using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;

namespace LB_SmartVisionCameraSDK.PHM6000
{
    /// <summary>
    /// 标定类
    /// </summary>
    public class SysCalibration
    {
        //SYS_CALIBRATION_API(void*) CreateSysCalibrationEntry();
        /// <summary>
        ///创建系统标定与测量模块实例，返回其句柄
        /// </summary>
        /// <returns>返回其句柄</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "CreateSysCalibrationEntry")]
        public static extern IntPtr CreateSysCalibrationEntry();

        //SYS_CALIBRATION_API(void) DestroySysCalibrationEntry(void* pHandle);
        /// <summary>
        /// 销毁系统标定与测量模块实例
        /// </summary>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "DestroySysCalibrationEntry")]
        public static extern void DestroySysCalibrationEntry();

        //SYS_CALIBRATION_API(void) SetSensorInfo(void* pHandle, int nSensorIndex, SENSOR_INFO stInfo);
        /// <summary>
        /// 设置传感器信息，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="stInfo">传感器信息</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetSensorInfo")]
        public static extern void SetSensorInfo(IntPtr pHandle, int nSensorIndex, SENSOR_INFO stInfo);

        //SYS_CALIBRATION_API(void) GetSensorInfo(void* pHandle, int nSensorIndex, SENSOR_INFO& stInfo);
        /// <summary>
        /// 获取传感器信息，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="stInfo">返回传感器信息</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetSensorInfo")]
        public static extern void GetSensorInfo(IntPtr pHandle, int nSensorIndex, ref SENSOR_INFO stInfo);

        //SYS_CALIBRATION_API(void) SetActiveAreaInfo(void* pHandle, int nSensorIndex, ACTIVE_AREA_INFO stInfo);
        /// <summary>
        /// 设置活动区信息，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="stInfo">活动区信息</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetActiveAreaInfo")]
        public static extern void SetActiveAreaInfo(IntPtr pHandle, int nSensorIndex, ACTIVE_AREA_INFO stInfo);

        //SYS_CALIBRATION_API(void) GetActiveAreaInfo(void* pHandle, int nSensorIndex, ACTIVE_AREA_INFO& stInfo);
        /// <summary>
        /// 获取活动区信息，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="stInfo">返回活动区信息</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetActiveAreaInfo")]
        public static extern void GetActiveAreaInfo(IntPtr pHandle, int nSensorIndex, ref ACTIVE_AREA_INFO stInfo);

        //SYS_CALIBRATION_API(void) SetTransInfo(void* pHandle, int nSensorIndex, TRANS_INFO stInfo);
        /// <summary>
        /// 设置坐标系转换信息，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="stInfo">坐标系转换信息</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetTransInfo")]
        public static extern void SetTransInfo(IntPtr pHandle, int nSensorIndex, TRANS_INFO stInfo);

        //SYS_CALIBRATION_API(void) GetTransInfo(void* pHandle, int nSensorIndex, TRANS_INFO& stInfo);
        /// <summary>
        /// 获取坐标系转换信息，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="stInfo">返回坐标系转换信息</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetTransInfo")]
        public static extern void GetTransInfo(IntPtr pHandle, int nSensorIndex, ref TRANS_INFO stInfo);

        //SYS_CALIBRATION_API(void) SetSensorPosition(void* pHandle, int nSensorIndex, SENSOR_POSITION stPosition);
        /// <summary>
        /// 设置传感器位置信息，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="stPosition">传感器位置信息</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetSensorPosition")]
        public static extern void SetSensorPosition(IntPtr pHandle, int nSensorIndex, SENSOR_POSITION stPosition);

        //SYS_CALIBRATION_API(void) GetSensorPosition(void* pHandle, int nSensorIndex, SENSOR_POSITION* stPosition);
        /// <summary>
        /// 获取传感器位置信息，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="stPosition">返回传感器位置信息, SENSOR_POSITION* stPosition</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetSensorPosition")]
        public static extern void GetSensorPosition(IntPtr pHandle, int nSensorIndex, IntPtr stPosition);

