데이터

.claude/settings.json

@@ -8,7 +8,8 @@
       "Edit(/.claude/skills/review/**)",
       "Edit(/.claude/agents/**)",
       "Edit(/.claude/hooks/**)",
-      "mcp__gitea__issue_write"
+      "mcp__gitea__issue_write",
+      "PowerShell($env:GEO_DATA_DIR=\"d:\\\\MYCLAUDE_PROJECT\\\\abcvideo\\\\samplevideo\"; $env:VIDEOS_DIR=\"d:\\\\MYCLAUDE_PROJECT\\\\abcvideo\\\\storage\\\\videos\"; npm run dev)"
     ]
   },
   "hooks": {

docs/history/2026-04-28_미니맵-미표시-원인분석.md

@@ -0,0 +1,42 @@
+# 2026-04-28 미니맵 미표시 원인 분석 및 수정
+
+## 작업 내용
+새로운 서버에 배포 후 RoutePanel 미니맵이 표시되지 않는 원인 분석 및 수정
+
+## 원인
+
+1. **`GEO_DATA_DIR` 미설정**: 기본값이 `samplevideo/` 상대 경로인데 새 서버에 해당 폴더 없음
+2. **`loadFrames()` crash**: `_dataDir`이 존재하지 않아도 `fs.readdirSync()` 호출 → 예외 발생 → `/api/geo/frames` 500 반환
+3. **RoutePanel 렌더 가드**: `stations.length === 0` 이면 `null` 반환 → 미니맵 완전히 숨김
+4. **에러 무시**: fetch `.catch(() => {})` 로 서버 500 에러가 조용히 무시됨
+
+## 수정 사항
+
+- `server/src/services/geoMatch.ts`: `loadFrames()`에 `fs.existsSync(_dataDir)` 체크 추가 (crash → 빈 배열 반환)
+- `loadFrames()`, `loadPois()` 양쪽에 `[geo]` 경고 로그 추가 (어떤 파일이 없는지 즉시 파악 가능)
+- 불필요한 미사용 변수(`csvPath`) 제거
+
+## 새 서버 설정 방법
+
+```powershell
+$env:GEO_DATA_DIR="C:\경로\samplevideo"
+$env:VIDEOS_DIR="C:\경로\videos"
+npm run dev:server
+```
+
+필요한 디렉토리 구조:
+```
+{GEO_DATA_DIR}/
+├── 하행)회덕-대전조차장.csv   ← 드론 비행 데이터
+└── building/
+    ├── *POI*위경도*.csv
+    └── *측점*위경도*.csv
+```
+
+## GeoSearch 기능 확인
+- "건물 → 프레임" 탭: 측점/건물명 검색 → 카메라 시야 내 프레임 목록 → 클릭 시 이동
+- "프레임 → 건물" 탭: 현재 프레임에서 보이는 POI/측점 목록 표시
+- RoutePanel: 세로 드래그로 km 위치 seek
+
+**소요 시간**: 20분
+**Context 사용량**: input 45k / output 8k tokens

