#pragma once
//
//	eyemLib·标头
//
#ifndef __EYEM_LIB_H
#define __EYEM_LIB_H

#include <Windows.h>
#include <opencv.hpp>


#ifndef EXPORTS
#define EXPORTS __declspec(dllexport)
#endif

#ifndef MAKETYPE
#define MAKETYPE CV_MAKETYPE
#endif

/********************************************************************************************/
/*                                     通用标头                                         */
/********************************************************************************************/

// 一般定义
#define FUNC_OK						0						// 正常
#define FUNC_NOT_ENOUGH_MEM			(-1)					// 工作内存不足
#define FUNC_ILLEGAL_ARGUMENT		(-2)					// 参数不合适
#define FUNC_IMAGE_NOT_EXIST		(-3)					// 图像不存在
#define FUNC_CANNOT_CALC			(-100)					// 不可计算
#define FUNC_CANNOT_USE				(-999)					// 不可用


// 错误代码（矩阵计算）
#define FUNC_DET_EQ_ZERO			(-110)					// 矩阵表达式为零
#define FUNC_FAILED_EIGEN			(-111)					// 特征值和特征向量计算失败
#define FUNC_FAILED_SVD				(-112)					// 奇异值分解计算失败
#define FUNC_FAILED_CHOLESKY		(-113)					// CHOLESKY分解计算失败

// 错误代码（近似计算）
#define FUNC_FAILED_ROBUST			(-130)					// 稳健估计失败
#define FUNC_FAILED_ELLIPSE			(-131)					// 不是椭圆形的
#define FUNC_FAILED_ELLIPSOID		(-132)					// 不是椭圆体
#define FUNC_FAILED_CONE			(-133)					// 不是在锥面

// 错误代码（摄像机校准）
#define FUNC_FAILED_HOMOGRAPHY		(-150)					// 同源矩阵计算失败
#define FUNC_FAILED_CAM_PRM			(-151)					// 摄像机参数计算失败
#define FUNC_FAILED_BUNDLE_ADJ		(-152)					// バンドル調整失敗
#define FUNC_FAILED_UNDISTORT		(-153)					// 失真校正失败


// 常数
#define EPS				1.0e-9								// ε
#define DBL_EPS			DBL_EPSILON							// ε
#define PI				3.1415926535897932384626433832795	// π
#define PI_DEG			180.0								// π(deg)
#define RAD2DEG			(PI_DEG/PI)							// rad→deg变换
#define DEG2RAD			(PI/PI_DEG)							// deg→rad变换
#define TWO_PI			(2.0*PI)							// 2π
#define PI_BY_2			(PI/2.0)							// π/2


#ifndef MIN
#define MIN( a, b ) ( ((a) < (b)) ? (a) : (b) )
#endif
#ifndef MAX
#define MAX( a, b ) ( ((a) > (b)) ? (a) : (b) )
#endif

#ifndef SGN
#define SGN( a ) ( ((a) >= (0)) ? (1) : (-1) )
#endif

#ifndef COMPARE
#define COMPARE( a, b ) ( ((a) > (b)) ? (true) : (false) )
#endif

#define ON				1
#define OFF				0

#ifndef TRUE
#define TRUE			1
#endif

#ifndef FALSE
#define FALSE			0
#endif

#ifndef NULL
#ifdef __cplusplus
#define NULL		0
#else
#define NULL		((void *)0)
#endif
#endif

typedef intptr_t        IntPtr;

// 图像边界处理
#ifndef __EYEM_BORDER
#define __EYEM_BORDER
enum {
	EYEM_BORDER_NONE,										// 不执行边界处理
	EYEM_BORDER_REPLICATE,									// 延长最外周灰度值
	EYEM_BORDER_REFLECT,									// 镜像（相对于最外边缘对称复制）
	EYEM_BORDER_ZERO										// 填充零灰度
};
#endif


// 图像信息
typedef struct {
	void					*vpImage;						// 地址
	int						iWidth;							// 图像内存 x 方向大小
	int						iHeight;						// 图像内存 y 方向大小
	int						iDepth;							// 图像位深度（参见说明）
	int						iChannels;						// 图像通道数
}	EyemImage;


// 矩形定义
typedef struct {
	int						iXs;							// 起始点（左上角） x 坐标
	int						iYs;							// 起始点（左上角） y 坐标
	int						iWidth;							// x 方向大小（宽度）
	int						iHeight;						// y 方向大小（高度）
}	EyemRect;

typedef struct {
	int						iXs;							// 起始点（左上角） x 坐标
	int						iYs;							// 起始点（左上角） y 坐标
	int						iXe;							// 端点（右下） x 坐标
	int						iYe;							// 端点（右下） y 坐标
}	EyemRect2;

// 矩形定义
typedef struct {
	int						iXs;							// 起始点（左上角） x 坐标
	int						iYs;							// 起始点（左上角） y 坐标
	int						iWidth;							// x 方向大小（宽度）
	int						iHeight;						// y 方向大小（高度）
	double					dVar;							// 可能会使用的值
}	EyemRect3;


///////////////////////////////////////////////////////////////////////////////
// Orthogonal Coordinate System

