#pragma once

namespace graft_cv{
	extern char *g_version_str;
	//enum camera {rs_clamp_rad, rs_clamp_tan, rs_cut_rad, rs_cut_tan, sc_clamp_rad, sc_clamp_tan, sc_cut_rad, sc_cut_tan};
	enum img_type {oa,rs,rs_reid,sc,sola_rs_reid, sola_sc_reid, sola_rs_pcd, sola_sc_pcd, tea_grab,tea_cut};
	template<class T>
	class roi_box{
	public:
		roi_box(T x_, T y_, T width_, T height_){
			this->x = x_;
			this->y = y_;
			this->width = width_;
			this->height = height_;
		}
		roi_box(){
			this->x = T(0);
			this->y = T(0);
			this->width = T(0);
			this->height = T(0);
		}
		~roi_box(){}

		bool isInBox(T pt_x, T pt_y){
			if (pt_x>=this->x && pt_x <=(this->x+this->width) &&
                pt_y >= this->y && pt_y <= (this->y + this->height)){
					return true;
			}
            else{
				return false;
			}
		}
	private:
		T x;
		T y;
		T width;
		T height;
	};

	template<class T>
	class gcv_point{
	public:
		gcv_point(T x_, T y_){
			this->x = x_;
			this->y = y_;			
		}
		gcv_point(){
			this->x = T(0);
			this->y = T(0);			
		}
		gcv_point(const gcv_point<T>&pt){
			this->x = pt.x;
			this->y = pt.y;			
		}
		~gcv_point(){}	
		double distance(const gcv_point<T>& pt)const
		{
			return sqrt((double)(this->x - pt.x)*(this->x - pt.x) +
				        (double)(this->y - pt.y)*(this->y - pt.y));
		}
		gcv_point<T>& operator=(const gcv_point<T>& pt)
		{
			if(this !=&pt){
				this->x=pt.x;
				this->y=pt.y;
			}
			return *this;
		}
		bool operator==(const gcv_point<T>& pt)const
		{
			if(this->x==pt.x && this->y==pt.y){
				return true;
			}
			return false;
		}
		
	public:
		T x;
		T y;		
	};

	struct Bbox //drop box with confidence and center keypoint
	{
		Bbox() {
			this->score = 0.0;
			this->score_overall = 0.0;
			this->x1 = 0;
			this->y1 = 0;
			this->x2 = 0;
			this->y2 = 0;
			for (int i = 0; i < 10; ++i) {
				this->ppoint[i] = 0.0;
			}
			for (int i = 0; i < 2; ++i) {
				this->operate_point[i] = 0.0;
			}
			this->operate_angle = 0.0;
			this->area = 0.0;
			this->status = 0;
		}
		Bbox(const Bbox& another)
		{
			this->score = another.score;
			this->score_overall = another.score_overall;
			this->x1 = another.x1;
			this->y1 = another.y1;
			this->x2 = another.x2;
			this->y2 = another.y2;
			for (int i = 0; i < 10; ++i) {
				this->ppoint[i] = another.ppoint[i];
			}
			for (int i = 0; i < 2; ++i) {
				this->operate_point[i] = another.operate_point[i];
			}
			this->operate_angle = another.operate_angle;
			this->area = another.area;
			this->status = another.status;
		}
		float score;//目标识别得分
		float score_overall;//识别成功后，优先抓取得分，综合得分
		int x1;
		int y1;
		int x2;
		int y2;
		float ppoint[10]; //(x,y) 5 key points
		float operate_point[2]; //(x,y) 1 operate point, 操作点
		float operate_angle; //angle of operate point， 操作点的角度方向
		float area; //像素面积
		int status;	// 状态:未选中=0；被选中=1；
	};
};