#include "DetectPresenter.h"
#include "AlgorithmParamConverter.h"
#include "CoordinateTransform.h"
#include "PoseAxesBuilder.h"
#include "ScrewPositionTCPProtocol.h"
#include "rodAndBarDetection_Export.h"
#include <QColor>
#include <array>

namespace {

QImage BuildScrewPointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& xyzData,
                                 const std::vector<SSX_rodPoseInfo>& screwInfo,
                                 const std::vector<std::pair<double, double>>* approachXY = nullptr)
{
    PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
    if (!canvas.isValid()) {
        return QImage();
    }

    constexpr double kAxisLineLength = 60.0;
    const QColor pointColor(0, 255, 0);
    const QColor lineColor(255, 0, 0);
    const QColor textColor(255, 255, 0);
    const QColor approachColor(255, 128, 0);  // 橙色：接近点

    for (size_t i = 0; i < screwInfo.size(); ++i) {
        const auto& screw = screwInfo[i];
        canvas.drawPoint(screw.center.x, screw.center.y, pointColor, 8);
        canvas.drawText(screw.center.x, screw.center.y, QString::number(i + 1), textColor, 16, 10, -10);
        canvas.drawLine(screw.center.x - kAxisLineLength * screw.axialDir.x,
                        screw.center.y - kAxisLineLength * screw.axialDir.y,
                        screw.center.x + kAxisLineLength * screw.axialDir.x,
                        screw.center.y + kAxisLineLength * screw.axialDir.y,
                        lineColor, 2);

        if (approachXY && i < approachXY->size()) {
            const auto& ap = (*approachXY)[i];
            canvas.drawPoint(ap.first, ap.second, approachColor, 6);
            canvas.drawLine(screw.center.x, screw.center.y, ap.first, ap.second, approachColor, 1);
        }
    }

    return canvas.image().copy();
}

QImage BuildToolDiskPointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& xyzData,
                                    const SSX_platePoseInfo& poseInfo,
                                    bool hasResult,
                                    const std::pair<double, double>* approachXY = nullptr)
{
    PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
    if (!canvas.isValid()) {
        return QImage();
    }

    if (hasResult) {
        constexpr double kNormalLineLength = 60.0;
        const QColor centerColor(0, 255, 0);
        const QColor normalColor(0, 180, 255);   // 蓝色：法向 Z
        const QColor xAxisColor(255, 0, 0);      // 红色：X 轴
        const QColor yAxisColor(0, 255, 0);      // 绿色：Y 轴
        const QColor approachColor(255, 128, 0); // 橙色：接近点

        // 绘制定位盘中心点
        canvas.drawPoint(poseInfo.center.x, poseInfo.center.y, centerColor, 10);

        // 绘制法向量方向线
        const double normalEndX = poseInfo.center.x + kNormalLineLength * poseInfo.normalDir.x;
        const double normalEndY = poseInfo.center.y + kNormalLineLength * poseInfo.normalDir.y;
        canvas.drawLine(poseInfo.center.x, poseInfo.center.y, normalEndX, normalEndY, normalColor, 2);
        canvas.drawText(normalEndX, normalEndY, QStringLiteral("Z"), normalColor, 14, 6, -6);

        const double xEndX = poseInfo.center.x + kNormalLineLength * poseInfo.xDir.x;
        const double xEndY = poseInfo.center.y + kNormalLineLength * poseInfo.xDir.y;
        canvas.drawLine(poseInfo.center.x, poseInfo.center.y, xEndX, xEndY, xAxisColor, 2);
        canvas.drawText(xEndX, xEndY, QStringLiteral("X"), xAxisColor, 14, 6, -6);

        const double yEndX = poseInfo.center.x + kNormalLineLength * poseInfo.yDir.x;
        const double yEndY = poseInfo.center.y + kNormalLineLength * poseInfo.yDir.y;
        canvas.drawLine(poseInfo.center.x, poseInfo.center.y, yEndX, yEndY, yAxisColor, 2);
        canvas.drawText(yEndX, yEndY, QStringLiteral("Y"), yAxisColor, 14, 6, -6);