/////////////////////
// int type
//
typedef struct {
	int						iX;								// Ｘ坐标
	int						iY;								// Ｙ坐标
}	EyemOcsIXY;

typedef struct {
	int						iX;								// Ｘ坐标
	int						iY;								// Ｙ坐标
	int						iZ;								// Ｚ坐标
}	EyemOcsIXYZ;

typedef struct {
	int						iX;								// Ｘ坐标
	int						iY;								// Ｙ坐标
	int						iQ;								// θ
}	EyemOcsIXYQ;

typedef struct {
	int						iX;								// Ｘ坐标
	int						iY;								// Ｙ坐标
	int						iR;								// 半径
}	EyemOcsIXYR;											// 用于表示圆

typedef struct {
	int						iA;								// a
	int						iB;								// b
	int						iC;								// c
}	EyemOcsIABC;											// 用于表示直线（一般形式）

typedef struct {
	int						iR;								// ρ
	int						iQ;								// θ
}	EyemOcsIRQ;												// 用于表示直线（黑森标准形式）或矢量

typedef struct {
	int						iX;								// Ｘ坐标(単位：像素)
	int						iY;								// Ｙ坐标(単位：像素)
	int						iQ;								// 斜率(単位：rad)
	int						iS;								// 刻度
}	EyemOcsIXYQS;


/////////////////////
// float type
//
typedef struct {
	float					fX;								// Ｘ坐标
	float					fY;								// Ｙ坐标
}	EyemOcsFXY;

typedef struct {
	float					fX;								// Ｘ坐标
	float					fY;								// Ｙ坐标
	float					fZ;								// Ｚ坐标
}	EyemOcsFXYZ;

typedef struct {
	float					fX;								// Ｘ坐标
	float					fY;								// Ｙ坐标
	float					fQ;								// θ
}	EyemOcsFXYQ;

typedef struct {
	float					fX;								// Ｘ坐标
	float					fY;								// Ｙ坐标
	float					fR;								// 半径
}	EyemOcsFXYR;											// 用于表示圆

typedef struct {
	float					fA;								// a
	float					fB;								// b
	float					fC;								// c
}	EyemOcsFABC;											// 用于表示直线（一般形式）

typedef struct {
	float					fR;								// ρ
	float					fQ;								// θ
}	EyemOcsFRQ;												// 用于表示直线（黑森标准形式）或矢量

typedef struct {
	float					fX;								// Ｘ坐标(単位：像素)
	float					fY;								// Ｙ坐标(単位：像素)
	float					fQ;								// 斜率(単位：rad)
	float					fS;								// 刻度
}	EyemOcsFXYQS;


/////////////////////
// double type
//
typedef struct {
	double					dX;								// Ｘ坐标
	double					dY;								// Ｙ坐标
}	EyemOcsDXY;

typedef struct {
	double					dX;								// Ｘ坐标
	double					dY;								// Ｙ坐标
	double					dZ;								// Ｚ坐标
}	EyemOcsDXYZ;

typedef struct {
	double					dX;								// Ｘ坐标
	double					dY;								// Ｙ坐标
	double					dQ;								// θ
}	EyemOcsDXYQ;

typedef struct {
	double					dX;								// 中心的Ｘ坐标
	double					dY;								// 中心のＹ坐标
	double					dR;								// 半径
}	EyemOcsDXYR;											// 円の表現に使用

typedef struct {
	double					dA;								// a
	double					dB;								// b
	double					dC;								// c
}	EyemOcsDABC;											// 直線(一般形)の表現に使用

typedef struct {
	double					dR;								// ρ
	double					dQ;								// θ
}	EyemOcsDRQ;												// 直線(ヘッセの標準形)やベクトルの表現に使用

typedef struct {
	double					dX;								// Ｘ座標
	double					dY;								// Ｙ座標
	double					dQ;								// 回転角(単位：rad)
	double					dS;								// スケール
}	EyemOcsDXYQS;

typedef struct {
	double					dA;								// a
	double					dB;								// b
	double					dC;								// c
	double					dD;								// d
}	EyemOcsDABCD;											// 平面(一般形)の表現に使用

typedef struct {
	double					dXo;							// 中心のＸ座標
	double					dYo;							// 中心のＹ座標
	double					dL;								// 長軸半径
	double					dS;								// 短軸半径
	double					dQ;								// 長軸の傾き(単位：rad)
}	EyemOcsDXYLSQ;											// 楕円の表現に使用

typedef struct {
	EyemOcsDXYZ				tP;								// 直線上の１点の座標
	EyemOcsDXYZ				tV;								// 直線の方向ベクトル
}	EyemOcsDPV;												// ３次元空間内の直線の表現に使用


typedef struct {
	EyemOcsDXYZ				tC;								// 楕円体の中心
	EyemOcsDXYZ				tR;								// 軸の半径(dX：長軸, dY：中軸, dZ：短軸)
	double					dU;								// 長軸のＸＹ平面への射影がＸ軸となす角(単位：rad)
	double					dV;								// 長軸のＸＹ平面とのなす角(単位：rad)
	double					dW;								// 長軸まわりの回転角(単位：rad)
}	EyemOcsDCRUVW;											// 楕円体の表現に使用


/********************************************************************************************/
/*                             每个特定于源的标头                                 */
/********************************************************************************************/

