#pragma once
#include <vector>
#include <memory>
#include <QString>
#include "SG_bagPositioning_Export.h"
#include "VZNL_Types.h"
#include "VrTimeUtils.h"
#include "VrError.h"
#include "VrLog.h"
#include "IVrConfig.h"
#include "LaserDataLoader.h"
#include "IYGrabBagStatus.h"
#include "PointCloudImageUtils.h"
#include "VrConvert.h"
#include "VrDateUtils.h"

class DetectPresenter
{
private:
    /* data */
public:
    DetectPresenter(/* args */);
    ~DetectPresenter();


    int DetectBag(  std::vector<SVzNL3DLaserLine>& detectionDataCache,
                    const SG_bagPositionParam& algoParam, 
                    const SSG_planeCalibPara& cameraCalibParam, 
                    const VrDebugParam& debugParam,
                    LaserDataLoader& dataLoader,
                    const double clibMatrix[16],
                    DetectionResult& detectionResult);
                    
    int DetectBag(  std::vector<SVzNLXYZRGBDLaserLine>& detectionDataCache,
                    const SG_bagPositionParam& algoParam, 
                    const SSG_planeCalibPara& cameraCalibParam, 
                    const VrDebugParam& debugParam,
                    LaserDataLoader& dataLoader,
                    const double clibMatrix[16],
                    const SSG_hsvCmpParam& hsvCmpParam,
                    const RGB& rgbColorPattern,
                    const double frontColorTemplate[RGN_HIST_SIZE],
                    const double backColorTemplate[RGN_HIST_SIZE],
                    DetectionResult& detectionResult);

                    
    // 新增：处理统一数据格式和项目类型的DetectBag函数
    int DetectBag(  std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
                    ProjectType projectType,
                    const SG_bagPositionParam& algoParam, 
                    const SSG_planeCalibPara& cameraCalibParam, 
                    const VrDebugParam& debugParam,
                    LaserDataLoader& dataLoader,
                    const double clibMatrix[16],
                    const SSG_hsvCmpParam& hsvCmpParam,
                    const RGB& rgbColorPattern,
                    const double frontColorTemplate[RGN_HIST_SIZE],
                    const double backColorTemplate[RGN_HIST_SIZE],
                    DetectionResult& detectionResult);
    };