        if (approachXY) {
            canvas.drawPoint(approachXY->first, approachXY->second, approachColor, 8);
            canvas.drawLine(poseInfo.center.x, poseInfo.center.y, approachXY->first, approachXY->second, approachColor, 1);
        }
    }

    return canvas.image().copy();
}

void SaveDebugImageIfNeeded(int cameraIndex,
                            const VrDebugParam& debugParam,
                            const QImage& image,
                            const QString& prefix)
{
    if (!debugParam.enableDebug || !debugParam.saveDebugImage || image.isNull()) {
        return;
    }

    const std::string timeStamp = CVrDateUtils::GetNowTime();
    const std::string fileName = debugParam.debugOutputPath + "/" +
                                 prefix.toStdString() + "_" + std::to_string(cameraIndex) + "_" + timeStamp + ".png";
    LOG_INFO("[Algo Thread] Debug image saved image : %s\n", fileName.c_str());
    image.save(QString::fromStdString(fileName));
}

CTVec3D ToCTVec3D(const SVzNL3DPoint& point)
{
    return CTVec3D(point.x, point.y, point.z);
}

}

DetectPresenter::DetectPresenter(/* args */)
{
    LOG_DEBUG("DetectPresenter Init algo ver: %s\n", wd_rodAndBarDetectionVersion());
}

DetectPresenter::~DetectPresenter()
{
}

QString DetectPresenter::GetAlgoVersion()
{
    return QString(wd_rodAndBarDetectionVersion());
}

int DetectPresenter::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)
{
    if (laserLines.empty()) {
        LOG_WARNING("No laser lines data available\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    std::vector<std::vector<SVzNL3DPosition>> xyzData;
    int convertResult = dataLoader.ConvertToSVzNL3DPosition(laserLines, xyzData);
    if (convertResult != SUCCESS || xyzData.empty()) {
        LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    const ScrewDetectAlgorithmParams algoParams = AlgorithmParamConverter::ToScrewDetectAlgorithmParams(algorithmParams);
    const double rodDiameter = algoParams.rodDiameter;
    const bool isHorizonScan = algoParams.isHorizonScan;
    const SSG_cornerParam& cornerParam = algoParams.cornerParam;
    const SSG_treeGrowParam& growParam = algoParams.growParam;
    const SSG_outlierFilterParam& filterParam = algoParams.filterParam;

    if (debugParam.enableDebug && debugParam.printDetailLog) {
        LOG_INFO("[Algo Thread] clibMatrix: \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f]\n",
            clibMatrix[0], clibMatrix[1], clibMatrix[2], clibMatrix[3],
            clibMatrix[4], clibMatrix[5], clibMatrix[6], clibMatrix[7],
            clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
            clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);

        LOG_INFO("[Algo Thread] Screw: rodDiameter=%.1f, isHorizonScan=%s\n", rodDiameter, isHorizonScan ? "true" : "false");
        LOG_INFO("[Algo Thread] Corner: cornerTh=%.1f, scale=%.1f, minEndingGap=%.1f, minEndingGap_z=%.1f, jumpCornerTh_1=%.1f, jumpCornerTh_2=%.1f\n",
                 cornerParam.cornerTh, cornerParam.scale, cornerParam.minEndingGap,
                 cornerParam.minEndingGap_z, cornerParam.jumpCornerTh_1, cornerParam.jumpCornerTh_2);
        LOG_INFO("[Algo Thread] Tree Grow: yDeviation_max=%.1f, zDeviation_max=%.1f, maxLineSkipNum=%d, maxSkipDistance=%.1f, minLTypeTreeLen=%.1f, minVTypeTreeLen=%.1f\n",
                 growParam.yDeviation_max, growParam.zDeviation_max, growParam.maxLineSkipNum,
                 growParam.maxSkipDistance, growParam.minLTypeTreeLen, growParam.minVTypeTreeLen);
        LOG_INFO("[Algo Thread] Filter: continuityTh=%.1f, outlierTh=%.1f\n", filterParam.continuityTh, filterParam.outlierTh);
        LOG_INFO("[Algo Thread] Pose Config: eulerOrder=%d, poseOutputOrder=%d, rotX=%.3f, rotY=%.3f, rotZ=%.3f, outRotX=%.3f, outRotY=%.3f, outRotZ=%.3f\n",
                 extrinsic.eulerOrder, poseOutputOrder, extrinsic.rotX, extrinsic.rotY, extrinsic.rotZ,
                 extrinsic.outRotX, extrinsic.outRotY, extrinsic.outRotZ);
    }

    int errCode = 0;
    CVrTimeUtils oTimeUtils;

