GrabBag/App/ScrewPosition/ScrewPositionApp/Presenter/Inc/DetectPresenter.h

#pragma once
#include <iostream>
#include <vector>
#include <memory>
#include <QString>
#include "rodAndBarDetection_Export.h"
#include "VZNL_Types.h"
#include "VrTimeUtils.h"
#include "VrError.h"
#include "VrLog.h"
#include "IVrConfig.h"
#include "LaserDataLoader.h"
#include "IYScrewPositionStatus.h"
#include "PointCloudImageUtils.h"
#include "VrConvert.h"
#include "VrDateUtils.h"

struct RobotPose6D;

/**
 * @brief 描述一次检测使用的手眼外参（按相机配置）
 *
 * eulerOrder 同时用作机器人法兰姿态的输入分解 (rx/ry/rz → 旋转矩阵)
 * 以及工具姿态输出的合成 (旋转矩阵 → roll/pitch/yaw)；
 * rotX/Y/Z 在 Eye 坐标系下按 Rx*Ry*Rz 顺序对工具三轴做补偿旋转。
 * approachOffset 是机械臂接近点相对目标点沿目标姿态反方向的偏移量（mm）。
 */
struct HandEyeExtrinsic
{
    int eulerOrder = 11;
    double rotX = 0.0;
    double rotY = 0.0;
    double rotZ = 0.0;
    double approachOffset = 0.0;
};

class DetectPresenter
{
private:
    /* data */
public:
    DetectPresenter(/* args */);
    ~DetectPresenter();
    static QString GetAlgoVersion();

    /// 螺杆检测接口
    int DetectScrew(  int cameraIndex,
                    std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
                    const VrAlgorithmParams& algorithmParams,
                    const VrDebugParam& debugParam,
                    LaserDataLoader& dataLoader,
                    const double clibMatrix[16],
                    const RobotPose6D& robotPose,
                    const HandEyeExtrinsic& extrinsic,
                    int poseOutputOrder,
                    DetectionResult& detectionResult);

    /// 工具盘检测接口
    int DetectToolDisk(int cameraIndex,
                    std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
                    const VrAlgorithmParams& algorithmParams,
                    const VrDebugParam& debugParam,
                    LaserDataLoader& dataLoader,
                    const double clibMatrix[16],
                    const RobotPose6D& robotPose,
                    const HandEyeExtrinsic& extrinsic,
                    int poseOutputOrder,
                    DetectionResult& detectionResult);

};