#pragma once

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

#define _OUTPUT_DEBUG_DATA	1

typedef struct
{
	int workpieceType;
	SSG_ROIRectD roi;
	double score2D; //2D分割信度
}WD_objArea2D;

typedef struct
{
	int workpieceType; //0:中央; 1-上边; 2-下边; 3-左边; 4-右边; 5-左上角; 6-右上角; 7-左下角; 8-右下角;
	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）
	double value;
}WD_workpieceInfo;

//料筐信息
typedef struct
{
	double length;
	double width;
	double binTopZ; //料筐最高处的Z值
	SVzNL3DPoint center;  //中心坐标
	SVzNL3DPoint bottomNormal; //底面的法向
	SVzNL3DPoint x_dir; //长轴与X轴的倾斜角，
	SVzNL3DPoint y_dir; //长轴与X轴的倾斜角，
	SVzNL3DPoint minRectVertex[4]; //最小外接矩形顶点
}WD_HRM_BinInfo;  

typedef struct
{
	double workpieceRadius;  //圆形工件半径
	double workpieceHeight;   //工件高度
	double layerZValue; //工件层高
	SVzNL3DPoint center;  //中心坐标
}WD_HRM_workpieceSizeInfo;

//读版本号
SG_APISHARED_EXPORT const char* wd_hybridPositioningVersion(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);

SG_APISHARED_EXPORT void wd_HRM_RotorCorePositioning(
	std::vector< std::vector<SVzNLPositionD>>& scanLinesInput,
	std::vector<WD_objArea2D>& objROIs,
	const WD_HRM_BinInfo binInfo,
	const SSG_planeCalibPara groundCalibPara,
	const SWD_Cylinder workpieceParam,  //圆柱形工件的标称半径和高度
	std::vector< WD_workpieceInfo>& workpiecePositions,
#ifdef _OUTPUT_DEBUG_DATA
	std::vector<std::vector<SVzNL3DPosition>>& debugScanLines,
#endif
	int* errCode);

//根据2D ROI进行3D定位
SG_APISHARED_EXPORT void wd_HRM_TaperedWorkpiecePositioning(
	std::vector< std::vector<SVzNLPositionD>>& scanLinesInput,
	std::vector<WD_objArea2D>& objROIs,
	const SSG_planeCalibPara groundCalibPara,
	std::vector< WD_workpieceInfo>& workpiecePositions,
	int* errCode);

#if 0
//料筐码放：获取料筐尺寸、料筐姿态、料筐中心点坐标
SG_APISHARED_EXPORT WD_HRM_BinInfo wd_HRM_getBinSize(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SSG_cornerParam cornerPara,
	int* errCode);
#else
//检测料筐边缘，以中心点为基准进行规划
SG_APISHARED_EXPORT WD_HRM_BinInfo wd_HRM_getBinSize(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SSG_planeCalibPara calibPara,
	const double binHeight, //料筐高度
	int* errCode);
#endif

//料筐码放：获取工件尺寸
SG_APISHARED_EXPORT WD_HRM_workpieceSizeInfo wd_HRM_getWorkpieceSize(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	std::vector<WD_HRM_workpieceSizeInfo>& standardWorkpieceSize,
	const SSG_cornerParam cornerPara,
	const SSG_planeCalibPara calibPara,
	int* errCode);

//料筐码放：码放位置规划
SG_APISHARED_EXPORT void wd_HRM_PlanBinPlacement(
	const WD_HRM_BinInfo binInfo,
	const SSG_size2D realBoardSize, //实际的托板大小
	const WD_HRM_workpieceSizeInfo workpieceInfo,
	const SSG_planeCalibPara calibPara,
	const double guardingInterval,  //工作与工件的保护间隔
	std::vector< WD_workpieceInfo>& planningPositions,
	int* out_rows,
	int* out_cols,
	int* isLastLayere);