#include "PointCloudImageUtils.h"
#include <QPainter>
#include <cmath>
#include <algorithm>

#ifndef PI
#define PI 3.14159265358979323846
#endif

QImage PointCloudImageUtils::GeneratePointCloudImage(SVzNL3DLaserLine* scanData, 
                                                     int lineNum, 
                                                     const std::vector<SSG_peakRgnInfo>& objOps)
{
    if (!scanData || lineNum <= 0) {
        return QImage();  // 返回空图像
    }
    
    // 统计X和Y的范围
    double xMin = 0.0, xMax = -1.0;
    double yMin = 0.0, yMax = -1.0;
    CalculatePointCloudRange(scanData, lineNum, xMin, xMax, yMin, yMax);
    
    // 检查范围是否有效
    if (xMax < xMin || yMax < yMin) {
        return QImage();  // 返回空图像
    }

    // 创建图像
    int imgCols = 800;
    int imgRows = 600;
    double x_cols = 768.0;
    double y_rows = 568.0;
    int x_skip = 16;
    int y_skip = 16;
    
    // 计算投影比例
    double x_scale = (xMax - xMin) / x_cols;
    double y_scale = (yMax - yMin) / y_rows;
    
    QImage image(imgCols, imgRows, QImage::Format_RGB888);
    image.fill(Qt::black);
    QPainter painter(&image);
    
    // 绘制点云
    for (int line = 0; line < lineNum; line++) {
        for (int i = 0; i < scanData[line].nPositionCnt; i++) {
            SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
            if (pt3D->pt3D.z < 1e-4) continue;

            // 解析点索引信息
            int vType = pt3D->nPointIdx & 0xff;
            int hType = vType >> 4;
            int objId = (pt3D->nPointIdx >> 16) & 0xff;
            vType = vType & 0x0f;
            
            // 根据线特征类型确定颜色和大小
            QColor pointColor;
            int pointSize = 1;
            GetLineFeatureStyle(vType, hType, objId, pointColor, pointSize);

            int px = (int)((pt3D->pt3D.x - xMin) / x_scale + x_skip);
            int py = (int)((pt3D->pt3D.y - yMin) / y_scale + y_skip);
            
            if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
                painter.setPen(QPen(pointColor, 1));
                painter.drawPoint(px, py);
            }
        }
    }
    
    // 绘制检测目标和方向线
    DrawDetectionTargets(painter, objOps, xMin, x_scale, x_skip, yMin, y_scale, y_skip, imgCols, imgRows);
    
    return image;
}

void PointCloudImageUtils::GetLineFeatureStyle(int vType, int hType, int objId, 
                                              QColor& pointColor, int& pointSize)
{
    pointSize = 1;
    
    // 优先根据垂直方向特征设置颜色
    if (LINE_FEATURE_L_JUMP_H2L == vType) {
        pointColor = QColor(255, 97, 0);   // 橙色
        pointSize = 2;
    }
    else if (LINE_FEATURE_L_JUMP_L2H == vType) {
        pointColor = QColor(255, 255, 0);  // 黄色
        pointSize = 2;
    }
    else if (LINE_FEATURE_V_SLOPE == vType) {
        pointColor = QColor(255, 0, 255);  // 紫色
        pointSize = 2;
    }
    else if (LINE_FEATURE_L_SLOPE_H2L == vType) {
        pointColor = QColor(160, 82, 45);  // 褐色
        pointSize = 2;
    }
    else if ((LINE_FEATURE_LINE_ENDING_0 == vType) || (LINE_FEATURE_LINE_ENDING_1 == vType)) {
        pointColor = QColor(255, 0, 0);    // 红色
        pointSize = 2;
    }
    else if (LINE_FEATURE_L_SLOPE_L2H == vType) {
        pointColor = QColor(233, 150, 122); // 浅褐色
        pointSize = 2;
    }
    // 检查水平方向特征
    else if (LINE_FEATURE_L_JUMP_H2L == hType) {
        pointColor = QColor(0, 0, 255);    // 蓝色
        pointSize = 2;
    }
    else if (LINE_FEATURE_L_JUMP_L2H == hType) {
        pointColor = QColor(0, 255, 255);  // 青色
        pointSize = 2;
    }
    else if (LINE_FEATURE_V_SLOPE == hType) {
        pointColor = QColor(0, 255, 0);    // 绿色
        pointSize = 2;
    }
    else if (LINE_FEATURE_L_SLOPE_H2L == hType) {
        pointColor = QColor(85, 107, 47);  // 橄榄绿
        pointSize = 2;
    }
    else if (LINE_FEATURE_L_SLOPE_L2H == hType) {
        pointColor = QColor(0, 255, 154);  // 浅绿色
        pointSize = 2;
    }
    else if ((LINE_FEATURE_LINE_ENDING_0 == hType) || (LINE_FEATURE_LINE_ENDING_1 == hType)) {
        pointColor = QColor(255, 0, 0);    // 红色
        pointSize = 3;
    }
    // 检查是否为目标对象
    else if (objId > 0) {
        pointColor = GetObjectColor(objId);
        pointSize = 1;
    }
    // 默认颜色
    else {
        pointColor = QColor(150, 150, 150);   // 深灰色
        pointSize = 1;
    }
}

