// BQ_workpieceCornerExtract_test.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
//

#include <iostream>
#include <fstream>
#include <vector>
#include <stdio.h>
#include <VZNL_Types.h>
#include "direct.h"
#include <string>
#include "workpieceHolePositioning_Export.h"
#include <opencv2/opencv.hpp>
#include <Windows.h>
#include <limits>
#include "SG_baseAlgo_Export.h"

typedef struct
{
	int r;
	int g;
	int b;
}SG_color;

typedef struct
{
	int nPointIdx;
	double x;
	double y;
	double z;
	float r;
	float g;
	float b;
} SPointXYZRGB;

void vzReadLaserScanPointFromFile_XYZ_vector(const char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
{
	std::ifstream inputFile(fileName);
	std::string linedata;

	if (inputFile.is_open() == false)
		return;

	std::vector< SVzNL3DPosition> a_line;
	int ptIdx = 0;
	while (getline(inputFile, linedata))
	{
		if (0 == strncmp("Line_", linedata.c_str(), 5))
		{
			int ptSize = (int)a_line.size();
			if (ptSize > 0)
			{
				scanData.push_back(a_line);
			}
			a_line.clear();
			ptIdx = 0;
		}
		else if (0 == strncmp("{", linedata.c_str(), 1))
		{
			float X, Y, Z;
			int imageY = 0;
			float leftX, leftY;
			float rightX, rightY;
			sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY);
			SVzNL3DPosition a_pt;
			a_pt.pt3D.x = X;
			a_pt.pt3D.y = Y;
			a_pt.pt3D.z = Z;
			a_pt.nPointIdx = ptIdx;
			ptIdx++;
			a_line.push_back(a_pt);
		}
	}
	//last line
	int ptSize = (int)a_line.size();
	if (ptSize > 0)
	{
		scanData.push_back(a_line);
		a_line.clear();
	}

	inputFile.close();
	return;
}

void _outputScanDataFile_XYZ_vector(char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
{
	std::ofstream sw(fileName);
	int lineNum = scanData.size();
	sw << "LineNum:" << lineNum << std::endl;
	sw << "DataType: 0" << std::endl;
	sw << "ScanSpeed: 0" << std::endl;
	sw << "PointAdjust: 1" << std::endl;
	sw << "MaxTimeStamp: 0_0" << std::endl;

	for (int line = 0; line < lineNum; line++)
	{
		int nPositionCnt = scanData[line].size();
		sw << "Line_" << line << "_0_" << nPositionCnt << std::endl;
		for (int i = 0; i < nPositionCnt; i++)
		{
			SVzNL3DPosition* pt3D = &scanData[line][i];
			float x = (float)pt3D->pt3D.x;
			float y = (float)pt3D->pt3D.y;
			float z = (float)pt3D->pt3D.z;
			char str[250];
			sprintf_s(str, "{ %f, %f, %f } - { 0, 0 } - { 0, 0 }", x, y, z);

			sw << str << std::endl;
		}
	}
	sw.close();
}

void _outputCalibPara(char* fileName, SSG_planeCalibPara calibPara)
{
	std::ofstream sw(fileName);
	char dataStr[250];
	//调平矩阵
	sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[0], calibPara.planeCalib[1], calibPara.planeCalib[2]);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[3], calibPara.planeCalib[4], calibPara.planeCalib[5]);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[6], calibPara.planeCalib[7], calibPara.planeCalib[8]);
	sw << dataStr << std::endl;
	//地面高度
	sprintf_s(dataStr, 250, "%g", calibPara.planeHeight);
	sw << dataStr << std::endl;
	//反向旋转矩阵
	sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[0], calibPara.invRMatrix[1], calibPara.invRMatrix[2]);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[3], calibPara.invRMatrix[4], calibPara.invRMatrix[5]);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[6], calibPara.invRMatrix[7], calibPara.invRMatrix[8]);
	sw << dataStr << std::endl;

	sw.close();
}

void _outputWorkpieceInfo(char* fileName, std::vector< WD_workpieceInfo>& workpiecePositioning)
{
	std::ofstream sw(fileName);
	char dataStr[250];

	int number = (int)workpiecePositioning.size();
	for (int i = 0; i < number; i++)
	{
		sprintf_s(dataStr, 250, "工件_%d", i + 1);
		sw << dataStr << std::endl;
		int holeNumber = (int)workpiecePositioning[i].holes.size();
		for (int j = 0; j < holeNumber; j++)
		{
			sprintf_s(dataStr, 250, "  孔%d: (%g, %g, %g)", (j+1), workpiecePositioning[i].holes[j].x, workpiecePositioning[i].holes[j].y, workpiecePositioning[i].holes[j].z);
			sw << dataStr << std::endl;
		}
		sprintf_s(dataStr, 50, "  center: (%g, %g, %g)", workpiecePositioning[i].center.x, workpiecePositioning[i].center.y, workpiecePositioning[i].center.z);
		sw << dataStr << std::endl;
		sprintf_s(dataStr, 50, "  x_dir: (%g, %g, %g)", workpiecePositioning[i].x_dir.x, workpiecePositioning[i].x_dir.y, workpiecePositioning[i].x_dir.z);
		sw << dataStr << std::endl;
		sprintf_s(dataStr, 50, "  y_dir: (%g, %g, %g)", workpiecePositioning[i].y_dir.x, workpiecePositioning[i].y_dir.y, workpiecePositioning[i].y_dir.z);
		sw << dataStr << std::endl;
		sprintf_s(dataStr, 50, "  z_dir: (%g, %g, %g)", workpiecePositioning[i].z_dir.x, workpiecePositioning[i].z_dir.y, workpiecePositioning[i].z_dir.z);
		sw << dataStr << std::endl;
	}
	sw.close();
}

void _outputHoleInfo(char* fileName, std::vector< WD_HolePositionInfo>& holePositioning)
{
	std::ofstream sw(fileName);
	char dataStr[250];

	int number = (int)holePositioning.size();
	for (int i = 0; i < number; i++)
	{
		sprintf_s(dataStr, 250, "孔_%d: R=%g", i + 1, holePositioning[i].holeR);
		sw << dataStr << std::endl;
		sprintf_s(dataStr, 250, "  center: (%g, %g, %g)", holePositioning[i].center.x, holePositioning[i].center.y, holePositioning[i].center.z);
		sw << dataStr << std::endl;
		sprintf_s(dataStr, 250, "  norm_dir: (%g, %g, %g)", holePositioning[i].normDir.x, holePositioning[i].normDir.y, holePositioning[i].normDir.z);
		sw << dataStr << std::endl;
	}
	sw.close();
}

void _outputHoleInfo_2(char* fileName, const WD_HolePositionInfo holePose)
{
	std::ofstream sw(fileName);
	char dataStr[250];

	sprintf_s(dataStr, 250, "孔_1");
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "  center: (%g, %g, %g)", holePose.center.x, holePose.center.y, holePose.center.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "  norm_dir: (%g, %g, %g)", holePose.normDir.x, holePose.normDir.y, holePose.normDir.z);
	sw << dataStr << std::endl;

	sw.close();
}

void _outputHoleInfo_3(char* fileName, const SSG_pointPose holePose)
{
	std::ofstream sw(fileName);
	char dataStr[250];

