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#ifndef ARITH_UTILS_H
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#define ARITH_UTILS_H
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#pragma once
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#include "Arith_SysStruct.h"
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// 使用哈希表来记录每个非零数字的出现次数
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typedef struct tagHashEntry
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{
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int key;
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int count;
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} HashEntry;
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typedef struct tagHashMap
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{
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HashEntry* entries;
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int capacity;
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int size;
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} HashMap;
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// 矩阵加法
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void AddMat(double* A, double* B, int mn, double* AaddB);
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// 矩阵乘法
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void MultiMat(double* A, double* B, double* AB, int m, int n, int p);
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// M1(3*3) * M2(3*3)
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void MultiMat33(double* A, double* B, double* AB);
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// M1(3*3) * M2(3*3) * M3(3*3)
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void MultiMat333(double* A, double* B, double* C, double* ABC);
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// 标量乘以矩阵
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void MultiMatScalar(double scalar, double* A, double* sA, int mn);
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// 矩阵转置
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void TransposeMat(double* A, int m, int n, double* AT);
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// 3阶矩阵逆，不判断逆是否存在
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void invMat3(double* A, double* invA);
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// 获得三阶单位阵
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void eye3(double* M);
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// 绕X轴旋转矩阵
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void Rx(double omega, double* Opp);
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// 绕Y轴旋转矩阵
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void Ry(double omega, double* Opp);
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// 绕Z轴旋转矩阵
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void Rz(double omega, double* Opp);
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// 镜面反射矩阵
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void RMirror(PointXYZ normalVec, double* Opp);
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// 坐标(矢量)旋转: M1(3*3) * M2(3,1)
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PointXYZ RtPoint(double* M, PointXYZ Point);
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// 坐标(矢量)归一化
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PointXYZ NormPoint(PointXYZ Point);
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// 罗得里格公式
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void rotationVectorToMatrix(PointXYZ rotaVec_One, float rotaAgl, double* Mat);
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/*************************************
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* Method: findMostFrequentNonZero()
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* Function Description:
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* CreateData: 2025/1/8
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* Input Param: int arr[]:输入数组
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* Input Param: int size:数组长度
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* Input Param: int clsMaxNum:频率最高的类别出现的次数
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* Input Param: float * MostFrequentratio:频率最高的类别出现的频率
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* Output Param:
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* Return: int:出现次数最多的目标类别
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* Call Relation:
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* Other Description:
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*************************************/
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int findMostFrequentNonZero(int arr[], int size, int *clsMaxNum, float* MostFrequentratio);
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/*************************************
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* Method: count2To0Transitions()
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* Function Description: 统计序列2变成1的次数
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* CreateData: 2025/1/8
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* Input Param: int arr[]
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* Input Param: int size
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* Output Param:
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* Return: int
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* Call Relation:
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* Other Description:
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*************************************/
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int count2To0Transitions(int arr[], int size);
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/*************************************
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* Method: checkCondition()
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* Function Description: 一维数组当中，判断相邻数字2变成1，1连续出现的次数大于frmThresh是否存在
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* CreateData: 2025/1/8
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* Input Param: int arr[]
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* Input Param: int size
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* Input Param: int frmThresh
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* Output Param:
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* Return: bool
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* Call Relation:
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* Other Description:
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*************************************/
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bool checkXToYCondition(int arr[], int size, int x, int y, int frmThresh);
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/*************************************
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* Method: countNumberFreq()
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* Function Description: 统计一维数组当中number出现的次数
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* CreateData: 2025/1/8
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* Input Param: int arr[]
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* Input Param: int size
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* Input Param: int number
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* Output Param:
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* Return: int
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* Call Relation:
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* Other Description:
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*************************************/
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int countNumberFreq(int arr[], int size, int number);
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/*************************************
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* Method: Cosine_Similarity()
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* Function Description: 计算两个size长度一维数组的余弦相似度
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* CreateData: 2025/2/7
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* Input Param: float * A
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* Input Param: float * B
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* Input Param: int size
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* Output Param:
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* Return: float
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* Call Relation:
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* Other Description:
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*************************************/
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float Cosine_Similarity(float* A, float* B, int size);
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// 获取动态库所在路径
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std::string GetDynamicLibraryPath();
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/*************************************
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* Method: Save_RunImg()
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* Function Description: 保存一帧调用算法的图像数据
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* CreateData: 2025/3/11
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* Input Param: GD_VIDEO_FRAME_S img:输入图像
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* Input Param: SINT32 nControlerFrmNum:当前算法已处理的帧数
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* Output Param:
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* Return: void
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* Call Relation:
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* Other Description:
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*************************************/
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void Save_RunImg(GD_VIDEO_FRAME_S img, SINT32 nControlerFrmNum);
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/**********************************************************
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* 函数名称：SERVO_CorrectAngleScale()
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* 功能描述：处理伺服信息：校正角度值到0°～360°范围
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* 输入参数：FLOAT32 fAngle -- 输入角度值
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* 输出参数：无
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* 返 回 值：FLOAT32 fAngleCorrect -- 校正后的角度值
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* 调用关系：
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* 其它说明：实际伺服角度范围为：-180°～0°～180°(= -180°)～0°～180°
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**********************************************************/
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FLOAT32 SERVO_CorrectAngleScale(FLOAT32 fAngle);
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#endif
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