        //SYS_CALIBRATION_API(void) CalcTransInfo(void* pHandle, int nTotal);
        /// <summary>
        /// 计算坐标系转换信息，无返回值，此函数不用
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nTotal">传感器数量</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "CalcTransInfo")]
        public static extern void CalcTransInfo(IntPtr pHandle, int nTotal);

        //SYS_CALIBRATION_API(void) GetTransInfoPtr(void* pHandle, int nSensorIndex, TRANS_INFO* stInfo);
        /// <summary>
        /// 获取坐标系转换信息，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="stInfo">返回坐标系转换信息结构体的指针, TRANS_INFO* stInfo</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetTransInfoPtr")]
        public static extern void GetTransInfoPtr(IntPtr pHandle, int nSensorIndex, IntPtr stInfo);

        //SYS_CALIBRATION_API(void) SetBoardParameter(void* pHandle, PARAM_BOARD stBoardParam);
        /// <summary>
        /// 设置标定物信息，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="stBoardParam">标定物信息</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetBoardParameter")]
        public static extern void SetBoardParameter(IntPtr pHandle, PARAM_BOARD stBoardParam);

        //SYS_CALIBRATION_API(void) SetTargetParameter(void* pHandle, TARGET_INFO stTargetInfo);
        /// <summary>
        /// 设置被测物信息，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="stTargetInfo">被测物信息</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetTargetParameter")]
        public static extern void SetTargetParameter(IntPtr pHandle, TARGET_INFO stTargetInfo);

        //SYS_CALIBRATION_API(void) SetRate(void* pHandle, int nSensorIndex, float xRate, float yRate);
        /// <summary>
        /// 设置x和y坐标转换比例，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="xRate">x向转换比例</param>
        /// <param name="yRate">y向转换比例</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetRate")]
        public static extern void SetRate(IntPtr pHandle, int nSensorIndex, float xRate, float yRate);

        //SYS_CALIBRATION_API(void) SetHoleROI(void* pHandle, int nSensorIndex, int nIndex, LB_ROI stRoi, bool IsFloatValue);
        /// <summary>
        /// 设置圆孔兴趣区，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="nIndex">孔序号</param>
        /// <param name="stRoi">圆孔兴趣区</param>
        /// <param name="IsFloatValue">数值是否为浮点数</param>

        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetHoleROI")]
        public static extern void SetHoleROI(IntPtr pHandle, int nSensorIndex, int nIndex, LB_ROI stRoi, bool IsFloatValue);

        //SYS_CALIBRATION_API(void) SetFlatROI(void* pHandle, int nSensorIndex, LB_ROI stRoi, bool IsFloatValue);
        /// <summary>
        /// 设置平面兴趣区，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="stRoi">平面兴趣区</param>
        /// <param name="IsFloatValue">数值是否为浮点数</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetFlatROI")]
        public static extern void SetFlatROI(IntPtr pHandle, int nSensorIndex, LB_ROI stRoi, bool IsFloatValue);

        //SYS_CALIBRATION_API(void) SetLineROI(void* pHandle, int nSensorIndex, LB_ROI stRoi, bool IsFloatValue);
        /// <summary>
        /// 设置直线兴趣区，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="stRoi">直线兴趣区</param>
        /// <param name="IsFloatValue">数值是否为浮点数</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetLineROI")]
        public static extern void SetLineROI(IntPtr pHandle, int nSensorIndex, LB_ROI stRoi, bool IsFloatValue);

        //SYS_CALIBRATION_API(void) SetTestROI(void* pHandle, int nSensorIndex, LB_ROI stRoi, bool IsFloatValue);
        /// <summary>
        /// 设置测量兴趣区，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="stRoi">测量兴趣区</param>
        /// <param name="IsFloatValue">数值是否为浮点数</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetTestROI")]
        public static extern void SetTestROI(IntPtr pHandle, int nSensorIndex, LB_ROI stRoi, bool IsFloatValue);

        //SYS_CALIBRATION_API(void) RemovePointsRatio(void* pHandle, int nSensorIndex, float fRatio);
        /// <summary>
        /// 设置剔除数据个数的比例，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="fRatio">剔除数据个数的比例</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "RemovePointsRatio")]
        public static extern void RemovePointsRatio(IntPtr pHandle, int nSensorIndex, float fRatio);