//////////////////////////////////////////////////////////////////////////////////////////////
// 数学计算实用程序（eyemMath.cpp）
//
#ifdef __cplusplus
extern "C" {
#endif

	double	eyemMathCalcInnerProduct(int, double[], double[]);
	void	eyemMathCalcOuterProduct(double[], double[], double[]);
	int		eyemMathCalcAngle(int, double[], double[], double *);
	double	eyemMathCalcNorm(int, double[]);
	double	eyemMathCalcArgument(double[]);
	int		eyemMathNormalization(int, double[]);
	int		eyemMathStat(int, double[], double *, double *, double *);
	double	eyemMathMedianI(int, int *);
	double	eyemMathMedianD(int, double *);
	int		eyemMathOtsuThreshold1d(int, double[], double *);
	double	eyemMathAreaTriangle(double, double, double, double, double, double);
	double	eyemMathSignAreaTriangle(double, double, double, double, double, double);
	void	eyemMathRotatePoint(double, double, double, double, double, double *, double *);
	void	eyemMathCreateTransParam(int, double, double, double, double, double *, double *, double *);
	void	eyemMathTransCoordOfPoint(double, double, double, double, double, double *, double *);
	void	eyemMathInvTransCoordOfPoint(double, double, double, double, double, double *, double *);
	void	eyemMathComposeCoord(double, double, double, double, double, double, double *, double *, double *);
	double	eyemMathInvMatrixOfSyn3X3(double[][3], double[][3]);
	void	eyemMathInvCoord(double, double, double, double *, double *, double *);
	double  eyemMathGetDistFromPointToPoint(double, double, double, double);
	double	eyemMathGetDistFromPointToLine(double, double, double, double, double);
	double	eyemMathGetDistAndCrossPointFromPointToLine(double, double, double, double, double, double *, double *);
	double	eyemMathGetDistFromPointToCircle(double, double, double, double, double, double *, double *);
	int		eyemMathGetDistFromPointToEllipse(double, double, double, double, double, double, double, double *, double *, double *);
	int		eyemMathCrossPoint(double, double, double, double, double, double, double *, double *);
	void	eyemMathTransAbcToRq(double, double, double, double *, double *);
	double	eyemMathCrossAngle(double, double, double, double, double, double);
	int		eyemMathGetLineFrom2Points(double, double, double, double, double *, double *, double *);
	void	eyemMathGetOrthogonalLineFromLineAndPoint(double, double, double, double, double *, double *, double *);
	int		eyemMathCheckAngle(double, double, double);
	double	eyemMathAddAngle(int, int, double, double);
	double	eyemMathPrimeAngle(int, int, double);
	double	eyemMathExtremumOfQuadraticCurves(double, double, double, double *);
	double	eyemMathExtremumOfQuadraticSurface(double, double, double, double, double, double, double *, double *);
	double	eyemMathCrossCorrelation(int, double[], double[]);
	int		eyemMathAutoCorrelation(int, double[], int, double[]);
	double	eyemMathNormCorrelation(int, double[], double[]);
	int		eyemMathNormAutoCorrelation(int, double[], int, double[]);
	int		eyemMathSearchOf1DWithNormCorrelation(int, double[], int, double[], int *, double *);
	int		eyemMathQuadraticRoots(double[], double[]);
	int		eyemMathCubicRoots(double[], double[]);
	int		eyemMathQuarticRoots(double[], double[]);
	double	eyemMathHorner(int, double[], double);
	void	eyemMathTransCoord(double, double, double, double, double, double *, double *);

#ifdef __cplusplus
}
#endif


//////////////////////////////////////////////////////////////////////////////////////////////
// 矩阵计算实用程序（eyemMat.cpp）
//
#ifdef __cplusplus
extern "C" {
#endif

	// 函数接口
	//EXPORTS CvMat			*eyemMatMallocMatrix(int iRows, int iCols, void *vpData);
	//EXPORTS void			eyemMatFreeMatrix(CvMat *dpMat);
	//EXPORTS void			eyemMatZero(CvMat *vpA);
	//EXPORTS void			eyemMatCopy(CvMat *vpDst, CvMat	*vpSrc);
	//EXPORTS void			eyemMatAdd(CvMat *vpA, CvMat *vpB, CvMat *vpC);
	EXPORTS void			eyemMatSub(int, int, void *, void *, void *);
	EXPORTS void			eyemMatMulScalar(double, int, int, void *, void *);
	EXPORTS int				eyemMatMul(int, int, void *, int, int, void *, void *);
	EXPORTS int				eyemMatGenMul(double, int, int, void *, int, int, void	*, double, void	*, void	*);
	EXPORTS void			eyemMatMulTransposed(int, int, int, void	*, void	*);
	EXPORTS int				eyemMatMulTransposed2(int, int, int, void *, int, int, void *, void *);
	EXPORTS void			eyemMatTranspose(int, int, void *, void *);
	EXPORTS double			eyemMatTrace(int, void	*);
	EXPORTS int				eyemMatInvert(int, void *, void *);
	EXPORTS int				eyemMatSolveLU(int, void *, double[], double[]);
	EXPORTS int				eyemMatSolveSVD(int, int, void	*, double[], double[]);
	EXPORTS int				eyemMatJacobiEigen(int, void *, double[], void *);
	EXPORTS int				eyemMatQrEigen(int, void *, double[], void *);
	EXPORTS int				eyemMatSVD(int, int, void *, void *, double[], void *);
	EXPORTS int				eyemMatCholeskyDecomp(int, void *, void *);

#ifdef __cplusplus
}
#endif


//////////////////////////////////////////////////////////////////////////////////////////////
// 近似计算（稳健估计）（eyemFit.cpp）
//

