#ifndef LIBAPI_3D_H
#define LIBAPI_3D_H

#include "Libapi2D3D.h"
#include <iostream>
#include <vector>
#include <opencv2/opencv.hpp>
#include "open3d/Open3D.h"

using namespace open3d;

class Cal3D
{
public:

	// 采集点云数据
	static int LibapiCapCloudPoints(std::shared_ptr<geometry::PointCloud>& cloud_ptr);

	// 读取点云数据
	static int LibapiReadCloudPointsPly(const std::string plyPath, std::shared_ptr<geometry::PointCloud>& cloud_ptr);

	// 保存点云数据
	static int LibapiSaveCloudPointsPly(std::string savaPath, std::shared_ptr<geometry::PointCloud>& cloud_ptr);

	// 点云数据筛选
	static int LibapiFilterCloudPointsByDist(std::shared_ptr<geometry::PointCloud>& src_cloud_ptr,
		std::shared_ptr<geometry::PointCloud>& dst_cloud_ptr, float minusx, float x, float minusy, float y, float minusz, float z);

	// 点云修正
	static int LibapiCorrectCloudPoint(std::shared_ptr<geometry::PointCloud>& src_cloud_ptr,
		std::shared_ptr<geometry::PointCloud>& dst_cloud_ptr, int node);

	// 点云转数组
	static int LibapiCloudPointToVec(std::shared_ptr<geometry::PointCloud>& src_cloud_ptr,
		std::vector<cv::Point3d>& dst_3d);

	// 点云数据转换
	static int LibapiRotAndTrans(std::shared_ptr<geometry::PointCloud>& cloud_ptr);

	// 点云数据投影
	static int LibapiCloudPointsPorject(std::vector<cv::Point3d>& src_points3D,
		cv::Mat& cameraMatrix, std::vector<cv::Point2d>& dst_points2D, cv::Mat* im_2D3D, bool doTest, cv::Mat& src_im);
	
	// 点云数据投影，按照预埋件区域ROI进行筛选
	static int LibapiCloudPointsPorject(
		std::vector<cv::Point3d>& src_points3D,
		cv::Mat& cameraMatrix,
		std::vector <std::vector<cv::Point2f>>& vecConners,
		cv::Mat* im2D3D,
		std::vector<std::vector<cv::Point2f>>& vecInConners2D,
		std::vector<std::vector<cv::Point3f>>& vecInConners3D);

	// 用于测试点云数据投影产生的2D3D数据
	static int LibapiCloudPointProjectTest(cv::Mat& im_2D3D);

	// 点云数据转换为2D3D点对数据
	static int LibapiCloudPointsToCMeasureInfo(cv::Mat& im_2D3D, CMeasureInfo& CMeasureInfo);

	// 通过H，计算2D坐标的3D坐标
	static int LibapiCalConner3D(const std::vector<cv::Point2f>& vec2D_2, cv::Mat& H,
		std::vector<cv::Point3f> vec3d_n, std::vector<cv::Point3f>& vec3D_4);
};

#endif