#ifndef POINTCLOUDIMAGEUTILS_H
#define POINTCLOUDIMAGEUTILS_H

#include <QImage>
#include <QColor>
#include <vector>
#include <map>

#include "VZNL_Types.h"
#include "SG_baseDataType.h"
#include "beltTearingDetection_Export.h"

struct PointRenderData {
    double x, y;

    PointRenderData(double x_, double y_)
        : x(x_), y(y_) {}
};

class PointCloudImageUtils
{
public:
    // 点云转图像 - 使用std::vector格式的扫描线数据
    static QImage GeneratePointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
                                         const std::vector<SSG_beltTearingInfo>& beltTearings,
                                         int imageWidth, int imageHeight);


private:

    // 快速计算点云范围
    static bool CalculateRangeFast(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
                                  double& xMin, double& xMax,
                                  double& yMin, double& yMax);

    // 直接绘制点云到图像数据，避免QPainter开销
    static void DrawPointCloudDirect(QImage& image,
                                   const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
                                   double xMin, double xMax, double yMin, double yMax,
                                   int imageWidth, int imageHeight);

    // 计算scan lines格式点云的范围 (原始版本)
    static void CalculateScanLinesRange(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
                                       double& xMin, double& xMax,
                                       double& yMin, double& yMax);

    // 优化版本：同时计算范围和准备渲染数据
    static void CalculateScanLinesRangeOptimized(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
                                               double& xMin, double& xMax,
                                               double& yMin, double& yMax,
                                               std::vector<PointRenderData>& renderData);

    // 绘制LapWeld检测结果
    static void DrawLapWeldResults(QPainter& painter,
                                  const std::vector<std::vector<SVzNL3DPoint>>& weldResults,
                                  double xMin, double xMax, double yMin, double yMax,
                                  int imageWidth, int imageHeight);

    // 绘制皮带撕裂检测结果
    static void DrawBeltTearingResults(QPainter& painter,
                                     const std::vector<SSG_beltTearingInfo>& tearings,
                                     double xMin, double xMax, double yMin, double yMax,
                                     int imageWidth, int imageHeight);

    // 优化版本：批量绘制点云
    static void DrawPointCloudOptimized(QPainter& painter,
                                       const std::vector<PointRenderData>& renderData,
                                       double xMin, double xMax, double yMin, double yMax,
                                       int imageWidth, int imageHeight);
};

#endif // POINTCLOUDIMAGEUTILS_H