#pragma once

#if defined(SG_API_LIBRARY)
#  define SG_APISHARED_EXPORT __declspec(dllexport)
#else
#  define SG_APISHARED_EXPORT __declspec(dllimport)
#endif

#include "SG_baseDataType.h"
#include <vector>
#include <opencv2/opencv.hpp>

#define OUTPUT_DEBUG	0

typedef struct
{
	SWD_sizeParam minSize;
	SWD_sizeParam alarmSize;
}SWD_paricleSizeParam;

typedef struct
{
	SSG_outlierFilterParam filterParam;
	SSG_cornerParam cornerParam;
	SSG_treeGrowParam growParam;
}SWD_PSM_algoParam;

typedef struct
{
	//double EQRadius;
	SWD_sizeParam size;
	SVzNL3DPoint vertix[8];
}SWD_ParticlePosInfo;

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

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

//粒径检测
SG_APISHARED_EXPORT void wd_particleSizeMeasure(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SWD_paricleSizeParam particleSizeParam,
	const SSG_planeCalibPara groundCalibPara,
	const SWD_PSM_algoParam algoParam,
	std::vector<SWD_ParticlePosInfo>& particles,
	int* errCode);