// 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>

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 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();
}

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 _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_pointPoseInfo& centerInfo)
{
	std::ofstream sw(fileName);
	char dataStr[250];
	sprintf_s(dataStr, 250, "定位盘: center_( %g, %g, %g ), normalDir_( %g, %g, %g ), xDir_( %g, %g, %g ), yDir_( %g, %g, %g )",
		centerInfo.center.x, centerInfo.center.y, centerInfo.center.z,
		centerInfo.normalDir.x, centerInfo.normalDir.y, centerInfo.normalDir.z,
		centerInfo.xDir.x, centerInfo.xDir.y, centerInfo.xDir.z,
		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 = 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;
		}
	}

	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 len = 60;
		lineIdx = 0;
		for (int i = 0; i < objNum; i++)
		{
			SVzNL3DPoint pt0 = { screwInfo[i].center.x - len * screwInfo[i].axialDir.x,
								 screwInfo[i].center.y - len * screwInfo[i].axialDir.y,
								 screwInfo[i].center.z - len * screwInfo[i].axialDir.z };
			SVzNL3DPoint pt1 = { screwInfo[i].center.x + len * screwInfo[i].axialDir.x,
								 screwInfo[i].center.y + len * screwInfo[i].axialDir.y,
								 screwInfo[i].center.z + len * 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++;
		}
		//多输出一个，修正显示工具bug
		SVzNL3DPoint pt0 = { screwInfo[0].center.x - len * screwInfo[0].axialDir.x,
							 screwInfo[0].center.y - len * screwInfo[0].axialDir.y,
							 screwInfo[0].center.z - len * screwInfo[0].axialDir.z };
		SVzNL3DPoint pt1 = { screwInfo[0].center.x + len * screwInfo[0].axialDir.x,
							 screwInfo[0].center.y + len * screwInfo[0].axialDir.y,
							 screwInfo[0].center.z + len * screwInfo[0].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_pointPoseInfo& 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 = { 250, 0, 0 };
				size = 5;
			}
			//else if (pt3D->nPointIdx == 1)
			//{
			//	rgb = { 0, 0, 250 };
			//		size = 3;
			//}
			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_1" << 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;

		//输出法向
		size = 1;
		double len = 60;
		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++;
		}
	}
	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)
				{
					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)weldSeamInfo[i].center.x;
			float y = (float)weldSeamInfo[i].center.y;
			float z = (float)weldSeamInfo[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 = { weldSeamInfo[i].center.x, weldSeamInfo[i].center.y, weldSeamInfo[i].center.z };
			SVzNL3DPoint pt2 = { weldSeamInfo[i].center.x + len * weldSeamInfo[i].normalDir.x,
								 weldSeamInfo[i].center.y + len * weldSeamInfo[i].normalDir.y,
								 weldSeamInfo[i].center.z + len * weldSeamInfo[i].normalDir.z };
			//显示轴向量
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << (float)weldSeamInfo[i].startPt.x << "," << (float)weldSeamInfo[i].startPt.y << "," << (float)weldSeamInfo[i].startPt.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << (float)weldSeamInfo[i].endPt.x << "," << (float)weldSeamInfo[i].endPt.y << "," << (float)weldSeamInfo[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();
}

#define SCREW_TEST_GROUP 1
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
	};

	SVzNLRange fileIdx[SCREW_TEST_GROUP] = {
		{1,4},
	};

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

	for (int grp = 0; grp < SCREW_TEST_GROUP; grp++)
	{
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =7;
			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;

			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 = 10;
			growParam.yDeviation_max = 20.0;
			growParam.maxSkipDistance = 20.0;
			growParam.zDeviation_max = 50.0;// 
			growParam.minLTypeTreeLen = 10; //mm, 螺杆长度
			growParam.minVTypeTreeLen = 10; //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();
			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(_scan_file, scanLines, screwInfo);
			sprintf_s(_scan_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
			_outputChanneltInfo(_scan_file, screwInfo);
		}
	}
}

#define LOCATING_PALTE_TEST_GROUP 1
void locatingPlateTest(void)
{
	const char* dataPath[SCREW_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] = {
		{1,16},
	};

	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 =4;
			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_pointPoseInfo 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 ROD_POSITION_TEST_GROUP 1
void rodPositionTest(void)
{
	const char* dataPath[ROD_POSITION_TEST_GROUP] = {
		"F:/ShangGu/项目/冠钦项目/棒材抓取/",  //0
	};

	SVzNLRange fileIdx[ROD_POSITION_TEST_GROUP] = {
		{1,8},
	};

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

	for (int grp = 0; grp < ROD_POSITION_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, "%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;
			rodParam.diameter = 52.0;  //圆棒直径
			rodParam.len = 290;

			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 = 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 = 100; //mm, 螺杆长度
			growParam.minVTypeTreeLen = 100; //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)!\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_rodInfo(_scan_file, scanLines, rodInfo);
			sprintf_s(_scan_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
			_outputRodtInfo(_scan_file, rodInfo);
		}
	}
}


#define WELD_SEAM_TEST_GROUP 2
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/",  //0
	};

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

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

	for (int grp = 0; 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, "%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;
			rodParam.diameter = 52.0;  //圆棒直径
			rodParam.len = 290;

			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 = 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 = 100; //mm, 螺杆长度
			growParam.minVTypeTreeLen = 100; //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_weldSeamInfo> weldSeamInfo;
			sx_rebarWeldSeamPositioning(
				scanLines,
				poseCalibPara,
				cornerParam,
				filterParam,
				growParam,
				rodParam,
				weldSeamInfo,
				&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_weldSeam(_scan_file, scanLines, weldSeamInfo);
			sprintf_s(_scan_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
			_outputWeldSeamInfo(_scan_file, weldSeamInfo);
		}
	}
}

int main()
{
#if 1 //螺杆定位测试 
#if 0
	screwTest();
#else
	locatingPlateTest();
#endif
#else  //棒材抓取定位测试
#if 0
	rodPositionTest();
#else
	rodWeldSeamPosition_test();
#endif
#endif
	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