// gasFillingPortPosition_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 "rodAndBarDetection_Export.h"
#include <opencv2/opencv.hpp>
#include <Windows.h>
#include <limits>
#include <SG_baseAlgo_Export.h>

#include <cmath>
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;

bool fileExists(const char* path) {
	FILE* f = fopen(path, "r");
	if (f != NULL) {
		fclose(f);
		return true;
	}
	return false;
}

// 点乘 dot
double _dotMultiply(const SVzNL3DPoint& a, const SVzNL3DPoint& b)
{
	return (a.x * b.x + a.y * b.y + a.z * b.z);
}

// 模长
double _length(const SVzNL3DPoint& a)
{
	return sqrt(a.x * a.x + a.y * a.y + a.z * a.z);
}

// 计算两个向量夹角（返回 角度）
float _computeVecAngle(const SVzNL3DPoint& a, const SVzNL3DPoint& b)
{
	float l = _length(a) * _length(b);
	if (l < 1e-6f)
		return 0.0f; // 避免除零

	float cosTheta = _dotMultiply(a, b) / l;
	cosTheta = cosTheta > 1.0 ? 1.0 : cosTheta;
	cosTheta = cosTheta < -1.0 ? -1.0 : cosTheta;
	float rad = acosf(cosTheta);
	float degree = rad * 180.0f / (float)M_PI;
	return degree;
}

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();
}

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 wdReadLaserScanPointFromFile_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 wd_gridScan_GetROIData(std::vector<std::vector< SVzNL3DPosition>>& scanData, SVzNLRangeD roi_y, std::vector<std::vector< SVzNL3DPosition>>& roiData)
{
	int lineNum = (int)scanData.size();
	int linePtNum = (int)scanData[0].size();
	int globalPtStart = INT_MAX;
	int globalPtEnd = 0;
	int lineStart = INT_MAX;
	int lineEnd = 0;
	for (int line = 0; line < lineNum; line++)
	{
		std::vector< SVzNL3DPosition >& lineData = scanData[line];
		int ptSize = (int)lineData.size();
		int vldNum = 0;
		int ptStart = INT_MAX;
		int ptEnd = 0;
		for (int i = 0; i < ptSize; i++)
		{
			if (lineData[i].pt3D.z > 1e-4)
			{
				if ((lineData[i].pt3D.y < roi_y.min) || (lineData[i].pt3D.y > roi_y.max))
					lineData[i].pt3D = { 0.0, 0.0, 0.0 };
			}

			if (lineData[i].pt3D.z > 1e-4)
			{
				if (ptStart > i)
					ptStart = i;
				ptEnd = i;
				vldNum++;
			}
		}
		if (vldNum > 0)
		{
			if (globalPtStart > ptStart)
				globalPtStart = ptStart;
			if (globalPtEnd < ptEnd)
				globalPtEnd = ptEnd;

			if (lineStart > line)
				lineStart = line;
			lineEnd = line;
		}
	}
	int vldLineNum = lineEnd - lineStart + 1;
	int vldPtNum = globalPtEnd - globalPtStart + 1;

	roiData.resize(vldLineNum);
	for (int line = 0; line < vldLineNum; line++)
	{
		roiData[line].resize(vldPtNum);
		for (int i = 0; i < vldPtNum; i++)
			roiData[line][i] = scanData[line + lineStart][i + globalPtStart];
	}
return;
}

void _outputScanDataFile(char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData,
	float lineV, int maxTimeStamp, int clockPerSecond)
{
	std::ofstream sw(fileName);

	int lineNum = (int)scanData.size();
	sw << "LineNum:" << lineNum << std::endl;
	sw << "DataType: 0" << std::endl;
	sw << "ScanSpeed:" << lineV << std::endl;
	sw << "PointAdjust: 1" << std::endl;
	sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl;
	for (int line = 0; line < lineNum; line++)
	{
		int nPositionCnt = (int)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;
			sw << "{ " << x << "," << y << "," << z << " }-";
			sw << "{0,0}-{0,0}" << std::endl;
		}
	}
	sw.close();
}

void _readRodParas(char* fileName, std::vector<SSX_rodParam>& rodParas)
{
	std::ifstream inputFile(fileName);
	std::string linedata;

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

	std::vector<int> indices;
	int maxIdx = 0;
	std::vector< SSX_rodParam> paras;
	while (getline(inputFile, linedata))
	{
		int idx;
		float len, dia;
		sscanf_s(linedata.c_str(), "%d_L_%f_D_%f", &idx, &len, &dia);
		SSX_rodParam a_para = { dia , len };
		indices.push_back(idx);
		paras.push_back(a_para);
		maxIdx = maxIdx < idx ? idx : maxIdx;
	}
	if (maxIdx == 0)
		return;
	rodParas.resize(maxIdx + 1);
	for (int i = 0; i < (int)indices.size(); i++)
	{
		int idx = indices[i];
		rodParas[idx] = paras[i];
	}
	return;
}

void _outputChanneltInfo(char* fileName, std::vector<SSX_rodPoseInfo>& screwInfo)
{
	std::ofstream sw(fileName);

	char dataStr[250];
	int objNum = (int)screwInfo.size();
	for (int i = 0; i < objNum; i++)
	{
		sprintf_s(dataStr, 250, "螺杆_%d: center_( %g, %g, %g ), dir_( %g, %g, %g )",
			i + 1, screwInfo[i].center.x, screwInfo[i].center.y, screwInfo[i].center.z,
			screwInfo[i].axialDir.x, screwInfo[i].axialDir.y, screwInfo[i].axialDir.z);
		sw << dataStr << std::endl;
	}
	sw.close();
}

