#pragma once

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

#define _OUTPUT_DEBUG_DATA	1

typedef struct
{
	int workpieceType;
	double holeDiameter; //孔直径
	double holeDist_L;  //孔间距_长
	double holeDist_W; //孔间距_宽
	double xLen;  //x方向长， 用于结果排序
	double yLen;  //y方向长， 用于结果排序
	double H;
}WD_workpieceHoleParam;

typedef struct
{
	int workpieceType;
	std::vector<SVzNL3DPoint> holes;
	std::vector<SVzNL3DPoint> holesDir;
	SVzNL3DPoint center;
	SVzNL3DPoint z_dir;  //z方向向量（归一化）
	SVzNL3DPoint y_dir; //y方向向量（归一化）
	SVzNL3DPoint x_dir; //x方向向量（归一化）
}WD_workpieceInfo;

typedef struct
{
	SVzNL3DPoint center;
	SVzNL3DPoint normDir;  //方向向量（归一化）
}WD_HolePositionInfo;

//读版本号
SG_APISHARED_EXPORT const char* wd_workpieceHolePositioningVersion(void);

//相机水平安装计算地面调平参数。。
//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 wd_getGroundCalibPara(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines);

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

//工件孔定位-拓普发工件孔定位
SG_APISHARED_EXPORT void wd_workpieceHolePositioning(
	std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
	const WD_workpieceHoleParam workpiecePara,
	const SSG_lineSegParam lineSegPara,
	const SSG_outlierFilterParam filterParam,
	const SSG_treeGrowParam growParam,
	const SSG_planeCalibPara groundCalibPara,
	std::vector< WD_workpieceInfo>& workpiecePositioning,
	int* errCode);

//单个孔或凹坑定位-华航孔定位
SG_APISHARED_EXPORT void wd_HolePositioning(
	std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
	const SSG_lineSegParam lineSegPara,
	const SSG_cornerParam cornerParam,
	const SSG_outlierFilterParam filterParam,
	const SSG_treeGrowParam growParam,
	std::vector< WD_HolePositionInfo>& holePositioning,
	int* errCode);