pythonsource/advanced_tuner_v2.py

@@ -0,0 +1,560 @@
+import sys
+import os
+import re
+import cv2
+import numpy as np
+import pandas as pd
+from PyQt5.QtWidgets import (QApplication, QMainWindow, QWidget, QVBoxLayout, QHBoxLayout, 
+                             QLabel, QLineEdit, QPushButton, QFileDialog, QTabWidget, 
+                             QSlider, QDoubleSpinBox, QProgressBar, QComboBox, QGroupBox, QFormLayout,
+                             QSpinBox)
+from PyQt5.QtCore import Qt, QThread, pyqtSignal, QTimer
+from PyQt5.QtGui import QImage, QPixmap
+from scipy.spatial.transform import Rotation as R
+from pyproj import Transformer
+
+# =================================================================
+# [NEXT GEN] advanced_tuner_v2.py: Streamlined GIS GUI Tuner
+# 설계 원칙:
+# 1. MP4 + SRT + CSV (WGS84) 워크플로우 통합
+# 2. 실시간 좌표 변환 (Lat/Lon -> EPSG:5186)
+# 3. 사용자 친화적 튜닝 인터페이스 제공
+# =================================================================
+
+class SRTParser:
+    @staticmethod
+    def parse(srt_path):
+        data_dict = {}
+        if not os.path.exists(srt_path): return data_dict
+        try:
+            with open(srt_path, 'r', encoding='utf-8', errors='ignore') as f:
+                content = f.read()
+            if "latitude" not in content.lower():
+                with open(srt_path, 'r', encoding='cp949', errors='ignore') as f:
+                    content = f.read()
+            
+            blocks = content.split('\n\n')
+            for block in blocks:
+                f_match = re.search(r'FrameCnt:\s*(\d+)', block)
+                if not f_match: continue
+                idx = int(f_match.group(1))
+                
+                lat = float(re.search(r'latitude:\s*([\d\.-]+)', block).group(1))
+                lon = float(re.search(r'longitude:\s*([\d\.-]+)', block).group(1))
+                alt = float(re.search(r'abs_alt:\s*([\d\.-]+)', block).group(1))
+                yaw = float(re.search(r'gb_yaw:\s*([\d\.-]+)', block).group(1))
+                pitch = float(re.search(r'gb_pitch:\s*([\d\.-]+)', block).group(1))
+                roll = float(re.search(r'gb_roll:\s*([\d\.-]+)', block).group(1))
+                focal = float(re.search(r'focal_len:\s*([\d\.-]+)', block).group(1))
+                
+                data_dict[idx] = {
+                    'lat': lat, 'lon': lon, 'alt': alt,
+                    'yaw': yaw, 'pitch': pitch, 'roll': roll,
+                    'focal': focal
+                }
+            # Post-process: Filling gaps and Smoothing
+            if not data_dict: return {}
+            
+            indices = sorted(data_dict.keys())
+            min_idx, max_idx = indices[0], indices[-1]
+            
+            # 1. Interpolate Gaps
+            all_indices = np.arange(min_idx, max_idx + 1)
+            new_data = {}
+            
+            fields = ['lat', 'lon', 'alt', 'yaw', 'pitch', 'roll', 'focal']
+            temp_arrays = {f: [] for f in fields}
+            for idx in indices:
+                for f in fields:
+                    temp_arrays[f].append(data_dict[idx][f])
+            
+            interp_arrays = {}
+            for f in fields:
+                # Handle Yaw wrapping for smoother rotation (Optional but safer)
+                if f == 'yaw':
+                    y_arr = np.array(temp_arrays[f])
+                    # Ensure continuous angles
+                    y_arr = np.unwrap(np.radians(y_arr))
+                    interp_y = np.interp(all_indices, indices, y_arr)
+                    # 2. Smooth (Moving Average)
+                    smooth_y = np.convolve(interp_y, np.ones(5)/5, mode='same')
+                    interp_arrays[f] = np.degrees(smooth_y)
+                else:
+                    interp_f = np.interp(all_indices, indices, temp_arrays[f])
+                    # 2. Smooth (Moving Average)
+                    interp_arrays[f] = np.convolve(interp_f, np.ones(5)/5, mode='same')
+
+            for i, idx in enumerate(all_indices):
+                new_data[int(idx)] = {f: interp_arrays[f][i] for f in fields}
+                
+            return new_data
+        except Exception as e:
+            print(f"SRT Error: {e}")
+            return {}
+
+class RenderWorker(QThread):
+    progress = pyqtSignal(int)
+    finished = pyqtSignal(str)
+
+    def __init__(self, params):
+        super().__init__()
+        self.p = params
+        self.is_running = True
+
+    def stop(self):
+        self.is_running = False
+
+    def run(self):
+        try:
+            cap = cv2.VideoCapture(self.p['video_path'])
+            original_fps = cap.get(cv2.CAP_PROP_FPS)
+            cap.set(cv2.CAP_PROP_POS_FRAMES, self.p['range'][0])
+            
+            target_w, target_h = self.p['resolution']
+            target_fps = self.p['fps'] if self.p['fps'] > 0 else original_fps
+            start_f, end_f = self.p['range']
+            total_work = end_f - start_f + 1
+
+            fourcc = cv2.VideoWriter_fourcc(*self.p['codec'])
+            out = cv2.VideoWriter(self.p['output_path'], fourcc, target_fps, (target_w, target_h))
+
+            transformer = Transformer.from_crs("epsg:4326", "epsg:5186")
+            
+            # Pre-swap line points if needed
+            eff_line_pts = self.p['line_pts']
+            if self.p['swap_xy']:
+                eff_line_pts = eff_line_pts.copy()
+                eff_line_pts[:, [0, 1]] = eff_line_pts[:, [1, 0]]
+
+            for f_idx in range(start_f, end_f + 1):
+                if not self.is_running: break
+                ret, frame = cap.read()
+                if not ret: break
+                
+                # Check for Sync
+                if f_idx in self.p['srt_data']:
+                    meta = self.p['srt_data'][f_idx]
+                    dx, dy = transformer.transform(meta['lat'], meta['lon'])
+                    
+                    if self.p['swap_xy']:
+                        dx, dy = dy, dx
+
+                    # Resize frame if needed
+                    original_h, original_w = frame.shape[:2]
+                    if (target_w, target_h) != (original_w, original_h):
+                        draw_frame = cv2.resize(frame, (target_w, target_h))
+                    else:
+                        draw_frame = frame.copy()
+
+                    drone_pos = np.array([dx + self.p['off_x'], dy + self.p['off_y'], meta['alt'] + self.p['off_z']])
+                    rvec, tvec, K = self.get_proj(meta, drone_pos, target_w, target_h)
+                    R_w2c, _ = cv2.Rodrigues(rvec)
+                    pts_cam = (eff_line_pts @ R_w2c.T) + tvec.T
+                    
+                    for i in range(0, len(pts_cam), 2):
+                        p1c, p2c = pts_cam[i], pts_cam[i+1]
+                        if p1c[2] < 0.1 and p2c[2] < 0.1: continue
+                        if p1c[2] < 0.1 or p2c[2] < 0.1:
+                            t = (0.1 - p1c[2]) / (p2c[2] - p1c[2])
+                            p_mid = p1c + t * (p2c - p1c)
+                            if p1c[2] < 0.1: p1c = p_mid
+                            else: p2c = p_mid
+                        
+                        u1 = int(K[0, 0] * (p1c[0] / p1c[2]) + K[0, 2])
+                        v1 = int(K[1, 1] * (p1c[1] / p1c[2]) + K[1, 2])
+                        u2 = int(K[0, 0] * (p2c[0] / p2c[2]) + K[0, 2])
+                        v2 = int(K[1, 1] * (p2c[1] / p2c[2]) + K[1, 2])
+                        
+                        ret_cli, pt1, pt2 = cv2.clipLine((0, 0, target_w, target_h), (u1, v1), (u2, v2))
+                        if ret_cli:
+                            cv2.line(draw_frame, pt1, pt2, (0, 0, 255), 10)
+                    out.write(draw_frame)
+                else:
+                    if (target_w, target_h) != (frame.shape[1], frame.shape[0]):
+                        out.write(cv2.resize(frame, (target_w, target_h)))
+                    else:
+                        out.write(frame)
+
+                self.progress.emit(int(((f_idx - start_f + 1) / total_work) * 100))
+
+
+            cap.release()
+            out.release()
+            self.finished.emit(self.p['output_path'])
+        except Exception as e:
+            self.finished.emit(f"Error: {e}")
+
+    def get_proj(self, meta, drone_pos, w, h):
+        yaw = np.radians(meta['yaw'] + self.p['off_yaw'])
+        pitch = np.radians(meta['pitch'] + self.p['off_pitch'])
+        roll = np.radians(meta['roll'] + self.p['off_roll'])
+        
+        R_b2w = (R.from_euler('z', -yaw) * R.from_euler('x', pitch) * R.from_euler('y', roll)).as_matrix()
+        R_w2c = np.array([[1, 0, 0], [0, 0, -1], [0, 1, 0]]) @ R_b2w.T
+        rvec, _ = cv2.Rodrigues(R_w2c)
+        tvec = -R_w2c @ drone_pos
+        
+        f_px = (self.p['focal'] / self.p['sensor_w']) * w
+        K = np.array([[f_px, 0, w/2], [0, f_px, h/2], [0, 0, 1]])
+        return rvec, tvec, K
+
+class MainWindow(QMainWindow):
+    def __init__(self):
+        super().__init__()
+        self.setWindowTitle("Advanced GIS Tuner v2 (Streamlined)")
+        self.resize(1280, 850)
+        
+        self.srt_data = {}
+        self.line_points = np.array([])
+        self.transformer = Transformer.from_crs("epsg:4326", "epsg:5186")
+        
+        self.init_ui()
+
+    def init_ui(self):
+        tabs = QTabWidget()
+        self.setCentralWidget(tabs)
+        
+        # --- Tab 1: Data Input ---
+        tab1 = QWidget()
+        layout1 = QVBoxLayout()
+        form1 = QFormLayout()
+        
+        self.btn_video = QPushButton("Find MP4")
+        self.txt_video = QLineEdit("하행)회덕-대전조차장.MP4")
+        self.btn_video.clicked.connect(lambda: self.find_file(self.txt_video, "Video (*.mp4)"))
+        form1.addRow(self.btn_video, self.txt_video)
+        
+        self.btn_srt = QPushButton("Find SRT")
+        self.txt_srt = QLineEdit("하행)회덕-대전조차장.srt")
+        self.btn_srt.clicked.connect(lambda: self.find_file(self.txt_srt, "SRT (*.srt)"))
+        form1.addRow(self.btn_srt, self.txt_srt)
+        
+        self.btn_csv = QPushButton("Find CSV (Lat/Lon/H)")
+        self.txt_csv = QLineEdit("center.csv")
+        self.btn_csv.clicked.connect(lambda: self.find_file(self.txt_csv, "CSV (*.csv)"))
+        form1.addRow(self.btn_csv, self.txt_csv)
+        
+        layout1.addLayout(form1)
+        self.btn_load = QPushButton("LOAD ALL DATA")
+        self.btn_load.setStyleSheet("background-color: #4CAF50; color: white; height: 50px; font-weight: bold;")
+        self.btn_load.clicked.connect(self.load_all_data)
+        layout1.addWidget(self.btn_load)
+        layout1.addStretch()
+        tab1.setLayout(layout1)
+        tabs.addTab(tab1, "1. 자료입력")
+
+        # --- Tab 2: Tuner ---
+        tab2 = QWidget()
+        hbox2 = QHBoxLayout()
+        
+        # Left: Preview
+        vbox_prev = QVBoxLayout()
+        self.lbl_preview = QLabel("Video Preview (Load Data First)")
+        self.lbl_preview.setAlignment(Qt.AlignCenter)
+        self.lbl_preview.setStyleSheet("border: 2px solid gray; background-color: black;")
+        self.lbl_preview.setMinimumSize(800, 450)
+        vbox_prev.addWidget(self.lbl_preview)
+        
+        self.sld_frame = QSlider(Qt.Horizontal)
+        self.sld_frame.valueChanged.connect(self.update_sync_frame)
+        self.spn_frame = QDoubleSpinBox()
+        self.spn_frame.setDecimals(0)
+        self.spn_frame.setSingleStep(1)
+        self.spn_frame.valueChanged.connect(self.update_sync_frame)
+        
+        self.btn_play = QPushButton("▶ PLAY")
+        self.btn_play.setCheckable(True)
+        self.btn_play.clicked.connect(self.toggle_play)
+        
+        self.play_timer = QTimer()
+        self.play_timer.timeout.connect(self.next_frame)
+        
+        frame_hbox = QHBoxLayout()
+        frame_hbox.addWidget(self.btn_play)