    LOG_DEBUG("before sx_hexHeadScrewMeasure \n");

    std::vector<SSX_rodPoseInfo> screwInfo;
    sx_hexHeadScrewMeasure_PCA(
        xyzData,
        // isHorizonScan,
        cornerParam,
        filterParam,
        growParam,
        rodDiameter,
        screwInfo,
        &errCode);

    LOG_DEBUG("after sx_hexHeadScrewMeasure \n");
    LOG_INFO("sx_hexHeadScrewMeasure: detected %zu screws, err=%d runtime=%.3fms\n",
             screwInfo.size(), errCode, oTimeUtils.GetElapsedTimeInMilliSec());
    ERR_CODE_RETURN(errCode);

    detectionResult.success = true;
    detectionResult.errorCode = 0;
    detectionResult.message = QStringLiteral("螺杆检测成功");
    const CTHomogeneousMatrix handEyeMatrix = PoseAxesBuilder::BuildHandEyeMatrix(clibMatrix);
    const CTEulerOrder order = static_cast<CTEulerOrder>(extrinsic.eulerOrder);

    double rx, ry, rz;
    PoseAxesBuilder::ResolveRobotPoseAnglesDegrees(robotPose, poseOutputOrder, rx, ry, rz);
    const CTRobotPose flangePose = CTRobotPose::fromDegrees(robotPose.x, robotPose.y, robotPose.z, rx, ry, rz);
    // flangePose.rx/ry/rz 已经是真实轴角，可直接交给 sixAxisEyeInHandBuildTransform 按 eulerOrder 组装。
    const CTHomogeneousMatrix eyeInHandTransform = CCoordinateTransform::sixAxisEyeInHandBuildTransform(
            flangePose, order, handEyeMatrix);

    // 锚点：法兰 Y 轴在 Eye 系下的方向。法兰姿态在一次检测内固定，所以 flangeYInEye 也固定，
    // 用它作 BuildAnchoredFrame 的参考方向可以消除"螺杆轴向接近 Z_world 时副轴方向被放大抖动"。
    const CTVec3D flangeYInEye = PoseAxesBuilder::FlangeAxisToEye(handEyeMatrix, CTVec3D(0.0, 1.0, 0.0));

    if (debugParam.enableDebug && debugParam.printDetailLog) {
        LOG_INFO("[Algo Thread] Robot flange pose fields: X=%.3f, Y=%.3f, Z=%.3f, RX=%.3f, RY=%.3f, RZ=%.3f (eulerOrder=%d)\n",
                 robotPose.x, robotPose.y, robotPose.z, rx, ry, rz, static_cast<int>(order));
        LOG_INFO("[Algo Thread] Flange Y axis in Eye frame (anchor): X=%.6f, Y=%.6f, Z=%.6f\n",
                 flangeYInEye.x, flangeYInEye.y, flangeYInEye.z);
    }

    std::vector<std::pair<double, double>> approachEyeXY;
    approachEyeXY.reserve(screwInfo.size());

    const bool needDebug = debugParam.enableDebug && debugParam.printDetailLog;

    for (size_t i = 0; i < screwInfo.size(); ++i) {
        const auto& screw = screwInfo[i];

        const CTVec3D eyeCenter = ToCTVec3D(screw.center);
        const CTVec3D eyeAxialDir = PoseAxesBuilder::NormalizeVector(ToCTVec3D(screw.axialDir));
        const CTVec3D robotCenter = eyeInHandTransform.transformPoint(eyeCenter);
        const CTVec3D robotAxialDir = PoseAxesBuilder::NormalizeVector(eyeInHandTransform.transformVector(eyeAxialDir));