	sprintf_s(dataStr, 250, "孔_1");
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "  center: (%g, %g, %g)", holePose.point.x, holePose.point.y, holePose.point.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "  x_dir: (%g, %g, %g)", holePose.pose_x.x, holePose.pose_x.y, holePose.pose_x.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "  y_dir: (%g, %g, %g)", holePose.pose_y.x, holePose.pose_y.y, holePose.pose_y.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "  norm_dir: (%g, %g, %g)", holePose.pose_z.x, holePose.pose_z.y, holePose.pose_z.z);
	sw << dataStr << std::endl;

	sw.close();
}
void _outputScanDataFile_vector(char* fileName, std::vector<std::vector<SVzNL3DPosition>>& scanLines, bool removeZeros, int* headNullLines)
{
	std::ofstream sw(fileName);
	int lineNum = (int)scanLines.size();
	if (lineNum == 0)
		return;

	sw << "LineNum:" << lineNum << std::endl;
	sw << "DataType: 0" << std::endl;
	sw << "ScanSpeed: 0" << std::endl;
	sw << "PointAdjust: 1" << std::endl;
	sw << "MaxTimeStamp: 0_0" << std::endl;

	int lineIdx = 0;
	int null_lines = 0;
	bool counterNull = true;
	for (int line = 0; line < lineNum; line++)
	{
		int linePtNum = (int)scanLines[line].size();
		if (linePtNum == 0)
			continue;

		if (true == removeZeros)
		{
			int vldPtNum = 0;
			for (int i = 0; i < linePtNum; i++)
			{
				if (scanLines[line][i].pt3D.z > 1e-4)
					vldPtNum++;
			}
			linePtNum = vldPtNum;
		}
		sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
		lineIdx++;
		bool isNull = true;
		for (int i = 0; i < linePtNum; i++)
		{
			SVzNL3DPoint* pt3D = &scanLines[line][i].pt3D;
			if ((pt3D->z > 1e-4) && (isNull == true))
				isNull = false;
			if ((true == removeZeros) && (pt3D->z < 1e-4))
				continue;
			float x = (float)pt3D->x;
			float y = (float)pt3D->y;
			float z = (float)pt3D->z;
			sw << "{ " << x << "," << y << "," << z << " }-";
			sw << "{0,0}-{0,0}" << std::endl;
		}
		if (true == counterNull)
		{
			if (true == isNull)
				null_lines++;
			else
				counterNull = false;
		}
	}
	*headNullLines = null_lines;
	sw.close();
}

SSG_planeCalibPara _readCalibPara(char* fileName)
{
	//设置初始结果
	double initCalib[9] = {
		1.0, 0.0, 0.0,
		0.0, 1.0, 0.0,
		0.0, 0.0, 1.0 };
	SSG_planeCalibPara planePara;
	for (int i = 0; i < 9; i++)
		planePara.planeCalib[i] = initCalib[i];
	planePara.planeHeight = -1.0;
	for (int i = 0; i < 9; i++)
		planePara.invRMatrix[i] = initCalib[i];

	std::ifstream inputFile(fileName);
	std::string linedata;

	if (inputFile.is_open() == false)
		return planePara;

	//调平矩阵
	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[0], &planePara.planeCalib[1], &planePara.planeCalib[2]);
	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[3], &planePara.planeCalib[4], &planePara.planeCalib[5]);
	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[6], &planePara.planeCalib[7], &planePara.planeCalib[8]);
	//地面高度
	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "%lf", &planePara.planeHeight);
	//反向旋转矩阵
	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[0], &planePara.invRMatrix[1], &planePara.invRMatrix[2]);
	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[3], &planePara.invRMatrix[4], &planePara.invRMatrix[5]);
	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[6], &planePara.invRMatrix[7], &planePara.invRMatrix[8]);

	inputFile.close();
	return planePara;
}

void _outputRGBDResult_RGBD(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	std::vector< WD_workpieceInfo>& workpiecePositioning)
{
	std::vector<SVzNL3DPosition> objects;
	int objNumber = (int)workpiecePositioning.size();
	for (int i = 0; i < objNumber; i++)
	{
		SVzNL3DPosition a_objPt;
		a_objPt.pt3D = workpiecePositioning[i].center;
		objects.push_back(a_objPt);

		int holeNumber = (int)workpiecePositioning[i].holes.size();
		for (int j = 0; j < holeNumber; j++)
		{
			a_objPt.nPointIdx = i + 1;
			a_objPt.pt3D = workpiecePositioning[i].holes[j];
			objects.push_back(a_objPt);
		}
	}

	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
	sw << "LineNum:" << realLines << std::endl;
	sw << "DataType: 0" << std::endl;
	sw << "ScanSpeed: 0" << std::endl;
	sw << "PointAdjust: 1" << std::endl;
	sw << "MaxTimeStamp: 0_0" << std::endl;

	int maxLineIndex = 0;
	int max_stamp = 0;
	SG_color rgb = { 0, 0, 0 };
	SG_color objColor[8] = {
		{245,222,179},//淡黄色
		{210,105, 30},//巧克力色
		{240,230,140},//黄褐色
		{135,206,235},//天蓝色
		{250,235,215},//古董白
		{189,252,201},//薄荷色
		{221,160,221},//梅红色
		{188,143,143},//玫瑰红色
	};
	int size = 1;
	int lineIdx = 0;
	for (int line = 0; line < lineNum; line++)
	{
		int linePtNum = (int)scanLines[line].size();
		if (linePtNum == 0)
			continue;

		sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
		lineIdx++;
		for (int i = 0; i < linePtNum; i++)
		{
			SVzNL3DPosition* pt3D = &scanLines[line][i];
			if (pt3D->nPointIdx > 0)
				int kkk = 1;
			int flag = pt3D->nPointIdx & 0xffff;
			if (flag > 0)
			{
				rgb = objColor[flag % 8]; // { 255, 97, 0 };
				size = 5;
			}
			else
			{
				rgb = { 200, 200, 200 };
				size = 1;
			}
			float x = (float)pt3D->pt3D.x;
			float y = (float)pt3D->pt3D.y;
			float z = (float)pt3D->pt3D.z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
		}
	}

	int linePtNum = (int)objects.size();
	sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;
	lineNum++;
	size = 10;
	for (int i = 0; i < linePtNum; i++)
	{
		if (i == 0)
			size = 20;
		else
			size = 10;
		int colorIdx = objects[i].nPointIdx % 8;
		rgb = objColor[colorIdx];
		float x = (float)objects[i].pt3D.x;
		float y = (float)objects[i].pt3D.y;
		float z = (float)objects[i].pt3D.z;
		sw << "{" << x << "," << y << "," << z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
	}
	//输出方向线条
	rgb = { 255, 0, 0 };
	size = 2;
	for (int i = 0; i < objNumber; i++)
	{
		SVzNL3DPoint dirPt;
		dirPt = { workpiecePositioning[i].center.x + workpiecePositioning[i].y_dir.x * 10,
				workpiecePositioning[i].center.y + workpiecePositioning[i].y_dir.y * 10,
				workpiecePositioning[i].center.z + workpiecePositioning[i].y_dir.z * 10 };
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << workpiecePositioning[i].center.x << "," << workpiecePositioning[i].center.y << "," << workpiecePositioning[i].center.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

		dirPt = { workpiecePositioning[i].center.x + workpiecePositioning[i].z_dir.x * 10,
		workpiecePositioning[i].center.y + workpiecePositioning[i].z_dir.y * 10,
		workpiecePositioning[i].center.z + workpiecePositioning[i].z_dir.z * 10 };
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << workpiecePositioning[i].center.x << "," << workpiecePositioning[i].center.y << "," << workpiecePositioning[i].center.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

		for (int j = 0; j < (int)workpiecePositioning[i].holes.size(); j++)
		{
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << workpiecePositioning[i].holes[j].x << "," << workpiecePositioning[i].holes[j].y << "," << workpiecePositioning[i].holes[j].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << workpiecePositioning[i].holesDir[j].x << "," << workpiecePositioning[i].holesDir[j].y << "," << workpiecePositioning[i].holesDir[j].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;
		}
	}

	sw.close();
}

void _outputRGBDResult_RGBD_2(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	SSG_pointPose& poseInfo)
{
	int objNumber = 0;
	if (poseInfo.point.z > 1e-4)
		objNumber = 1;