void _outputPlatePiseInfo(char* fileName, SSX_platePoseInfo& centerInfo)
{
	std::ofstream sw(fileName);
	char dataStr[250];
	sprintf_s(dataStr, 250, "定位盘: \n");
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, " holeLT_(% g, % g, % g)\n", centerInfo.holeLT.x, centerInfo.holeLT.y, centerInfo.holeLT.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, " holeRB_(% g, % g, % g)\n", centerInfo.holeRB.x, centerInfo.holeRB.y, centerInfo.holeRB.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, " center_(% g, % g, % g)\n", centerInfo.center.x, centerInfo.center.y, centerInfo.center.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, " normalDir_(% g, % g, % g)\n", centerInfo.normalDir.x, centerInfo.normalDir.y, centerInfo.normalDir.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, " xDir_(% g, % g, % g)\n", centerInfo.xDir.x, centerInfo.xDir.y, centerInfo.xDir.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, " yDir_(% g, % g, % g)\n", centerInfo.yDir.x, centerInfo.yDir.y, centerInfo.yDir.z);
	sw << dataStr << std::endl;
	sw.close();
}

void _outputRodtInfo(char* fileName, std::vector<SSX_rodPositionInfo>& rodInfo)
{
	std::ofstream sw(fileName);

	char dataStr[250];
	int objNum = (int)rodInfo.size();
	for (int i = 0; i < objNum; i++)
	{
		sprintf_s(dataStr, 250, "螺杆_%d: center_( %g, %g, %g ), dir_axia( %g, %g, %g ), dir_normal_( %g, %g, %g )",
			i + 1, rodInfo[i].center.x, rodInfo[i].center.y, rodInfo[i].center.z,
			rodInfo[i].axialDir.x, rodInfo[i].axialDir.y, rodInfo[i].axialDir.z, 
			rodInfo[i].normalDir.x, rodInfo[i].normalDir.y, rodInfo[i].normalDir.z);
		sw << dataStr << std::endl;
	}
	sw.close();
}

void _outputWeldSeamInfo(char* fileName, std::vector<SSX_weldSeamInfo>& weldSeamInfo)
{
	std::ofstream sw(fileName);

	char dataStr[250];
	int objNum = (int)weldSeamInfo.size();
	for (int i = 0; i < objNum; i++)
	{
		sprintf_s(dataStr, 250, "螺杆_%d: center_( %g, %g, %g ), dir_normal_( %g, %g, %g ), x_dir_(",
			i + 1, weldSeamInfo[i].center.x, weldSeamInfo[i].center.y, weldSeamInfo[i].center.z,
			weldSeamInfo[i].normalDir.x, weldSeamInfo[i].normalDir.y, weldSeamInfo[i].normalDir.z);
		sw << dataStr << std::endl;
	}
	sw.close();
}

void _outputRGBDScan_RGBD(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	std::vector<SSX_rodPoseInfo>& screwInfo
)
{
	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = lineNum;
	int objNum = (int)screwInfo.size();
	if (objNum > 0)
		realLines += 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 == 1)
			{
				rgb = objColor[pt3D->nPointIdx];
				size = 3;
			}
			else if (pt3D->nPointIdx == 2)
			{
				rgb = { 250, 0, 0 };
				size = 3;
			}
			else if (pt3D->nPointIdx == 4)
			{
				rgb = { 250, 250, 0 };
				size = 6;
			}
			else //if (pt3D->nPointIdx == 0)
			{
				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 (objNum > 0)
	{
		sw << "Line_" << lineIdx << "_0_" << objNum << std::endl;
		rgb = { 250, 0, 0 };
		size = 8;
		for (int i = 0; i < objNum; i++)
		{
			float x = (float)screwInfo[i].center.x;
			float y = (float)screwInfo[i].center.y;
			float z = (float)screwInfo[i].center.z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
		}
		//多输出一个，修正显示工具bug
		float x = (float)screwInfo[0].center.x;
		float y = (float)screwInfo[0].center.y;
		float z = (float)screwInfo[0].center.z;
		sw << "{" << x << "," << y << "," << z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;

		//输出法向
		size = 1;
		double len1 = 30;
		double len2 = 200;
		lineIdx = 0;
		for (int i = 0; i < objNum; i++)
		{
			SVzNL3DPoint pt0 = { screwInfo[i].center.x - len1 * screwInfo[i].axialDir.x,
								 screwInfo[i].center.y - len1 * screwInfo[i].axialDir.y,
								 screwInfo[i].center.z - len1 * screwInfo[i].axialDir.z };
			SVzNL3DPoint pt1 = { screwInfo[i].center.x + len2 * screwInfo[i].axialDir.x,
								 screwInfo[i].center.y + len2 * screwInfo[i].axialDir.y,
								 screwInfo[i].center.z + len2 * screwInfo[i].axialDir.z };
			//显示法向量
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << (float)pt0.x << "," << (float)pt0.y << "," << (float)pt0.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << pt1.x << "," << pt1.y << "," << pt1.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;
		}
	}
	sw.close();
}

void _outputRGBDScan_RGBD_centerPose(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	SSX_platePoseInfo& poseInfo
)
{
	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = lineNum;
	realLines += 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 == 2)
			{
				rgb = { 135,206,235 };
				size = 5;
			}
			else if (pt3D->nPointIdx == 3)
			{
				rgb = { 250, 0, 0 };
				size = 5;
			}
			else //if (pt3D->nPointIdx == 0)
			{
				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;
		}
	}

	{
		sw << "Line_" << lineIdx << "_0_3" << std::endl;
		rgb = { 250, 0, 0 };
		size = 8;
		float x = (float)poseInfo.center.x;
		float y = (float)poseInfo.center.y;
		float z = (float)poseInfo.center.z;
		sw << "{" << x << "," << y << "," << z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;