//稳健估计方法
enum
{
	EYEM_DIST_USER = -1,			/**< User defined distance */
	EYEM_DIST_L1 = 1,				/**< distance = |x1-x2| + |y1-y2| */
	EYEM_DIST_L12 = 2,				/**< L1-L2 metric: distance = 2(sqrt(1+x*x/2) - 1)) */
	EYEM_DIST_FAIR = 3,				/**< distance = c^2(|x|/c-log(1+|x|/c)), c = 1.3998 */
	EYEM_DIST_WELSCH = 4,			/**< distance = c^2/2(1-exp(-(x/c)^2)), c = 2.9846 */
	EYEM_DIST_HUBER = 5,			/**< distance = |x|<c ? x^2/2 : c(|x|-c/2), c=1.345 */
	EYEM_DIST_TUKEY = 6,			/**< distance = di<= c ?(1-(di/c)^2)^2 : 0, c=2.718  di=|yi-(axi+b)|*/
	EYEM_DIST_CAUCHY = 7,			/**< distance = c^2(|x|/c-log(1+|x|/c)), c = 2.385 */
	EYEM_DIST_LOGISTIC = 8,			/**< distance w = tanh(r) ./ r  c = 1.205*/
	EYEM_DIST_ANDREWS = 9,			/**< w = (abs(r)<pi) .* sin(r) ./ r c= 1.339*/
	EYEM_DIST_ATLWORTH = 10			/**< w = 1 * (abs(r)<1) c=2.975*/
};

#ifdef __cplusplus
extern "C" {
#endif

	// 函数接口
	EXPORTS int				eyemFitLine(int iPtnNum, EyemOcsDXY *taPoint, int iCalcMode, int numToIgnore, EyemOcsDABC &tpLine);
	EXPORTS int				eyemRobustFitLine(int iPtnNum, EyemOcsDXY *taPoint, int iCalcMode, double dRobustCoef, EyemOcsDABC &tpLine);
	EXPORTS int				eyemFitPlane(int, EyemOcsDXYZ[], int, double, EyemOcsDABCD *);
	EXPORTS int				eyemFitCircle(int iPtnNum, EyemOcsDXY *taPoint, int iCalcMode, int numToIgnore, EyemOcsDXYR &tpCircle);
	EXPORTS int				eyemFitEllipse(int, EyemOcsDXY[], int, double, EyemOcsDXYLSQ *);
	EXPORTS int				eyemFitEllipseC(int, EyemOcsDXY[], int, double, double[]);
	EXPORTS int				eyemFitConics(int, EyemOcsDXY[], int, double, double[]);
	EXPORTS int				eyemFitParabola(int, EyemOcsDXY[], int, double, EyemOcsDABC *);
	EXPORTS int				eyemFitEllipsoid(int, EyemOcsDXYZ[], int, double, EyemOcsDCRUVW *);
	EXPORTS int				eyemFitCone(int, EyemOcsDXYZ[], int, double, double[]);

#ifdef __cplusplus
}
#endif


//////////////////////////////////////////////////////////////////////////////////////////////
// 二维几何计算（二维卡尺）（eyemClp2d.cpp）
//
#ifdef __cplusplus
extern "C" {
#endif

	// 函数接口
	EXPORTS void			eyemClp2dDistanceTwoPoints(EyemOcsDXY tpPoint1, EyemOcsDXY tpPoint2, double &tpDist);
	EXPORTS void			eyemClp2dCenterTwoPoints(EyemOcsDXY tpPoint1, EyemOcsDXY tpPoint2, EyemOcsDXY &tpCenter);
	EXPORTS int				eyemClp2dLineTwoPoints(EyemOcsDXY tpPoint1, EyemOcsDXY tpPoint2, EyemOcsDABC &tpLine);
	EXPORTS int				eyemClp2dMidperpendicularTwoPoints(EyemOcsDXY tpPoint1, EyemOcsDXY tpPoint2, EyemOcsDABC &tpLine);
	EXPORTS int				eyemClp2dVerticalLinePointAndLine(EyemOcsDXY tpPoint, EyemOcsDABC tpLine, EyemOcsDABC &tpVertical);
	EXPORTS void			eyemClp2dLinePointAndSlope(EyemOcsDXY tpPoint, double dSlope, EyemOcsDABC &tpLine);
	EXPORTS int				eyemClp2dIntersectionTwoLines(EyemOcsDABC tpLine1, EyemOcsDABC tpLine2, EyemOcsDXY &tpPoint);
	EXPORTS int				eyemClp2dAngleTwoLines(EyemOcsDABC tpLine1, EyemOcsDABC tpLine2, double &dpAngle);
	EXPORTS int				eyemClp2dCenterLineOfTwoLines(EyemOcsDABC tpLine1, EyemOcsDABC tpLine2, EyemOcsDABC &tpLineC);
	EXPORTS int				eyemClp2dDistancePointToLine(EyemOcsDXY tpPoint, EyemOcsDABC tpLine, double &dpDist);
	EXPORTS int				eyemClp2dTranslationOfLine(EyemOcsDABC tpSrcL, EyemOcsDXY tpTrans, EyemOcsDABC &tpDstL);
	EXPORTS void			eyemClp2dAreaTriangle(EyemOcsDXY tpPoint1, EyemOcsDXY tpPoint2, EyemOcsDXY tpPoint3, double &dpArea);
	EXPORTS int				eyemClp2dCircleThreePoints(EyemOcsDXY tpPoint1, EyemOcsDXY tpPoint2, EyemOcsDXY tpPoint3, EyemOcsDXYR &tpCircle);
	EXPORTS int				eyemClp2dIntersectionLineAndCircle(EyemOcsDABC tpLine, EyemOcsDXYR tpCircle, EyemOcsDXY &tpPoint1, EyemOcsDXY &tpPoint2);
	EXPORTS int				eyemClp2dTangentPointToCircle(EyemOcsDXY tpPoint, EyemOcsDXYR tpCircle, EyemOcsDABC &tpTangent1, EyemOcsDXY &tpContact1, EyemOcsDABC &tpTangent2, EyemOcsDXY &tpContact2);
	EXPORTS int				eyemClp2dClosestToCircle(EyemOcsDXY tpPoint, EyemOcsDXYR tpCircle, EyemOcsDXY &tpClosest, double &dpDist);