	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
	sw << "LineNum:" << realLines << std::endl;
	sw << "DataType: 0" << std::endl;
	sw << "ScanSpeed: 0" << std::endl;
	sw << "PointAdjust: 1" << std::endl;
	sw << "MaxTimeStamp: 0_0" << std::endl;

	int maxLineIndex = 0;
	int max_stamp = 0;
	SG_color rgb = { 0, 0, 0 };
	SG_color objColor[8] = {
		{245,222,179},//淡黄色
		{210,105, 30},//巧克力色
		{240,230,140},//黄褐色
		{135,206,235},//天蓝色
		{250,235,215},//古董白
		{189,252,201},//薄荷色
		{221,160,221},//梅红色
		{188,143,143},//玫瑰红色
	};
	int size = 1;
	int lineIdx = 0;
	for (int line = 0; line < lineNum; line++)
	{
		int linePtNum = (int)scanLines[line].size();
		if (linePtNum == 0)
			continue;

		sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
		lineIdx++;
		for (int i = 0; i < linePtNum; i++)
		{
			SVzNL3DPosition* pt3D = &scanLines[line][i];
			if (pt3D->nPointIdx > 0)
				int kkk = 1;
			int flag = pt3D->nPointIdx & 0xffff;
			if (flag > 0)
			{
				rgb = objColor[flag % 8]; // { 255, 97, 0 };
				size = 5;
			}
			else
			{
				rgb = { 200, 200, 200 };
				size = 1;
			}
			float x = (float)pt3D->pt3D.x;
			float y = (float)pt3D->pt3D.y;
			float z = (float)pt3D->pt3D.z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
		}
	}

	if (poseInfo.point.z > 1e-4)
	{
		sw << "Line_" << lineNum << "_0_1"  << std::endl;
		lineNum++;
		size = 20;
		rgb = { 255, 255, 0 };
		float x = (float)poseInfo.point.x;
		float y = (float)poseInfo.point.y;
		float z = (float)poseInfo.point.z;
		sw << "{" << x << "," << y << "," << z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;

		//输出方向线条
		rgb = { 250, 0, 0 };
		size = 2;
		double dirLen = 250;
		SVzNL3DPoint dirPt;
		dirPt = { poseInfo.point.x + poseInfo.pose_x.x * dirLen,
				  poseInfo.point.y + poseInfo.pose_x.y * dirLen,
				  poseInfo.point.z + poseInfo.pose_x.z * dirLen };
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << poseInfo.point.x << "," << poseInfo.point.y << "," << poseInfo.point.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

		rgb = { 0, 250, 0 };
		dirPt = { poseInfo.point.x + poseInfo.pose_y.x * dirLen,
				  poseInfo.point.y + poseInfo.pose_y.y * dirLen,
				  poseInfo.point.z + poseInfo.pose_y.z * dirLen };
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << poseInfo.point.x << "," << poseInfo.point.y << "," << poseInfo.point.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

		rgb = { 0, 0, 250 };
		SVzNL3DPoint dirPt1 = { poseInfo.point.x + poseInfo.pose_z.x * dirLen,
								poseInfo.point.y + poseInfo.pose_z.y * dirLen,
								poseInfo.point.z + poseInfo.pose_z.z * dirLen };
		SVzNL3DPoint dirPt2 = { poseInfo.point.x - poseInfo.pose_z.x * dirLen,
								poseInfo.point.y - poseInfo.pose_z.y * dirLen,
								poseInfo.point.z - poseInfo.pose_z.z * dirLen };
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;
	}

	sw.close();
}

void _outputRGBDResult_HoleInfo(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	std::vector< WD_HolePositionInfo>& holePositioning,
	const double dirLen)
{
	std::vector<SVzNL3DPosition> objects;
	int objNumber = (int)holePositioning.size();
	for (int i = 0; i < objNumber; i++)
	{
		SVzNL3DPosition a_objPt;
		a_objPt.pt3D = holePositioning[i].center;
		objects.push_back(a_objPt);
	}

	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
	sw << "LineNum:" << realLines << std::endl;
	sw << "DataType: 0" << std::endl;
	sw << "ScanSpeed: 0" << std::endl;
	sw << "PointAdjust: 1" << std::endl;
	sw << "MaxTimeStamp: 0_0" << std::endl;

	int maxLineIndex = 0;
	int max_stamp = 0;
	SG_color rgb = { 0, 0, 0 };
	SG_color objColor[8] = {
		{245,222,179},//淡黄色
		{210,105, 30},//巧克力色
		{240,230,140},//黄褐色
		{135,206,235},//天蓝色
		{250,235,215},//古董白
		{189,252,201},//薄荷色
		{221,160,221},//梅红色
		{188,143,143},//玫瑰红色
	};
	int size = 1;
	int lineIdx = 0;
	for (int line = 0; line < lineNum; line++)
	{
		int linePtNum = (int)scanLines[line].size();
		if (linePtNum == 0)
			continue;

		sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
		lineIdx++;
		for (int i = 0; i < linePtNum; i++)
		{
			SVzNL3DPosition* pt3D = &scanLines[line][i];
			if (pt3D->nPointIdx > 0)
				int kkk = 1;
			int flag = pt3D->nPointIdx & 0xffff;
			if (flag == 2)
			{
				rgb = { 0, 0, 200 };
				size = 2;
			}
			else if (flag > 2)
			{
				rgb = objColor[flag % 8]; // { 255, 97, 0 };
				size = 5;
			}
			else
			{
				rgb = { 200, 200, 200 };
				size = 1;
			}
			float x = (float)pt3D->pt3D.x;
			float y = (float)pt3D->pt3D.y;
			float z = (float)pt3D->pt3D.z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
		}
	}

	int linePtNum = (int)objects.size();
	sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;
	lineNum++;
	size = 10;
	for (int i = 0; i < linePtNum; i++)
	{
		if (i == 0)
			rgb = { 255,255,0 };
		else
			rgb = {0, 0, 255};
		float x = (float)objects[i].pt3D.x;
		float y = (float)objects[i].pt3D.y;
		float z = (float)objects[i].pt3D.z;
		sw << "{" << x << "," << y << "," << z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
	}
	//输出方向线条
	rgb = { 255, 0, 0 };
	size = 2;
	for (int i = 0; i < objNumber; i++)
	{
		SVzNL3DPoint dirPt_1, dirPt_2;
		dirPt_1 = { holePositioning[i].center.x - holePositioning[i].normDir.x * dirLen,
					holePositioning[i].center.y - holePositioning[i].normDir.y * dirLen,
					holePositioning[i].center.z - holePositioning[i].normDir.z * dirLen };
		dirPt_2 = { holePositioning[i].center.x + holePositioning[i].normDir.x * dirLen,
				holePositioning[i].center.y + holePositioning[i].normDir.y * dirLen,
				holePositioning[i].center.z + holePositioning[i].normDir.z * dirLen };
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << dirPt_1.x << "," << dirPt_1.y << "," << dirPt_1.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt_2.x << "," << dirPt_2.y << "," << dirPt_2.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;
	}

	sw.close();
}

void _outputRGBDResult_HoleInfo_2(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	WD_HolePositionInfo& holePose)
{
	int objNumber = 0;
	if (holePose.center.z > 1e-4)
		objNumber = 1;