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

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

		//输出法向
		size = 1;
		double len = 110;
		lineIdx = 0;
		{
			SVzNL3DPoint pt0 = { poseInfo.center.x, // - len * poseInfo.normalDir.x,
								 poseInfo.center.y, // - len * poseInfo.normalDir.y,
								 poseInfo.center.z }; // - len * poseInfo.normalDir.z };
			SVzNL3DPoint pt1 = { poseInfo.center.x + len * poseInfo.normalDir.x,
								 poseInfo.center.y + len * poseInfo.normalDir.y,
								 poseInfo.center.z + len * poseInfo.normalDir.z };

			SVzNL3DPoint basePt = poseInfo.center;
			SVzNL3DPoint pt2 = { poseInfo.center.x + len * poseInfo.xDir.x,
					 poseInfo.center.y + len * poseInfo.xDir.y,
					 poseInfo.center.z + len * poseInfo.xDir.z };
			SVzNL3DPoint pt3 = { poseInfo.center.x + len * poseInfo.yDir.x,
								 poseInfo.center.y + len * poseInfo.yDir.y,
								 poseInfo.center.z + len * poseInfo.yDir.z };
			//显示法向量
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << (float)pt0.x << "," << (float)pt0.y << "," << (float)pt0.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << pt1.x << "," << pt1.y << "," << pt1.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;

			rgb = { 0, 250, 0 };
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << (float)basePt.x << "," << (float)basePt.y << "," << (float)basePt.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << pt2.x << "," << pt2.y << "," << pt2.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;

			rgb = { 0, 0, 250 };
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << (float)basePt.x << "," << (float)basePt.y << "," << (float)basePt.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << pt3.x << "," << pt3.y << "," << pt3.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;

			rgb = { 0, 250, 0 };
			basePt = { poseInfo.holeLT.x - len * poseInfo.xDir.x,
					 poseInfo.holeLT.y - len * poseInfo.xDir.y,
					 poseInfo.holeLT.z - len * poseInfo.xDir.z };
			pt2 = { poseInfo.holeLT.x + len * poseInfo.xDir.x,
					 poseInfo.holeLT.y + len * poseInfo.xDir.y,
					 poseInfo.holeLT.z + len * poseInfo.xDir.z };
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << (float)basePt.x << "," << (float)basePt.y << "," << (float)basePt.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << pt2.x << "," << pt2.y << "," << pt2.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;

			basePt = { poseInfo.holeRB.x - len * poseInfo.xDir.x,
						poseInfo.holeRB.y - len * poseInfo.xDir.y,
						poseInfo.holeRB.z - len * poseInfo.xDir.z };
			pt2 = { poseInfo.holeRB.x + len * poseInfo.xDir.x,
					 poseInfo.holeRB.y + len * poseInfo.xDir.y,
					 poseInfo.holeRB.z + len * poseInfo.xDir.z };
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << (float)basePt.x << "," << (float)basePt.y << "," << (float)basePt.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << pt2.x << "," << pt2.y << "," << pt2.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;
		}
	}
	sw.close();
}

void _outputRGBDScan_RGBD_rodInfo(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	std::vector<SSX_rodPositionInfo>& rodInfo
)
{
	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = lineNum;
	int objNum = (int)rodInfo.size();
	if (objNum > 0)
		realLines += 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 centerFlag = pt3D->nPointIdx >> 4;
				if (centerFlag > 0)
				{
					rgb = { 180, 0, 0 };
					size = 2;
				}
				else
				{
					rgb = objColor[pt3D->nPointIdx % 8];
					size = 2;
				}


			}
			else //if (pt3D->nPointIdx == 0)
			{
				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 (objNum > 0)
	{
		sw << "Line_" << lineIdx << "_0_" << objNum << std::endl;
		size = 12;
		for (int i = 0; i < objNum; i++)
		{
			if(i == 0)
				rgb = { 250, 255, 0 };
			else
				rgb = { 250, 0, 0 };
			float x = (float)rodInfo[i].center.x;
			float y = (float)rodInfo[i].center.y;
			float z = (float)rodInfo[i].center.z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
		}
		//输出法向
		size = 8;
		double len = 60;
		lineIdx = 0;
		for (int i = 0; i < objNum; i++)
		{
			if (i == 0)
				rgb = { 250, 255, 0 };
			else
				rgb = { 250, 0, 0 };
			SVzNL3DPoint pt0 = { rodInfo[i].center.x, rodInfo[i].center.y, rodInfo[i].center.z };
			SVzNL3DPoint pt1 = { rodInfo[i].center.x + len * rodInfo[i].axialDir.x,
								 rodInfo[i].center.y + len * rodInfo[i].axialDir.y,
								 rodInfo[i].center.z + len * rodInfo[i].axialDir.z };
			SVzNL3DPoint pt2 = { rodInfo[i].center.x + len * rodInfo[i].normalDir.x,
								 rodInfo[i].center.y + len * rodInfo[i].normalDir.y,
								 rodInfo[i].center.z + len * rodInfo[i].normalDir.z };
			//显示轴向量
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << (float)rodInfo[i].startPt.x << "," << (float)rodInfo[i].startPt.y << "," << (float)rodInfo[i].startPt.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << (float)rodInfo[i].endPt.x << "," << (float)rodInfo[i].endPt.y << "," << (float)rodInfo[i].endPt.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;
			//显示法向量
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << (float)pt0.x << "," << (float)pt0.y << "," << (float)pt0.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << (float)pt2.x << "," << (float)pt2.y << "," << (float)pt2.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;
		}
		lineIdx++;
	}
	sw.close();
}