        //SYS_CALIBRATION_API(void) GetLineROI(void* pHandle, int nSensorIndex, LB_ROI* stRoi);
        /// <summary>
        /// 获得直线兴趣区，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="stRoi">返回直线兴趣区</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetLineROI")]
        public static extern void GetLineROI(IntPtr pHandle, int nSensorIndex, IntPtr stRoi);

        //SYS_CALIBRATION_API(void) SetSysSensors(void* pHandle, int nCount);
        /// <summary>
        /// 设置系统中传感器的数量，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nCount">传感器数量</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetSysSensors")]
        public static extern void SetSysSensors(IntPtr pHandle, int nCount);

        //SYS_CALIBRATION_API(void) SetLineData(void* pHandle, int nSensorIndex, LBLineDataXYZ* pData);
        /// <summary>
        /// 设置行数据，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="pData">含XYZ信息的行数据, LBLineDataXYZ* pData</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetSysSensors")]
        public static extern void SetSysSensors(IntPtr pHandle, int nSensorIndex, IntPtr pData);

        //SYS_CALIBRATION_API(void) AddLineData(void* pHandle, int nSensorIndex, LBLineDataXYZ* pData);
        /// <summary>
        /// 添加行数据，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="pData">含XYZ信息的行数据, LBLineDataXYZ* pData</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AddLineData")]
        public static extern void AddLineData(IntPtr pHandle, int nSensorIndex, IntPtr pData);

        //SYS_CALIBRATION_API(void) ClearData(void* pHandle, int nSensorIndex);
        /// <summary>
        /// 清除数据，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "ClearData")]
        public static extern void ClearData(IntPtr pHandle, int nSensorIndex);

        //SYS_CALIBRATION_API(void) SetLineDataArray(void* pHandle, int nSensorIndex, LBLineDataZA* pData);
        /// <summary>
        /// 设置行数据，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="pData">含XYZ信息的行数据, LBLineDataZA* pData</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetLineDataArray")]
        public static extern void SetLineDataArray(IntPtr pHandle, int nSensorIndex, IntPtr pData);

        //SYS_CALIBRATION_API(void) AddLineDataArray(void* pHandle, int nSensorIndex, LBLineDataZA* pData, bool bUseEncoder, int nCountingMode);
        /// <summary>
        /// 添加行数据，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="pData">含XYZ信息的行数据, LBLineDataZA* pData</param>
        /// <param name="bUseEncoder">是否使用编码器</param>
        /// <param name="nCountingMode">计数模式，建议值为1</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AddLineDataArray")]
        public static extern void AddLineDataArray(IntPtr pHandle, int nSensorIndex, IntPtr pData, bool bUseEncoder, int nCountingMode);

        //SYS_CALIBRATION_API(LBLineDataXYZ*) GetLineData(void* pHandle, int nSensorIndex);
        /// <summary>
        /// 获取行数据
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <returns>返回含XYZ信息的行数据，(LBLineDataXYZ*)</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetLineData")]
        public static extern IntPtr GetLineData(IntPtr pHandle, int nSensorIndex);

        //SYS_CALIBRATION_API(LBPointCloudData*) GetCloudData(void* pHandle, int nSensorIndex);
        /// <summary>
        /// 获取点云数据
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <returns>返回点云数据，(LBPointCloudData*)</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetCloudData")]
        public static extern IntPtr GetCloudData(IntPtr pHandle, int nSensorIndex);

        //SYS_CALIBRATION_API(LBPointCloudDataXYZ*) GetCloudDataXYZ(void* pHandle, int nSensorIndex, int nDownsample);
        /// <summary>
        /// 获取点云数据
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="nDownsample">降采样倍数</param>
        /// <returns>返回含XYZ信息的点云数据，(LBPointCloudDataXYZ*)</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetCloudDataXYZ")]
        public static extern IntPtr GetCloudDataXYZ(IntPtr pHandle, int nSensorIndex, int nDownsample);