	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
	sw << "LineNum:" << realLines << std::endl;
	sw << "DataType: 0" << std::endl;
	sw << "ScanSpeed: 0" << std::endl;
	sw << "PointAdjust: 1" << std::endl;
	sw << "MaxTimeStamp: 0_0" << std::endl;

	int maxLineIndex = 0;
	int max_stamp = 0;
	SG_color rgb = { 0, 0, 0 };
	SG_color objColor[8] = {
		{245,222,179},//淡黄色
		{210,105, 30},//巧克力色
		{240,230,140},//黄褐色
		{135,206,235},//天蓝色
		{250,235,215},//古董白
		{189,252,201},//薄荷色
		{221,160,221},//梅红色
		{188,143,143},//玫瑰红色
	};
	int size = 1;
	int lineIdx = 0;
	for (int line = 0; line < lineNum; line++)
	{
		int linePtNum = (int)scanLines[line].size();
		if (linePtNum == 0)
			continue;

		sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
		lineIdx++;
		for (int i = 0; i < linePtNum; i++)
		{
			SVzNL3DPosition* pt3D = &scanLines[line][i];
			if (pt3D->nPointIdx > 0)
				int kkk = 1;
			int flag = pt3D->nPointIdx & 0xffff;
			if (flag > 0)
			{
				rgb = objColor[flag % 8]; // { 255, 97, 0 };
				size = 5;
			}
			else
			{
				rgb = { 200, 200, 200 };
				size = 1;
			}
			float x = (float)pt3D->pt3D.x;
			float y = (float)pt3D->pt3D.y;
			float z = (float)pt3D->pt3D.z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
		}
	}

	if (objNumber > 0)
	{
		sw << "Line_" << lineNum << "_0_1" << std::endl;
		lineNum++;
		size = 10;

		rgb = { 255, 0, 0 };
		float x = (float)holePose.center.x;
		float y = (float)holePose.center.y;
		float z = (float)holePose.center.z;
		sw << "{" << x << "," << y << "," << z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;

		//输出方向线条
		rgb = { 255, 0, 0 };
		size = 2;

		SVzNL3DPoint dirPt_1, dirPt_2;
		dirPt_1 = { holePose.center.x - holePose.normDir.x * 100,
					holePose.center.y - holePose.normDir.y * 100,
					holePose.center.z - holePose.normDir.z * 100 };
		dirPt_2 = { holePose.center.x + holePose.normDir.x * 100,
					holePose.center.y + holePose.normDir.y * 100,
					holePose.center.z + holePose.normDir.z * 100 };
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << dirPt_1.x << "," << dirPt_1.y << "," << dirPt_1.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt_2.x << "," << dirPt_2.y << "," << dirPt_2.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;
	}
	sw.close();
}


SVzNL3DPoint _pointRT(SVzNL3DPoint& origin, const double* R, const double* T)
{
	SVzNL3DPoint result;
	result.x = origin.x * R[0] + origin.y * R[1] + origin.z * R[2];
	result.y = origin.x * R[3] + origin.y * R[4] + origin.z * R[5];
	result.z = origin.x * R[6] + origin.y * R[7] + origin.z * R[8];
	result.x += T[0];
	result.y += T[1];
	result.z += T[2];
	return result;
}

#define TEST_COMPUTE_CALIB_PARA		0
#define TEST_COMPUTE_HOLE			1
#define TEST_COMPUTE_RT				0
#define TPF_TEST_GROUP 3
//拓普发工件孔定位（工件定位)
void TuoPuFa_holePosition_test(void)
{
	const char* dataPath[TPF_TEST_GROUP] = {

		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/拓普发点云/", //0
		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/拓普发点云2/", //1
		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/拓普发点云3/", //2
	};

	SVzNLRange fileIdx[TPF_TEST_GROUP] = {
		{6,6}, {1, 16}, {1,19}
	};

	const char* ver = wd_workpieceHolePositioningVersion();
	printf("ver:%s\n", ver);

#if TEST_COMPUTE_RT
	std::vector<cv::Point3d> pts_eye;
	pts_eye.resize(6);
	std::vector<cv::Point3d> pts_robot;
	pts_robot.resize(6);
	pts_eye[0] = { 463.48, 347.63, 1301.43 }; //, R = 0.6413, P = 0.0302, Y = -91.1494
	pts_eye[1] = { 254.15, 259.55, 1303.12 }; // R = 0.6413, P = 0.0302, Y = -88.8130
	pts_eye[2] = { 141.16, 284.02, 1302.27 }; //, R = 0.6413, P = 0.0302, Y = -89.3432
	pts_eye[3] = { 90.66, 5.80, 1303.27 }; // R = 0.6413, P = 0.0302, Y = -89.5285
	pts_eye[4] = { 252.47, -10.45, 1304.33 };// R = 0.6413, P = 0.0302, Y = -89.6450
	pts_eye[5] = { 403.53, -13.99, 1304.24 };// R = 0.6413, P = 0.0302, Y = -82.0278
	//pts_eye[6] = { 242.70, -74.51, 1796.83 };

	//A:绕z, B：绕y， C:绕x
	pts_robot[0] = { -406.649, -1246.187, 588.611 }; // A:0.018 B : -0.638 C : -0.292
	pts_robot[1] = { -316.649, -1036.290, 587.619 }; //  A:-1.032 B : -0.354 C : 1.001
	pts_robot[2] = { -340.590, -922.510, 586.731 }; // A:-1.032 B : -0.356 C : 0.998
	pts_robot[3] = { -61.892,-874.564,589.841 }; // A:-1.028 B : -0.367 C : 0.442
	pts_robot[4] = { -46.658,-1036.959,589.820 }; // A:-1.029 B : -0.367 C : 0.442
	pts_robot[5] = { -43.92, -1188.370,591.006 }; // A:-9.208 B : -0.367 C : 0.442
	//pts_robot[6] = { 29.298, -1033.69, 97.909 };

	//使用前6组数据
	std::vector<cv::Point3d> test_pts_eye;
	std::vector<cv::Point3d> test_pts_robot;
	for (int i = 0; i < 6; i++)
	{
		test_pts_eye.push_back(pts_eye[i]);
		test_pts_robot.push_back(pts_robot[i]);
	}
	//对空间两组对应点计算旋转平移矩阵
	// Eigen库实现
	cv::Mat R, T;
	cv::Point3d C_eye, C_robot;
	caculateRT(
		test_pts_eye,
		test_pts_robot,
		R, T,
		C_eye, C_robot);

	std::cout << "方向向量转换结果：" << std::endl;
	std::cout << std::fixed << std::setprecision(6); // 固定小数位数为6
	std::cout << R << std::endl;
	std::cout << T << std::endl;

