#pragma once

#if defined(VZ_API_LIBRARY)
#  define VZ_APISHARED_EXPORT __declspec(dllexport)
#else
#  define VZ_APISHARED_EXPORT __declspec(dllimport)
#endif

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

//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;

class ISGFireBrick
{
public:
	ISGFireBrick() = default;
	virtual ~ISGFireBrick() = default;

	virtual const char* GetVersion() = 0;

	virtual void sgSegHistScale(double) = 0;
	virtual void sgCalibCamPose() = 0;
	virtual void sgSetPoseSortingMode(ESG_poseSortingMode mode) = 0;
	virtual ESG_poseSortingMode sgGetPoseSortingMode() = 0;
	virtual void sgScanLineProc(SVzNL3DLaserLine* a_line, double* camPoseR, int* errCode) = 0;
	virtual void sgGetBrickPose(SVzNL3DLaserLine* scanData, int nLines, std::vector<SSG_6AxisAttitude>& brickPoses, int* errCode) = 0;
	virtual void sgSortBrickPoses(std::vector<SSG_6AxisAttitude>& brickPoses, ESG_poseSortingMode sortingMode) = 0;
};

VZ_APISHARED_EXPORT bool SGCreateFireBrick(double dHistScale, ISGFireBrick** ppFireBrick);