 1) << pos_cam.x, pos_cam.y, 1);
-	Mat result = form_inv.R * point;
-
-	// 转像方
-	double warpedX = result.at<double>(0, 0) / result.at<double>(2, 0);
-	double warpedY = result.at<double>(1, 0) / result.at<double>(2, 0);
-
-	return cv::Point2f(warpedX, warpedY);
-}
-
-cv::Point2f VideoStitch::Trans_pan2Geo(cv::Point2f pos_pan, PanInfo panPara)
-{
-	double x = (pos_pan.x  - panPara.map_shiftX)/ panPara.scale;
-	double y = (panPara.m_pan_height - (pos_pan.y - panPara.map_shiftY)) / panPara.scale;
-
-	return cv::Point2f(x, y);
+    return 0;
 }
 
-cv::Point2f VideoStitch::Trans_Geo2pan(cv::Point2f pos_geo, PanInfo panPara)
+GD_VIDEO_FRAME_S VideoStitch::ExportPanAddr()
 {
-	double pan_x = pos_geo.x  * panPara.scale + panPara.map_shiftX;
-	double pan_y = (panPara.m_pan_height - pos_geo.y * panPara.scale) + panPara.map_shiftY;
-	return cv::Point2f(pan_x, pan_y);
-}
+	GD_VIDEO_FRAME_S pan_out;
 
+	pan_out.enPixelFormat = GD_PIXEL_FORMAT_GRAY_Y8;
+	pan_out.u32Width = m_panPara.m_pan_width;
+	pan_out.u32Height = m_panPara.m_pan_height;
+	pan_out.u64VirAddr[0] = m_pan.data;
 
-
-Mat VideoStitch::Mat_TransENGMove(FrameInfo info)
-{
-	PointXYZ ptCurr = getXYZFromBLH(info.craft.stPos);
-	PointXYZ ptOrig = getXYZFromBLH(originPoint.craft.stPos);
-	PointXYZ diff = getNUEXYZFromCGCSXYZ(ptCurr, ptOrig);
-
-	Mat move = Mat::zeros(3, 1, CV_64F);
-
-	move.at<double>(0, 0) = diff.Z;
-	move.at<double>(1, 0) = diff.X;
-	move.at<double>(2, 0) = diff.Y;
-	return move;
+	return pan_out;
 }
 
-Mat VideoStitch::Mat_TransENG2uv(FrameInfo info)
-{
-	//从地理坐标系转像素坐标
-
-	//[u,v,1]'=Z*M*[X,Y,DH]' = Z*M*[1,0,0;0,1,0;0,0,DH]'*[X,Y,1]'
-	//[u,v,1]'=Z*M(内参)*M(alaph)*M(beta)*M(roll)*M(pitch)*M(yaw)*[X,Y,DH]
-
-
-	// 深度矩阵
-	Mat M_het = (Mat_<double>(3, 3) << 	1,0,0,
-											0,1,0,
-											0,0,info.nEvHeight
-											);
-
-
-
-	float yaw = info.craft.stAtt.fYaw;
-	Mat M_yaw = (Mat_<double>(3, 3) << 	cosd(yaw), -sind(yaw),0,
-											sind(yaw), cosd(yaw),0,
-											0,0,1
-											);
-
-	float pit = info.craft.stAtt.fPitch;							
-	Mat M_pitch = (Mat_<double>(3, 3) << 	1,0,0,
-										0,cosd(pit),-sind(pit),
-										0, sind(pit), cosd(pit)
-										);
-
-	/* 1    0      0
-	0    cos    sin
-	0   -sin    cos
-	*/
-
-	float roll = info.craft.stAtt.fRoll;							
-	Mat M_roll = (Mat_<double>(3, 3) << cosd(roll),0, sind(roll),
-										0,1,0,
-									-sind(roll),0,cosd(roll)
-										);
-
-
-	float beta = info.servoInfo.fServoAz;
-
-	Mat M_beta = (Mat_<double>(3, 3) << cosd(beta), -sind(beta),0,
-											sind(beta),cosd(beta),0,
-										0,0,1
-										);
-
-								
-	float alaph = info.servoInfo.fServoPt;
-
-	Mat M_alaph = (Mat_<double>(3, 3) << 1,0,0,	
-										0, cosd(alaph),-sind(alaph),
-										0,sind(alaph),cosd(alaph)
-										
-						);
-	
-	// 内参
-	FLOAT32 fd = info.camInfo.nFocus /info.camInfo.fPixelSize * 1000;
-
-	Mat M_cam = (Mat_<double>(3, 3) << fd,0,info.nWidth/2,
-											0,-fd,info.nHeight/2,
-											0,0,1
-								);
-
-	Mat M =  M_cam*M_alaph*M_beta*M_roll*M_pitch*M_yaw * M_het;
-	//cout << M_cam * M_alaph * M_beta * M_roll * M_pitch * M_yaw * M_het;
-	return M;
-}
-
-
-
-void VideoStitch::AnlayseTform(FrameInfo info)
-{
-	// 从像方->地理
-	m_Proj.tf_p2g.R = Mat_TransENG2uv(info).inv();
-	m_Proj.tf_p2g.T = Mat_TransENGMove(info);
-
-	// 从地理->像方
-	m_Proj.tf_g2p.R = Mat_TransENG2uv(info);
-	m_Proj.tf_g2p.T = -m_Proj.tf_p2g.T;
-}
-
-
 