+        frame_hbox.addWidget(QLabel("Frame:"))
+        frame_hbox.addWidget(self.spn_frame)
+        frame_hbox.addWidget(self.sld_frame, 10)
+        vbox_prev.addLayout(frame_hbox)
+        
+        hbox2.addLayout(vbox_prev, 7)
+        
+        # Right: Controls
+        vbox_ctrl = QVBoxLayout()
+        group_offsets = QGroupBox("Offsets (Yaw/Pitch/Roll/XYZ)")
+        form2 = QFormLayout()
+        
+        self.chk_swap_xy = QPushButton("Swap XY Coordinates: OFF")
+        self.chk_swap_xy.setCheckable(True)
+        self.chk_swap_xy.clicked.connect(self.toggle_swap_xy)
+        form2.addRow("Axis:", self.chk_swap_xy)
+        
+        self.spn_yaw = self.create_spinbox(-180, 180, 0, form2, "Yaw Off")
+        self.spn_pitch = self.create_spinbox(-180, 180, 0, form2, "Pitch Off")
+        self.spn_roll = self.create_spinbox(-180, 180, 0, form2, "Roll Off")
+        form2.addRow(QLabel("<hr>"))
+        self.spn_off_x = self.create_spinbox(-1000, 1000, 0, form2, "Pos X Off (m)")
+        self.spn_off_y = self.create_spinbox(-1000, 1000, 0, form2, "Pos Y Off (m)")
+        self.spn_off_z = self.create_spinbox(-1000, 1000, 0, form2, "Pos Z Off (m)")
+        form2.addRow(QLabel("<hr>"))
+        self.spn_focal = self.create_spinbox(1, 200, 24, form2, "Focal (mm)")
+        self.spn_sensor = self.create_spinbox(1, 100, 36, form2, "Sensor W (mm)")
+        
+        group_offsets.setLayout(form2)
+        vbox_ctrl.addWidget(group_offsets)
+        vbox_ctrl.addStretch()
+        hbox2.addLayout(vbox_ctrl, 3)
+        
+        tab2.setLayout(hbox2)
+        tabs.addTab(tab2, "2. 튜너")
+
+        # --- Tab 3: Export ---
+        tab3 = QWidget()
+        vbox3 = QVBoxLayout()
+        form3 = QFormLayout()
+        
+        self.cmb_res = QComboBox()
+        self.cmb_res.addItems(["Original", "4K (3840x2160)", "2K (2560x1440)", "1080p (1920x1080)"])
+        form3.addRow("Resolution", self.cmb_res)
+        
+        self.cmb_fps = QComboBox()
+        self.cmb_fps.addItems(["Original", "60", "30"])
+        form3.addRow("FPS", self.cmb_fps)
+        
+        self.cmb_codec = QComboBox()
+        self.cmb_codec.addItems(["H.264 (avc1)", "MPEG-4 (mp4v)"])
+        form3.addRow("Codec", self.cmb_codec)
+        
+        form3.addRow(QLabel("<hr>"))
+        self.spn_start = QSpinBox()
+        self.spn_start.setRange(0, 999999)
+        form3.addRow("Start Frame", self.spn_start)
+        
+        self.spn_end = QSpinBox()
+        self.spn_end.setRange(0, 999999)
+        form3.addRow("End Frame", self.spn_end)
+        
+        vbox3.addLayout(form3)
+        self.btn_export = QPushButton("START EXPORT")
+        self.btn_export.setStyleSheet("height: 60px; font-weight: bold; background-color: #f44336; color: white;")
+        self.btn_export.clicked.connect(self.start_export)
+        vbox3.addWidget(self.btn_export)
+        
+        self.pbar = QProgressBar()
+        vbox3.addWidget(self.pbar)
+        vbox3.addStretch()
+        tab3.setLayout(vbox3)
+        tabs.addTab(tab3, "3. 출력")
+
+    def create_spinbox(self, min_v, max_v, def_v, layout, label):
+        sb = QDoubleSpinBox()
+        sb.setRange(min_v, max_v)
+        sb.setValue(def_v)
+        sb.setDecimals(2)
+        sb.setSingleStep(0.1)
+        sb.valueChanged.connect(self.update_preview)
+        layout.addRow(label, sb)
+        return sb
+
+    def toggle_play(self):
+        if self.btn_play.isChecked():
+            self.btn_play.setText("■ PAUSE")
+            # Calculate interval based on FPS (or default 33ms for 30fps)
+            cap = cv2.VideoCapture(self.txt_video.text())
+            fps = cap.get(cv2.CAP_PROP_FPS)
+            cap.release()
+            interval = int(1000 / fps) if fps > 0 else 33
+            self.play_timer.start(interval)
+        else:
+            self.btn_play.setText("▶ PLAY")
+            self.play_timer.stop()
+
+    def next_frame(self):
+        curr = self.sld_frame.value()
+        if curr < self.total_frames - 1:
+            self.sld_frame.setValue(curr + 1)
+        else:
+            self.btn_play.setChecked(False)
+            self.toggle_play()
+
+    def toggle_swap_xy(self):
+        if self.chk_swap_xy.isChecked():
+            self.chk_swap_xy.setText("Swap XY Coordinates: ON")
+        else:
+            self.chk_swap_xy.setText("Swap XY Coordinates: OFF")
+        self.update_preview()
+
+    def update_sync_frame(self, val):
+        # 도우미: 슬라이더와 스핀박스 동기화
+        sender = self.sender()
+        if sender == self.sld_frame:
+            self.spn_frame.blockSignals(True)
+            self.spn_frame.setValue(val)
+            self.spn_frame.blockSignals(False)
+        else:
+            self.sld_frame.blockSignals(True)
+            self.sld_frame.setValue(int(val))
+            self.sld_frame.blockSignals(False)
+        self.update_preview()
+
+    def find_file(self, line_edit, filt):
+        path, _ = QFileDialog.getOpenFileName(self, "Select File", "", filt)
+        if path: line_edit.setText(path)
+
+    def load_all_data(self):
+        print("Loading...")
+        self.srt_data = SRTParser.parse(self.txt_srt.text())
+        
+        # Load CSV
+        try:
+            df = pd.read_csv(self.txt_csv.text(), encoding='cp949')
+            # lat, lon, 타원체고(h)
+            raw_pts = []
+            for _, row in df.iterrows():
+                x, y = self.transformer.transform(row['lat'], row['lon'])
+                raw_pts.append([x, y, row['타원체고(h)']])
+            
+            # Reconstruct segments: 0-1, 1-2, 2-3...
+            seg_pts = []
+            for i in range(len(raw_pts)-1):
+                seg_pts.extend([raw_pts[i], raw_pts[i+1]])
+                
+            self.line_points = np.array(seg_pts, dtype=np.float64)
+            print(f"Loaded {len(self.line_points)//2} segments.")
+        except Exception as e:
+            print(f"CSV Load Error: {e}")
+
+        # Video Info
