#ifndef LIBAPI_2D3D_H
#define LIBAPI_2D3D_H


#include <iostream>
#include <vector>
#include <opencv2/opencv.hpp>
#include <chrono>
#include <random>

#define CAL_2D3D_BASE 2000

#define CAL_OK 0
#define CAL_READFILE_FAILED				1 - CAL_2D3D_BASE 
#define CAL_WRITEFILE_FAILED			2 - CAL_2D3D_BASE
#define CAL_NONE_PTR					3 - CAL_2D3D_BASE
#define CAL_PRAMA_EMPUTY				4 - CAL_2D3D_BASE	
#define CAL_READIM_FAILED				5 - CAL_2D3D_BASE
#define CAL_NPU_LOAD_DATASET_FAILED		6 - CAL_2D3D_BASE
#define CAL_NPU_MODEL_EXE_FAILED		7 - CAL_2D3D_BASE
#define CAL_NPU_GET_RESULT_FAILED		8 - CAL_2D3D_BASE
#define CAL_NPU_UNLOAD_DATASET_FAILED	9 - CAL_2D3D_BASE
#define CAL_YOLO_DETECT_NO_ROI			10 - CAL_2D3D_BASE
#define CAL_ROIS_PUSH_TREAD_FAILED		11 - CAL_2D3D_BASE
#define CAL_H_FAILED					12 - CAL_2D3D_BASE
#define CAL_3D_COONERS_FAILED			13 - CAL_2D3D_BASE
#define CAL_INNER_COONERS_ISNOT_4		14 - CAL_2D3D_BASE
#define CAL_3D_PROJECT_POINTS_IS_0		15 - CAL_2D3D_BASE
#define CAL_3D_CLOUD_POINTS_IS_0		16 - CAL_2D3D_BASE
#define CAL_HAS_NO_GOOD_CONNER			17 - CAL_2D3D_BASE
#define CAL_2D_ROI_DETECTIION_IS_0		18 - CAL_2D3D_BASE
#define CAL_2D_CAP_IMAGE_FAILED			19 - CAL_2D3D_BASE


class CalUtils
{
public:
	static int LibapiGenRandomId(long& id)
	{
		auto now = std::chrono::system_clock::now();
		auto duration = now.time_since_epoch();
		auto seconds = std::chrono::duration_cast<std::chrono::seconds>(duration).count();
		id = std::hash<long>{}(static_cast<long>(seconds));

		return CAL_OK;
	};
};

class CSubRoi;
class CMeasureInfo // 设计为单例模式
{
public:
	static CMeasureInfo* Get();
	static CMeasureInfo* Clear();
	static CMeasureInfo* Init(long id, std::string info);
public:
	CMeasureInfo();
	CMeasureInfo(long id, std::string info);
	~CMeasureInfo();
	long GetID();
	std::string GetInfo();
	std::shared_ptr<cv::Mat> GetIm();
	void SetIm(std::shared_ptr<cv::Mat>& imptr);
	std::shared_ptr<cv::Mat>& GetIm2D3D();
	void SetIm2D3D(std::shared_ptr<cv::Mat>& imim2D3Dptr);
	std::vector<std::shared_ptr<CSubRoi>>& GetSubRois();
	std::vector<std::vector<cv::Point2f>> GetAllRoiConners();
private:
	static CMeasureInfo* m_instance;
private:
	
private:
	// 该区域ID
	long mId;
	// 该区域信息
	std::string mInfo;
	// 该区域的图像指针
	std::shared_ptr<cv::Mat> mImPtr;
	// 该区域的图像指针
	std::shared_ptr<cv::Mat> mIm2D3DPtr;
	// 该区域的子图像指针
	std::vector<std::shared_ptr<CSubRoi>> subRois;
	
};

class CSubRoi
{
public:
	CSubRoi();
	CSubRoi(long parentId, long id, std::string info);
	~CSubRoi();
public:
	// 该区域父图像的ID
	long mPparentId;
	// 该区域ID
	long mId;
	bool isGood;
	// 该区域信息
	std::string mInfo;
	// 区域与原图的偏移量
	cv::Point2f vpOffset;
	// 该区域的坐标(ROI的4个坐标点) * 4
	std::vector<cv::Point2f> mRoiPoints;
	// 该区域的角点的2D信息 * 4
	std::vector<cv::Point2f> mInnerConners;
	// 该区域的角点的3D信息 * 4
	std::vector<cv::Point3f> mInnerConners3D;
	// for test cal * 10000+
	std::vector<cv::Point2f> mVc2D;
	std::vector<cv::Point3f> mVc3D;
	cv::Mat H;
};

#endif