#ifndef POINTCLOUDPROCESSOR_H
#define POINTCLOUDPROCESSOR_H

#include <QObject>
#include <QByteArray>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <CL/cl.h>

class PointCloudProcessor : public QObject
{
    Q_OBJECT

public:
    explicit PointCloudProcessor(QObject *parent = nullptr);
    ~PointCloudProcessor();

    // 初始化OpenCL
    bool initializeOpenCL();

    // 设置相机内参
    void setCameraIntrinsics(float fx, float fy, float cx, float cy);

    // 设置Z缩放因子
    void setZScaleFactor(float scale);

    // 将深度数据转换为点云（使用OpenCL GPU加速）
    void processDepthData(const QByteArray &depthData, uint32_t blockId);

    // 处理已经计算好的点云数据（x,y,z格式）
    void processPointCloudData(const QByteArray &cloudData, uint32_t blockId);

signals:
    void pointCloudReady(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, uint32_t blockId);
    void errorOccurred(const QString &error);

private:
    // 清理OpenCL资源
    void cleanupOpenCL();

    // 相机内参
    float m_fx;
    float m_fy;
    float m_cx;
    float m_cy;

    // Z缩放因子
    float m_zScale;

    // 图像尺寸
    int m_imageWidth;
    int m_imageHeight;
    int m_totalPoints;

    // OpenCL资源
    cl_platform_id m_platform;
    cl_device_id m_device;
    cl_context m_context;
    cl_command_queue m_queue;
    cl_program m_program;
    cl_kernel m_kernel;
    cl_mem m_depthBuffer;
    cl_mem m_xyzBuffer;
    bool m_clInitialized;
};

#endif // POINTCLOUDPROCESSOR_H