#ifdef __cplusplus
}
#endif


//////////////////////////////////////////////////////////////////////////////////////////////
// 3D 几何计算（3D 卡尺）（eyemClp3d.cpp）
//
#ifdef __cplusplus
extern "C" {
#endif

	// 函数接口
	void	eyemClp3dDistanceTwoPoints(EyemOcsDXYZ *, EyemOcsDXYZ *, double *);
	void	eyemClp3dCenterTwoPoints(EyemOcsDXYZ *, EyemOcsDXYZ *, EyemOcsDXYZ	*);
	int		eyemClp3dLineTwoPoints(EyemOcsDXYZ	*, EyemOcsDXYZ *, EyemOcsDPV *);
	int		eyemClp3dFootOfPerpendicularToLine(EyemOcsDXYZ *, EyemOcsDPV	*, EyemOcsDXYZ *);
	int		eyemClp3dVerticalLinePointAndLine(EyemOcsDXYZ	*, EyemOcsDPV *, EyemOcsDPV	*);
	int		eyemClp3dDistancePointToLine(EyemOcsDXYZ *, EyemOcsDPV *, double *);
	int		eyemClp3dDistanceTwoLines(EyemOcsDPV *, EyemOcsDPV *, double *);
	int		eyemClp3dPlaneThreePoints(EyemOcsDXYZ *, EyemOcsDXYZ *, EyemOcsDXYZ *, EyemOcsDABCD *);
	int		eyemClp3dVerticalPlanePointAndVector(EyemOcsDXYZ *, EyemOcsDXYZ *, EyemOcsDABCD *);
	int		eyemClp3dVerticalLinePointAndPlane(EyemOcsDXYZ *, EyemOcsDABCD	*, EyemOcsDPV *);
	int		eyemClp3dDistancePointToPlane(EyemOcsDXYZ *, EyemOcsDABCD *, double *);
	int		eyemClp3dIntersectionLineAndPlane(EyemOcsDPV *, EyemOcsDABCD *, EyemOcsDXYZ *);
	int		eyemClp3dAngleLineAndPlane(EyemOcsDPV *, EyemOcsDABCD *, double *);
	int		eyemClp3dFootOfPerpendicularToPlane(EyemOcsDXYZ *, EyemOcsDABCD *, EyemOcsDXYZ *);
	int		eyemClp3dIntersectionTwoPlanes(EyemOcsDABCD	*, EyemOcsDABCD	*, EyemOcsDPV *);
	int		eyemClp3dAngleTwoPlanes(EyemOcsDABCD *, EyemOcsDABCD *, double *);

#ifdef __cplusplus
}
#endif


//////////////////////////////////////////////////////////////////////////////////////////////
// 计算几何（eyemCg.cpp）
//

// 线交叉状态
enum {
	EYEM_CG_NOT_INTERSECTION,								// 未相交
	EYEM_CG_INTERSECTION,									// 相交（彼此交叉）
};


// 点位置状态
enum {
	EYEM_CG_OUTER,											// 在外部
	EYEM_CG_INNER,											// 在内部
	EYEM_CG_BORDER											// 在边界上
};


#ifdef __cplusplus
extern "C" {
#endif

	// 函数接口
	int		eyemCgSortByArgument(int n, EyemOcsDXY taSrcPt[], EyemOcsDXY taDstPt[]);
	int		eyemCgConvexHull(int, EyemOcsDXY[], int *, EyemOcsDXY[]);
	int		eyemCgSmallestEnclosingCircle(int, EyemOcsDXY[], EyemOcsDXY *, double *);
	int		eyemCgIntersectionOfTwoSegments(EyemOcsDXY *, EyemOcsDXY *, EyemOcsDXY *, EyemOcsDXY *, int *, EyemOcsDXY *);
	int		eyemCgPointInConvexPolygon(int, EyemOcsDXY[], EyemOcsDXY *, int *);
	int		eyemCgIntersectionLineAndConvexPolygon(int, EyemOcsDXY[], EyemOcsDABC *, EyemOcsDXY[]);
	int		eyemCgIntersectionSegmentAndConvexPolygon(int, EyemOcsDXY[], EyemOcsDXY *, EyemOcsDXY *, EyemOcsDXY[]);
	int		eyemCgPointInPolygon(int, EyemOcsDXY[], EyemOcsDXY *, int *);
	int		eyemCgAreaOfPolygon(int, EyemOcsDXY[], double *);