diff --git a/stitch/src/Arith_VideoStitch.h b/stitch/src/Arith_VideoStitch.h
index 4cb0628..40e2693 100644
--- a/stitch/src/Arith_VideoStitch.h
+++ b/stitch/src/Arith_VideoStitch.h
@@ -1,33 +1,8 @@
 #include "API_VideoStitch.h"
 #include "opencv2/opencv.hpp"
+#include "Arith_ExtrinsicStitcher.h"
 
 
-// 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
-};
-
-// 像方-物方转换关系
-struct TForm
-{
-    cv::Mat R;
-    cv::Mat T;
-};
-
-
-// 投影关系,描述反算过程
-struct Proj
-{
-	TForm tf_p2g;//从帧到地理坐标系的Rt矩阵
-    TForm tf_g2p;//从地理坐标系到帧的Rt矩阵
-	PanInfo panPara;//全景图配置
-};
-
 class VideoStitch:public API_VideoStitch 
 {
 public:
@@ -38,47 +13,18 @@ public:
 
 
 public:
-    BBOOL Init(FrameInfo info);
-
-    BYTE8 Updata(cv::Mat img, FrameInfo para);
-
-    // 投影：从全景图到帧
-    cv::Point2f project(cv::Point2f pos_pan, Proj m_Proj);
+    PanInfo Init(FrameInfo info);
 
-	// 反投影：从帧到全景图
-    cv::Point2f back_project(cv::Point2f pos_frame, Proj m_Proj);
+    BYTE8 Updata(GD_VIDEO_FRAME_S img, FrameInfo para);
 
+    GD_VIDEO_FRAME_S     ExportPanAddr();
 private:
-
-    FrameInfo originPoint;//成图初始点，作为拼接参考
-
-    // 帧像方-地理坐标
-    cv::Point2f Trans_uv2Geo(cv::Point2f pos_frame, TForm form);
-
-	// 地理坐标-帧像方
-    cv::Point2f Trans_Geo2uv(cv::Point2f pos_geo, TForm form);
-
-    // 从全景图->地理
-	cv::Point2f Trans_pan2Geo(cv::Point2f pos_pan, PanInfo panPara);
-
-	// 地理->全景图
-    cv::Point2f Trans_Geo2pan(cv::Point2f pos_geo, PanInfo panPara);
-
-
-    // 平移矩阵，以初始化点为基准，计算当前位置在初始点的地理坐标，那么当前帧所有点的坐标做此平移
-    cv::Mat Mat_TransENGMove(FrameInfo info);
-
-    // 机体ENG(东北地)到像方的 旋转矩阵
-    cv::Mat Mat_TransENG2uv(FrameInfo info);
-
-    // 计算当前帧像方-成图坐标系R t（反投影关系）
-    void AnlayseTform(FrameInfo info);
+    
+    
 
 private:
 
-    Proj m_Proj;// 当前帧投影矩阵集合
-
-    cv::Mat m_pan;//全景图
-
-
+	ExtrinsicStitcher* m_GeoStitcher;//外参计算
+    PanInfo m_panPara;//全景图配置
+    cv::Mat m_pan;
 };
\ No newline at end of file
diff --git a/stitch/src/utils/Arith_Utils.cpp b/stitch/src/utils/Arith_Utils.cpp
index 1260e6d..a66a56d 100644
--- a/stitch/src/utils/Arith_Utils.cpp
+++ b/stitch/src/utils/Arith_Utils.cpp
@@ -320,6 +320,7 @@ unsigned char FourPointInterpolation(unsigned char* pSrcImage, int iWidth, int i
 	j1 = fmax((int)y, 0);
 	j2 = fmin(j1 + 1, iHeight - 1);
 
+
 	float t, s;		//t = x - [x], s = y- [y];
 
 	t = x - i1;