        //SYS_CALIBRATION_API(LBPointCloudDataXYZ*) GetFlatDataXYZ(void* pHandle, int nSensorIndex, int nDownsample, float fThreshold);
        /// <summary>
        /// 获取平面点云数据
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="nDownsample">降采样倍数</param>
        /// <param name="fThreshold">与平面的偏差域值</param>
        /// <returns>返回含XYZ信息的平面点云数据，(LBPointCloudDataXYZ*) </returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetFlatDataXYZ")]
        public static extern IntPtr GetFlatDataXYZ(IntPtr pHandle, int nSensorIndex, int nDownsample, float fThreshold);

        //SYS_CALIBRATION_API(bool) AlignmentMovingFlat(void* pHandle, int nSensorIndex);
        /// <summary>
        /// 移动平面型校准
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <returns>设置失败返回false，否则返回true。</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AlignmentMovingFlat")]
        public static extern bool AlignmentMovingFlat(IntPtr pHandle, int nSensorIndex);

        //SYS_CALIBRATION_API(bool) AlignmentFlatSurface(void* pHandle, int nSensorIndex, int nType);
        /// <summary>
        /// 平面型校准
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="nType">类型，未使用</param>
        /// <returns>设置失败返回false，否则返回true。</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AlignmentFlatSurface")]
        public static extern bool AlignmentFlatSurface(IntPtr pHandle, int nSensorIndex, int nType);

        //SYS_CALIBRATION_API(bool) AlignmentBar(void* pHandle, int nSensorIndex, int nType, PARAM_BAR stBarInfo);
        /// <summary>
        /// 条状物型校准
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="nType">类型（移动型或固定型）</param>
        /// <param name="stBarInfo">条状物信息</param>
        /// <returns>设置失败返回false，否则返回true。</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AlignmentBar")]
        public static extern bool AlignmentBar(IntPtr pHandle, int nSensorIndex, int nType, PARAM_BAR stBarInfo);

        //SYS_CALIBRATION_API(bool) AlignmentPolygon(void* pHandle, int nSensorIndex, int nType, PARAM_POLYGON stInfo);
        /// <summary>
        /// 多边形型校准
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="nType">类型（移动型或固定型）</param>
        /// <param name="stInfo">多边形信息</param>
        /// <returns>设置失败返回false，否则返回true。</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AlignmentPolygon")]
        public static extern bool AlignmentPolygon(IntPtr pHandle, int nSensorIndex, int nType, PARAM_POLYGON stInfo);

        //SYS_CALIBRATION_API(bool) PointsRotationAndTranslation(void* pHandle, int nSensorIndex, LBLineDataXYZ Input, LBLineDataXYZ Output);
        /// <summary>
        /// 点集先旋转再平移函数
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="Input">输入点集</param>
        /// <param name="Output">输出点集</param>
        /// <returns>设置失败返回false，否则返回true。</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "PointsRotationAndTranslation")]
        public static extern bool PointsRotationAndTranslation(IntPtr pHandle, int nSensorIndex, LBLineDataXYZ Input, LBLineDataXYZ Output);

        //SYS_CALIBRATION_API(bool) PointsResampling(void* pHandle, LBCalibrationData Input, LBCalibrationData Output);
        /// <summary>
        /// 点集重采样函数
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="Input">输入点集</param>
        /// <param name="Output">输出点集</param>
        /// <returns>设置失败返回false，否则返回true。</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "PointsResampling")]
        public static extern bool PointsResampling(IntPtr pHandle, LBCalibrationData Input, LBCalibrationData Output);

        //SYS_CALIBRATION_API(bool) PointsRotationAndTranslation2D(void* pHandle, int nSensorIndex, LBLineDataXYZ* pInput, LBLineDataXYZ* pOutput);
        /// <summary>
        /// 二维点集先旋转再平移函数
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="pInput">输入点集, LBLineDataXYZ* pInput</param>
        /// <param name="pOutput">输出点集, LBLineDataXYZ* pOutput</param>
        /// <returns>设置失败返回false，否则返回true。</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "PointsRotationAndTranslation2D")]
        public static extern bool PointsRotationAndTranslation2D(IntPtr pHandle, int nSensorIndex, IntPtr pInput, IntPtr pOutput);