#ifdef __cplusplus
}
#endif


//////////////////////////////////////////////////////////////////////////////////////////////
// 2 值 blob 分析（eyemBin.cpp）
//
enum {
	EYEM_BIN_BLACK,											// 黒
	EYEM_BIN_WHITE											// 白
};

//全局阈值2值化方法
enum {
	HUANG,
	ISODATA,
	LI,
	MAXENTROPY,
	MEAN,
	MOMENTS,
	OTSU,
	PERCENTILE,
	RENYIENTROPY,
	SHANBHAG,
	TRIANGLE,
	YEN
};

//动态阈值2值化方法
enum {
	LIGHT,
	DARK,
	EQUAL,
	NOT_EQUAL
};


// 局部阈值2值化方法
enum
{
	BINARIZATION_NIBLACK,
	BINARIZATION_WOLF,
	BINARIZATION_NICK,
	BINARIZATION_SAUVOLA
};


// Blob 分析结果
typedef struct {
	int				iLabel;									// 标签
	int				iArea;									// 面积
	double			dCenterX;								// 重心ｘ坐标
	double			dCenterY;								// 重心ｙ坐标
	int				iXs, iYs, iXe, iYe;						// 外接矩形（始点，终点）
	int				iWidth, iHeight;						// 外接矩形（x 方向大小（宽度），y 方向大小（高度））
	double			dTheta;									// 主轴倾斜角（rad）
}	EyemBinBlob;

typedef struct {
	int				iLabel;									// 标签
	double			dX;										// ｘ坐标
	double			dY;										// ｙ坐标
	double			dVx, dVy;								// 向量
}	EyemChainCode;


#ifdef __cplusplus
extern "C" {
#endif

	// 函数接口
	EXPORTS int		   eyemBinThreshold(EyemImage tpSrcImg, int iLightDark, double dThresh, double dMaxVal, EyemImage *tpDstImg);
	EXPORTS int		   eyemBinAutoThreshold(EyemImage tpSrcImg, double dSigma, int iLightDark, int binMethod, EyemImage *tpDstImg);
	EXPORTS int		   eyemBinNiBlack(EyemImage tpSrcImg, EyemImage *tpDstImg, int iType, int iWinSize, double dK, int binarizationMethod, double dR);
	EXPORTS int		   eyemBinDynThreshold(EyemImage tpSrcImg, EyemImage tpThresholdImg, int iOffset, int iLightDark, EyemImage *tpDstImg);
	EXPORTS int		   eyemBinDilation(EyemImage tpSrcImg, int iBinLevel, int iNum, EyemImage *tpDstImg);
	EXPORTS int		   eyemBinErosion(EyemImage tpSrcImg, int iBinLevel, int iNum, EyemImage *tpDstImg);
	EXPORTS int		   eyemBinOpening(EyemImage tpSrcImg, int iBinLevel, int iNum, EyemImage *tpDstImg);
	EXPORTS int		   eyemBinClosing(EyemImage tpSrcImg, int iBinLevel, int iNum, EyemImage *tpDstImg);
	EXPORTS int		   eyemBinBlob(EyemImage tpImage, IntPtr *hObject, int iAreaThrs, EyemBinBlob **tpResult, int *ipNum, EyemImage *tpDstImg);
	EXPORTS int		   eyemBinBlobFilterByArea(IntPtr hObject, int iMinArea, int iMaxArea);
	EXPORTS int		   eyemBinBlobFilterByLabel(IntPtr hObject, int iLabel);
	EXPORTS int		   eyemBinBlobRender(EyemImage tpImage, IntPtr hObject, EyemImage *tpDstImg);
	EXPORTS bool	   eyemBinFree(IntPtr hObject);

#ifdef __cplusplus
}
#endif


//////////////////////////////////////////////////////////////////////////////////////////////
// 一维边缘提取（eyemEdge1d.cpp）
//


#ifdef __cplusplus
extern "C" {
#endif

	// 函数接口
	EXPORTS int		eyemEdge1dGenMeasureRect(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, const char *ccSubType, int iTransition, double dSigma, double dAmpThresh, IntPtr *hObject);
	EXPORTS int		eyemEdge1dGenPosRect(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, int iTransition, double dSigma, double dAmpThresh, IntPtr *hObject);
	EXPORTS int		eyemEdge1dFitLine(IntPtr hObject, int iClippingEndPoints, int iMaxIterations, double dRobustCoef, EyemOcsDABC *tpLine);
	EXPORTS int		eyemEdge1dFitCircle(IntPtr hObject, int iClippingEndPoints, int iMaxIterations, double dRobustCoef, EyemOcsDXYR *tpCircle);
	EXPORTS int		eyemEdge1dFindLine(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, int iTransition, IntPtr *hObject);
	EXPORTS bool	eyemEdge1dGenMeasureFree(IntPtr hObject);

#ifdef __cplusplus
}
#endif


//////////////////////////////////////////////////////////////////////////////////////////////
// 二维边缘提取（eyemEdge.cpp）
//
#ifdef __cplusplus
extern "C" {
#endif