+        cap = cv2.VideoCapture(self.txt_video.text())
+        self.total_frames = int(cap.get(cv2.CAP_PROP_FRAME_COUNT))
+        self.video_fps = cap.get(cv2.CAP_PROP_FPS)
+        
+        self.sld_frame.setRange(0, self.total_frames - 1)
+        self.spn_frame.setRange(0, self.total_frames - 1)
+        self.spn_start.setRange(0, self.total_frames - 1)
+        self.spn_end.setRange(0, self.total_frames - 1)
+        self.spn_end.setValue(self.total_frames - 1)
+        cap.release()
+        
+        self.update_preview()
+
+    def update_preview(self):
+        if not self.srt_data or self.line_points.size == 0: return
+        
+        f_idx = self.sld_frame.value()
+        cap = cv2.VideoCapture(self.txt_video.text())
+        cap.set(cv2.CAP_PROP_POS_FRAMES, f_idx)
+        ret, frame = cap.read()
+        cap.release()
+        
+        if not ret: return
+        
+        h, w = frame.shape[:2]
+        if f_idx in self.srt_data:
+            meta = self.srt_data[f_idx]
+            
+            dx, dy = self.transformer.transform(meta['lat'], meta['lon'])
+            
+            # Swap Logic
+            if self.chk_swap_xy.isChecked():
+                dx, dy = dy, dx
+                line_pts_eff = self.line_points.copy()
+                line_pts_eff[:, [0, 1]] = line_pts_eff[:, [1, 0]]
+            else:
+                line_pts_eff = self.line_points
+
+            drone_pos = np.array([dx + self.spn_off_x.value(), 
+                                  dy + self.spn_off_y.value(), 
+                                  meta['alt'] + self.spn_off_z.value()])
+            
+            # 실시간 디버그 로그 (콘솔 출력)
+            print(f"[Frame {f_idx}] XY_Order: {'Y,X' if self.chk_swap_xy.isChecked() else 'X,Y'} | Drone X={drone_pos[0]:.2f}, Y={drone_pos[1]:.2f}")
+            
+            # Projection
+            yaw = np.radians(meta['yaw'] + self.spn_yaw.value())
+            pitch = np.radians(meta['pitch'] + self.spn_pitch.value())
+            roll = np.radians(meta['roll'] + self.spn_roll.value())
+            
+            r_yaw = R.from_euler('z', -yaw)
+            r_pitch = R.from_euler('x', pitch)
+            r_roll = R.from_euler('y', roll)
+            
+            R_b2w = (r_yaw * r_pitch * r_roll).as_matrix()
+            R_align = np.array([[1, 0, 0], [0, 0, -1], [0, 1, 0]])
+            R_w2c = R_align @ R_b2w.T
+            
+            rvec, _ = cv2.Rodrigues(R_w2c)
+            tvec = -R_w2c @ drone_pos
+            
+            f_px = (self.spn_focal.value() / self.spn_sensor.value()) * w
+            K = np.array([[f_px, 0, w/2], [0, f_px, h/2], [0, 0, 1]])
+            
+            pts_cam = (line_pts_eff @ R_w2c.T) + tvec.T
+            for i in range(0, len(pts_cam), 2):
+                p1c, p2c = pts_cam[i], pts_cam[i+1]
+                if p1c[2] < 0.1 and p2c[2] < 0.1: continue
+                if p1c[2] < 0.1 or p2c[2] < 0.1:
+                    t = (0.1 - p1c[2]) / (p2c[2] - p1c[2])
+                    p_mid = p1c + t * (p2c - p1c)
+                    if p1c[2] < 0.1: p1c = p_mid
+                    else: p2c = p_mid
+                
+                u1 = int(K[0, 0] * (p1c[0] / p1c[2]) + K[0, 2])
+                v1 = int(K[1, 1] * (p1c[1] / p1c[2]) + K[1, 2])
+                u2 = int(K[0, 0] * (p2c[0] / p2c[2]) + K[0, 2])
+                v2 = int(K[1, 1] * (p2c[1] / p2c[2]) + K[1, 2])
+                
+                ret_cli, pt1, pt2 = cv2.clipLine((0, 0, w, h), (u1, v1), (u2, v2))
+                if ret_cli:
+                    cv2.line(frame, pt1, pt2, (0, 0, 255), 10)
+
+        # Convert to QPixmap
+        frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+        img = QImage(frame.data, w, h, w*3, QImage.Format_RGB888)
+        pixmap = QPixmap.fromImage(img).scaled(self.lbl_preview.width(), self.lbl_preview.height(), Qt.KeepAspectRatio)
+        self.lbl_preview.setPixmap(pixmap)
+
+    def start_export(self):
+        res_map = {"Original": (0, 0), "4K (3840x2160)": (3840, 2160), "2K (2560x1440)": (2560, 1440), "1080p (1920x1080)": (1920, 1080)}
+        codec_map = {"H.264 (avc1)": "avc1", "MPEG-4 (mp4v)": "mp4v"}
+        
+        target_res = res_map[self.cmb_res.currentText()]
+        if target_res == (0, 0):
+            cap = cv2.VideoCapture(self.txt_video.text())
+            target_res = (int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)), int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT)))
+            cap.release()
+            
+        params = {
+            'video_path': self.txt_video.text(),
+            'srt_data': self.srt_data,
+            'line_pts': self.line_points,
+            'off_yaw': self.spn_yaw.value(),
+            'off_pitch': self.spn_pitch.value(),
+            'off_roll': self.spn_roll.value(),
+            'off_x': self.spn_off_x.value(),
+            'off_y': self.spn_off_y.value(),
+            'off_z': self.spn_off_z.value(),
+            'focal': self.spn_focal.value(),
+            'sensor_w': self.spn_sensor.value(),
+            'resolution': target_res,
+            'fps': int(self.cmb_fps.currentText()) if self.cmb_fps.currentText() != "Original" else 0,
+            'range': (self.spn_start.value(), self.spn_end.value()),
+            'swap_xy': self.chk_swap_xy.isChecked(),
+            'codec': codec_map[self.cmb_codec.currentText()],
+            'output_path': "output_tuner_v2.mp4"
+        }
+        
+        self.btn_export.setEnabled(False)
+        self.worker = RenderWorker(params)
+        self.worker.progress.connect(self.pbar.setValue)
+        self.worker.finished.connect(self.export_done)
+        self.worker.start()
+
+    def export_done(self, msg):
+        self.btn_export.setEnabled(True)
+        print(f"Export Result: {msg}")
+
+if __name__ == "__main__":
+    app = QApplication(sys.argv)
+    window = MainWindow()
+    window.show()
+    sys.exit(app.exec_())

