//
// Created by zx on 2021/5/20.
//

#ifndef LIDARMEASURE__GROUD_REGION_HPP_
#define LIDARMEASURE__GROUD_REGION_HPP_

#include <thread>

#include "../tool/thread_condition.h"
#include "../tool/common_data.h"
#include "../error_code/error_code.h"
#include "match3d/detect_wheel_ceres3d.h"
#include "velodyne_config.pb.h"
#include "message/measure_message.pb.h"

#include <opencv2/opencv.hpp>
#include <glog/logging.h>

#include <pcl/point_types.h>
#include <pcl/point_cloud.h>

class Ground_region
{
public:
   Ground_region();
   ~Ground_region();
   // 区域类初始化
   Error_manager init(velodyne::Region region);
   // 公有检测函数,根据初始化设置的区域进行裁剪，并识别获得结果
   Error_manager detect(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, detect_wheel_ceres3d::Detect_result &result);
   // 公有点云更新函数，传入最新点云获得结果
   Error_manager update_cloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);

private:
   // 点云分类，z切，3d优化
   bool classify_ceres_detect(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, double thresh_z,
                              detect_wheel_ceres3d::Detect_result &result);
   // 自动检测线程函数
   void thread_measure_func();

   std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> segmentation(pcl::PointCloud<pcl::PointXYZ>::Ptr sor_cloud);

   double distance(cv::Point2f p1, cv::Point2f p2);

   bool isRect(std::vector<cv::Point2f> &points);

public:
   velodyne::Region m_region;
   detect_wheel_ceres3d *m_detector;

private:
   // 自动检测线程
   std::thread *m_measure_thread;
   Thread_condition m_measure_condition;

   std::mutex*	 								mp_cloud_collection_mutex;       // 点云更新互斥锁, 内存由上级管理
	pcl::PointCloud<pcl::PointXYZ>::Ptr 		mp_cloud_collection;			//扫描点的点云集合, 内存由上级管理
	Common_data::Car_wheel_information			m_car_wheel_information;		//车轮的定位结果,
	std::chrono::system_clock::time_point		m_detect_updata_time;			//定位结果的更新时间.
};

#endif //LIDARMEASURE__GROUD_REGION_HPP_