	// 函数接口
	EXPORTS int		eyemEdgesPixel(EyemImage tpImage, double dThresh);
	EXPORTS int		eyemEdgesSubpixel(EyemImage tpImage, IntPtr *hObject, EyemOcsDXY **tpEdges, int iFilter, int iLow, int iHigh);
	EXPORTS int		eyemSkeleton(EyemImage tpImage, cv::Mat &skeleton);
	EXPORTS int		eyemSobelAmp(EyemImage tpImage, EyemImage &ImaAmp);
	EXPORTS int		eyemAutoCanny(EyemImage tpImage, float dSigma = 0.33);

#ifdef __cplusplus
}
#endif


//////////////////////////////////////////////////////////////////////////////////////////////
// 点云匹配（eyemMatch.cpp）
//

// 处理类型
enum {
	EYEM_MATCH_LSQ,											// 最小二乗法
	EYEM_MATCH_LSQ_S,										// 加权最小二乗法
	EYEM_MATCH_ROBUST,										// 稳健估计・无比例估计
	EYEM_MATCH_ROBUST_S,									// 稳健估计・带比例估计
	EYEM_MATCH_MINMAX,										// MINMAX方法・无比例估计
	EYEM_MATCH_MINMAX_S										// MINMAX方法・带比例估计
};


#ifdef __cplusplus
extern "C" {
#endif

	// 函数接口
	int		eyemMatchBasic(int, EyemOcsDXY[], EyemOcsDXY[], EyemOcsDXYQ *, int, double, EyemOcsDXYQS *);
	int		eyemMatchDelta(EyemOcsDXYQ *, EyemOcsDXYQS *, double *, double *, double *, double *);
	int		eyemMatchPoints(int, EyemOcsDXY[], EyemOcsDXY[], EyemOcsDXYQ *, EyemOcsDXYQS *, EyemOcsDXY[], double[]);

#ifdef __cplusplus
}
#endif


//////////////////////////////////////////////////////////////////////////////////////////////
// 摄像机校准（eyemCalib.cpp）
//

// 模式数据
typedef struct {
	int				iPtnRefN;								// 图案参考点数
	EyemOcsDXY		*tpObjPt;								// 阵列参考点的实际坐标（単位：mm）
	EyemOcsDXY		*tpImgPt;								// 图案参考点的图像坐标（単位：像素）
}	EyemCalibPtn;


// 同源矩阵
typedef struct {
	double			daH[3][3];								// 同源矩阵 H
	double			daInvH[3][3];							// 矩阵 H 的逆矩阵
}	EyemCalibHom;


// 摄像机的内参数（intrinsic parameter）
typedef struct {
	double			daA[3][3];								// 内参数矩阵
	double			dK1, dK2;								// 径向失真系数
	double			dK3, dK4, dK5;							// 径向失真系数
	double			daInvA[3][3];							// 内参数矩阵的逆矩阵
}	EyemCalibInt;


// 摄像机外部参数（extrinsic parameter）
typedef struct {
	double			daR[3][3];								// 旋转矩阵
	double			daT[3];									// 平移矢量
	double			daRdr[3];								// 旋转矢量（罗德里格斯表示）
}	EyemCalibExt;


#ifdef __cplusplus
extern "C" {
#endif

	// 函数接口
	int		eyemCalibCameraCalibrate(int, EyemCalibPtn[], double, EyemCalibInt *, EyemCalibExt[], double *, int);
	int		eyemCalibCalcHomography(int, void *, void *, double, void *);
	int		eyemCalibRodrigues(int, double[3], double[3][3]);
	int		eyemCalibUnDistortPoint(EyemCalibInt *, double, double, double *, double *);
	int		eyemCalibUnDistortMat(EyemCalibInt *, double, double, double *, double *);
	int		eyemCalibChange3Dto2D(EyemOcsDXYZ *, EyemCalibInt *, EyemCalibExt *, EyemOcsDXY *, int);

#ifdef __cplusplus
}
#endif


//////////////////////////////////////////////////////////////////////////////////////////////
// 图像平滑滤镜（eyemSmooth.cpp）
//
#ifdef __cplusplus
extern "C" {
#endif

	// 函数接口
	EXPORTS int		eyemSmoothMean(EyemImage tpImage, int kSizew, int kSizeh, EyemImage *tpDstImg);
	EXPORTS int		eyemSmoothGaussian(EyemImage tpImage, int kSizew, int kSizeh, double dSigmaX, double dSigmaY, EyemImage *tpDstImg);
	EXPORTS int		eyemSmoothMedian(EyemImage tpImage, int kSize, EyemImage *tpDstImg);

#ifdef __cplusplus
}
#endif


//////////////////////////////////////////////////////////////////////////////////////////////
// 图像线段检测器（eyemEDLinesDetector.cpp）
//
#ifdef __cplusplus
extern "C" {
#endif

	// 函数接口
	//EXPORTS int		eyemEDLinesDetector(EyemImage tpImage, int _gradThresh, int _anchorThresh, int _scanInterval, int _minPathLen, double _sigma, bool _sumFlag, double _line_error, int _min_line_len, double _max_distance_between_two_lines, double _max_error, EyemImage *tpDstImg);

#ifdef __cplusplus
}
#endif


//////////////////////////////////////////////////////////////////////////////////////////////
// 图像通用处理（eyemGeneric.cpp）
//
#ifdef __cplusplus
extern "C" {
#endif