	//验算6轴姿态
	std::vector<cv::Point3d> verify_pts_eye;
	verify_pts_eye.insert(verify_pts_eye.end(), pts_eye.begin(), pts_eye.begin()+6);
	//cv::Point3d a_center = { 232.997, -173.533, 1795.9 };
	//verify_pts_eye.push_back(a_center);
	//a_center = { 225.57, -68.33, 1796.77 };
	//verify_pts_eye.push_back(a_center);
	//a_center = { 120.45, -45.97, 1796.25 };
	//verify_pts_eye.push_back(a_center);
	//a_center = { 242.70, -74.51, 1796.83 };
	//verify_pts_eye.push_back(a_center);
	std::vector<std::vector< cv::Point3d>>  pose_eye;
	pose_eye.resize(6);
	for (int i = 0; i < 6; i++)
		pose_eye[i].resize(3);
	pose_eye[0][0] = { -0.046,-0.999,-0.009 }; pose_eye[0][1] = { 0.999,-0.046,0.004 }; pose_eye[0][2] = { -0.005,-0.009,1.000 };
	pose_eye[1][0] = { -0.049,-0.999,-0.009 }; pose_eye[1][1] = { 0.999,-0.050,0.004 }; pose_eye[1][2] = { -0.005,-0.009,1.000 };
	pose_eye[2][0] = { -0.049,-0.999,-0.009 }; pose_eye[2][1] = { 0.999,-0.049,0.004 }; pose_eye[2][2] = { -0.005,-0.009,1.000 };
	pose_eye[3][0] = { -0.059,-0.998,-0.009 }; pose_eye[3][1] = { 0.998,-0.059,0.004 }; pose_eye[3][2] = { -0.005,-0.009,1.000 };
	pose_eye[4][0] = { -0.070,-0.997,-0.009 }; pose_eye[4][1] = { 0.998,-0.070,0.004 }; pose_eye[4][2] = { -0.005,-0.009,1.000 };
	pose_eye[5][0] = { -0.068,-0.998,-0.009 }; pose_eye[5][1] = { 0.998,-0.068,0.004 }; pose_eye[5][2] = { -0.005,-0.009,1.000 };
	//pose_eye[6][0] = { 0.136746, -0.990563, -0.00926168 }; pose_eye[6][1] = { 0.990606, 0.136747, 0.000517805 }; pose_eye[6][2] = { 0.000753588, -0.00924548, 0.999957 };
	//pose_eye[7][0] = { 0.058, 0.998, 0.011 }; pose_eye[7][1] = { 0.999, -0.046, 0.003 }; pose_eye[7][2] = { 0.003, 0.011, -1.000 };
	//pose_eye[8][0] = { 0.017,1.000,0.011 }; pose_eye[8][1] = { 1.000,-0.008,0.003 }; pose_eye[8][2] = { 0.003,0.011,-1.000 };
	//pose_eye[9][0] = { -0.316, 0.949, 0.009 }; pose_eye[9][1] = { 0.951, 0.310, 0.007 }; pose_eye[9][2] = { 0.003, 0.011, -1.000 };
	for (int i = 0; i < 6; i++)
	{
		cv::Point3d rtPt;
		pointRT_2(R, T, verify_pts_eye[i], rtPt);  //RT前后的点

		std::vector<cv::Point3d> dirVectors_eye = pose_eye[i];
		//dirVectors_eye[0] = { -dirVectors_eye[0].x, -dirVectors_eye[0].y, -dirVectors_eye[0].z };
		dirVectors_eye[1] = { -dirVectors_eye[1].x, -dirVectors_eye[1].y, -dirVectors_eye[1].z };
		dirVectors_eye[2] = { -dirVectors_eye[2].x, -dirVectors_eye[2].y, -dirVectors_eye[2].z };
		std::vector<cv::Point3d> dirVectors_robot;
		for (int j = 0; j < 3; j++)
		{
			cv::Point3d rt_pt;
			pointRotate(R, dirVectors_eye[j], rt_pt);
			dirVectors_robot.push_back(rt_pt);
		}
		//生成旋转矩阵
		double R_pose[3][3];
		R_pose[0][0] = dirVectors_robot[0].x;
		R_pose[0][1] = dirVectors_robot[1].x;
		R_pose[0][2] = dirVectors_robot[2].x;
		R_pose[1][0] = dirVectors_robot[0].y;
		R_pose[1][1] = dirVectors_robot[1].y;
		R_pose[1][2] = dirVectors_robot[2].y;
		R_pose[2][0] = dirVectors_robot[0].z;
		R_pose[2][1] = dirVectors_robot[1].z;
		R_pose[2][2] = dirVectors_robot[2].z;
		SSG_EulerAngles test_rpy = rotationMatrixToEulerZYX(R_pose);
		std::cout << i << ":" << std::endl;
		std::cout << rtPt.x << "," << rtPt.y << "," << rtPt.z << std::endl;
		std::cout << test_rpy.roll << "," << test_rpy.pitch << "," << test_rpy.yaw << std::endl;
	}
#endif
#if TEST_COMPUTE_CALIB_PARA
	int cvtGrp = 1;
	char _calib_datafile[256];
	sprintf_s(_calib_datafile, "%s1470mm调平.txt", dataPath[cvtGrp]);
	int lineNum = 0;
	float lineV = 0.0f;
	int dataCalib = 0;
	int maxTimeStamp = 0;
	int clockPerSecond = 0;
	std::vector<std::vector< SVzNL3DPosition>> scanData;
	vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);

	lineNum = (int)scanData.size();
	if (scanData.size() > 0)
	{
		SSG_planeCalibPara calibPara = wd_getGroundCalibPara(scanData);
		//结果进行验证  
		for (int i = 0; i < lineNum; i++)
		{
			if (i == 14)
				int kkk = 1;
			//行处理
			//调平，去除地面
			wd_lineDataR(scanData[i], calibPara.planeCalib,	-1);
		}
		//
		char calibFile[250];
		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[cvtGrp]);
		_outputCalibPara(calibFile, calibPara);
		char _out_file[256];
		sprintf_s(_out_file, "%sscanData_ground_calib_verify.txt", dataPath[cvtGrp]);
		int headNullLines = 0;
		_outputScanDataFile_vector(_out_file, scanData, false, &headNullLines);
#if 1
		for (int fidx = fileIdx[cvtGrp].nMin; fidx <= fileIdx[cvtGrp].nMax; fidx++)
		{
			//fidx =4;
			char _scan_file[256];
			sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[cvtGrp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
			if (scanLines.size() == 0)
				continue;
			lineNum = (int)scanLines.size();
			for (int i = 0; i < lineNum; i++)
			{
				//调平，去除地面
				wd_lineDataR(scanLines[i], calibPara.planeCalib, -1);
			}
			sprintf_s(_scan_file, "%sLaserData_%d_calib_verify.txt", dataPath[cvtGrp], fidx);
			int headNullLines = 0;
			_outputScanDataFile_vector(_scan_file, scanLines, false, &headNullLines);
		}
#endif
		printf("%s: calib done!\n", _calib_datafile);
	}
#endif