        //SYS_CALIBRATION_API(bool) PointsTranslationAndRotation2D(void* pHandle, int nSensorIndex, LBLineDataXYZ* pInput, LBLineDataXYZ* pOutput);
        /// <summary>
        /// 二维点集先平移再旋转函数
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="pInput">输入点集, LBLineDataXYZ* pInput</param>
        /// <param name="pOutput">输出点集, LBLineDataXYZ* pOutput</param>
        /// <returns>设置失败返回false，否则返回true。</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "PointsTranslationAndRotation2D")]
        public static extern bool PointsTranslationAndRotation2D(IntPtr pHandle, int nSensorIndex, IntPtr pInput, IntPtr pOutput);

        //SYS_CALIBRATION_API(LBLineDataXZ*) GetInlierDataXZ(void* pHandle);
        /// <summary>
        /// 获取含XZ信息的内点数据
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <returns>返回含XZ信息的内点数据,(LBLineDataXZ*)</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetInlierDataXZ")]
        public static extern IntPtr GetInlierDataXZ(IntPtr pHandle);

        //SYS_CALIBRATION_API(LBPointCloudDataXYZ*) GetInlierDataXYZ(void* pHandle);
        /// <summary>
        /// 获取含XYZ信息的内点数据
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <returns>返回含XYZ信息的内点数据,(LBPointCloudDataXYZ*)</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetInlierDataXYZ")]
        public static extern IntPtr GetInlierDataXYZ(IntPtr pHandle);

        //SYS_CALIBRATION_API(LBPointCloudDataXYZ*) GetSourceDataXYZ(void* pHandle);
        /// <summary>
        /// 获取含XYZ信息的源点数据
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <returns>返回含XYZ信息的源点数据,(LBPointCloudDataXYZ*)</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetSourceDataXYZ")]
        public static extern IntPtr GetSourceDataXYZ(IntPtr pHandle);

        //SYS_CALIBRATION_API(void) GetLineParameter(void* pHandle, double& k, double& b);
        /// <summary>
        /// 获取直线参数，无返回
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="k">斜率</param>
        /// <param name="b">截距</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetLineParameter")]
        public static extern void GetLineParameter(IntPtr pHandle, ref double k, ref double b);

        //SYS_CALIBRATION_API(void) GetFlatParameter(void* pHandle, int nSensorIndex, double& A, double& B, double &C, double &D);
        /// <summary>
        /// 获取平面参数，无返回
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="A">x分量</param>
        /// <param name="B">y分量</param>
        /// <param name="C">z分量</param>
        /// <param name="D">截距</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetFlatParameter")]
        public static extern void GetFlatParameter(IntPtr pHandle, int nSensorIndex, ref double A, ref double B, ref double C, ref double D);

        //SYS_CALIBRATION_API(void) GetCircleParameter(void* pHandle, int nSensorIndex, int nIndex, double& x, double& y, double &r);
        /// <summary>
        /// 获取圆参数，无返回
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="nIndex">圆的索引</param>
        /// <param name="x">x坐标</param>
        /// <param name="y">y坐标</param>
        /// <param name="r">半径</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetCircleParameter")]
        public static extern void GetCircleParameter(IntPtr pHandle, int nSensorIndex, int nIndex, ref double x, ref double y, ref double r);

        //SYS_CALIBRATION_API(void) GetLineParam(void* pHandle, double* k, double* b);
        /// <summary>
        /// 获取直线参数，无返回
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="k">斜率</param>
        /// <param name="b">截距</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetLineParam")]
        public static extern void GetLineParam(IntPtr pHandle, ref double k, ref double b);

        //SYS_CALIBRATION_API(void) GetLineParamInfo(void* pHandle, char* szParamInfo);
        /// <summary>
        /// 获取直线参数信息，无返回
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="szParamInfo">直线用文字表达的信息, char* szParamInfo</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetLineParamInfo")]
        public static extern void GetLineParamInfo(IntPtr pHandle, IntPtr szParamInfo);