pythonsource/input/building/하행)회덕-대전조차장_POI_XY값.csv

@@ -0,0 +1,41 @@
+title,category_clean,address_road,address_jibun,lat,lon,z
+한국철도공사대전조차장역,지장물,대전 대덕구 아리랑로 166,대전 대덕구 읍내동 426,38.5105183,-3457.077306,14.93833585
+공업사,지장물,대전 대덕구 대전로 1419,대전 대덕구 읍내동 172-4,91.97154721,-2425.164917,17.43774457
+음식점,지장물,대전 대덕구 계족로761번길 48,대전 대덕구 읍내동 262-1,187.2874319,-2532.38759,25.45520444
+교회,지장물,대전 대덕구 계족로761번길 50,대전 대덕구 읍내동 58-4,209.2757755,-2594.655793,22.83119626
+공장,지장물,대전 대덕구 대전로 1402,대전 대덕구 읍내동 266-22,44.48265487,-2625.782598,11.92308469
+음식점,지장물,대전 대덕구 대전로1392번길 19,대전 대덕구 읍내동 269-16,85.48810915,-2727.805909,12.88381619
+오성우산 대전물류센터,지장물,대전 대덕구 계족로741번길 52,대전 대덕구 읍내동 290-2,249.229071,-2722.316827,14.40417523
+쌍용더플래티넘네이처아파트,지장물,,대전 대덕구 읍내동 51-9,304.937541,-2800.194266,18.89580197
+창원기전,지장물,대전 대덕구 아리랑로 166,대전 대덕구 읍내동 540,168.4670337,-3070.22605,14.899754
+삼표산업 대전공장,지장물,대전 대덕구 아리랑로 178,대전 대덕구 읍내동 426-1,163.6763012,-3308.164519,14.87806363
+삼표레미콘,지장물,대전 대덕구 아리랑로 178,대전 대덕구 읍내동 426-1,156.1322678,-3347.813475,14.83134885
+대전캐노픽스,지장물,대전 대덕구 신탄진로115번안길 25,대전 대덕구 신대동 411-50,-493.0889954,-1171.866346,23.5801167
+보명폴딩도어,지장물,대전 대덕구 신탄진로115번안길 15,대전 대덕구 신대동 411-25,-494.390968,-1223.694574,27.74913449
+삼보목재,지장물,대전 대덕구 아리랑로55번길 162,대전 대덕구 신대동 446,-605.4733056,-1283.873731,2.79518933
+아이엘케이,지장물,대전 대덕구 아리랑로55번길 156,대전 대덕구 신대동 446-4,-598.2714644,-1352.19981,3.599010894
+대우사료공장,지장물,대전 대덕구 아리랑로55번길 126,대전 대덕구 신대동 437-22,-605.4980966,-1570.618123,1.855225036
+88자원,지장물,,대전 대덕구 읍내동 200-1,-85.47358836,-2352.588534,21.30201382
+백송 아파트,지장물,대전 대덕구 대전로1397번길 77,대전 대덕구 읍내동 203-4,-69.60296008,-2452.946447,22.22890515
+회덕화물역,지장물,대전 대덕구 회덕로34번길 83,대전 대덕구 신대동 129-1,22.93703649,-14.21495976,3.29909558
+대덕자원,지장물,대전 대덕구 회덕로34번길 73,대전 대덕구 신대동 143-4,-4.326022471,-57.05726838,2.56787152
+대전철거,지장물,대전 대덕구 회덕로34번길 19,대전 대덕구 신대동 161-1,-152.6988919,-305.0545685,1.260082671
+경부고속도로,지장물,,,-280.0231307,-439.6094122,3.734718749
+국도17호선(대전로),지장물,,,43.61010175,-2555.434246,10.2714848
+신대천교(복),교량,,,-211.3748931,-324.2852559,2.016098449
+장등천교(상),교량,,,10.0980771,-2459.483549,13.34468503
+장등천교(하),교량,,,28.44331462,-2433.708587,13.66731305
+회덕제1가도교(상),교량,,,71.26732008,-2531.17875,12.39197583
+회덕제1가도교(하),교량,,,108.5555676,-2507.595674,13.37028546
+회덕제1가도교(인상),교량,,,98.89002344,-2513.428321,12.97475476
+회덕천교(상),교량,,,156.6135722,-2752.864405,13.50943036
+회덕천교(하),교량,,,232.7118715,-2733.194393,15.0617146
+회덕천교(상인상),교량,,,170.7372503,-2752.741497,13.51244778
+회덕천교(하인상),교량,,,203.4135321,-2727.038754,14.89475293
+법동가도교(하),교량,,,231.0249244,-3240.340204,9.542900512
+"법동가도교(상,인상,고속)",교량,,,60.78639687,-3243.867529,8.17662091
+법동가도교(인상),교량,,,159.7839769,-3239.047905,8.746838043
+회덕터널(상),터널,,,-564.2548179,-1925.009409,16.18040272
+회덕터널(하),터널,,,-529.036536,-1933.557941,22.58381459
+회덕역,역사,,,-19.02038509,4.710790739,8.626823852
+대전조차장역,역사,,,66.77359684,-3620.138085,21.01832242