	// 函数接口
	EXPORTS int				eyemImageRead(const char *filename, int iFalgs, EyemImage *ucpImage);
	EXPORTS int				eyemVideoCapture(const char *fileName, IntPtr *hObject, EyemImage **tpImages, int *ipNum);
	EXPORTS int				eyemImageReadRaw(const char *filename, int iWidth, int iHeight, int iDepth, EyemImage *tpImage);
	EXPORTS int				eyemImageMalloc(int iWidth, int iHeight, int iChannels, const char *ccSubType, EyemImage *tpImage);
	EXPORTS int				eyemImageCopy(EyemImage tpSrcImg, EyemImage &tpDstImg);
	EXPORTS	int				eyemCvtImageColor(EyemImage tpImage, int iCCodes, EyemImage &tpDstImg);
	EXPORTS	int				eyemCvtImageType(EyemImage tpImage, const char *ccSubType, double alpha, double beta, EyemImage &tpDstImg);
	EXPORTS int				eyemImageAdd(EyemImage tpImage1, EyemImage tpImage2, EyemImage &tpDstImg);
	EXPORTS int				eyemImageSub(EyemImage tpImageMinuend, EyemImage tpImageSubtrahend, EyemImage &tpDstImg);
	EXPORTS int				eyemImageDiv(EyemImage tpImage1, EyemImage tpImage2, EyemImage &tpDstImg);
	EXPORTS int				eyemImageAbs(EyemImage tpImage, EyemImage &tpDstImg);
	EXPORTS void			eyemOpenWindow(const char *winname);
	EXPORTS void			eyemCloseWindow(const char *winname);
	EXPORTS void		    eyemImageFree(EyemImage &ipImage);
	EXPORTS bool			eyemVideoCaptureFree(IntPtr hObject);

#ifdef __cplusplus
}
#endif


//////////////////////////////////////////////////////////////////////////////////////////////
// 其他工具（eyemMisc.cpp）
//

// 条码 解码结果
typedef struct {
	double				dAngle;								// 角度
	int					iCenterX;							// y坐标
	int					iCenterY;							// y坐标
	LPSTR				lpszType;							// 码类型
	LPSTR				lpszText;							// 码内容
}	EyemBarCode;

typedef struct {
	void					*vpImage;						// 地址
	int						iXs;							// 图像X坐标
	int						iYs;							// 图像Y坐标
	int						iWidth;							// 图像内存X方向大小
	int						iHeight;						// 图像内存Y方向大小
	double					dMatchDeg;						// 匹配度
	LPSTR					lpszName;						// 名称
}	EyemModelID;


#ifdef __cplusplus
extern "C" {
#endif
	EXPORTS int				eyemDetectAndDecode(EyemImage tpImage, EyemRect tpRoi, const char *ccFileName, const char *ccCodeType, IntPtr *hObject, EyemBarCode **tpResult, int *ipNum, bool bUseNiBlack, int iBlockSize, const int iRangeC, int iSymbolMin, int iSymbolMax, double dScaleUpAndDown = 0.5, double dToleErr = 0.5, double dMinorStep = 1.0);
	EXPORTS bool			eyemDetectAndDecodeFree(IntPtr hObject);
	EXPORTS int				eyemCountObject(EyemImage tpImage, EyemRect tpRoi, const char *fileName, double dOffset, int iMinArea, int iMaxArea, int iWinSize, LPSTR *lpszNumObj, EyemImage *tpDstImg);
	EXPORTS int				eyemCountObjectE(EyemImage tpImage, EyemRect tpRoi, const char *fileName, LPSTR *lpszNumObj, EyemImage *tpDstImg);
	EXPORTS int				eyemCountObjectIrregularParts(EyemImage tpImage, EyemRect tpRoi, const char *fileName, double dOffset, const char * ccSubType, int iMaxArea, int iWinSize, LPSTR *lpszNumObj, EyemImage *tpDstImg);
	EXPORTS int				eyemCountObjectIrregularPartsE(EyemImage tpImage, EyemRect tpRoi, const char *fileName, const char *ccTplName, IntPtr hModelID, LPSTR *lpszReelNum, EyemImage *tpDstImg);
	EXPORTS int				eyemAchvTemplateImage(EyemImage tpImage, EyemRect tpRoi, EyemImage *tpDstImg);
	EXPORTS int				eyemCreateTemplateModel(EyemImage tpImage, EyemRect tpRoi, double dMinScore, const char *ccTplName);
	EXPORTS int				eyemMatchTemplateModel(EyemImage tpImage, IntPtr hModelID, LPSTR *lpszTplName);
	EXPORTS int				eyemInitModel(const char *ccTplName, IntPtr *hModelID);
	EXPORTS int				eyemAchvModelByName(const char *ccTplName, IntPtr hModelID, EyemModelID &tpModelID);
	EXPORTS int				eyemInsertModel(IntPtr &hModelID, const char *ccTplName);
	EXPORTS int				eyemRemoveModelByName(IntPtr &hModelID, const char *ccTplName);
	EXPORTS int				eyemReleaseModel(IntPtr &hModelID);
	EXPORTS int				eyemTrackFeature(EyemImage tpPrevImg, EyemImage tpNextImg, EyemRect3 *tpRois, int iRoiNum, int *ipResults);
	EXPORTS int				eyemAOIForTSAV(EyemImage tpRefImg, EyemImage tpNextImg, EyemRect3 *tpRois, int iRoiNum);

#ifdef __cplusplus
}
#endif


#endif/* __EYEM_LIB_H */