#pragma once

#include <opencv2/opencv.hpp>
#include <vector>

#define ENABLE_FISH_EYE     0
#define ENABLE_DEBUG        1
#define ENABLE_GEN_IMAGE    0

/*Breif：角点检测函数*/
void detectCorners(const cv::Mat& img,
    const cv::Size& patternSize,
    std::vector<cv::Point2f>& corners);

/*Breif：圆形网格函数*/
void detectCirclePoints(const cv::Mat& img,
    const cv::Size& patternSize,
    std::vector<cv::Point2f>& corners);

/*Breif：二维码标定板角点函数*/
void detectCharucoCorners(const cv::Mat& img,
    const cv::Size& patternSize,
    float sqSize,
    float mkSize,
    std::vector<int>& markerIds,
    std::vector<std::vector<cv::Point2f> >& markerCorners,
    std::vector<int>& charucoIds,
    std::vector<cv::Point2f>& charucoCorners);

/*Breif：棋盘格单目相机标定函数*/
void monocularCalibration_chessboard(
    const std::vector<std::vector<cv::Point2f>>& imagePoints,
    const cv::Size& imageSize,
    const cv::Size& patternSize,
    const float squareSize,
    cv::Mat& cameraMatrix,
    cv::Mat& distCoeffs,
    std::vector<double>& reprojectionError);

/*Breif：二维码标定板单目相机标定函数*/
void monocularCalibration_charuco(
    std::vector<std::vector<int>>& charucoIds,
    std::vector<std::vector<cv::Point2f>>& charucoCorners,
    const cv::Size& imageSize,
    const cv::Size& patternSize,
    const float squareSize,
    cv::Mat& cameraMatrix,
    cv::Mat& distCoeffs,
    std::vector<double>& reprojectionError);

/*Brief: 拟合棋盘格角点平面*/
void fitChessboardPlane(
    const std::vector<cv::Point2f>& corners,
    const cv::Mat& cameraMatrix,
    const cv::Mat& distCoeffs,
    const cv::Size& patternSize,
    const float squareSize,
    cv::Vec4f& planeEquation);

/*Brief: 激光线检测函数*/
std::vector<cv::Point2f> detectLaserLine(
    const cv::Mat& inputImage);

/*Breif: 根据棋盘格平面和2d坐标计算3d值*/
std::vector<cv::Point3f> project2DTo3D(
    const std::vector<cv::Point2f>& imagePoints,
    const cv::Vec4f& planeEquation,  // [a,b,c,d] for ax+by+cz+d=0
    const cv::Mat& cameraMatrix,     // 相机内参K
    const cv::Mat& distCoeffs);       // 畸变系数D

/*Breif: 拟合平面方程*/
cv::Vec4f fitPlaneToPoints(const std::vector<cv::Point3f>& points);