algoLib/bagThreadPositioning_Export/bagThreadPositioning_test.cpp

// 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 "bagThreadPositioning_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 vzReadLaserScanPointFromFile_encodePlyTxt(
	const char* fileName, 
	double lineStep, 
	double baseZ,
	std::vector<std::vector< SVzNL3DPosition>>& scanData)
{
	std::ifstream inputFile(fileName);
	std::string linedata;

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

	std::vector< SVzNL3DPosition> linePoints;
	linePoints.clear();
	int startIdx = -1;
	int ptIdx = 0;
	double pre_y = DBL_MAX;
	while (std::getline(inputFile, linedata))
	{
		if (linedata.empty())
			continue;

		int X;
		double Y, Z, tmp;
		sscanf_s(linedata.c_str(), "%d,%lf,%lf", &X, &Y, &Z);
		if (startIdx < 0)
			startIdx = X;

		SVzNL3DPosition a_pt;
		a_pt.nPointIdx = ptIdx;
		ptIdx++;
		a_pt.pt3D.x = (double)(X - startIdx) * lineStep;
		a_pt.pt3D.y = Y;
		a_pt.pt3D.z = baseZ - Z;
		if (Z < -9990.0)
		{
			a_pt.pt3D = { 0, 0, 0 };
		}
		
		if (Y < pre_y)
		{
			//新行
			if(linePoints.size() > 0)
				scanData.push_back(linePoints);
			linePoints.clear();
			ptIdx = 0;
		}
		linePoints.push_back(a_pt);
		pre_y = Y;
	}
	if(linePoints.size() > 0)
		scanData.push_back(linePoints);
	return;
}

bool checkGridFormat(std::vector<std::vector< SVzNL3DPosition>>& scanData)
{
	if (scanData.size() == 0)
		return false;

	int linePtNum = (int)scanData[0].size();
	for (int i = 1; i < (int)scanData.size(); i++)
	{
		if (linePtNum != (int)scanData[i].size())
			return false;
	}
	return true;
}

void downSampleGridData(std::vector<std::vector< SVzNL3DPosition>>& scanData, int dwnSampleRatio, std::vector<std::vector< SVzNL3DPosition>>& sampleData)
{
	int lines = (int)scanData.size();
	for (int i = 0; i < lines; i++)
	{
		if ((i % dwnSampleRatio) == 0)
			sampleData.push_back(scanData[i]);
	}
	return;
}

int counterValidPts(std::vector< SVzNL3DPosition>& a_line)
{
	int ptNum = (int)a_line.size();
	int validNum = 0;
	for (int i = 0; i < ptNum; i++)
	{
		if (a_line[i].pt3D.z > 1e-4)
			validNum++;
	}
	return validNum;
}
void removeNullLines(std::vector<std::vector< SVzNL3DPosition>>& scanData)
{
	if (scanData.size() == 0)
		return;
	
	int lineNum = (int)scanData.size();
	int startLineIdx = -1;
	int endLineIdx = 0;
	for (int i = 0; i < lineNum; i++)
	{
		int validPtNum = counterValidPts(scanData[i]);
		if (validPtNum > 0)
		{
			if (startLineIdx < 0)
				startLineIdx = i;
			endLineIdx = i;
		}
	}
	if( (endLineIdx < lineNum-1) && (endLineIdx > 0))
		scanData.erase(scanData.begin() + endLineIdx+1, scanData.end());
	if (startLineIdx > 0)
		scanData.erase(scanData.begin(), scanData.begin() + startLineIdx);
	return;
}