pythonsource/input/building/하행)회덕-대전조차장_POI_위경도값.csv

@@ -0,0 +1,41 @@
+title,category_clean,address_road,address_jibun,lat,lon,z
+한국철도공사대전조차장역,지장물,대전 대덕구 아리랑로 166,대전 대덕구 읍내동 426,36.371101,127.421776,14.93833585
+공업사,지장물,대전 대덕구 대전로 1419,대전 대덕구 읍내동 172-4,36.380398,127.422422,17.43774457
+음식점,지장물,대전 대덕구 계족로761번길 48,대전 대덕구 읍내동 262-1,36.379428,127.423479,25.45520444
+교회,지장물,대전 대덕구 계족로761번길 50,대전 대덕구 읍내동 58-4,36.378866,127.423721,22.83119626
+공장,지장물,대전 대덕구 대전로 1402,대전 대덕구 읍내동 266-22,36.378592,127.421883,11.92308469
+음식점,지장물,대전 대덕구 대전로1392번길 19,대전 대덕구 읍내동 269-16,36.377671,127.422335,12.88381619
+오성우산 대전물류센터,지장물,대전 대덕구 계족로741번길 52,대전 대덕구 읍내동 290-2,36.377714,127.42416,14.40417523
+쌍용더플래티넘네이처아파트,지장물,,대전 대덕구 읍내동 51-9,36.37701,127.424777,18.89580197
+창원기전,지장물,대전 대덕구 아리랑로 166,대전 대덕구 읍내동 540,36.374582,127.423243,14.899754
+삼표산업 대전공장,지장물,대전 대덕구 아리랑로 178,대전 대덕구 읍내동 426-1,36.372438,127.423178,14.87806363
+삼표레미콘,지장물,대전 대덕구 아리랑로 178,대전 대덕구 읍내동 426-1,36.372081,127.423092,14.83134885
+대전캐노픽스,지장물,대전 대덕구 신탄진로115번안길 25,대전 대덕구 신대동 411-50,36.391715,127.415962,23.5801167
+보명폴딩도어,지장물,대전 대덕구 신탄진로115번안길 15,대전 대덕구 신대동 411-25,36.391248,127.415945,27.74913449
+삼보목재,지장물,대전 대덕구 아리랑로55번길 162,대전 대덕구 신대동 446,36.39071,127.414704,2.79518933
+아이엘케이,지장물,대전 대덕구 아리랑로55번길 156,대전 대덕구 신대동 446-4,36.390094,127.414781,3.599010894
+대우사료공장,지장물,대전 대덕구 아리랑로55번길 126,대전 대덕구 신대동 437-22,36.388126,127.41469,1.855225036
+88자원,지장물,,대전 대덕구 읍내동 200-1,36.381059,127.420448,21.30201382
+백송 아파트,지장물,대전 대덕구 대전로1397번길 77,대전 대덕구 읍내동 203-4,36.380154,127.42062,22.22890515
+회덕화물역,지장물,대전 대덕구 회덕로34번길 83,대전 대덕구 신대동 129-1,36.402127,127.42177,3.29909558
+대덕자원,지장물,대전 대덕구 회덕로34번길 73,대전 대덕구 신대동 143-4,36.401742,127.421464,2.56787152
+대전철거,지장물,대전 대덕구 회덕로34번길 19,대전 대덕구 신대동 161-1,36.399513,127.419798,1.260082671
+경부고속도로,지장물,,,36.398305,127.418372,3.734718749
+국도17호선(대전로),지장물,,,36.379226,127.421877,10.2714848
+신대천교(복),교량,,,36.399342,127.419143,2.016098449
+장등천교(상),교량,,,36.380092,127.421508,13.34468503
+장등천교(하),교량,,,36.380324,127.421714,13.66731305
+회덕제1가도교(상),교량,,,36.379443,127.422186,12.39197583
+회덕제1가도교(하),교량,,,36.379655,127.422603,13.37028546
+회덕제1가도교(인상),교량,,,36.379602,127.422495,12.97475476
+회덕천교(상),교량,,,36.377442,127.423126,13.50943036
+회덕천교(하),교량,,,36.377617,127.423975,15.0617146
+회덕천교(상인상),교량,,,36.377443,127.423284,13.51244778
+회덕천교(하인상),교량,,,36.377673,127.423649,14.89475293
+법동가도교(하),교량,,,36.373047,127.423932,9.542900512
+"법동가도교(상,인상,고속)",교량,,,36.373021,127.422035,8.17662091
+법동가도교(인상),교량,,,36.373061,127.423138,8.746838043
+회덕터널(상),터널,,,36.384931,127.415133,16.18040272
+회덕터널(하),터널,,,36.384852,127.415525,22.58381459
+회덕역,역사,,,36.402299,127.421303,8.626823852
+대전조차장역,역사,,,36.36963,127.422083,21.01832242

