Utils/CloudUtils/Inc/LaserDataLoader.h

#ifndef LASER_DATA_LOADER_H
#define LASER_DATA_LOADER_H

#include <vector>
#include <string>
#include <functional>
#include "VZNL_Types.h"
#include "VrError.h"
#include "PointCloudXYZRange.h"

// 保存进度回调接口
class ISaveProgressCallback
{
public:
    virtual ~ISaveProgressCallback() = default;
    // 进度回调，progress 范围 0.0~1.0
    virtual void onSaveProgress(float progress) = 0;
    // 返回 true 取消保存
    virtual bool isSaveCancelled() const { return false; }
};

// 范围过滤后的源扫描线布局，仅在对应回调期间使用。
struct LaserLineLoadInfo
{
    int sourcePointCount = 0;
    std::vector<int> sourcePointIndices;
};

// 激光数据加载器类
class LaserDataLoader
{
public:
    // lineData is valid only while the callback is running. Copy it to retain it.
    using LaserLineLoadCallback =
        std::function<void(EVzResultDataType, SVzLaserLineData&)>;

    // 过滤后仍提供源扫描线点数及每个保留点的原始线内索引。
    using LaserLineLoadIndexedCallback =
        std::function<void(EVzResultDataType, SVzLaserLineData&, const LaserLineLoadInfo&)>;

    // Called exactly once when loading succeeds or fails.
    // Arguments: result, lineNum, scanSpeed, maxTimeStamp, clockPerSecond.
    using LaserLoadFinishedCallback =
        std::function<void(int, int, float, int, int)>;

    LaserDataLoader();
    ~LaserDataLoader();

    // 从文件加载激光扫描数据 - 统一接口，根据文件格式自动判断数据类型
    int LoadLaserScanData(const std::string& fileName,
                         std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
                         int& lineNum,
                         float& scanSpeed,
                         int& maxTimeStamp,
                         int& clockPerSecond);

    // Same loader with an optional inclusive XYZ range.
    int LoadLaserScanData(const std::string& fileName,
                         std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
                         int& lineNum,
                         float& scanSpeed,
                         int& maxTimeStamp,
                         int& clockPerSecond,
                         const PointCloudXYZRange& range);

    // Loads one source scan line at a time and immediately invokes lineCallback;
    // a range filter can make the callback line empty.
    // finishedCallback is invoked after all lines are read or an error occurs.
    int LoadLaserScanDataByCallback(const std::string& fileName,
                                    const LaserLineLoadCallback& lineCallback,
                                    const LaserLoadFinishedCallback& finishedCallback);

    // Same streaming loader with an optional inclusive XYZ range.
    int LoadLaserScanDataByCallback(const std::string& fileName,
                                    const LaserLineLoadCallback& lineCallback,
                                    const LaserLoadFinishedCallback& finishedCallback,
                                    const PointCloudXYZRange& range);

    // 需要保留过滤前拓扑时使用此回调入口。
    int LoadLaserScanDataByIndexedCallback(
        const std::string& fileName,
        const LaserLineLoadIndexedCallback& lineCallback,
        const LaserLoadFinishedCallback& finishedCallback,
        const PointCloudXYZRange& range);

    // 保存激光扫描数据到文件 - 统一接口，支持两种类型的数据
    int SaveLaserScanData(const std::string& fileName,
                         const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
                         int lineNum,
                         float scanSpeed,
                         int maxTimeStamp,
                         int clockPerSecond);

    int DebugSaveLaser(std::string fileName, std::vector<std::vector<SVzNL3DPosition>> xyzData);
    int DebugSaveLaser(std::string fileName, std::vector<std::vector<SVzNL3DPosition>> xyzData,
                       ISaveProgressCallback* callback);

    // 释放统一格式数据内存
    void FreeLaserScanData(std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines);
    
    // 释放转换后的SVzNL3DLaserLine数据内存
    void FreeConvertedData(std::vector<SVzNL3DLaserLine>& xyzData);

    // 释放转换后的SVzNLXYZRGBDLaserLine数据内存
    void FreeConvertedData(std::vector<SVzNLXYZRGBDLaserLine>& rgbdData);

    // 转换统一格式数据为SVzNL3DLaserLine格式
    int ConvertToSVzNL3DLaserLine(const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& unifiedData,
                                 std::vector<SVzNL3DLaserLine>& xyzData);

    // 转换统一格式数据为SVzNLXYZRGBDLaserLine格式
    int ConvertToSVzNLXYZRGBDLaserLine(const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& unifiedData,
                                      std::vector<SVzNLXYZRGBDLaserLine>& rgbdData);

    // 转换统一格式数据为std::vector<std::vector<SVzNL3DPosition>>格式
    // validPointCount: 可选输出参数，返回有效点个数（xyz全非0的点）
    int ConvertToSVzNL3DPosition(const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& unifiedData,
                          std::vector<std::vector<SVzNL3DPosition>>& scanLines,
                          size_t* validPointCount = nullptr);

    // 转换统一格式数据为std::vector<std::vector<SVzNLPositionD>>格式
    int ConvertToSVzNLPositionD(const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& unifiedData,
                                std::vector<std::vector<SVzNLPositionD>>& scanLines);

    // 从文件加载图形块数据（Segment_/Poly_/Rect_/Surface_ 等标识）。
    // 每个点可只包含 XYZ，也可使用与激光点兼容的 RGBD+RGBA 格式；
    // shapeBlocks[i] 保存一个图形块的点列表。
    int LoadShapeBlocks(const std::string& fileName,
                        std::vector<std::vector<SVzNLPointXYZRGBA>>& shapeBlocks);

    // 保留旧名称，兼容已有调用方。
    int LoadPolySegments(const std::string& fileName,
                         std::vector<std::vector<SVzNLPointXYZRGBA>>& polyLines);

    // 获取最后的错误信息
    std::string GetLastError() const { return m_lastError; }

private:
    // 读取XYZ格式的激光数据
    int _ParseLaserScanPoint(const std::string& data, SVzNL3DPosition& sData, SVzNL2DPosition& s2DData);
    int _ParseLaserScanPoint(const std::string& data, SVzNL3DPosition& sData, SVzNL2DPositionF& s2DData);

    // 读取RGBD格式的激光数据 - 新增RGBD支持
    int _ParseLaserScanPoint(const std::string& data, SVzNLPointXYZRGBA& sData, SVzNL2DLRPoint& s2DData);

    // 获取激光数据类型
    int _GetLaserType(const std::string& fileName, EVzResultDataType& eDataType);

    // Read binary .dat laser scan data.
    int _LoadLaserScanDataFromDatFile(const std::string& fileName,
                                      std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
                                      int& lineNum,
                                      float& scanSpeed,
                                      int& maxTimeStamp,
                                      int& clockPerSecond,
                                      const PointCloudXYZRange& range);

    int _LoadLaserScanDataFromDatFileByIndexedCallback(
        const std::string& fileName,
        const LaserLineLoadIndexedCallback& lineCallback,
        const LaserLoadFinishedCallback& finishedCallback,
        const PointCloudXYZRange& range);

    std::string m_lastError;
    static const int VZ_LASER_LINE_PT_MAX_NUM = 4096;
};

#endif // LASER_DATA_LOADER_H