#pragma once

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

#define _OUTPUT_DEBUG_DATA	1

typedef struct
{
	SVzNL3DPoint center; //螺杆端部中心点
	SVzNL3DPoint axialDir; //轴向向量
}SSX_rodPoseInfo;  //

typedef struct
{
	SVzNL3DPoint center; //螺杆端部中心点
	SVzNL3DPoint normalDir; //法向向量
}SSX_pointPoseInfo;  //

typedef struct
{
	double diameter;
	double len;
}SSX_rodParam;   //棒材信息

typedef struct
{
	SVzNL3DPoint center; //螺杆端部中心点
	SVzNL3DPoint axialDir; //轴向向量
	SVzNL3DPoint normalDir; //法向量
	SVzNL3DPoint startPt;
	SVzNL3DPoint endPt;
}SSX_rodPositionInfo;  

typedef struct
{
	SVzNL3DPoint startPt;
	SVzNL3DPoint endPt;
	SVzNL3DPoint center; 
	SVzNL3DPoint normalDir; //法向量
}SSX_weldSeamInfo;

//读版本号
SG_APISHARED_EXPORT const char* wd_rodAndBarDetectionVersion(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_rodPosition_getBaseCalibPara(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines);

#if 0
//相机姿态调平，并去除地面
SG_APISHARED_EXPORT void sx_rodPosition_lineDataR(
	std::vector< SVzNL3DPosition>& a_line,
	const double* camPoseR,
	double groundH);
#endif

//六角头螺杆端部中心点和轴向测量
SG_APISHARED_EXPORT  void sx_hexHeadScrewMeasure(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	bool isHorizonScan,  //true:激光线平行槽道；false:激光线垂直槽道
	const SSG_cornerParam cornerPara,
	const SSG_outlierFilterParam filterParam,
	const SSG_treeGrowParam growParam,
	double rodDiameter,
	std::vector<SSX_rodPoseInfo>& screwInfo,
	int* errCode);

//计算定位盘中心点位姿
SG_APISHARED_EXPORT SSX_pointPoseInfo sx_getLocationPlatePose(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SSG_cornerParam cornerPara,
	int* errCode);

//棒材抓取定位
SG_APISHARED_EXPORT void sx_rodPositioning(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SSG_planeCalibPara poseCalibPara,
	const SSG_cornerParam cornerPara,
	const SSG_outlierFilterParam filterParam,
	const SSG_treeGrowParam growParam,
	const SSX_rodParam rodParam,
	std::vector<SSX_rodPositionInfo>& rodInfo,
	int* errCode);

//筑裕钢结构钢筋焊缝定位
SG_APISHARED_EXPORT void sx_rebarWeldSeamPositioning(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SSG_planeCalibPara poseCalibPara,
	const SSG_cornerParam cornerPara,
	const SSG_outlierFilterParam filterParam,
	const SSG_treeGrowParam growParam,
	const SSX_rodParam rodParam,
	std::vector<SSX_weldSeamInfo>& weldSeamInfo,
	int* errCode);