#pragma once

#if defined(_MSC_VER) || defined(WIN64) || defined(_WIN64) || defined(__WIN64__) || defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
#  define Q_DECL_EXPORT __declspec(dllexport)
#  define Q_DECL_IMPORT __declspec(dllimport)
#else
#  define Q_DECL_EXPORT     __attribute__((visibility("default")))
#  define Q_DECL_IMPORT     __attribute__((visibility("default")))
#endif

#if defined(SG_API_LIBRARY)
#  define SG_WELDSHARED_EXPORT Q_DECL_EXPORT
#else
#  define SG_WELDSHARED_EXPORT Q_DECL_IMPORT
#endif


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

typedef enum
{
	keSX_ScanMode_V = 0,  //激光线垂直焊缝扫描
	keSX_ScanMode_H,      //激光线平行焊缝扫描
	keSX_ScanMode_Both,           //既有垂直扫描，也有水平扫描
} ESX_WeldScanMode;
typedef struct
{
	double lapHeight;//搭接厚度
	double weldMinLen; //最小焊缝长度，用于过滤可能的虚假焊缝
	int weldRefPoints;  //输出的直线焊缝的参考点，默认是2个（起点和终点）
	ESX_WeldScanMode scanMode;  
}SSX_lapWeldParam;

//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
SG_WELDSHARED_EXPORT SSG_planeCalibPara sx_getBaseCalibPara(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines);

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

//提取搭接焊缝
SG_WELDSHARED_EXPORT void sx_getLapWeldPostion(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SSG_cornerParam cornerPara,
	SSG_treeGrowParam growParam,
	SSX_lapWeldParam lapWeldParam,
	SSG_planeCalibPara groundCalibPara,
	std::vector<std::vector<SVzNL3DPoint>>& objOps,
	int* errCode);