#pragma once

#include <VZNL_Types.h>
#include <vector>
#include <SG_errCode.h>

#define PI 3.141592654

// 定义欧拉角结构体（单位：度）
typedef struct{
	double roll;   // 绕X轴旋转（横滚）
	double pitch;  // 绕Y轴旋转（俯仰）
	double yaw;    // 绕Z轴旋转（偏航）
}SSG_EulerAngles;

//以工作轴为X轴(扫描方向），平行地面与Z轴垂直的轴为Y轴，垂直地面的轴为Z轴
typedef struct
{
	bool validFlag;  //指示结果是否有效
	double x;
	double y;
	double z;
	double pitchAngle; //俯仰角：绕Y轴的偏转, 弧度
	double rollAngle;  //滚转角：绕X轴的偏转, 弧度
	double yawAngle;   //偏转角：绕Z轴的偏转, 弧度
}SSG_6AxisAttitude;

typedef struct
{
	bool validFlag;  //指示结果是否有效
	double x;
	double y;
	double z;
}SSG_3AxisAttitude;

typedef enum
{
	keSG_PoseSorting_Uknown = 0,
	keSG_PoseSorting_ZMin2Max,           ///按Z排序
	keSG_PoseSorting_L2R_T2B,           ///从左到右，从上到下排序
	keSG_PoseSorting_T2B_L2R,           ///从上到下，从左到右排序
} ESG_poseSortingMode;

typedef struct
{
	int data_0;
	int data_1;
	int idx;
}SSG_intPair;

typedef struct
{
	double left;
	double right;
	double top;
	double bottom;
}SSG_ROIRectD;

struct HSV {
	double h; // 色相 (0-360)
	double s; // 饱和度 (0-1)
	double v; // 亮度 (0-1)
};

struct RGB {
	int r; 
	int g; 
	int b; 
};

#define LINE_FEATURE_NUM			16
#define LINE_FEATURE_UNDEF			0
#define LINE_FEATURE_L_JUMP_H2L		1
#define LINE_FEATURE_L_JUMP_L2H		2
#define LINE_FEATURE_L_SLOPE_H2L	3
#define LINE_FEATURE_L_SLOPE_L2H	4
#define LINE_FEATURE_V_SLOPE		5
#define LINE_FEATURE_LINE_ENDING_0	6  //ending起点
#define LINE_FEATURE_LINE_ENDING_1	7  //ending终点
#define LINE_FEATURE_RGN_EDGE		8  //迭代处理时已经得到的目标的边缘点标记
#define LINE_FEATURE_RIGHT_ANGLE_HR	9  //直角特征:水平-上升
#define LINE_FEATURE_RIGHT_ANGLE_HF	10  //直角特征:水平-下降
#define LINE_FEATURE_RIGHT_ANGLE_RH	11  //直角特征:上升-水平
#define LINE_FEATURE_RIGHT_ANGLE_FH	12  //直角特征:下降-水平
#define LINE_FEATURE_PEAK_TOP		13
#define LINE_FEATURE_PEAK_BOTTOM	14
#define LINE_FEATURE_CORNER_V		15


typedef struct
{
	int featureType;
	SVzNL2DPoint jumpPos2D;
	SVzNL3DPoint jumpPos;
}SSG_basicFeature1D;

typedef struct
{
	int lineIdx;
	double gap_start;
	double gap_width;
	double gap_depth;
	SVzNL3DPosition gapPt_0;  //gap的端点
	SVzNL3DPosition gapPt_1;  //gap的端点
	SSG_ROIRectD roi;
}SSG_basicFeatureGap;

#define FEATURE_FLAG_UNDEF	0 
#define FEATURE_FLAG_INVLD_START	1
#define FEATURE_FLAG_INVLD_END		2
#define FEATURE_FLAG_VALID_START	3
#define FEATURE_FLAG_VALID_END		4
#define FEATURE_FLAG_INVALID		5
typedef struct
{
	int flag;
	int lineIdx;
	int startPtIdx;
	int endPtIdx;
	int midPtIdx;
	SVzNL3DPoint midPt;
	double width;
	double pkHeight;
}SSG_featureSemiCircle;

typedef struct
{
	int lineIdx;
	std::vector<SSG_basicFeature1D> features;
	std::vector<SSG_basicFeature1D> endings;
}SSG_lineFeature;

typedef struct
{
	/* 点是否连续门限，小于此门限，视为点连续 */
	double continuityTh;  //点连续门限。当使用z跳变判断连续性时，为z跳变门限；当使用点距离判断时，为点距离门限
	/* 噪声判断门限，当连续段的点数据小于此门限，视为噪声 */
	double outlierTh;  
}SSG_outlierFilterParam;

typedef struct
{
	double LSlopeZWin;  //对L型Slope进行坡度计算的窗口长度
	double validSlopeH; 
	double minLJumpH;
	double minEndingGap;//连续段门限。大于此门限，为不连续
}SSG_slopeParam;

typedef struct
{
	double minEndingGap;  //y方向连续段门限。大于此门限，为不连续
	double minEndingGap_z;  //z方向连续段门限。大于此门限，为不连续
	double scale;  //计算方向角的窗口比例尺
	double cornerTh; //拐角门限，大于此门限，为有效拐点
	double jumpCornerTh_1; //判断拐角是否为跳变的两个门限。当一个门限大于jumpCornerTh_1且另一个小于jumpCornerTh_2时跳变
	double jumpCornerTh_2;
}SSG_cornerParam;

typedef struct
{
	double H_len; //直角特征水平段的长度
	double V_len; //直角特征垂直段的长度
	double maxDelta;
}SSG_lineRightAngleParam;

