#pragma once
#include <iostream>
#include <ostream>
#include "VZNL_Types.h"

struct CalibMatrix
{
    double clibMatrix[16];
};

std::ostream& operator<<(std::ostream& os, const SVzNL3DPoint& sPoint);

namespace CVrConvert
{
    // 获取标定矩阵个数
    int GetClibMatrixCount(const char* sFileName);

    // 加载矩阵
    bool LoadClibMatrix(const char* sFileName, const char* sIdent, const char* sKey, double dMatrix[16]);

    // 存储矩阵
    bool SaveClibMatrix(const char* sFileName, const char* sIdent, const char* sKey,  double dMatrix[16]);

    // 手眼标定
    bool CalibEyeToRobot(SVzNL3DPoint* pEye3DPoint, SVzNL3DPoint* pRobot3DPoint, const int nNum);

    // 手眼坐标转换
    bool EyeToRobot(const SVzNL3DPoint sEyePoint, SVzNL3DPoint& sRobotPoint, const double clib[16]);

};