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

//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
SSG_planeCalibPara sx_getBaseCalibPara(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines)
{
	return sg_getPlaneCalibPara2(scanLines);
}

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

//提取搭接焊缝
void sx_getLapWeldPostion(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SSG_cornerParam cornerPara,
	SSG_treeGrowParam growParam,
	SSX_lapWeldParam lapWeldParam,
	std::vector<std::vector<SVzNL3DPoint>>& objOps,
	int* errCode)
{
	*errCode = 0;
	int lineNum = (int)scanLines.size();
	if (lineNum == 0)
	{
		*errCode = SG_ERR_3D_DATA_NULL;
		return;
	}

	int linePtNum = (int)scanLines[0].size();
	bool isGridData = true;
	//垂直arc特征提取
	std::vector<std::vector<SSG_basicFeature1D>> jumpFeatures_v;
	for (int line = 0; line < lineNum; line++)
	{
		if (line == 400)
			int kkk = 1;

		std::vector<SVzNL3DPosition>& lineData = scanLines[line];
		if (linePtNum != (int)lineData.size())
			isGridData = false;

		std::vector<SSG_basicFeature1D> a_line_features;
		int dataSize = (int)lineData.size();
		sg_getLineJumpFeature_cornerMethod(
			&scanLines[line][0],
			dataSize,
			line,
			cornerPara, //scale通常取bagH的1/4
			a_line_features);
		jumpFeatures_v.push_back(a_line_features);
	}

	if (false == isGridData)//数据不是网格格式
	{
		*errCode = SG_ERR_NOT_GRID_FORMAT;
		return;
	}

	//生成水平扫描
	std::vector<std::vector<SVzNL3DPosition>> hLines;
	hLines.resize(linePtNum);
	for (int i = 0; i < linePtNum; i++)
		hLines[i].resize(lineNum);
	for (int line = 0; line < lineNum; line++)
	{
		for (int j = 0; j < linePtNum; j++)
		{
			scanLines[line][j].nPointIdx = 0; //将原始数据的序列清0（会转义使用）
			hLines[j][line] = scanLines[line][j];
			hLines[j][line].pt3D.x = scanLines[line][j].pt3D.y;
			hLines[j][line].pt3D.y = scanLines[line][j].pt3D.x;
		}
	}
	//水平arc特征提取
	std::vector<std::vector<SSG_basicFeature1D>> jumpFeatures_h;
	int lineNum_h = (int)hLines.size();
	for (int line = 0; line < lineNum_h; line++)
	{
		std::vector<SVzNL3DPosition>& lineData = hLines[line];

		std::vector<SSG_basicFeature1D> a_line_features;
		int dataSize = (int)lineData.size();
		sg_getLineJumpFeature_cornerMethod(
			&hLines[line][0],
			dataSize,
			line,
			cornerPara, //scale通常取bagH的1/4
			a_line_features);

		//进行配对匹配
		jumpFeatures_h.push_back(a_line_features);
	}

	//特征生长
	//垂直方向特征生长（激光线方向）
	std::vector<SSG_featureTree> v_trees;
	for (int line = 0; line < lineNum; line++)
	{
		bool isLastLine = false;
		if (line == lineNum - 1)
			isLastLine = true;
		std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_v[line];
		sg_lineFeaturesGrowing(
			line,
			isLastLine,
			a_lineJumpFeature,
			v_trees,
			growParam);
	}
	//水平方向特征生长（扫描运动方向）
	std::vector<SSG_featureTree> h_trees;
	for (int line = 0; line < lineNum_h; line++)
	{
		if (line == 650)
			int kkk = 1;
		bool isLastLine = false;
		if (line == lineNum_h - 1)
			isLastLine = true;
		std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_h[line];
		sg_lineFeaturesGrowing(
			line,
			isLastLine,
			a_lineJumpFeature,
			h_trees,
			growParam);
	}

	//tree信息
	std::vector<SSG_treeInfo> allTreesInfo; //不包含边界
	SSG_treeInfo a_nullTree;
	memset(&a_nullTree, 0, sizeof(SSG_treeInfo));
	allTreesInfo.push_back(a_nullTree); //保持存储位置与treeIdx相同位置，方便索引
	//标记，根据起点的生长树进行标注
	int hvTreeIdx = 1;
	for (int i = 0, i_max = (int)v_trees.size(); i < i_max; i++)
	{
		SSG_featureTree* a_vTree = &v_trees[i];

		//记录Tree的信息
		SSG_treeInfo a_treeInfo;
		a_treeInfo.vTreeFlag = 1;
		a_treeInfo.treeIdx = hvTreeIdx;
		a_treeInfo.treeType = a_vTree->treeType;
		a_treeInfo.sLineIdx = a_vTree->sLineIdx;
		a_treeInfo.eLineIdx = a_vTree->eLineIdx;
		a_treeInfo.roi = a_vTree->roi;
		allTreesInfo.push_back(a_treeInfo);
		//在原始点云上标记，同时有Mask上标记
		for (int j = 0, j_max = (int)a_vTree->treeNodes.size(); j < j_max; j++)
		{
			SSG_basicFeature1D* a_feature = &a_vTree->treeNodes[j];
			if (scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].pt3D.z > 1e-4)//虚假目标过滤后点会置0
			{
				int existEdgeId = scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx >> 16;
				if (existEdgeId == 0)
				{
					scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx = a_feature->featureType;
					scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx &= 0xffff;
					scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx += hvTreeIdx << 16;
				}
			}
		}
		hvTreeIdx++;
	}
	int hTreeStart = hvTreeIdx;
	////标注:水平特征
	for (int i = 0, i_max = (int)h_trees.size(); i < i_max; i++)
	{
		SSG_featureTree* a_hTree = &h_trees[i];
		//记录Tree的信息
		SSG_treeInfo a_treeInfo;
		a_treeInfo.vTreeFlag = 0;
		a_treeInfo.treeIdx = hvTreeIdx;
		a_treeInfo.treeType = a_hTree->treeType;
		a_treeInfo.sLineIdx = a_hTree->sLineIdx;
		a_treeInfo.eLineIdx = a_hTree->eLineIdx;
		a_treeInfo.roi.left = a_hTree->roi.top;  //水平扫描xy是交换的
		a_treeInfo.roi.right = a_hTree->roi.bottom;
		a_treeInfo.roi.top = a_hTree->roi.left;
		a_treeInfo.roi.bottom = a_hTree->roi.right;
		allTreesInfo.push_back(a_treeInfo);
		//在原始点云上标记，同时有Mask上标记
		for (int j = 0, j_max = (int)a_hTree->treeNodes.size(); j < j_max; j++)
		{
			SSG_basicFeature1D* a_feature = &a_hTree->treeNodes[j];
			if (scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].pt3D.z > 1e-4)//虚假目标过滤后点会置0
			{
				int existEdgeId = scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx >> 16;
				if (existEdgeId == 0)
				{
					scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx += a_feature->featureType << 4;
					scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx &= 0xffff;
					scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx += hvTreeIdx << 16;
				}
			}
		}
		hvTreeIdx++;
	}
	int hvTreeSize = hvTreeIdx;

	//输出结果
}