#ifndef POINTCLOUDIMAGEUTILS_H
#define POINTCLOUDIMAGEUTILS_H

#include <QImage>
#include <QColor>
#include <vector>
#include "SG_bagPositioning_Export.h"

class PointCloudImageUtils
{
public:
    // 点云转图像 - 从GrabBagPresenter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);
                
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);

                                        // 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