typedef struct
{
	double valleyMinH;
	double valleyMaxW;
}SSG_VFeatureParam;

typedef struct
{
	double sameGapTh;
	int gapChkWin;
}SSG_tearFeatureExtactPara;
typedef struct
{
	double yDeviation_max;//生长时相邻特征最大的Y偏差
	double zDeviation_max; //生长时相邻特征最大的Z偏差
	int maxLineSkipNum;  //生长时相邻特征的最大线间隔， -1时使用maxDkipDistance
	double maxSkipDistance; //若maxLineSkipNum为-1， 使用此参数.设为-1时，此参数无效
	double minLTypeTreeLen;  //生长树最少的节点数目。小于此数目的生长树被移除
	double minVTypeTreeLen;  //生长树最少的节点数目。小于此数目的生长树被移除
}SSG_treeGrowParam;

typedef struct
{
	double bagL; //长
	double bagW; //宽
	double bagH; //高
}SSG_bagParam;

typedef struct
{
	ESG_poseSortingMode sortMode;
}SSG_objSortParam;

typedef struct
{
	double angleStep;
	double radiusStep;
}SSG_polarScanParam;

typedef struct
{
	int treeState;
	int treeType;
	int sLineIdx;
	int eLineIdx;
	SSG_ROIRectD roi;
	std::vector< SSG_basicFeature1D> treeNodes;
}SSG_featureTree;

typedef struct
{
	int treeState;
	int treeType;
	int sLineIdx;
	int eLineIdx;
	SSG_ROIRectD roi;
	SVzNL3DPoint centerPt;
	SVzNL2DPoint centerPos;
	int treeMidType; //1:已经焊接过
	std::vector< SSG_featureSemiCircle> treeNodes;
}SSG_semiCircleFeatureTree;

typedef struct
{
	int vTreeFlag;
	int treeIdx;
	int treeType;
	int sLineIdx;
	int eLineIdx;
	SSG_ROIRectD roi;
}SSG_treeInfo;

typedef struct
{
	int seachW_lines;
	int searchW_pts;
}SSG_localPkParam;

typedef struct
{
	int x;
	int y;
	int value;
	double valueD;
	int sideID; //1-T, 2-B, 3-L, 4-R
}SSG_2DValueI;

typedef struct
{
	int start;
	int len;
	int value;
}SSG_RUN;

typedef struct
{
	double mean;
	double var;
}SSG_meanVar;

typedef struct
{
	int x;
	int y;
	int type;
	int edgeId;
	int blockFlag;//遮挡标志
	double scanDist;
	SVzNL3DPoint edgePt;
}SSG_contourPtInfo;

typedef struct
{
	int lineIdx;
	std::vector<SSG_contourPtInfo> contourPts;
}SSG_lineConotours;

typedef struct
{
	int lineIdx;
	int edgeId_0;
	int edgeId_1;
	double ptPairDist;
	SSG_contourPtInfo contourPt_0;
	SSG_contourPtInfo contourPt_1;
}SSG_conotourPair;

typedef struct
{
	double x;
	double y;
	double z;
	double x_roll;
	double y_pitch;
	double z_yaw;
}SSG_6DOF;

typedef struct
{
	double L;
	double W;
	double H;
	double angle;
	SVzNL3DPoint endings[4];
} SSG_boxCarDimension;

typedef struct
{
	SVzNL3DPoint opCenter;  //定子中心位置
	int neighbourNum;  //相邻目标数量
	double opAngle; //定子外部相隔120度操作点的操作角度。以Y形为基准角度（0度)
	double obstacleDist; //距离周边障碍的距离
}SSG_motorStatorPosition;

typedef struct
{
	int pkRgnIdx;
	SVzNLSizeD objSize;
	SVzNL2DPoint pos2D;
	SSG_6DOF centerPos;
}SSG_peakRgnInfo;

typedef struct
{
	int pkRgnIdx;
	SVzNLSizeD objSize;
	SVzNL2DPoint pos2D;
	SSG_6DOF centerPos;
	int orienFlag;  //0-未知，1 - 正面， 2-反面
}SSG_peakOrienRgnInfo;

typedef struct
{
	SVzNL3DPoint sPt;
	SVzNL3DPoint ePt;
	double scanDist;
	int ptNum;
}SSG_contourEdgeInfo;

typedef struct
{
	double meanDist;
	double varDist;
	double minDist;
	double maxDist;
	int matchNum;
	int level2_num;  //level2为高可信度(两端为Jump或Ending;
	int level1_num;  //level1-为中可信度（一端为Jump或Ending）
	SSG_ROIRectD roi;
}SSG_edgeMatchInfo;

typedef struct
{
	int id1;
	int id2;
	int matchPts;
	int matchType; //可信度， 2为高可信度(两端为Jump或Ending; 1-为中可信度（一端为Jump或Ending）；0-为低可信度
	double matchValue;
	double varValue;
	double minMatchValue;
	double maxMatchValue;
	SSG_ROIRectD roi;
}SSG_matchPair;

typedef struct
{
	int objIdx;
	bool isValid; //是否为合格目标。顶层目标，但编织袋横放（扫描到长边）为不合格目标
	SSG_ROIRectD objROI;
	SVzNL3DPoint objPos;
	SSG_6DOF graspPos;
}SSG_sideBagInfo;

typedef struct
{
	SVzNLRect roi;
	int ptCounter;
	int labelID;
}SSG_Region;

typedef struct
{
	double planeCalib[9];  //旋转矩阵，将点云地面调平
	double planeHeight;//地面调平后的高度，用于去除地面数据
	double invRMatrix[9];  //旋转矩阵，回到原坐标系
}SSG_planeCalibPara;