void _outputRGBDScan_RGBD_weldSeam(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	std::vector<SSX_weldSeamInfo>& weldSeamInfo
)
{
	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = lineNum;
	int objNum = (int)weldSeamInfo.size();
	if (objNum > 0)
		realLines += 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 centerFlag = pt3D->nPointIdx >> 4;
				if (centerFlag > 0)
				{
					if (centerFlag <= 2)
					{
						rgb = { 180, 0, 0 };
						size = 2;
					}
					else if(centerFlag == 4)
					{
						rgb = { 0, 250, 0 };
						size = 4;
					}
				}
				else
				{
					rgb = objColor[pt3D->nPointIdx % 8];
					size = 2;
				}
			}
			else //if (pt3D->nPointIdx == 0)
			{
				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 (objNum > 0)
	{
		std::vector<SVzNL3DPoint> weldPoints;
		for (int i = 0; i < objNum; i++)
		{
			if (weldSeamInfo[i].weldType == KeWD_WELD_POINT)
				weldPoints.push_back(weldSeamInfo[i].center);
			else
			{
				weldPoints.push_back(weldSeamInfo[i].startPt);
				weldPoints.push_back(weldSeamInfo[i].center);
				weldPoints.push_back(weldSeamInfo[i].endPt);
			}
		}

		sw << "Line_" << lineIdx << "_0_" << (int)weldPoints.size() << std::endl;
		size = 15;
		for (int i = 0; i < (int)weldPoints.size(); i++)
		{
			rgb = { 250, 0, 0 };
			float x = (float)weldPoints[i].x;
			float y = (float)weldPoints[i].y;
			float z = (float)weldPoints[i].z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
		}
		//输出法向
		size = 4;
		double len1 = 20;
		double len2 = 20;
		lineIdx = 0;
		for (int i = 0; i < objNum; i++)
		{
			SVzNL3DPoint pt0, pt1;
			if (weldSeamInfo[i].weldType == KeWD_WELD_POINT)
			{
				pt0 = weldSeamInfo[i].center;
				pt1 = { weldSeamInfo[i].center.x + len1 * weldSeamInfo[i].axialDir.x,
						 weldSeamInfo[i].center.y + len1 * weldSeamInfo[i].axialDir.y,
						 weldSeamInfo[i].center.z + len1 * weldSeamInfo[i].axialDir.z };
			}
			else
			{
				pt0 = weldSeamInfo[i].startPt;
				pt1 = weldSeamInfo[i].endPt;
			}

			SVzNL3DPoint pt2 = { weldSeamInfo[i].center.x, weldSeamInfo[i].center.y, weldSeamInfo[i].center.z };
			SVzNL3DPoint pt3 = { weldSeamInfo[i].center.x + len2 * weldSeamInfo[i].normalDir.x,
								 weldSeamInfo[i].center.y + len2 * weldSeamInfo[i].normalDir.y,
								 weldSeamInfo[i].center.z + len2 * weldSeamInfo[i].normalDir.z };
			//显示轴向量
			rgb = { 0, 0, 250 };
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << (float)pt0.x << "," << (float)pt0.y << "," << (float)pt0.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << (float)pt1.x << "," << (float)pt1.y << "," << (float)pt1.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;
			//显示法向量
			rgb = { 250, 0, 0 };
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << (float)pt2.x << "," << (float)pt2.y << "," << (float)pt2.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << (float)pt3.x << "," << (float)pt3.y << "," << (float)pt3.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;
		}
		lineIdx++;
	}
	sw.close();
}

#define SCREW_TEST_GROUP 10
void screwTest(void)
{
	const char* dataPath[SCREW_TEST_GROUP] = {
		"F:/ShangGu/项目/冠钦项目/螺杆测量/数据/模拟数据/",  //0
		"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云2/上方两根/",  //1
		"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云3/",  //2
		"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云4/位置1/",  //3
		"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云4/位置2/",  //4
		"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云4/位置2未动螺杆拧进去100mm左右/",  //5
		"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云4/位置2向前100mm螺杆拧进去100mm左右/",  //6
		"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云20260621/另一根螺杆/",  //7
		"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云20260621/拍照点1/",  //8
		"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云20260621/拍照点1xyz移动10mm/",  //9

	};

	SVzNLRange fileIdx[SCREW_TEST_GROUP] = {
		{1,4},{1,30},{1,11},
		{1,20}, {1,20}, {1,5}, {1,21},
		{1,10}, {1,10}, {1,10}
	};

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

	for (int grp = 9; grp < SCREW_TEST_GROUP; grp++)
	{
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =3;
			char _scan_file[256];

			if(0 == grp)
				sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
			else if( (grp>= 7)&&(grp <= 9))
				sprintf_s(_scan_file, "%sLaserline_%d.txt", dataPath[grp], fidx);
			else
				sprintf_s(_scan_file, "%s%d_LaserData_Jl26C299.txt", dataPath[grp], fidx);

			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);

			//转成plyTxt格式
			//sprintf_s(_scan_file, "%s%d_ply_Hi229229.txt", dataPath[grp], fidx);
			//wdSavePlyTxt(_scan_file, scanLines);

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

			double rodDiameter;
			if (grp == 0)
				rodDiameter = 10.0;
			else
				rodDiameter = 28.0; //现场螺杆直径28mm

			//double rodDiameter = 10.0;