#if TEST_COMPUTE_HOLE
	for (int grp = 1; grp <= 2; grp++)
	{
		SSG_planeCalibPara groundCalibPara;
		//初始化成单位阵
		groundCalibPara.planeCalib[0] = 1.0;
		groundCalibPara.planeCalib[1] = 0.0;
		groundCalibPara.planeCalib[2] = 0.0;
		groundCalibPara.planeCalib[3] = 0.0;
		groundCalibPara.planeCalib[4] = 1.0;
		groundCalibPara.planeCalib[5] = 0.0;
		groundCalibPara.planeCalib[6] = 0.0;
		groundCalibPara.planeCalib[7] = 0.0;
		groundCalibPara.planeCalib[8] = 1.0;
		groundCalibPara.planeHeight = -1.0;
		for (int i = 0; i < 9; i++)
			groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
		char calibFile[250];
		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
		//groundCalibPara = _readCalibPara(calibFile);

		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =4;
			char _scan_file[256];
			sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
			if (scanLines.size() == 0)
				continue;

			long t1 = (long)GetTickCount64();//统计时间

			SSG_lineSegParam lineSegPara;
			lineSegPara.distScale = 3.0;
			lineSegPara.segGapTh_y = 15.0;  //
			lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段
			SSG_outlierFilterParam filterParam;
			filterParam.continuityTh = 20.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
			filterParam.outlierTh = 5;
			SSG_treeGrowParam growParam;
			growParam.maxLineSkipNum = 2;
			growParam.yDeviation_max = 4.0;
			growParam.maxSkipDistance = 0.0;
			growParam.zDeviation_max = 10.0;// 
			growParam.minLTypeTreeLen = 2.0; //mm
			growParam.minVTypeTreeLen = 2.0; //mm
			WD_workpieceHoleParam workpiecePara;
			workpiecePara.workpieceType = 0;
			workpiecePara.holeDiameter = 6.0; //
			workpiecePara.holeDist_W = 32.0;
			workpiecePara.holeDist_L = 40.0;
			workpiecePara.xLen = 44;
			workpiecePara.yLen = 70;
			workpiecePara.H = 47;
			int errCode = 0;
			std::vector< WD_workpieceInfo> workpiecePositioning;
			wd_workpieceHolePositioning(
				scanLines,
				workpiecePara,
				lineSegPara,
				filterParam,
				growParam,
				groundCalibPara,
				workpiecePositioning,
				&errCode);
			long t2 = (long)GetTickCount64();
			if(errCode == SX_ERR_UNKNOWN_OBJECT)
				printf("%s: %d(ms), 有异物残留!\n", _scan_file, (int)(t2 - t1));
			else if(errCode == SX_ERR_ZERO_OBJECTS)
				printf("%s: %d(ms), 无产品!\n", _scan_file, (int)(t2 - t1));
			else
				printf("%s: %d(ms), errCode=%d\n", _scan_file, (int)(t2 - t1), errCode);
			//输出测试结果
			sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
			_outputRGBDResult_RGBD(_scan_file, scanLines, workpiecePositioning);
			sprintf_s(calibFile, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
			_outputWorkpieceInfo(calibFile, workpiecePositioning);
		}
	}
#endif
}

//华航孔定位
#define HH_TEST_GROUP 6
void HuaHang_holePosition_test(void)
{
	const char* dataPath[HH_TEST_GROUP] = {

		"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据1/", //0
		"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据2/1/", //1
		"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据2/2/", //2
		"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据2/3/", //3
		"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据4/好的/", //4
		"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据4/坏的/", //5
	};

	SVzNLRange fileIdx[HH_TEST_GROUP] = {
		{1,15}, {1, 21},{1,19}, {1,13},
		{1, 4}, {4,13},
	};

	const char* ver = wd_workpieceHolePositioningVersion();
	printf("ver:%s\n", ver);

#if TEST_COMPUTE_HOLE
	for (int grp = 5; grp <= 5; grp++)
	{
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =17;
			char _scan_file[256];
			sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
			if (scanLines.size() == 0)
				continue;

			long t1 = (long)GetTickCount64();//统计时间

			SSG_lineSegParam lineSegPara;
			lineSegPara.distScale = 25.0;
			lineSegPara.segGapTh_y = 25.0;  //
			lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段

			SSG_cornerParam cornerParam;
			cornerParam.cornerTh = 60;  //45度角
			cornerParam.scale = 10; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
			cornerParam.minEndingGap = 10; // algoParam.bagParam.bagW / 4;
			cornerParam.minEndingGap_z = 5.0;
			cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
			cornerParam.jumpCornerTh_2 = 60;

			SSG_outlierFilterParam filterParam;
			filterParam.continuityTh = 20.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
			filterParam.outlierTh = 5;
			SSG_treeGrowParam growParam;
			growParam.maxLineSkipNum = 2;
			growParam.yDeviation_max = 4.0;
			growParam.maxSkipDistance = 0.0;
			growParam.zDeviation_max = 10.0;// 
			growParam.minLTypeTreeLen = 1.0; //mm
			growParam.minVTypeTreeLen = 1.0; //mm
			WD_workpieceHoleParam workpiecePara;
			workpiecePara.workpieceType = 0;
			workpiecePara.holeDiameter = 6.0; //
			workpiecePara.holeDist_W = 32.0;
			workpiecePara.holeDist_L = 40.0;
			workpiecePara.xLen = 44;
			workpiecePara.yLen = 70;
			workpiecePara.H = 47;
			int errCode = 0;
			std::vector< WD_HolePositionInfo> holePositioning;
			wd_HolePositioning(scanLines, lineSegPara, cornerParam, filterParam, growParam,	holePositioning, &errCode);

			long t2 = (long)GetTickCount64();
			printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
			//输出测试结果
			double dirLen = 20;
			sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
			_outputRGBDResult_HoleInfo(_scan_file, scanLines, holePositioning, dirLen);
			sprintf_s(_scan_file, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
			_outputHoleInfo(_scan_file, holePositioning);
		}
	}
#endif
}

//微力砂轮孔定位
#define WELI_DISC_TEST_GROUP 2
void Weili_grindingDiscHolePosition_test(void)
{
	const char* dataPath[WELI_DISC_TEST_GROUP] = {

		"F:/ShangGu/项目/冠钦项目/郑州微力_砂轮和架子定位/数据/砂轮400/", //0
		"F:/ShangGu/项目/冠钦项目/郑州微力_砂轮和架子定位/数据/砂轮610/", //1
	};

	SVzNLRange fileIdx[WELI_DISC_TEST_GROUP] = {
		{1,3}, {1, 4}
	};

	const char* ver = wd_workpieceHolePositioningVersion();
	printf("ver:%s\n", ver);

	for (int grp = 0; grp <= 1; grp++)
	{
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =17;
			char _scan_file[256];
			sprintf_s(_scan_file, "%s%d_LaserData_ID019068.txt", dataPath[grp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
			if (scanLines.size() == 0)
				continue;

			long t1 = (long)GetTickCount64();//统计时间

			SSG_cornerParam cornerParam;
			cornerParam.cornerTh = 60;  //45度角
			cornerParam.scale = 10; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
			cornerParam.minEndingGap = 10; // algoParam.bagParam.bagW / 4;
			cornerParam.minEndingGap_z = 5.0;
			cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
			cornerParam.jumpCornerTh_2 = 60;

			int errCode = 0;
			WD_HolePositionInfo  discPose = sx_getDiscHolePose(
				scanLines,
				cornerParam,
				&errCode);

			long t2 = (long)GetTickCount64();
			printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
			//输出测试结果
			sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
			_outputRGBDResult_HoleInfo_2(_scan_file, scanLines, discPose);
			sprintf_s(_scan_file, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
			_outputHoleInfo_2(_scan_file, discPose);
		}
	}
}