        // 接近点：Eye 系沿螺杆轴偏移 offset，再经 T 变换到 Robot 系；姿态与目标点共用。
        const double offset = -extrinsic.approachOffset;
        const CTVec3D eyeApproach(eyeCenter.x + eyeAxialDir.x * offset,
                                  eyeCenter.y + eyeAxialDir.y * offset,
                                  eyeCenter.z + eyeAxialDir.z * offset);
        const CTVec3D robotApproach = eyeInHandTransform.transformPoint(eyeApproach);
        approachEyeXY.emplace_back(eyeApproach.x, eyeApproach.y);

        // 锚点式三元组：X = 螺杆轴向，Y = 法兰 Y 投影到 X 垂直面，Z = X × Y。
        std::array<CTVec3D, 3> eyeAxes;
        if (!PoseAxesBuilder::BuildAnchoredFrame(eyeAxialDir, flangeYInEye, eyeAxes)) {
            LOG_WARNING("[Algo Thread] Screw %zu: 螺杆轴向与法兰 Y 锚点近共线，无法构造稳定副轴，已跳过\n", i);
            continue;
        }

        PoseAxesBuilder::PoseAngles angles;
        PoseAxesBuilder::PoseDebugInfo debugInfo;
        const bool poseOk = PoseAxesBuilder::ComputeRobotPoseAngles(
            eyeAxes, eyeInHandTransform, extrinsic, order, rx, rz,
            angles, needDebug ? &debugInfo : nullptr);
        if (!poseOk) {
            LOG_WARNING("[Algo Thread] Screw %zu: 轴变换到机器人坐标系失败，已跳过\n", i);
            continue;
        }

        ScrewPosition pos;
        pos.x = robotCenter.x + extrinsic.offsetX;
        pos.y = robotCenter.y + extrinsic.offsetY;
        pos.z = robotCenter.z + extrinsic.offsetZ;
        pos.approachX = robotApproach.x + extrinsic.offsetX;
        pos.approachY = robotApproach.y + extrinsic.offsetY;
        pos.approachZ = robotApproach.z + extrinsic.offsetZ;
        pos.roll = angles.rollDeg;
        pos.pitch = angles.pitchDeg;
        pos.yaw = angles.yawDeg;
        detectionResult.positions.push_back(pos);

        ScrewInfo info;
        info.centerX = robotCenter.x;
        info.centerY = robotCenter.y;
        info.centerZ = robotCenter.z;
        info.axialDirX = robotAxialDir.x;
        info.axialDirY = robotAxialDir.y;
        info.axialDirZ = robotAxialDir.z;
        info.rotateAngle = pos.roll;
        detectionResult.screwInfoList.push_back(info);