			SSG_cornerParam cornerParam;
			cornerParam.cornerTh = 30;  //45度角
			cornerParam.scale = rodDiameter/4; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
			cornerParam.minEndingGap = 20; // 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 = 30;
			growParam.yDeviation_max = 5.0;
			growParam.maxSkipDistance = 30.0;
			growParam.zDeviation_max = 50;// 
			growParam.minLTypeTreeLen = 50; //mm, 螺杆长度
			growParam.minVTypeTreeLen = 50; //mm

			bool isHorizonScan = true;  //true:激光线平行槽道；false:激光线垂直槽道
			int errCode = 0;
			std::vector<SSX_rodPoseInfo> screwInfo;
			sx_hexHeadScrewMeasure(
				scanLines,
				isHorizonScan,  //true:激光线平行槽道；false:激光线垂直槽道
				cornerParam,
				filterParam,
				growParam,
				rodDiameter,
				screwInfo,
				&errCode);

			long t2 = (long)GetTickCount64();
			
			//输出测试结果
			char _out_file[256];
			sprintf_s(_out_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
			_outputRGBDScan_RGBD(_out_file, scanLines, screwInfo);
			sprintf_s(_out_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
			_outputChanneltInfo(_out_file, screwInfo);

			if (screwInfo.size() > 0)
			{
				SVzNL3DPoint zAxis = { 0, 0, 1.0 };
				float angle = _computeVecAngle(screwInfo[0].axialDir, zAxis);
				printf("%s: %d(ms), errCode=%d, {%f, %f, %f}, 与Z轴夹角=%f \n", _scan_file, (int)(t2 - t1), errCode, 
					(float)screwInfo[0].center.x, (float)screwInfo[0].center.y, (float)screwInfo[0].center.z, angle);
			}
			else
				printf("%s: %d(ms), errCode=%d\n", _scan_file, (int)(t2 - t1), errCode);
		}
	}
}

#define LOCATING_PALTE_TEST_GROUP 1
void locatingPlateTest(void)
{
	const char* dataPath[LOCATING_PALTE_TEST_GROUP] = {
		"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/定位盘点云/",  //0
	};

	SVzNLRange fileIdx[LOCATING_PALTE_TEST_GROUP] = {
		{1,17},
	};

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

	for (int grp = 0; grp < LOCATING_PALTE_TEST_GROUP; grp++)
	{
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =2;
			char _scan_file[256];
			sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);

			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);

			//转成plyTxt格式
			//sprintf_s(_scan_file, "%s%d_ply_Hi229229.txt", dataPath[grp], fidx);
			//wdSavePlyTxt(_scan_file, scanLines);

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

			double rodDiameter = 10.0;

			SSG_cornerParam cornerParam;
			cornerParam.cornerTh = 60;  //45度角
			cornerParam.scale = rodDiameter / 4; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
			cornerParam.minEndingGap = 20; // 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;
			SSX_platePoseInfo centerPose = sx_getLocationPlatePose(
				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\\%d_result.txt", dataPath[grp], fidx);
			_outputRGBDScan_RGBD_centerPose(_scan_file, scanLines, centerPose);
			sprintf_s(_scan_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
			_outputPlatePiseInfo(_scan_file, centerPose);
		}
	}
}

#define NEW_LOCATING_PALTE_TEST_GROUP 1
void newLocatingPlateTest(void)
{
	const char* dataPath[NEW_LOCATING_PALTE_TEST_GROUP] = {
		"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/定位盘点云20260621/",  //0
	};

	SVzNLRange fileIdx[NEW_LOCATING_PALTE_TEST_GROUP] = {
		{12,13},
	};

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

	for (int grp = 0; grp < NEW_LOCATING_PALTE_TEST_GROUP; grp++)
	{
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =2;
			char _scan_file[256];
			sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);

			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);

			//转成plyTxt格式
			//sprintf_s(_scan_file, "%s%d_ply_Hi229229.txt", dataPath[grp], fidx);
			//wdSavePlyTxt(_scan_file, scanLines);

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

				SSG_cornerParam cornerParam;
			cornerParam.cornerTh = 45;  //45度角
			cornerParam.scale = 5.0; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
			cornerParam.minEndingGap = 20; // 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;
			SSX_platePoseInfo centerPose = sx_getLocationPlatePose_new(
				scanLines,
				cornerParam,
				&errCode);

			long t2 = (long)GetTickCount64();
			printf("%s: %d(ms),errCode=%d\n", _scan_file, (int)(t2 - t1), errCode);
			//输出测试结果
			sprintf_s(_scan_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
			_outputRGBDScan_RGBD_centerPose(_scan_file, scanLines, centerPose);
			sprintf_s(_scan_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
			_outputPlatePiseInfo(_scan_file, centerPose);
		}
	}
}

;
void _removeNullData(std::vector<std::vector< SVzNL3DPosition>>& scanLines, double _F, std::vector<std::vector< SVzNLPointXYZRGBA>>& scanData)
{
	std::vector< SVzNLPointXYZRGBA> validPoints;
	for (int line = 0; line < (int)scanLines.size(); line++)
	{
		for (int j = 0; j < (int)scanLines[line].size(); j++)
		{
			if (scanLines[line][j].pt3D.z > 1e-4)
			{
				SVzNLPointXYZRGBA a_pt;
				double v = _F * scanLines[line][j].pt3D.y / scanLines[line][j].pt3D.z + 2000;
				a_pt.nRGB = (int)(v + 0.5);
				a_pt.x = scanLines[line][j].pt3D.x;
				a_pt.y = scanLines[line][j].pt3D.y;
				a_pt.z = scanLines[line][j].pt3D.z;
				validPoints.push_back(a_pt);
			}
		}
	}

