#pragma once

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

#define OUTPUT_DEBUG	0

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

#define _OUTPUT_LINE_PROC_RESULT	1

typedef struct
{
	double sieveDiameter;  //筛网铁丝直径
	double sieveHoleSize;  //筛网孔径，孔的边长
	SSG_outlierFilterParam filterParam;
	SSG_slopeParam slopeParam;
	SSG_treeGrowParam growParam;
}SSG_sieveNodeDetectionParam;

SG_APISHARED_EXPORT void sg_lineDataR(SVzNL3DLaserLine* a_line,
	const double* camPoseR,
	double groundH);

SG_APISHARED_EXPORT void sg_getSieveNodes(
	SVzNL3DLaserLine* laser3DPoints,
	int lineNum,
	const SSG_sieveNodeDetectionParam sieveDetectParam,
	std::vector<SVzNL3DPoint>& nodePos);

//计算一个平面调平参数。
//以数据输入中ROI以内的点进行平面拟合，计算调平参数
//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 sg_getSieveBaseCalibPara(
	SVzNL3DLaserLine* laser3DPoints,
	int lineNum,
	std::vector<SVzNL3DRangeD>& ROIs);