        if (needDebug) {
            LOG_INFO("[Algo Thread] Screw %zu Eye Euler before compensation (order=%d): Roll=%.3f, Pitch=%.3f, Yaw=%.3f\n",
                     i, static_cast<int>(order),
                     debugInfo.eyeEulerBefore.rollDeg,
                     debugInfo.eyeEulerBefore.pitchDeg,
                     debugInfo.eyeEulerBefore.yawDeg);
            LOG_INFO("[Algo Thread] Screw %zu Eye Euler after compensation (order=%d): Roll=%.3f, Pitch=%.3f, Yaw=%.3f\n",
                     i, static_cast<int>(order),
                     debugInfo.eyeEulerAfter.rollDeg,
                     debugInfo.eyeEulerAfter.pitchDeg,
                     debugInfo.eyeEulerAfter.yawDeg);
            // 给 outRot 标定用：这是「outRot 补偿前」的 Robot 系姿态。
            // 把欧拉粘进 CloudView「工具→姿态补偿计算」的"当前"栏，期望填机械臂期望的姿态，
            // 矩阵补偿 + XYZ 输出顺序，反解出来的就是 outRotX/Y/Z。
            LOG_INFO("[Algo Thread] Screw %zu Robot RPY (before outRot, calibration ref): Roll=%.3f, Pitch=%.3f, Yaw=%.3f\n",
                     i,
                     debugInfo.robotEulerBeforeOutRot.rollDeg,
                     debugInfo.robotEulerBeforeOutRot.pitchDeg,
                     debugInfo.robotEulerBeforeOutRot.yawDeg);
            LOG_INFO("[Algo Thread] Screw %zu Eye Coords: X=%.2f, Y=%.2f, Z=%.2f\n", i, screw.center.x, screw.center.y, screw.center.z);
            LOG_INFO("[Algo Thread] Screw %zu Robot Coords: X=%.2f, Y=%.2f, Z=%.2f, RPY=%.2f/%.2f/%.2f\n", i, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
            LOG_INFO("[Algo Thread] Screw %zu Axial Dir Eye: X=%.3f, Y=%.3f, Z=%.3f\n", i, screw.axialDir.x, screw.axialDir.y, screw.axialDir.z);
            LOG_INFO("[Algo Thread] Screw %zu Axial Dir Robot: X=%.3f, Y=%.3f, Z=%.3f\n", i, robotAxialDir.x, robotAxialDir.y, robotAxialDir.z);
            LOG_INFO("[Algo Thread] Screw %zu Approach (offset=%.2f): X=%.2f, Y=%.2f, Z=%.2f\n", i, offset, pos.approachX, pos.approachY, pos.approachZ);
        }
    }

    detectionResult.image = BuildScrewPointCloudImage(xyzData, screwInfo, &approachEyeXY);

    SaveDebugImageIfNeeded(cameraIndex, debugParam, detectionResult.image, QStringLiteral("Image"));
    return SUCCESS;
}

int DetectPresenter::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)
{
    if (laserLines.empty()) {
        LOG_WARNING("No laser lines data available for tool disk detection\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    std::vector<std::vector<SVzNL3DPosition>> xyzData;
    int convertResult = dataLoader.ConvertToSVzNL3DPosition(laserLines, xyzData);
    if (convertResult != SUCCESS || xyzData.empty()) {
        LOG_WARNING("Failed to convert tool disk data to XYZ format or no XYZ data available\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    // 构造算法参数（与螺杆检测共享 cornerParam）
    const ScrewDetectAlgorithmParams algoParams = AlgorithmParamConverter::ToScrewDetectAlgorithmParams(algorithmParams);
    const SSG_cornerParam& cornerParam = algoParams.cornerParam;

    if (debugParam.enableDebug && debugParam.printDetailLog) {
        LOG_INFO("[Algo Thread] ToolDisk clibMatrix: \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[%.3f, %.3f, %.3f, %.3f]\n",
            clibMatrix[0], clibMatrix[1], clibMatrix[2], clibMatrix[3],
            clibMatrix[4], clibMatrix[5], clibMatrix[6], clibMatrix[7],
            clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
            clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);

        LOG_INFO("[Algo Thread] ToolDisk Corner: cornerTh=%.1f, scale=%.1f, minEndingGap=%.1f, minEndingGap_z=%.1f\n",
                 cornerParam.cornerTh, cornerParam.scale, cornerParam.minEndingGap, cornerParam.minEndingGap_z);
        LOG_INFO("[Algo Thread] ToolDisk Pose Config: eulerOrder=%d, poseOutputOrder=%d, rotX=%.3f, rotY=%.3f, rotZ=%.3f, outRotX=%.3f, outRotY=%.3f, outRotZ=%.3f\n",
                 extrinsic.eulerOrder, poseOutputOrder, extrinsic.rotX, extrinsic.rotY, extrinsic.rotZ,
                 extrinsic.outRotX, extrinsic.outRotY, extrinsic.outRotZ);
    }

    int errCode = 0;
    CVrTimeUtils oTimeUtils;

    LOG_DEBUG("before sx_getLocationPlatePose_new\n");

    SSX_platePoseInfo poseInfo = sx_getLocationPlatePose_new(xyzData, cornerParam, &errCode);