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, std::vector<SSX_bagThreadInfo>& threadInfo)
{
	std::ofstream sw(fileName);

	char dataStr[250];
	int objNum = (int)threadInfo.size();
	for (int i = 0; i < objNum; i++)
	{
		sprintf_s(dataStr, 250, "线头_%d: 位置( %g, %g, %g ), 下刀位置_( %g, %g, %g ), 角度_%g",
			i + 1, threadInfo[i].threadPos.x, threadInfo[i].threadPos.y, threadInfo[i].threadPos.z,
			threadInfo[i].operatePos.x, threadInfo[i].operatePos.y, threadInfo[i].operatePos.z, threadInfo[i].rotateAngle);
		sw << dataStr << std::endl;
	}
	sw.close();
}

void _outputRGBDScan_RGBD(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	std::vector<SSX_bagThreadInfo>& threadInfo,
	std::vector< SVzNL3DPoint>& markPoints
)
{
	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = lineNum;
	int objNum = (int)threadInfo.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 == 3)
			{
				rgb = { 250, 250, 0 };
				size = 3;
			}
			else if (pt3D->nPointIdx == 4)
			{
				rgb = { 0, 250, 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;
		}
	}

	if (objNum > 0)
	{
		int markNum = (int)markPoints.size();
		sw << "Line_" << lineIdx << "_0_" << (objNum*2 + markNum) << std::endl;
		size = 10;
		for (int i = 0; i < objNum; i++)
		{
			rgb = { 250, 0, 0 };
			float x = (float)threadInfo[i].threadPos.x;
			float y = (float)threadInfo[i].threadPos.y;
			float z = (float)threadInfo[i].threadPos.z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;

			rgb = { 250, 250, 0 };
			x = (float)threadInfo[i].operatePos.x;
			y = (float)threadInfo[i].operatePos.y;
			z = (float)threadInfo[i].operatePos.z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
		}
		for (int i = 0; i < markNum; i++)
		{
			rgb = { 250, 0, 0 };
			float x = (float)markPoints[i].x;
			float y = (float)markPoints[i].y;
			float z = (float)markPoints[i].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
		rgb = { 250, 0, 0 };
		float x = (float)threadInfo[0].threadPos.x;
		float y = (float)threadInfo[0].threadPos.y;
		float z = (float)threadInfo[0].threadPos.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 = threadInfo[i].threadPos;
			SVzNL3DPoint pt1 = threadInfo[i].operatePos;
			//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 = threadInfo[0].threadPos;
		SVzNL3DPoint pt1 = threadInfo[0].operatePos; 
		//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 getROIdata(SSG_ROIRectD roi2D,
	std::vector<std::vector< SVzNL3DPosition>>& srcLines, 
	std::vector<std::vector< SVzNL3DPosition>>& dstLines)
{
	int lineNum = (int)srcLines.size();
	dstLines.resize(lineNum);
	for (int line = 0; line < lineNum; line++)
	{
		std::vector< SVzNL3DPosition>& a_line = srcLines[line];
		int ptNum = (int)a_line.size();
		dstLines[line].resize(ptNum);
		for (int j = 0; j < ptNum; j++)
		{
			dstLines[line][j] = a_line[j];
			if (a_line[j].pt3D.z > 1e-4)
			{
				if ((a_line[j].pt3D.x < roi2D.left) || (a_line[j].pt3D.x > roi2D.right) ||
					(a_line[j].pt3D.y < roi2D.top) || (a_line[j].pt3D.y > roi2D.bottom))
					dstLines[line][j].pt3D = { 0, 0, 0 };
			}
		}
	}
	return;
}

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;
}


#define CONVERT_TO_GRID			0
#define COMPUTE_CALIB_PARA		0
#define BAG_THREAD_POSITIONING	1
#define TEST_GROUP 3
int main()
{
	const char* dataPath[TEST_GROUP] = {
		"F:/ShangGu/项目/吕宁项目/袋子拆线/模拟数据/",  //0
		"F:/ShangGu/项目/吕宁项目/袋子拆线/现场数据/",  //1
		"F:/ShangGu/项目/吕宁项目/袋子拆线/袋子3D数据/",  //2
	};

	SVzNLRange fileIdx[TEST_GROUP] = {
		{1,13},
		{2,5},
		{1,10}
	};