//微力砂轮架子定位
#define WEILI_RACK_TEST_GROUP 5
void Weili_grindingDiscRackPosition_test(void)
{
	const char* dataPath[WEILI_RACK_TEST_GROUP] = {

		"F:/ShangGu/项目/冠钦项目/郑州微力_砂轮和架子定位/数据/架子_右上角/", //0
		"F:/ShangGu/项目/冠钦项目/郑州微力_砂轮和架子定位/数据/架子_右下角/", //1
		"F:/ShangGu/项目/冠钦项目/郑州微力_砂轮和架子定位/数据/架子_中间/", //2
		"F:/ShangGu/项目/冠钦项目/郑州微力_砂轮和架子定位/数据/架子_左上角/", //3
		"F:/ShangGu/项目/冠钦项目/郑州微力_砂轮和架子定位/数据/架子_左下角/", //4
	};

	SVzNLRange fileIdx[WEILI_RACK_TEST_GROUP] = {
		{1, 16},{1,15}, {1,15}, {1, 15}, {1,15},
	};

	const char* ver = wd_workpieceHolePositioningVersion();
	printf("ver:%s\n", ver);

#if TEST_COMPUTE_HOLE
	for (int grp = 0; grp <= 4; grp++)
	{
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =17;
			char _scan_file[256];
			sprintf_s(_scan_file, "%s%d_LaserData_ID019068.txt", dataPath[grp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
			if (scanLines.size() == 0)
				continue;

			long t1 = (long)GetTickCount64();//统计时间

			SSG_cornerParam cornerParam;
			cornerParam.cornerTh = 60;  //45度角
			cornerParam.scale = 10; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
			cornerParam.minEndingGap = 10; // algoParam.bagParam.bagW / 4;
			cornerParam.minEndingGap_z = 5.0;
			cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
			cornerParam.jumpCornerTh_2 = 60;

			int errCode = 0;
			//砂轮盘架子中心定位
			SSG_pointPose discRackPose = sx_getDiscRackCenterPosition(
				scanLines,
				cornerParam,
				&errCode);

			long t2 = (long)GetTickCount64();
			printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
			//输出测试结果
			sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
			_outputRGBDResult_RGBD_2(_scan_file, scanLines,	discRackPose);
			sprintf_s(_scan_file, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
			_outputHoleInfo_3(_scan_file, discRackPose);
		}
	}
#endif
}

//山东本事机电轮胎定位
#define BENSHI_COMPUTE_CALIB_PARA	0
#define BENSHI_HOLE_POSITION		1

#define BENSHI_TIRE_TEST_GROUP 1
void Benshi_tirePosition_test(void)
{
	const char* dataPath[BENSHI_TIRE_TEST_GROUP] = {

	"F:/ShangGu/项目/冠钦项目/山东本事机电轮胎抓取/数据/", //0
	};

	SVzNLRange fileIdx[BENSHI_TIRE_TEST_GROUP] = {
		{1,19},
	};

	const char* ver = wd_workpieceHolePositioningVersion();
	printf("ver:%s\n", ver);

#if BENSHI_COMPUTE_CALIB_PARA
	int cvtGrp = 0;
	char _calib_datafile[256];
	sprintf_s(_calib_datafile, "%s调平.txt", dataPath[cvtGrp]);
	int lineNum = 0;
	float lineV = 0.0f;
	int dataCalib = 0;
	int maxTimeStamp = 0;
	int clockPerSecond = 0;
	std::vector<std::vector< SVzNL3DPosition>> scanData;
	vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);

	lineNum = (int)scanData.size();
	if (scanData.size() > 0)
	{
		SSG_planeCalibPara calibPara = wd_getGroundCalibPara(scanData);
		//结果进行验证  
		for (int i = 0; i < lineNum; i++)
		{
			if (i == 14)
				int kkk = 1;
			//行处理
			//调平，去除地面
			wd_lineDataR(scanData[i], calibPara.planeCalib, -1);
		}
		//
		char calibFile[250];
		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[cvtGrp]);
		_outputCalibPara(calibFile, calibPara);
		char _out_file[256];
		sprintf_s(_out_file, "%sscanData_ground_calib_verify.txt", dataPath[cvtGrp]);
		int headNullLines = 0;
		_outputScanDataFile_vector(_out_file, scanData, false, &headNullLines);
#if 0
		for (int fidx = fileIdx[cvtGrp].nMin; fidx <= fileIdx[cvtGrp].nMax; fidx++)
		{
			//fidx =4;
			char _scan_file[256];
			sprintf_s(_scan_file, "%s%d_LaserData_Ik256400.txt", dataPath[cvtGrp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
			if (scanLines.size() == 0)
				continue;
			lineNum = (int)scanLines.size();
			for (int i = 0; i < lineNum; i++)
			{
				//调平，去除地面
				wd_lineDataR(scanLines[i], calibPara.planeCalib, -1);
			}
			sprintf_s(_scan_file, "%sLaserData_%d_calib_verify.txt", dataPath[cvtGrp], fidx);
			int headNullLines = 0;
			_outputScanDataFile_vector(_scan_file, scanLines, false, &headNullLines);
		}
#endif
		printf("%s: calib done!\n", _calib_datafile);
	}
#endif

#if BENSHI_HOLE_POSITION

	for (int grp = 0; grp <= 0; grp++)
	{
		SSG_planeCalibPara groundCalibPara;
		//初始化成单位阵
		groundCalibPara.planeCalib[0] = 1.0;
		groundCalibPara.planeCalib[1] = 0.0;
		groundCalibPara.planeCalib[2] = 0.0;
		groundCalibPara.planeCalib[3] = 0.0;
		groundCalibPara.planeCalib[4] = 1.0;
		groundCalibPara.planeCalib[5] = 0.0;
		groundCalibPara.planeCalib[6] = 0.0;
		groundCalibPara.planeCalib[7] = 0.0;
		groundCalibPara.planeCalib[8] = 1.0;
		groundCalibPara.planeHeight = -1.0;
		for (int i = 0; i < 9; i++)
			groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
		char calibFile[250];
		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
		groundCalibPara = _readCalibPara(calibFile);

		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =17;
			char _scan_file[256];
			sprintf_s(_scan_file, "%s%d_LaserData_Ik256400.txt", dataPath[grp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
			if (scanLines.size() == 0)
				continue;

			long t1 = (long)GetTickCount64();//统计时间

			SSG_cornerParam cornerParam;
			cornerParam.cornerTh = 60;  //45度角
			cornerParam.scale = 10; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
			cornerParam.minEndingGap = 10; // algoParam.bagParam.bagW / 4;
			cornerParam.minEndingGap_z = 5.0;
			cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
			cornerParam.jumpCornerTh_2 = 60;