        //SYS_CALIBRATION_API(void) GetLineModel(void* pHandle, double* cos_theta, double* sin_theta, double* rho);
        /// <summary>
        /// 获取直线的模型参数，无返回
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="cos_theta">角余弦值</param>
        /// <param name="sin_theta">角正弦值</param>
        /// <param name="rho">模长</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetLineModel")]
        public static extern void GetLineModel(IntPtr pHandle, ref double cos_theta, ref double sin_theta, ref double rho);

        //SYS_CALIBRATION_API(void) ConvertZA2XYZ(void* pHandle, LBLineDataZA* Input, LBLineDataXYZ* Output, bool bUseEncoder, int nCountingMode, int nDownSample);
        /// <summary>
        /// 转换ZA格式数据到XYZ格式数据，无返回
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="Input">输入数据指针, LBLineDataZA* Input</param>
        /// <param name="Output">输出数据指针, LBLineDataXYZ* Output</param>
        /// <param name="bUseEncoder">是否使用编码器</param>
        /// <param name="nCountingMode">计数模式</param>
        /// <param name="nDownSample">降采样倍率</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "ConvertZA2XYZ")]
        public static extern void ConvertZA2XYZ(IntPtr pHandle, IntPtr Input, IntPtr Output, bool bUseEncoder, int nCountingMode, int nDownSample);

        //SYS_CALIBRATION_API(int) CvtZA2XYZ(void* pHandle, LBLineDataZA* Input, float* x, float* y, float* z, bool bUseEncoder, int nCountingMode, int nDownSample);
        /// <summary>
        /// 转换XYZ格式数据到ZA格式数据
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="Input">输入数据指针, LBLineDataZA* Input</param>
        /// <param name="x">x数据指针, float* x</param>
        /// <param name="y">y数据指针, float* y</param>
        /// <param name="z">z数据指针, float* z</param>
        /// <param name="bUseEncoder">是否使用编码器</param>
        /// <param name="nCountingMode">计数模式</param>
        /// <param name="nDownSample">降采样倍率</param>
        /// <returns>返回转换后的数据数量</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "CvtZA2XYZ")]
        public static extern int CvtZA2XYZ(IntPtr pHandle, IntPtr Input, IntPtr x, IntPtr y, IntPtr z, bool bUseEncoder, int nCountingMode, int nDownSample);

        //SYS_CALIBRATION_API(int) SetOffsetInfo(void* pHandle, int nSensorIndex, OFFSET_INFO stInfo);
        /// <summary>
        /// 设置行数据
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="stInfo">偏移信息</param>
        /// <returns>返回值0表示失败，1表是成功</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetOffsetInfo")]
        public static extern int SetOffsetInfo(IntPtr pHandle, int nSensorIndex, OFFSET_INFO stInfo);

        //SYS_CALIBRATION_API(int) PointsRotateAndTrans2D(void* pHandle, int nSensorIndex, LBLineDataXYZ* pInput, LBLineDataXYZ* pOutput, int RemoveNAN);
        /// <summary>
        /// 二维点集先旋转再平移函数
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="pInput">输入点集, LBLineDataXYZ* pInput</param>
        /// <param name="pOutput">输出点集, LBLineDataXYZ* pOutput</param>
        /// <param name="RemoveNAN">是否删除NAN，1删除，0保留</param>
        /// <returns>设置失败返回0，否则返回1。</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "PointsRotateAndTrans2D")]
        public static extern int PointsRotateAndTrans2D(IntPtr pHandle, int nSensorIndex, IntPtr pInput, IntPtr pOutput, int RemoveNAN);

        //SYS_CALIBRATION_API(int) PointsRotateAndMove2D(void* pHandle, int nSensorIndex, LBPointXYZ* pInput, LBPointXYZ* pOutput, int nInputSize, int RemoveNAN);
        /// <summary>
        /// 二维点集先旋转再平移函数，与上面的一个函数输入输出不同
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="pInput">输入点集, LBPointXYZ* pInput</param>
        /// <param name="pOutput">输出点集, LBPointXYZ* pOutput</param>
        /// <param name="nInputSize">输入数据集的大小</param>
        /// <param name="RemoveNAN">是否删除NAN，1删除，0保留</param>
        /// <returns>设置失败返回0，否则返回1。</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "PointsRotateAndMove2D")]
        public static extern int PointsRotateAndMove2D(IntPtr pHandle, int nSensorIndex, IntPtr pInput, IntPtr pOutput, int nInputSize, int RemoveNAN);

