// 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 "channelSpaceMeasure_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();
}

void _outputChanneltInfo(char* fileName, SSX_channelInfo channelInfo)
{
	std::ofstream sw(fileName);

	char dataStr[250];
	sprintf_s(dataStr, 250, "槽道间距: %g", channelInfo.channelSpace);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "槽道1: 宽_%g, 深_%g", channelInfo.channelWidth[0], channelInfo.channelDepth[0]);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "槽道2: 宽_%g, 深_%g", channelInfo.channelWidth[1], channelInfo.channelDepth[1]);
	sw << dataStr << std::endl;
	sw.close();
}

void _outputRGBDScan_RGBD(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines
)
{
	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = lineNum;

	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)
			{
				rgb = objColor[pt3D->nPointIdx];
				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.close();
}

#define TEST_GET_ROI_DATA			0
#define TEST_COMPUTE_SPACE			1
#define TEST_GROUP 1
int main()
{
	const char* dataPath[TEST_GROUP] = {
		"F:/ShangGu/项目/水木宏创/槽道间距测量/模拟数据/",  //0
	};

	SVzNLRange fileIdx[TEST_GROUP] = {
		{1,9},
	};

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

#if TEST_GET_ROI_DATA


	for (int grp = 0; grp < TEST_GROUP; grp++)
	{
		SVzNLRangeD roi_y[10] = {
			{0, 0},
			{-405.0, 510.0}, {-302.0,640.0}, {-290.0, 640.0},
			{-290.0, 670.0}, {-290.0, 640.0}, {-305.0, 660.0},
			{-296.0, 510.0}, {-300.0, 500.0}, {-330.0, 510.0}
		};
		for (int fidx = 1; fidx <= 9; fidx++)
		{
			char _scan_file[256];
			sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanData;
			wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanData);
			std::vector<std::vector< SVzNL3DPosition>> scanROIData;
			wd_gridScan_GetROIData(scanData, roi_y[fidx], scanROIData);
			sprintf_s(_scan_file, "%sLaserData_%d_obj.txt", dataPath[grp], fidx);
			_outputScanDataFile(_scan_file, scanROIData, 0, 0, 0);
		}
	}
#endif

#if TEST_COMPUTE_SPACE
	for (int grp = 0; grp < 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_obj.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 = 15; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
			cornerParam.minEndingGap = 20; // algoParam.bagParam.bagW / 4;
			cornerParam.minEndingGap_z = 50;
			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 = 100; //mm
			growParam.minVTypeTreeLen = 100; //mm

			SSX_channelParam channelParam;
			channelParam.channleSpaceRng = { 300, 800 };
			channelParam.channelWidthRng = { 5,30 };

			bool isHorizonScan = true;  //true:激光线平行槽道；false:激光线垂直槽道
			int errCode = 0;
			SSX_channelInfo channelInfo = sx_channelSpaceMeasure(
				scanLines,
				isHorizonScan,  //true:激光线平行槽道；false:激光线垂直槽道
				cornerParam,
				filterParam,
				growParam,
				channelParam,
				&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);
			sprintf_s(_scan_file, "%sresult\\%d_fillingPort_info.txt", dataPath[grp], fidx);
			_outputChanneltInfo(_scan_file, channelInfo);
		}
	}
#endif
}

// 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