#ifndef POINTCLOUDIMAGEUTILS_H
#define POINTCLOUDIMAGEUTILS_H

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

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

class PointCloudImageUtils
{
public:
    // 点云转图像 - 从LapWeldPresenter提取
    static QImage GeneratePointCloudImage(SVzNL3DLaserLine* scanData, 
                                         int lineNum, 
                                         const std::vector<SSG_peakRgnInfo>& objOps);
    
    static QImage GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scanData, 
                                         int lineNum, 
                                         const std::vector<SSG_peakOrienRgnInfo>& objOps);
    
    // 新的点云图像生成函数 - 基于X、Y范围创建图像
    static QImage GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scanData,
                                         int lineNum);

    // LapWeld点云和检测结果转图像 - 基于scan lines格式
    static QImage GeneratePointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
                                            const std::vector<std::vector<SVzNL3DPoint>>& weldResults,
                                            int imageWidth = 800, int imageHeight = 600);

    // Workpiece点云和角点检测结果转图像 - 将角点画成圆点
    static QImage GeneratePointCloudRetPointImage(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
                                            const std::vector<std::vector<SVzNL3DPoint>>& cornerPoints);

private:
    // 定义线特征颜色和大小获取函数
    static void GetLineFeatureStyle(int vType, int hType, int objId, 
                                   QColor& pointColor, int& pointSize);
    
    // 获取对象颜色
    static QColor GetObjectColor(int index);
    
    // 计算点云范围
    static void CalculatePointCloudRange(SVzNL3DLaserLine* scanData, int lineNum,
                                        double& xMin, double& xMax,
                                        double& yMin, double& yMax);

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

    // 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scan lines点云数据
    static void DrawScanLinesPointCloud(QPainter& painter,
                                       const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
                                       double xMin, double xMax, double yMin, double yMax,
                                       int imageWidth, int imageHeight);

                                        // 绘制目标检测结果
    static void DrawDetectionTargets(QPainter& painter, 
        const std::vector<SSG_peakRgnInfo>& objOps,
        double xMin, double xScale, int xSkip,
        double yMin, double yScale, int ySkip,
        int imgCols, int imgRows);
    
    // 绘制目标检测结果
    static void DrawDetectionTargets(QPainter& painter, 
                                   const std::vector<SSG_peakOrienRgnInfo>& objOps,
                                   double xMin, double xScale, int xSkip,
                                   double yMin, double yScale, int ySkip,
                                   int imgCols, int imgRows);
};

#endif // POINTCLOUDIMAGEUTILS_H