        //SYS_CALIBRATION_API(int) PointsRotateAroundPt2D(void* pHandle, LBLineDataXYZ* pInput, LBLineDataXYZ* pOutput, LBPointXZ pt, float theta, int IsOpposite);
        /// <summary>
        /// 二维点集绕点旋转
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="pInput">输入点集, LBLineDataXYZ* pInput</param>
        /// <param name="pOutput">输出点集, LBLineDataXYZ* pOutput</param>
        /// <param name="pt">要绕的点</param>
        /// <param name="theta">要转的弧度</param>
        /// <param name="IsOpposite">是否相对安装</param>
        /// <returns>设置失败返回0，否则返回1。</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "PointsRotateAroundPt2D")]
        public static extern int PointsRotateAroundPt2D(IntPtr pHandle, IntPtr pInput, IntPtr pOutput, LBPointXZ pt, float theta, int IsOpposite);

        //SYS_CALIBRATION_API(int) PointsMove2D(void* pHandle, LBLineDataXYZ* pInput, LBLineDataXYZ* pOutput, const float fDeltaX, const float fDeltaZ);
        /// <summary>
        /// 二维点集平移
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="pInput">输入点集, LBLineDataXYZ* pInput</param>
        /// <param name="pOutput">输出点集, LBLineDataXYZ* pOutput</param>
        /// <param name="fDeltaX">x偏移量</param>
        /// <param name="fDeltaZ">y偏移量</param>
        /// <returns>设置失败返回0，否则返回1。</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "PointsMove2D")]
        public static extern int PointsMove2D(IntPtr pHandle, IntPtr pInput, IntPtr pOutput, float fDeltaX, float fDeltaZ);

        //SYS_CALIBRATION_API(int) PointsMerge(void* pHandle, LBPointXYZ* pInput1, int nCount1, LBPointXYZ* pInput2, int nCount2, LBPointXYZ* pOutput, int nSize);
        /// <summary>
        /// 两组三维点集合并函数
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="pInput1">输入点集1, LBPointXYZ* pInput1</param>
        /// <param name="nCount1">输入点集1的数量</param>
        /// <param name="pInput2">输入点集2, LBPointXYZ* pInput2</param>
        /// <param name="nCount2">输入点集2的数量</param>
        /// <param name="pOutput">输出点集, LBPointXYZ* pOutput</param>
        /// <param name="nSize">输出点集数量</param>
        /// <returns>返回合并后的点集大小。</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "PointsMerge")]
        public static extern int PointsMerge(IntPtr pHandle, IntPtr pInput1, int nCount1, IntPtr pInput2, int nCount2, IntPtr pOutput, int nSize);

        //SYS_CALIBRATION_API(void) CalibratePointCloud(void* pHandle, int nSensorIndex);
        /// <summary>
        /// 校准点云，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex"></param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "CalibratePointCloud")]
        public static extern void CalibratePointCloud(IntPtr pHandle, int nSensorIndex);

        //SYS_CALIBRATION_API(void) SystemCalibration(void* pHandle);
        /// <summary>
        /// 系统标定，无返回值
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SystemCalibration")]
        public static extern void SystemCalibration(IntPtr pHandle);

        //SYS_CALIBRATION_API(float) MeasureDistance(void* pHandle);
        /// <summary>
        /// 测量距离，不使用
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <returns>返回被测距离</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "MeasureDistance")]
        public static extern float MeasureDistance(IntPtr pHandle);

        //SYS_CALIBRATION_API(float) MeasureMaxDistance(void* pHandle);
        /// <summary>
        /// 测量最大距离，不使用
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <returns>返回被测最大距离</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "MeasureMaxDistance")]
        public static extern float MeasureMaxDistance(IntPtr pHandle);