			WD_tireParam tireParam;
			tireParam.diameter = 500;
			tireParam.thickness = 140; 

			int errCode = 0;
			std::vector<WD_HolePositionInfo> tirePositions;
			sx_getTireHolePose(
				scanLines,
				cornerParam,
				groundCalibPara,
				tireParam,
				tirePositions,
				&errCode);

			long t2 = (long)GetTickCount64();
			printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
			//输出测试结果
			double dirLen = 200;
			sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
			_outputRGBDResult_HoleInfo(_scan_file, scanLines, tirePositions, dirLen);
			sprintf_s(_scan_file, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
			_outputHoleInfo(_scan_file, tirePositions);
		}
	}
#endif
}


typedef enum
{
	keSG_拓普发孔定位 = 0,
	keSG_华航孔定位,
	keSG_微力砂轮盘定位,
	keSG_微力砂轮架子定位,
	keSG_山东本事轮胎定位,
	keSG_宁波海瑞马转子芯定位,
} ESG_testMode;

//山东本事机电轮胎定位
#define HAIRUIMA_COMPUTE_CALIB_PARA	0
#define HAIRUIMA_HOLE_POSITION		1

#define HAIRUIMA_TIRE_TEST_GROUP 1
void HaiRuiMa_rotorCorePosition_test(void)
{
	const char* dataPath[BENSHI_TIRE_TEST_GROUP] = {

	"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/数据/", //0
	};

	SVzNLRange fileIdx[BENSHI_TIRE_TEST_GROUP] = {
		{1,83},
	};

	const char* ver = wd_workpieceHolePositioningVersion();
	printf("ver:%s\n", ver);

#if HAIRUIMA_COMPUTE_CALIB_PARA
	int cvtGrp = 0;
	char _calib_datafile[256];
	sprintf_s(_calib_datafile, "%s地面点云.txt", dataPath[cvtGrp]);
	int lineNum = 0;
	float lineV = 0.0f;
	int dataCalib = 0;
	int maxTimeStamp = 0;
	int clockPerSecond = 0;
	std::vector<std::vector< SVzNL3DPosition>> scanData;
	vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);

	lineNum = (int)scanData.size();
	if (scanData.size() > 0)
	{
		SSG_planeCalibPara calibPara = wd_getGroundCalibPara(scanData);
		//结果进行验证  
		for (int i = 0; i < lineNum; i++)
		{
			if (i == 14)
				int kkk = 1;
			//行处理
			//调平，去除地面
			wd_lineDataR(scanData[i], calibPara.planeCalib, -1);
		}
		//
		char calibFile[250];
		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[cvtGrp]);
		_outputCalibPara(calibFile, calibPara);
		char _out_file[256];
		sprintf_s(_out_file, "%sscanData_ground_calib_verify.txt", dataPath[cvtGrp]);
		int headNullLines = 0;
		_outputScanDataFile_vector(_out_file, scanData, false, &headNullLines);
#if 0
		for (int fidx = fileIdx[cvtGrp].nMin; fidx <= fileIdx[cvtGrp].nMax; fidx++)
		{
			//fidx =4;
			char _scan_file[256];
			sprintf_s(_scan_file, "%s%d_LaserData_Jl26C477.txt", dataPath[cvtGrp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
			if (scanLines.size() == 0)
				continue;
			lineNum = (int)scanLines.size();
			for (int i = 0; i < lineNum; i++)
			{
				//调平，去除地面
				wd_lineDataR(scanLines[i], calibPara.planeCalib, -1);
			}
			printf("%s: processing...\n", _scan_file);
			sprintf_s(_scan_file, "%sLaserData_%d_calib_verify.txt", dataPath[cvtGrp], fidx);
			int headNullLines = 0;
			_outputScanDataFile_vector(_scan_file, scanLines, false, &headNullLines);
			
		}
#endif
		printf("%s: calib done!\n", _calib_datafile);
	}
#endif

#if HAIRUIMA_HOLE_POSITION

	for (int grp = 0; grp <= 0; grp++)
	{
		SSG_planeCalibPara groundCalibPara;
		//初始化成单位阵
		groundCalibPara.planeCalib[0] = 1.0;
		groundCalibPara.planeCalib[1] = 0.0;
		groundCalibPara.planeCalib[2] = 0.0;
		groundCalibPara.planeCalib[3] = 0.0;
		groundCalibPara.planeCalib[4] = 1.0;
		groundCalibPara.planeCalib[5] = 0.0;
		groundCalibPara.planeCalib[6] = 0.0;
		groundCalibPara.planeCalib[7] = 0.0;
		groundCalibPara.planeCalib[8] = 1.0;
		groundCalibPara.planeHeight = -1.0;
		for (int i = 0; i < 9; i++)
			groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
		char calibFile[250];
		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
		groundCalibPara = _readCalibPara(calibFile);

		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =17;
			char _scan_file[256];
			sprintf_s(_scan_file, "%s%d_LaserData_Jl26C477.txt", dataPath[grp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
			if (scanLines.size() == 0)
				continue;

			long t1 = (long)GetTickCount64();//统计时间

			SSG_cornerParam cornerParam;
			cornerParam.cornerTh = 60;  //45度角
			cornerParam.scale = 10; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
			cornerParam.minEndingGap = 10; // algoParam.bagParam.bagW / 4;
			cornerParam.minEndingGap_z = 5.0;
			cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
			cornerParam.jumpCornerTh_2 = 60;

			WD_rotorAppParam rotorParam;
			rotorParam.rotorDiameter = 76;
			rotorParam.removeGroundHOffset = 100.0;  //去除时的高度偏置，用于设置架子高度
			rotorParam.basket_L = 770;
			rotorParam.basket_W = 580;
			int errCode = 0;
			std::vector<WD_HolePositionInfo> rotorPositions;
			sx_getRotorCorePose(
				scanLines,
				cornerParam,
				groundCalibPara,
				rotorParam,
				rotorPositions,
				&errCode);

			long t2 = (long)GetTickCount64();
			printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
			//输出测试结果
			double dirLen = 200;
			sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
			_outputRGBDResult_HoleInfo(_scan_file, scanLines, rotorPositions, dirLen);
			sprintf_s(_scan_file, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
			_outputHoleInfo(_scan_file, rotorPositions);
		}
	}
#endif
}


int main()
{
	//ESG_testMode testMode = keSG_拓普发孔定位;
	//ESG_testMode testMode = keSG_华航孔定位;
	//ESG_testMode testMode = keSG_微力砂轮盘定位;
	//ESG_testMode testMode = keSG_微力砂轮架子定位;
	ESG_testMode testMode = keSG_山东本事轮胎定位;
	//ESG_testMode testMode = keSG_宁波海瑞马转子芯定位;

	if (keSG_拓普发孔定位 == testMode)
		TuoPuFa_holePosition_test();
	else if (keSG_华航孔定位 == testMode)
		HuaHang_holePosition_test();
	else if (keSG_微力砂轮盘定位 == testMode)
		Weili_grindingDiscHolePosition_test();
	else if (keSG_微力砂轮架子定位 == testMode)
		Weili_grindingDiscRackPosition_test();
	else if (keSG_山东本事轮胎定位 == testMode)
		Benshi_tirePosition_test();
	else if (keSG_宁波海瑞马转子芯定位 == testMode)
		HaiRuiMa_rotorCorePosition_test();
}