	std::vector< SVzNLPointXYZRGBA> a_line;
	SVzNLPointXYZRGBA pre_pt;
	pre_pt.x = 0;
	pre_pt.y = 0;
	pre_pt.z = 0;
	pre_pt.nRGB = -1;
	for (int i = 0; i < validPoints.size(); i++)
	{
		if (validPoints[i].nRGB < (pre_pt.nRGB - 10))
		{
			if (a_line.size() > 0)
				scanData.push_back(a_line);
			a_line.clear();
		}
		a_line.push_back(validPoints[i]);
		pre_pt = validPoints[i];
	}
	if(a_line.size() > 0)
		scanData.push_back(a_line);
	return;
}
void _convertToGridData_XYZRGB(std::vector<std::vector< SVzNLPointXYZRGBA>>& scanData, double _F, std::vector<std::vector< SVzNL3DPosition>>& gridData)
{
	int lineNum = (int)scanData.size();
	int min_y = 100000000;
	int max_y = -10000000;
	int validStartLine = -1;
	int validEndLine = -1;
	for (int line = 0; line < lineNum; line++)
	{
		if (scanData[line].size() > 0)
		{
			if (validStartLine < 0)
			{
				validStartLine = line;
				validEndLine = line;
			}
			else
				validEndLine = line;
		}

		for (int i = 0; i < (int)scanData[line].size(); i++)
		{
			SVzNLPointXYZRGBA& a_pt = scanData[line][i];
			if (a_pt.z > 1e-4)
			{
				double v = _F * a_pt.y / a_pt.z + 2000;
				a_pt.nRGB = (int)(v + 0.5);
				max_y = max_y < (int)a_pt.nRGB ? (int)a_pt.nRGB : max_y;
				min_y = min_y > (int)a_pt.nRGB ? (int)a_pt.nRGB : min_y;
			}
		}
	}
	if (min_y == 100000000)
		return;

	int vldLineNum = validEndLine - validStartLine + 1;
	gridData.resize(vldLineNum);
	int pt_counter = max_y - min_y + 1;
	for (int i = 0; i < vldLineNum; i++)
	{
		gridData[i].resize(pt_counter);
		for (int j = 0; j < pt_counter; j++)
		{
			gridData[i][j].nPointIdx = j;
			gridData[i][j].pt3D.x = 0;
			gridData[i][j].pt3D.y = 0;
			gridData[i][j].pt3D.z = 0;
		}
	}
	for (int line = validStartLine; line <= validEndLine; line++)
	{
		int gridLine = line - validStartLine;
		for (int i = 0; i < (int)scanData[line].size(); i++)
		{
			SVzNLPointXYZRGBA& a_pt = scanData[line][i];
			if (a_pt.z > 1e-4)
			{
				int pt_id = a_pt.nRGB - min_y;
				gridData[gridLine][pt_id].pt3D.x = a_pt.x;
				gridData[gridLine][pt_id].pt3D.y = a_pt.y;
				gridData[gridLine][pt_id].pt3D.z = a_pt.z;
			}
		}
	}
	return;
}

#define ROD_POSITION_TEST_GROUP 5
#define TEST_CONVERT_TO_GRID		0
#define TEST_COMPUTE_CALIB_PARA		0
#define TEST_COMPUTE_ROD_POSITION	1
void rodPositionTest(void)
{
#if TEST_CONVERT_TO_GRID
	//将数据转换成栅格格式格式
	char _scan_dir[256];
	int lineNum = 0;
	float lineV = 0.0f;
	int dataCalib = 0;
	int maxTimeStamp = 0;
	int clockPerSecond = 0;
	sprintf_s(_scan_dir, "F:/ShangGu/项目/冠钦项目/矩森棒材抓取/空料框及内剩一根棒材/");
	char _scan_src_file[256];
	double _F = 1219.15;  //f
	for (int i = 1; i <= 3; i++)
	{
		//read ply txt
		sprintf_s(_scan_src_file, "%sLaserDataRAW_%d.txt", _scan_dir, i);

		std::vector<std::vector< SVzNL3DPosition>> scanLines;
		wdReadLaserScanPointFromFile_XYZ_vector(_scan_src_file, scanLines);

		std::vector<std::vector< SVzNLPointXYZRGBA>> scanData;
		_removeNullData(scanLines, _F, scanData);

		std::vector<std::vector< SVzNL3DPosition>> gridData;
		_convertToGridData_XYZRGB(scanData, _F, gridData);
		char _out_file[256];
		sprintf_s(_out_file, "%sLaserData_%d.txt", _scan_dir, i);
		_outputScanDataFile(_out_file, gridData, 0.0f, 0, 0);

		printf("%s: convert done!\n", _scan_src_file);
	}
	printf("all converted done!\n", _scan_src_file);
#endif
#if TEST_COMPUTE_CALIB_PARA
	const char* calibDataPath = "F:/ShangGu/项目/冠钦项目/矩森棒材抓取/空料框及内剩一根棒材/调平/位置1/";
	char _calib_datafile[256];
	sprintf_s(_calib_datafile, "%sGroundData_1.txt", calibDataPath);
	int lineNum = 0;
	float lineV = 0.0f;
	int dataCalib = 0;
	int maxTimeStamp = 0;
	int clockPerSecond = 0;
	std::vector<std::vector< SVzNL3DPosition>> scanData;
	wdReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);

	lineNum = (int)scanData.size();
	if (scanData.size() > 0)
	{
		SSG_planeCalibPara calibPara  = sx_rodPosition_getBaseCalibPara(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
			sx_rodPosition_lineDataR(scanData[i], calibPara.planeCalib, -1);
		}
		//
		char calibFile[250];
		sprintf_s(calibFile, "%sground_calib_para.txt", calibDataPath);
		_outputCalibPara(calibFile, calibPara);
		char _out_file[256];
		sprintf_s(_out_file, "%sGroundData_1_calib_verify.txt", calibDataPath);