QColor PointCloudImageUtils::GetObjectColor(int index)
{
    QColor objColors[8] = {
        QColor(245,222,179), QColor(210,105,30), QColor(240,230,140), QColor(135,206,235),
        QColor(250,235,215), QColor(189,252,201), QColor(221,160,221), QColor(188,143,143)
    };
    
    return objColors[index % 8];
}

void PointCloudImageUtils::CalculatePointCloudRange(SVzNL3DLaserLine* scanData, int lineNum,
                                                   double& xMin, double& xMax, 
                                                   double& yMin, double& yMax)
{
    xMin = 0.0; xMax = -1.0;
    yMin = 0.0; yMax = -1.0;
    
    for (int line = 0; line < lineNum; line++) {
        for (int i = 0; i < scanData[line].nPositionCnt; i++) {
            SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
            if (pt3D->pt3D.z < 1e-4) continue;

            // 更新X范围
            if (xMax < xMin) {
                xMin = xMax = pt3D->pt3D.x;
            } else {
                if (xMin > pt3D->pt3D.x) xMin = pt3D->pt3D.x;
                if (xMax < pt3D->pt3D.x) xMax = pt3D->pt3D.x;
            }
            
            // 更新Y范围
            if (yMax < yMin) {
                yMin = yMax = pt3D->pt3D.y;
            } else {
                if (yMin > pt3D->pt3D.y) yMin = pt3D->pt3D.y;
                if (yMax < pt3D->pt3D.y) yMax = pt3D->pt3D.y;
            }
        }
    }
}

void PointCloudImageUtils::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)
{
    // 绘制检测目标和方向线
    for (size_t i = 0; i < objOps.size(); i++) {
        QColor objColor = (i == 0) ? QColor(255, 0, 0) : QColor(255, 255, 0);
        int size = (i == 0) ? 12 : 8;
        
        int px = (int)((objOps[i].centerPos.x - xMin) / xScale + xSkip);
        int py = (int)((objOps[i].centerPos.y - yMin) / yScale + ySkip);
        
        if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
            // 绘制抓取点圆圈
            painter.setPen(QPen(objColor, 2));
            painter.setBrush(QBrush(objColor));
            painter.drawEllipse(px - size/2, py - size/2, size, size);
            
            // 绘制方向线
            const double deg2rad = PI / 180.0;
            
            // 使用检测目标实际2D尺寸的较大值的一半作为方向线长度
            double maxSize = std::max(objOps[i].objSize.dHeight, objOps[i].objSize.dWidth);
            double R = std::max(20.0, maxSize / 6.0);

            const double yaw = objOps[i].centerPos.z_yaw * deg2rad;
            double cy = cos(yaw); 
            double sy = sin(yaw);
            double x1 = objOps[i].centerPos.x + R * cy; 
            double y1 = objOps[i].centerPos.y - R * sy;
            double x2 = objOps[i].centerPos.x - R * cy; 
            double y2 = objOps[i].centerPos.y + R * sy;
            
            int px1 = (int)((x1 - xMin) / xScale + xSkip);
            int py1 = (int)((y1 - yMin) / yScale + ySkip);
            int px2 = (int)((x2 - xMin) / xScale + xSkip);
            int py2 = (int)((y2 - yMin) / yScale + ySkip);
            
            // 绘制方向线
            painter.setPen(QPen(objColor, 3));
            painter.drawLine(px1, py1, px2, py2);
            
            // 绘制目标编号
            painter.setPen(QPen(Qt::white, 1));
            painter.setFont(QFont("Arial", 15, QFont::Bold));
            painter.drawText(px + 15, py - 10, QString("%1").arg(i + 1));
        }
    }
}