#pragma once

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

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


typedef struct
{
	cv::Size patternSize;  //3x3 mark
	float checkerSize; //60mm
	float markerSize; //45mm
	int dictType; //1: DICT_6x6
}SWD_BQ_CharucoMarkInfo;

typedef struct
{
	int totalBoardNum;  //mark数量
	int boardIdInterval; //每块Mark的charuco码的间隔。比如第一块从0开始，第二块从8开始，间隔为8
	int boardChaucoIDNum; //每块Mark的charuco码的数量。对于3x3的charuco, 二维码的个数为4
}SWD_BQ_MarkBoardInfo;
//读版本号
WD_APISHARED_EXPORT const char* wd_charuco3DMarkVersion(void);

//提取查科Mark3D信息
WD_APISHARED_EXPORT void wd_BQ_getCharuco3DMark(
    cv::Mat& leftImage,
    cv::Mat& rightImage,
    cv::Mat& cameraMatrixL,
    cv::Mat& distCoeffsL,
    cv::Mat& cameraMatrixR,
    cv::Mat& distCoeffsR,
    cv::Mat& R1,
    cv::Mat& R2,
    cv::Mat& P1,
    cv::Mat& P2,
    cv::Mat& Q,
    SWD_BQ_CharucoMarkInfo markInfo,
    SWD_BQ_MarkBoardInfo boardInfo,
    double disparityOffset,
    std::vector<SWD_charuco3DMark>& marks);