#pragma once

#if defined(_MSC_VER) || defined(WIN64) || defined(_WIN64) || defined(__WIN64__) || defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
#  define Q_DECL_EXPORT __declspec(dllexport)
#  define Q_DECL_IMPORT __declspec(dllimport)
#else
#  define Q_DECL_EXPORT     __attribute__((visibility("default")))
#  define Q_DECL_IMPORT     __attribute__((visibility("default")))
#endif

#if defined(SG_API_LIBRARY)
#  define SG_WORKPIECESHARED_EXPORT Q_DECL_EXPORT
#else
#  define SG_WORKPIECESHARED_EXPORT Q_DECL_IMPORT
#endif

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

#define _OUTPUT_DEBUG_DATA	1

typedef struct
{
	double lineLen; //直线段长度
}SSX_BQworkpiecePara;

typedef struct
{
	int workpieceType;
	SVzNL3DPoint corner_L[3];
	SVzNL3DPoint corner_R[3];
	SVzNL3DPoint corner_T[3];
	SVzNL3DPoint corner_B[3];
}SSX_BQworkpieceResult;

typedef struct
{
	int rgnIdx;
	SVzNL3DPoint* edge;
	int edge_size;
	SVzNL3DPoint edge_ends[2];
	SVzNL3DPoint* edgeLink_1;
	int edgeLink1_size;
	SVzNL3DPoint edge_link1_ends[2];
	SVzNL3DPoint* edgeLink_2;
	int edgeLink2_size;
	SVzNL3DPoint edge_link2_ends[2];
}SSX_debugInfo;

//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_WORKPIECESHARED_EXPORT SSG_planeCalibPara sx_BQ_getBaseCalibPara(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines);

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

//提取搭接焊缝
SG_WORKPIECESHARED_EXPORT SSX_BQworkpieceResult sx_BQ_getWorkpieceCorners(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SSG_cornerParam cornerPara,
	const SSG_outlierFilterParam filterParam,
	SSG_treeGrowParam growParam,
	SSG_planeCalibPara groundCalibPara,
	SSX_BQworkpiecePara workpieceParam,
#if _OUTPUT_DEBUG_DATA
	SSX_debugInfo* debug_conturs,
#endif
	int* errCode);