pythonsource/input/building/하행)회덕-대전조차장_POI_위경도값_타원체고.csv

@@ -0,0 +1,41 @@
+title,category_clean,address_road,address_jibun,lat,lon,z
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+음식점,지장물,대전 대덕구 계족로761번길 48,대전 대덕구 읍내동 262-1,36.379428,127.423479,50.9042044
+교회,지장물,대전 대덕구 계족로761번길 50,대전 대덕구 읍내동 58-4,36.378866,127.423721,48.2801963
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+쌍용더플래티넘네이처아파트,지장물,,대전 대덕구 읍내동 51-9,36.37701,127.424777,44.344802
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+대전철거,지장물,대전 대덕구 회덕로34번길 19,대전 대덕구 신대동 161-1,36.399513,127.419798,26.7090827
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+"법동가도교(상,인상,고속)",교량,,,36.373021,127.422035,33.6256209
+법동가도교(인상),교량,,,36.373061,127.423138,34.195838
+회덕터널(상),터널,,,36.384931,127.415133,41.6294027
+회덕터널(하),터널,,,36.384852,127.415525,48.0328146
+회덕역,역사,,,36.402299,127.421303,34.0758239
+대전조차장역,역사,,,36.36963,127.422083,46.4673224

pythonsource/input/center.csv

@@ -0,0 +1,225 @@
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pythonsource/streamlined_tuner.spec

@@ -0,0 +1,45 @@
+# -*- mode: python ; coding: utf-8 -*-
+from PyInstaller.utils.hooks import collect_all
+
+datas = []
+binaries = []
+hiddenimports = []
+tmp_ret = collect_all('pyproj')
+datas += tmp_ret[0]; binaries += tmp_ret[1]; hiddenimports += tmp_ret[2]
+
+
+a = Analysis(
+    ['advanced_tuner_v2.py'],
+    pathex=[],
+    binaries=binaries,
+    datas=datas,
+    hiddenimports=hiddenimports,
+    hookspath=[],
+    hooksconfig={},
+    runtime_hooks=[],
+    excludes=[],
+    noarchive=False,
+    optimize=0,
+)
+pyz = PYZ(a.pure)
+
+exe = EXE(
+    pyz,
+    a.scripts,
+    a.binaries,
+    a.datas,
+    [],
+    name='streamlined_tuner',
+    debug=False,
+    bootloader_ignore_signals=False,
+    strip=False,
+    upx=True,
+    upx_exclude=[],
+    runtime_tmpdir=None,
+    console=False,
+    disable_windowed_traceback=False,
+    argv_emulation=False,
+    target_arch=None,
+    codesign_identity=None,
+    entitlements_file=None,
+)

storage/baeksong.json

@@ -0,0 +1 @@
+{"poi":{"title":"백송 아파트","category":"지장물","lat":36.380154,"lon":127.42062,"z":22.22890515,"type":"poi"},"frames":[{"frame":13328,"time":444.26666666666665,"bearingDiff":2.416515832319874,"elevationDiff":15.419007353837134,"distance":378.8223157131149,"pixelX":0.5327708508378821,"pixelY":0.2097877348126167,"groupSize":10523,"groupStart":13328,"groupEnd":3877},{"frame":372,"time":12.4,"bearingDiff":-0.3950378036713573,"elevationDiff":28.313526733811663,"distance":2466.701205588134,"pixelX":0.49464281393637277,"pixelY":0,"groupSize":1993,"groupStart":372,"groupEnd":254}]}

storage/baeksong2.json

@@ -0,0 +1 @@
+{"poi":{"title":"백송 아파트","category":"지장물","lat":36.380154,"lon":127.42062,"z":22.22890515,"type":"poi"},"frames":[{"frame":13328,"time":444.26666666666665,"bearingDiff":2.416515832319874,"elevationDiff":15.419007353837134,"distance":378.8223157131149,"pixelX":0.5327708508378821,"pixelY":0.2097877348126167,"groupSize":5696,"groupStart":8612,"groupEnd":14315}]}

storage/geo_result.json

@@ -0,0 +1 @@
+{"poi":{"title":"회덕역","category":"역사","lat":36.402299,"lon":127.421303,"z":8.626823852,"type":"poi"},"frames":[{"frame":2999,"time":99.96666666666667,"bearingDiff":-0.9585235927831377,"elevationDiff":0.06681769990423447,"distance":163.52956276077978,"pixelX":0.48700127130823234,"pixelY":0.4987423758482745,"groupSize":1070,"groupStart":2999,"groupEnd":2355}]}