/**
  ******************************************************************************
  * @file    SG_fireBrickAlgo.h
  * @author  上古软件
  * @version V1.0.0
  * @date    2024-10-30
  * @brief   This file contains all the functions prototypes for the fireBrick 
  *          positioning algorithm.
  ******************************************************************************
  */

#pragma once

#include <VZNL_Types.h>
#include <vector>
#include <string>
#include "SG_fireBrick_Export.h"
#include "SG_baseDataType.h"

#define Z_HIST_MAX_SIZE	100000

#define ENABLE_OUTPUT_DEBUG_IMAGE	1  //输出中间调试结果

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

typedef struct
{
	SVzNL2DPoint gridPos;
	SSG_meanVar meanVar;
}SSG_meanVarAbnormalPt;

typedef struct
{
	uchar isClosed;
	std::vector<SVzNL2DPoint> contourPtList;
}SSG_RgnContour2D;

typedef struct
{
	SVzNL2DPoint gridPos;
	SVzNL3DPoint pt3D;
}SSG_gridPt3D;

typedef struct
{
	uchar isClosed;
	std::vector<SSG_gridPt3D> contourPtList;
}SSG_RgnContour3D;

class CSGFireBrick : public ISGFireBrick
{
public:
	CSGFireBrick();
	~CSGFireBrick() final = default;

	/// @brief
	/// 创建实例
	static bool CreateInstance(double dHistScale, ISGFireBrick** ppFireBrick);

	const char* GetVersion() final;

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

protected:
	/// @brief
	/// 初始化
	bool _Init(double dHistScale);

private:
	int						m_nFrameWidth   = -1;
	int						m_nFrameHeight	= 0;
	double					m_histScale		= 0.5;
	double					m_planeThick    = 6.0;
	std::vector<int>		m_zHist;
	ESG_poseSortingMode		m_sortingMode	= keSG_PoseSorting_Uknown;
	SVzNLRange				m_zIdxRange		= { -1, -1 };

	//
	static std::string		m_strVersion;
};