#ifndef BAR_INTERSECTION_PARAMS_H
#define BAR_INTERSECTION_PARAMS_H

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

/**
 * @brief RANSAC 平面分割参数
 */
struct SPlaneSegmentationParams {
    float distanceThreshold;    // 点到平面距离阈值 (mm)
    int maxIterations;          // RANSAC 最大迭代次数
    int minPlanePoints;         // 最小平面点数
    float minPlaneRatio;        // 平面最小点数占比
    float heightThreshold;      // 高于平面的最小高度，用于过滤平面点 (mm)

    SPlaneSegmentationParams()
        : distanceThreshold(1.0f)
        , maxIterations(500)
        , minPlanePoints(1000)
        , minPlaneRatio(0.05f)
        , heightThreshold(10.0f)
    {}
};

/**
 * @brief 区域生长参数
 */
struct SGrowthParams {
    float thresholdX;       // 跨行合并阈值：相邻行 segment 质心 x 的最大允许差 (mm)
    float thresholdY;       // 行内分段阈值：同行相邻点 y 的最大允许差 (mm)
    float thresholdZ;       // 行内分段阈值：同行相邻点 z 的最大允许差 (mm)
    int minClusterSize;     // 最小簇点数
    float angleSearchDistance;
    int residualSmoothWindow;
    float maxAxisDeviationFromXYDeg;  // Max allowed axis deviation from the XY plane (deg)
    float maxPerpendicularDeviationDeg;  // Max deviation from 90 deg for centroid-connection test
    int minContinuousValidPointCount;     // Min consecutive valid points kept on each laser line after plane filtering; <=1 disables
    float maxContinuousPointZTolerance;   // Max z difference between adjacent points inside one valid run (mm)
    float minBarDiameter;
	float maxBarDiameter;

    SGrowthParams()
        : thresholdX(5.0f)
        , thresholdY(5.0f)
        , thresholdZ(5.0f)
        , minClusterSize(20)
        , angleSearchDistance(2.f)
		, residualSmoothWindow(5)
        , maxAxisDeviationFromXYDeg(50.0f)
        , maxPerpendicularDeviationDeg(50.0f)
        , minContinuousValidPointCount(0)
        , maxContinuousPointZTolerance(5.0f)
        , minBarDiameter(10.0f)
		, maxBarDiameter(30.0f)
    {}
};

/**
 * @brief 生长结果：一个连通簇
 */
struct SGrowthCluster {
    std::vector<int> pointIndices;  // 簇内点在原始 rows*cols 网格中的线性索引
    SVzNL3DPointF centroid;         // 簇质心
    SVzNL3DPointF minBound;         // 包围盒最小角
    SVzNL3DPointF maxBound;         // 包围盒最大角
    int pointCount;

    SGrowthCluster()
        : centroid(), minBound(), maxBound(), pointCount(0)
    {}
};

/**
 * @brief 检测结果
 */
struct SBarIntersectionResult {
    // 平面信息
    SVzNL3DPointF planeNormal;      // 平面法向量
    float planeD;                   // 平面方程 ax+by+cz+d=0 中的 d

    // 簇（原始坐标系）
    int clusterCount;
    SGrowthCluster* clusters;

    // 最优簇索引（-1表示无有效簇）
    int bestClusterIndex;

    // 最优簇的过滤后点云（对齐坐标系，用于可视化）
    std::vector<SVzNLPointXYZ> bestClusterPoints;

    SBarIntersectionResult()
        : planeNormal(), planeD(0.0f)
        , clusterCount(0), clusters(nullptr)
        , bestClusterIndex(-1)
    {}
};

/**
 * @brief 释放检测结果内存
 */
inline void FreeBarIntersectionResult(SBarIntersectionResult* result) {
    if (result) {
        if (result->clusters) { delete[] result->clusters; result->clusters = nullptr; }
        result->clusterCount = 0;
    }
}

#endif // BAR_INTERSECTION_PARAMS_H