#pragma once

#include "SG_algo_Export.h"
#include <vector>

typedef enum
{
	keSX_ScanMode_V = 0,  //激光线垂直焊缝扫描
	keSX_ScanMode_H,      //激光线平行焊缝扫描
	keSX_ScanMode_Both,           //既有垂直扫描，也有水平扫描
} ESX_WeldScanMode;
typedef struct
{
	double lapHeight;//搭接厚度
	double weldMinLen; //最小焊缝长度，用于过滤可能的虚假焊缝
	int weldRefPoints;  //输出的直线焊缝的参考点，默认是2个（起点和终点）
	ESX_WeldScanMode scanMode;  
}SSX_lapWeldParam;

typedef struct
{
	SWD_segFeature startSeg;
	SWD_segFeature curSegBuff[5];
	int bufCounter;
}SWD_weldSegment;

SG_APISHARED_EXPORT const char* wd_weldSeamAlgoVersion(void);

//计算一个平面调平参数。
//数据输入中可以有一个地平面和参考调平平面，以最高的平面进行调平
//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
SG_APISHARED_EXPORT SSG_planeCalibPara sx_getBaseCalibPara(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines);

//相机姿态调平，并去除地面
SG_APISHARED_EXPORT void sx_lineDataR(
	std::vector< SVzNL3DPosition>& a_line,
	const double* camPoseR,
	double groundH);

//提取搭接焊缝
SG_APISHARED_EXPORT void sx_getLapWeldPostion(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SSG_cornerParam cornerPara,
	SSG_treeGrowParam growParam,
	SSX_lapWeldParam lapWeldParam,
	SSG_planeCalibPara groundCalibPara,
	std::vector<std::vector<SVzNL3DPoint>>& objOps,
	int* errCode);

//检查焊板的起始位置
SG_APISHARED_EXPORT void BQ_checkWeldingStartLine(
	std::vector<SVzNL3DPosition>& a_line,
	const int lineIdx,
	const double innerPara_lineDeviTh,  //扫描线是直线的判断门限：点到起点终点构成直线的距离的最大值
	const double innerPara_endingZDeviTh,  //连续面扫描线端点的Z偏离最大门限
	const double innerPara_endingDistTh, //连线面扫描线端点距离最大门限
	SWD_weldSegment& weldStartLine);

//计算焊缝位置
SG_APISHARED_EXPORT void BQ_getWeldSeamPose(
	std::vector<SSG_gapFeatureTree>& trees,
	const SWD_segFeature& weldingStartLine,
	const SWD_segFeature& weldingEndLine,
	int weldRefPoints, //焊缝中间参考点位置
	std::vector<SVzNL3DPoint>& weldOps, //焊缝位置
	std::vector<SVzNL3DPosition>& weldRawPoints,  //用于显示和debug
	int* errCode);