    LOG_DEBUG("after sx_getLocationPlatePose_new\n");
    LOG_INFO("sx_getLocationPlatePose_new: err=%d runtime=%.3fms\n", errCode, oTimeUtils.GetElapsedTimeInMilliSec());
    ERR_CODE_RETURN(errCode);

    detectionResult.success = true;
    detectionResult.errorCode = 0;
    detectionResult.message = QStringLiteral("工具盘检测成功");
    const CTHomogeneousMatrix handEyeMatrix = PoseAxesBuilder::BuildHandEyeMatrix(clibMatrix);
    const CTEulerOrder order = static_cast<CTEulerOrder>(extrinsic.eulerOrder);

    double rx, ry, rz;
    PoseAxesBuilder::ResolveRobotPoseAnglesDegrees(robotPose, poseOutputOrder, rx, ry, rz);
    const CTRobotPose flangePose = CTRobotPose::fromDegrees(robotPose.x, robotPose.y, robotPose.z, rx, ry, rz);
    // flangePose.rx/ry/rz 已经是真实轴角，可直接交给 sixAxisEyeInHandBuildTransform 按 eulerOrder 组装。
    const CTHomogeneousMatrix eyeInHandTransform = CCoordinateTransform::sixAxisEyeInHandBuildTransform(
            flangePose, order, handEyeMatrix);

    // 将定位盘中心点通过手眼标定转换为机器人坐标
    const CTVec3D eyeCenter = ToCTVec3D(poseInfo.center);
    const CTVec3D robotCenter = eyeInHandTransform.transformPoint(eyeCenter);
    const CTVec3D eyeXAxis = PoseAxesBuilder::NormalizeVector(ToCTVec3D(poseInfo.xDir));
    const CTVec3D eyeYAxis = PoseAxesBuilder::NormalizeVector(ToCTVec3D(poseInfo.yDir));

    ScrewPosition pos;
    pos.x = robotCenter.x + extrinsic.offsetX;
    pos.y = robotCenter.y + extrinsic.offsetY;
    pos.z = robotCenter.z + extrinsic.offsetZ;
    // 接近点：Eye 系沿工具盘 X 轴偏移 offset，再经 T 变换到 Robot 系；姿态与目标点共用。
    const double offset = extrinsic.approachOffset;
    const CTVec3D eyeApproach(eyeCenter.x + eyeXAxis.x * offset,
                              eyeCenter.y + eyeXAxis.y * offset,
                              eyeCenter.z + eyeXAxis.z * offset);
    const CTVec3D robotApproach = eyeInHandTransform.transformPoint(eyeApproach);
    pos.approachX = robotApproach.x + extrinsic.offsetX;
    pos.approachY = robotApproach.y + extrinsic.offsetY;
    pos.approachZ = robotApproach.z + extrinsic.offsetZ;
    const std::pair<double, double> approachEyeXY(eyeApproach.x, eyeApproach.y);

    // 锚点式三元组：算法已给出完整 X/Y/Z，但仍统一走 BuildAnchoredFrame —— 它对算法输出做
    // Gram-Schmidt 正交化（算法本就正交时是恒等），保证后续欧拉提取数值稳定。
    std::array<CTVec3D, 3> eyeAxes;
    if (!PoseAxesBuilder::BuildAnchoredFrame(eyeXAxis, eyeYAxis, eyeAxes)) {
        LOG_WARNING("[Algo Thread] ToolDisk: 算法 X/Y 轴近共线，无法构造稳定副轴\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    const bool needDebug = debugParam.enableDebug && debugParam.printDetailLog;
    PoseAxesBuilder::PoseAngles angles;
    PoseAxesBuilder::PoseDebugInfo debugInfo;
    if (!PoseAxesBuilder::ComputeRobotPoseAngles(
            eyeAxes, eyeInHandTransform, extrinsic, order, rx, rz,
            angles, needDebug ? &debugInfo : nullptr)) {
        LOG_WARNING("[Algo Thread] ToolDisk: 轴变换到机器人坐标系失败\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }
    pos.roll = angles.rollDeg;
    pos.pitch = angles.pitchDeg;
    pos.yaw = angles.yawDeg;
    detectionResult.positions.push_back(pos);

    if (needDebug) {
        const CTRotationMatrix& eyeRotationAfter = debugInfo.eyeRotationAfter;
        const CTRotationMatrix& robotRotation = debugInfo.robotRotation;