		_outputScanDataFile(_out_file, scanData, lineV, maxTimeStamp, clockPerSecond);
#if 0
		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_ROD_POSITION
	const char* dataPath[ROD_POSITION_TEST_GROUP] = {
		"F:/ShangGu/项目/冠钦项目/矩森棒材抓取/测试数据/",  //0
		"F:/ShangGu/项目/冠钦项目/矩森棒材抓取/空料框及内剩一根棒材/",  //1
		"F:/ShangGu/项目/冠钦项目/矩森棒材抓取/其它尺寸棒材点云/",  //2

		"F:/ShangGu/项目/冠钦项目/胶布圆棒抓取/模拟测试数据/", //3
		"F:/ShangGu/项目/冠钦项目/胶布圆棒抓取/模拟测试数据2/", //4
	};

	SVzNLRange fileIdx[ROD_POSITION_TEST_GROUP] = {
		{1,8}, {1,3}, {1,31},
		{1,5},{1,11}
	};

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

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

		sprintf_s(calibFile, "%sparameter.txt", dataPath[grp]);
		std::vector<SSX_rodParam> rodParas;
		if (grp <= 2)
			_readRodParas(calibFile, rodParas);

		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =5;
			char _scan_file[256];
			if( (3 == grp) ||(4 == grp))
				sprintf_s(_scan_file, "%s%d_LaserData_Hi229156.txt", dataPath[grp], fidx);
			else
				sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);

			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);

			//转成plyTxt格式
			//sprintf_s(_scan_file, "%s%d_ply_Hi229229.txt", dataPath[grp], fidx);
			//wdSavePlyTxt(_scan_file, scanLines);

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

			SSX_rodParam rodParam;
			if (grp <= 2)
			{
				rodParam = rodParas[fidx];
			}
			else
			{
				rodParam.diameter = 68.0;  //圆棒直径
				rodParam.len = 187;
			}

			SSG_cornerParam cornerParam;
			cornerParam.cornerTh = 45;  //45度角
			cornerParam.scale = rodParam.diameter / 4; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
			cornerParam.minEndingGap = 20; // 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 = 5.0; //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 = 5;
			growParam.yDeviation_max = 10.0;
			growParam.maxSkipDistance = 10.0;
			growParam.zDeviation_max = 10.0;// 
			growParam.minLTypeTreeLen = rodParam.len * 0.75; //mm, 螺杆长度
			growParam.minVTypeTreeLen = rodParam.len * 0.75; //mm

			bool isHorizonScan = true;  //true:激光线平行槽道；false:激光线垂直槽道
			int errCode = 0;
			std::vector<SSX_rodPositionInfo> rodInfo;
			sx_rodPositioning(
				scanLines,
				poseCalibPara,
				cornerParam,
				filterParam,
				growParam,
				rodParam,
				rodInfo,
				&errCode);

			long t2 = (long)GetTickCount64();
			printf("%s: %d(ms),errCode=%d\n", _scan_file, (int)(t2 - t1),errCode);
			//输出测试结果
			sprintf_s(_scan_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
			_outputRGBDScan_RGBD_rodInfo(_scan_file, scanLines, rodInfo);
			sprintf_s(_scan_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
			_outputRodtInfo(_scan_file, rodInfo);
		}
	}
#endif
}

int counterValidPts(std::vector<SVzNL3DPosition>& lineData)
{
	int num = 0;
	for (int i = 0; i < (int)lineData.size(); i++)
	{
		if (lineData[i].pt3D.z > 1e-4)
			num++;
		else
		{
			lineData[i].pt3D = { 0, 0, 0 };
		}
	}
	return num;
}

#define WELD_SEAM_TEST_GROUP 4
void rodWeldSeamPosition_test(void)
{
	const char* dataPath[WELD_SEAM_TEST_GROUP] = {
		"F:/ShangGu/项目/冠钦项目/筑裕视觉钢结构焊接/视觉照片1/",  //0
		"F:/ShangGu/项目/冠钦项目/筑裕视觉钢结构焊接/视觉照片2/",  //1
		"F:/ShangGu/项目/冠钦项目/筑裕视觉钢结构焊接/数据3/特征点1/", //2
		"F:/ShangGu/项目/冠钦项目/筑裕视觉钢结构焊接/数据3/特征点2/", //3
	};

	SVzNLRange fileIdx[WELD_SEAM_TEST_GROUP] = {
		{1,20},{1,20},{1,27},  { 1,21 },
	};

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

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

		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =1;
			char _scan_file[256];
			sprintf_s(_scan_file, "%s%d_LaserData_groundAdjusted.txt", dataPath[grp], fidx);

			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);

			if ((grp == 2) || (grp == 3)) //计算调平矩阵
			{
#if 0
				std::vector<cv::Point3f> validPts;
				std::vector<std::vector< SVzNL3DPosition>> copy_scanLines;
				copy_scanLines.resize(scanLines.size());
				for (int line = 0; line < (int)scanLines.size(); line++)
				{
					std::vector< SVzNL3DPosition>& a_line = scanLines[line];
					copy_scanLines[line].resize(a_line.size());
					for (int j = 0; j < (int)a_line.size(); j++)
					{
						copy_scanLines[line][j] = a_line[j];
						if (a_line[j].pt3D.z > 1e-4)
						{
							cv::Point3f a_pt = cv::Point3f((float)a_line[j].pt3D.x, (float)a_line[j].pt3D.y, (float)a_line[j].pt3D.z);
							validPts.push_back(a_pt);
						}
					}
				}
				std::vector<cv::Point3f> out_inliers;
				Plane res = ransacFitPlane(validPts, out_inliers);
				if (res.C < 0)
				{
					res.A = -res.A;
					res.B = -res.B;
					res.C = -res.C;
					res.D = -res.D;
				}
				float meanH = 0;
				int counter = 0;
				for (int i = 0; i < (int)out_inliers.size(); i++)
				{
					meanH += out_inliers[i].z;
					counter++;
				}
				//计算投影向量
				SVzNL3DPoint vec_1 = { res.A, res.B, res.C };
				SVzNL3DPoint vec_2 = { 0, 0, 1.0 };
				SSG_planeCalibPara calibPara = wd_computeRTMatrix(vec_1, vec_2);
				for (int m = 0; m < 9; m++)
				{
					poseCalibPara.planeCalib[m] = calibPara.planeCalib[m];
					poseCalibPara.invRMatrix[m] = calibPara.invRMatrix[m];
				}
				poseCalibPara.planeHeight = meanH / counter;

