#pragma once

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

#define _OUTPUT_DEBUG_DATA	1

typedef struct
{
	SVzNL3DPoint wheelArchPos;
	SVzNL3DPoint wheelUpPos;
	SVzNL3DPoint wheelDownPos;
	SVzNL3DPoint arcLine[2];
	SVzNL3DPoint upLine[2];
	SVzNL3DPoint downLine[2];
	SVzNL3DPoint centerLine[2];
	double archToCenterHeigth;
	double archToGroundHeigth;
}WD_wheelArchInfo;

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

//相机水平安装计算地面调平参数。。
//相机Z轴基本平行地面时，需要以地面为参照，将相机调水平
//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 wd_horizonCamera_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_horizonCamera_lineDataR(
	std::vector< SVzNL3DPosition>& a_line,
	const double* camPoseR,
	double groundH);

//相机水平时姿态调平，并去除地面
SG_APISHARED_EXPORT bool wd_wheelPresenseDetection(
	std::vector<std::vector< SVzNL3DPosition>>& scanLine,
	const SVzNL3DRangeD wheelRoi3d);

//提取工件角点及定位长度信息
SG_APISHARED_EXPORT WD_wheelArchInfo wd_wheelArchHeigthMeasure(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SSG_cornerParam cornerPara,
	const SSG_lineSegParam lineSegPara,
	const SSG_outlierFilterParam filterParam,
	const SSG_treeGrowParam growParam,
	const SSG_planeCalibPara groundCalibPara,
	int* errCode);

//标定块凹槽长度计算
SG_APISHARED_EXPORT double wd_getCalibrationBlockLength(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const double nominalTotalLen, //标定块总长度(601)，用于过滤虚假信号
	const SSG_outlierFilterParam filterParam,
	const SSG_treeGrowParam growParam,
	const SVzNLRangeD calibratiionBlockYRange,
#if _OUTPUT_DEBUG_DATA
	std::vector< std::vector<SVzNL3DPosition>>& debugData,
#endif
	int* errCode
);