        //SYS_CALIBRATION_API(float) ComputeConcavity(void* pHandle, int nSensorIndex);
        /// <summary>
        /// 计算凹凸度，不使用
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <returns>返回凹凸度值</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "ComputeConcavity")]
        public static extern float ComputeConcavity(IntPtr pHandle, int nSensorIndex);

        //SYS_CALIBRATION_API(float) MeasureFlatHigh(void* pHandle, int nSensorIndex, LB_ROI stRoi);
        /// <summary>
        /// 测量平面高度，不使用
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="stRoi">指定的兴趣区</param>
        /// <returns>返回被测距平面的高度</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "MeasureFlatHigh")]
        public static extern float MeasureFlatHigh(IntPtr pHandle, int nSensorIndex, LB_ROI stRoi);

        //SYS_CALIBRATION_API(float) MeasureTargetHigh(void* pHandle, int nSensorIndex);
        /// <summary>
        /// 测量目标物高度
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <returns>返回被测目标物的高度</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "MeasureTargetHigh")]
        public static extern float MeasureTargetHigh(IntPtr pHandle, int nSensorIndex);

        //SYS_CALIBRATION_API(float) MeasureRoiHigh(void* pHandle, int nSensorIndex, int nRoiIndex);
        /// <summary>
        /// 测量兴趣区物高度
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="nRoiIndex">兴趣区的索号，值从1起</param>
        /// <returns>返回被测兴趣区的高度</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "MeasureRoiHigh")]
        public static extern float MeasureRoiHigh(IntPtr pHandle, int nSensorIndex, int nRoiIndex);

        //SYS_CALIBRATION_API(float) MeasureLineHigh(void* pHandle, int nSensorIndex);
        /// <summary>
        /// 测量轮廓线高度
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <returns>返回被测轮廓线的高度</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "MeasureLineHigh")]
        public static extern float MeasureLineHigh(IntPtr pHandle, int nSensorIndex);

        //SYS_CALIBRATION_API(void) EdgeDetection(void* pHandle, int nSensorIndex);
        /// <summary>
        /// 边缘检测，无返回，不使用
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "EdgeDetection")]
        public static extern void EdgeDetection(IntPtr pHandle, int nSensorIndex);

        //SYS_CALIBRATION_API(float) CalcIntercept(void* pHandle, int nSensorIndex, float& theta);
        /// <summary>
        /// 计算若干相近的轮廓线拟合直线与Y轴的交点，不使用
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="theta">返回夹角</param>
        /// <returns>返回Y轴上的截距</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "CalcIntercept")]
        public static extern float CalcIntercept(IntPtr pHandle, int nSensorIndex, ref float theta);

        //SYS_CALIBRATION_API(LBColorMap*) GetDepthMap(void* pHandle, int nSensorIndex, int nOption);
        /// <summary>
        /// 获取深度图
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="nOption">用4来获取大兴趣的深度图</param>
        /// <returns>返回深度图结构体，(LBColorMap*)</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetDepthMap")]
        public static extern IntPtr GetDepthMap(IntPtr pHandle, int nSensorIndex, int nOption);

        //SYS_CALIBRATION_API(LBColorMap*) GetBinaryMap(void* pHandle, int nSensorIndex, int nOption);
        /// <summary>
        /// 获取黑白图，不使用
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="nOption">选项</param>
        /// <returns>返回黑白图结构体，(LBColorMap*)</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetBinaryMap")]
        public static extern IntPtr GetBinaryMap(IntPtr pHandle, int nSensorIndex, int nOption);

        //SYS_CALIBRATION_API(LBColorMap*) GetResultMap(void* pHandle, int nSensorIndex, int nOption);
        /// <summary>
        /// 获取结果图，仅调试使用，不对外开放
        /// </summary>
        /// <param name="pHandle">系统标定与测量模块句柄</param>
        /// <param name="nSensorIndex">传感器序号</param>
        /// <param name="nOption">选项</param>
        /// <returns>返回结果图结构体，(LBColorMap*)</returns>
        [DllImport("SysCalibration.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetResultMap")]
        public static extern IntPtr GetResultMap(IntPtr pHandle, int nSensorIndex, int nOption);
    }
}