        LOG_INFO("[Algo Thread] === Tool Disk Pose Debug ===\n");
        LOG_INFO("[Algo Thread] ToolDisk Eye Euler before compensation (order=%d): Roll=%.3f, Pitch=%.3f, Yaw=%.3f\n",
                 static_cast<int>(order),
                 debugInfo.eyeEulerBefore.rollDeg,
                 debugInfo.eyeEulerBefore.pitchDeg,
                 debugInfo.eyeEulerBefore.yawDeg);
        LOG_INFO("[Algo Thread] Eye Rotation Matrix (after compensation):\n");
        LOG_INFO("  [%.6f, %.6f, %.6f]\n", eyeRotationAfter.at(0, 0), eyeRotationAfter.at(0, 1), eyeRotationAfter.at(0, 2));
        LOG_INFO("  [%.6f, %.6f, %.6f]\n", eyeRotationAfter.at(1, 0), eyeRotationAfter.at(1, 1), eyeRotationAfter.at(1, 2));
        LOG_INFO("  [%.6f, %.6f, %.6f]\n", eyeRotationAfter.at(2, 0), eyeRotationAfter.at(2, 1), eyeRotationAfter.at(2, 2));
        LOG_INFO("[Algo Thread] Eye Pos: (%.6f, %.6f, %.6f)\n", poseInfo.center.x, poseInfo.center.y, poseInfo.center.z);
        LOG_INFO("[Algo Thread] Eye Euler after compensation (order=%d): Roll=%.3f, Pitch=%.3f, Yaw=%.3f\n",
                 static_cast<int>(order),
                 debugInfo.eyeEulerAfter.rollDeg,
                 debugInfo.eyeEulerAfter.pitchDeg,
                 debugInfo.eyeEulerAfter.yawDeg);

        LOG_INFO("[Algo Thread] Robot Rotation Matrix:\n");
        LOG_INFO("  [%.6f, %.6f, %.6f]\n", robotRotation.at(0, 0), robotRotation.at(0, 1), robotRotation.at(0, 2));
        LOG_INFO("  [%.6f, %.6f, %.6f]\n", robotRotation.at(1, 0), robotRotation.at(1, 1), robotRotation.at(1, 2));
        LOG_INFO("  [%.6f, %.6f, %.6f]\n", robotRotation.at(2, 0), robotRotation.at(2, 1), robotRotation.at(2, 2));
        LOG_INFO("[Algo Thread] Robot Pos: (%.6f, %.6f, %.6f)\n", robotCenter.x, robotCenter.y, robotCenter.z);
        // 给 outRot 标定用：outRot 补偿前的 Robot 系欧拉（粘进 CloudView「姿态补偿」"当前"栏）
        LOG_INFO("[Algo Thread] ToolDisk Robot RPY (before outRot, calibration ref): Roll=%.3f, Pitch=%.3f, Yaw=%.3f\n",
                 debugInfo.robotEulerBeforeOutRot.rollDeg,
                 debugInfo.robotEulerBeforeOutRot.pitchDeg,
                 debugInfo.robotEulerBeforeOutRot.yawDeg);
        LOG_INFO("[Algo Thread] Robot Pos Euler (order=%d): Roll=%.3f, Pitch=%.3f, Yaw=%.3f\n",
                 static_cast<int>(order), pos.roll, pos.pitch, pos.yaw);
        LOG_INFO("[Algo Thread] ToolDisk Approach (offset=%.2f): X=%.2f, Y=%.2f, Z=%.2f\n",
                 offset, pos.approachX, pos.approachY, pos.approachZ);
    }

    detectionResult.image = BuildToolDiskPointCloudImage(xyzData, poseInfo, true, &approachEyeXY);

    SaveDebugImageIfNeeded(cameraIndex, debugParam, detectionResult.image, QStringLiteral("ToolDisk_Image"));
    return SUCCESS;
}