#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>

typedef struct
{
	int rows;  //二维码行数
	int cols; //二维码列数
	double row_space; //行间距，单位mm
	double col_space; //列间距，单位mm
	double pointHoleDepth; //二维码点的深度，单位mm
	double pointHoleR; //二维码点的半径，单位mm
}WD_QRcodeParam;

//将ply格式的数据恢复成扫描行的数据形式，从而方面按行进行处理
SG_APISHARED_EXPORT void wd_getScanLines(
	std::vector<SVzNL3DPoint>& scanData,
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	int scan_rows);

SG_APISHARED_EXPORT SSG_planeCalibPara wd_getBaseCalibPara(
	SVzNL3DLaserLine* laser3DPoints,
	int lineNum);

SG_APISHARED_EXPORT void wd_lineDataR(
	std::vector< SVzNL3DPosition>& a_line,
	const double* camPoseR,
	double groundH);

SG_APISHARED_EXPORT void wd_QRcode3Ddetection(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const WD_QRcodeParam qrcode_param,
	std::vector< SVzNL3DPosition>& objPoints,
	cv::Mat& dmCodeImg);