#ifndef POINTCLOUDIMAGEUTILS_H
#define POINTCLOUDIMAGEUTILS_H

#include <QImage>
#include <QColor>
#include <vector>
#include <utility>  // for std::pair

#include "VZNL_Types.h"

// 简单的颗粒信息结构 - 避免依赖OpenCV
struct SimpleParticleInfo {
    SVzNL3DPoint vertix[8];  // 8个顶点
    struct {
        double width;
        double height;
    } size;
};

// 通用检测目标结构体 - 替代算法SDK的 SSG_peakRgnInfo
struct DetectionTargetInfo {
    struct {
        double x;
        double y;
        double z_yaw;  // 偏航角（度）
    } centerPos;

    struct {
        double dWidth;
        double dHeight;
    } objSize;

    int orienFlag = 0;  // 朝向标记: 0=无, 1=正面, 2=反面
};

class PointCloudImageUtils
{
public:
    // 点云转图像 - 使用通用检测目标结构体
    static QImage GeneratePointCloudImage(SVzNL3DLaserLine* scanData,
                                         int lineNum,
                                         const std::vector<DetectionTargetInfo>& objOps);

    static QImage GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scanData,
                                         int lineNum,
                                         const std::vector<DetectionTargetInfo>& 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,
                                            double margin = 0.0);

    // ParticleSize点云和颗粒检测结果转图像 - 生成带颗粒标记的点云图像 (直接返回QImage)
    static QImage GeneratePointCloudImageWithParticles(
        const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
        const std::vector<SimpleParticleInfo>& particles,
        int cameraIndex);

    // WheelMeasure点云和轮眉检测结果转图像 - 生成带轮眉标记的点云图像
    static QImage GenerateWheelArchImage(
        const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
        const SVzNL3DPoint& wheelArchPos,
        const SVzNL3DPoint& wheelUpPos,
        const SVzNL3DPoint& wheelDownPos,
        double archToCenterHeight,
        bool hasResult = true);

    // 从检测数据缓存生成深度图像
    static int GenerateDepthImage(
        const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& detectionDataCache,
        QImage& outImage);

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);

    // 绘制检测目标（使用通用结构体）
    static void DrawDetectionTargets(QPainter& painter,
        const std::vector<DetectionTargetInfo>& objOps,
        double xMin, double xScale, int xSkip,
        double yMin, double yScale, int ySkip,
        int imgCols, int imgRows);
};

#endif // POINTCLOUDIMAGEUTILS_H