				char _out_file[256];
				sprintf_s(_out_file, "%s%d_calib_para.txt", dataPath[grp], fidx);
				_outputCalibPara(_out_file, poseCalibPara);

				sprintf_s(_out_file, "%s%d_LaserData_groundAdjusted.txt", dataPath[grp], fidx);
				//if (false == fileExists(_out_file))
				{
					//输出调平效果
					int firstValidLine = -1;
					int lastValidLine = -1;
					for (int line = 0; line < (int)copy_scanLines.size(); line++)
					{
						//行处理
						//调平，去除地面
						double cuttingZ = poseCalibPara.planeHeight - 100;
						sx_rodPosition_lineDataR(copy_scanLines[line], poseCalibPara.planeCalib, cuttingZ);
						int ptsNum = counterValidPts(copy_scanLines[line]);
						if (ptsNum > 10)
						{
							if (firstValidLine < 0)
								firstValidLine = line;
							lastValidLine = line;
						}
					}
					if ((lastValidLine > 0) && (lastValidLine < copy_scanLines.size() - 1))
					{
						copy_scanLines.erase(copy_scanLines.begin() + lastValidLine + 1, copy_scanLines.end());
					}
					if(firstValidLine > 1)
					{
						copy_scanLines.erase(copy_scanLines.begin(), copy_scanLines.begin() + firstValidLine - 1);
					}
					_outputScanDataFile(_out_file, copy_scanLines, 0.0f, 0, 0);
				}
#endif
			}
			
			long t1 = (long)GetTickCount64();//统计时间

			SSX_rodParam rodParam;
			rodParam.diameter = 16.0;  //钢筋直径
			rodParam.len = 50;

			SSG_cornerParam cornerParam;
			cornerParam.cornerTh = 60;  //45度角
			cornerParam.scale = rodParam.diameter / 4; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
			cornerParam.minEndingGap = 20; // 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 = 4.0; //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 = 4;

			SSG_treeGrowParam growParam;
			growParam.maxLineSkipNum = 5;
			growParam.yDeviation_max = 5.0;
			growParam.maxSkipDistance = 20.0;
			growParam.zDeviation_max = 5.0;// 
			growParam.minLTypeTreeLen = 50; //mm, 螺杆长度
			growParam.minVTypeTreeLen = 50; //mm

			bool isHorizonScan = true;  //true:激光线平行槽道；false:激光线垂直槽道
			double weldSeanRange = 100;  //焊缝距钢筋交叉点的范围（最大值）
			int errCode = 0;
			std::vector<SSX_weldSeamInfo> weldSeamInfo;
			sx_rebarWeldSeamPositioning(
				scanLines,
				poseCalibPara,
				cornerParam,
				filterParam,
				growParam,
				rodParam,
				weldSeanRange,
				weldSeamInfo,
				&errCode);
			long t2 = (long)GetTickCount64();
			printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
			if (errCode == 0)
			{
				//输出测试结果
				sprintf_s(_scan_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
				_outputRGBDScan_RGBD_weldSeam(_scan_file, scanLines, weldSeamInfo);
				sprintf_s(_scan_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
				_outputWeldSeamInfo(_scan_file, weldSeamInfo);
			}
		}
	}
}


typedef enum
{
	keSG_测试_配天螺杆定位 = 0,
	keSG_测试_配天定位盘定位,  
	keSG_测试_配天新定位盘定位,
	keSG_测试_棒材抓取,           
	keSG_测试_筑裕钢筋焊缝定位,  
} ESG_testMode;

int main()
{
	//ESG_testMode testMode = keSG_测试_配天螺杆定位;
	//ESG_testMode testMode = keSG_测试_配天定位盘定位;
	//ESG_testMode testMode = keSG_测试_配天新定位盘定位;
	//ESG_testMode testMode = keSG_测试_棒材抓取;
	ESG_testMode testMode = keSG_测试_筑裕钢筋焊缝定位;

	if(keSG_测试_配天螺杆定位 == testMode)
		screwTest();
	else if(keSG_测试_配天定位盘定位 == testMode)
		locatingPlateTest();
	else if (keSG_测试_配天新定位盘定位 == testMode)
		newLocatingPlateTest();
	else if(keSG_测试_棒材抓取 == testMode)
		rodPositionTest();
	else if(keSG_测试_筑裕钢筋焊缝定位 == testMode)
		rodWeldSeamPosition_test();

	return 0;
}

// 运行程序: Ctrl + F5 或调试 >“开始执行(不调试)”菜单
// 调试程序: F5 或调试 >“开始调试”菜单

// 入门使用技巧: 
//   1. 使用解决方案资源管理器窗口添加/管理文件
//   2. 使用团队资源管理器窗口连接到源代码管理
//   3. 使用输出窗口查看生成输出和其他消息
//   4. 使用错误列表窗口查看错误
//   5. 转到“项目”>“添加新项”以创建新的代码文件，或转到“项目”>“添加现有项”以将现有代码文件添加到项目
//   6. 将来，若要再次打开此项目，请转到“文件”>“打开”>“项目”并选择 .sln 文件