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

#if CONVERT_TO_GRID
	int convertGrp = 2;
	for (int fidx = 1; fidx <= 10; fidx++)
	{
		char _scan_file[256];
		sprintf_s(_scan_file, "%s%dheightline_mm.txt", dataPath[convertGrp], fidx);

		std::vector<std::vector< SVzNL3DPosition>> scanData;
		double lineStep = 0.032;
		double baseZ = 350.0;
		vzReadLaserScanPointFromFile_encodePlyTxt(_scan_file, lineStep, baseZ, scanData);
		bool isGridData = checkGridFormat(scanData);
		int gridFormat = (true == isGridData) ? 1 : 0;
		printf("%s: 栅格格式=%d\n", _scan_file, gridFormat);
		removeNullLines(scanData);
		std::vector<std::vector< SVzNL3DPosition>> sampleData;
		downSampleGridData(scanData, 3, sampleData);
		//将数据恢复为按扫描线存储格式
		sprintf_s(_scan_file, "%s袋子_grid_%d.txt", dataPath[convertGrp], fidx);
		_outputScanDataFile(_scan_file, sampleData,0, 0, 0);
		printf("%s: done.\n", _scan_file);
	}

	char _scan_file[256];
	sprintf_s(_scan_file, "%sgroundData.txt", dataPath[convertGrp]);

	std::vector<std::vector< SVzNL3DPosition>> scanData;
	double lineStep = 0.032;
	double baseZ = 350.0;
	vzReadLaserScanPointFromFile_encodePlyTxt(_scan_file, lineStep, baseZ, scanData);
	bool isGridData = checkGridFormat(scanData);
	int gridFormat = (true == isGridData) ? 1 : 0;
	printf("%s: 栅格格式=%d\n", _scan_file, gridFormat);
	removeNullLines(scanData);
	std::vector<std::vector< SVzNL3DPosition>> sampleData;
	downSampleGridData(scanData, 3, sampleData);
	//将数据恢复为按扫描线存储格式
	sprintf_s(_scan_file, "%sgroundData_grid.txt", dataPath[convertGrp]);
	_outputScanDataFile(_scan_file, sampleData, 0, 0, 0);
	printf("%s: done.\n", _scan_file);

#endif

#if COMPUTE_CALIB_PARA
	char _calib_datafile[256];
	sprintf_s(_calib_datafile, "F:/ShangGu/项目/吕宁项目/袋子拆线/袋子3D数据/groundData_grid.txt");
	std::vector<std::vector< SVzNL3DPosition>> scanLines;
	wdReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanLines);
	if (scanLines.size() > 0)
	{
		//getROIdata
		std::vector<std::vector< SVzNL3DPosition>> roiScanLines;
		SSG_ROIRectD roi2D = {91.0, 190.0, -10, 37};

		getROIdata(roi2D, scanLines, roiScanLines);
		char calibFile[250];
		sprintf_s(calibFile, "F:/ShangGu/项目/吕宁项目/袋子拆线/袋子3D数据/groundData_grid_ROI.txt");
		_outputScanDataFile(calibFile, roiScanLines, 0, 0, 0);

		SSG_planeCalibPara calibPara = wd_bagThread_getBaseCalibPara(roiScanLines);
		//结果进行验证  
		int lineNum = (int)scanLines.size();
		for (int i = 0; i < lineNum; i++)
		{
			if (i == 14)
				int kkk = 1;
			//行处理
			//调平，去除地面
			wd_bagThread_lineDataR(scanLines[i], calibPara.planeCalib, -1);// calibPara.planeHeight);
		}
		//
		sprintf_s(calibFile, "F:/ShangGu/项目/吕宁项目/袋子拆线/袋子3D数据/ground_calib_para.txt");
		_outputCalibPara(calibFile, calibPara);
		char _out_file[256];
		sprintf_s(_out_file, "F:/ShangGu/项目/吕宁项目/袋子拆线/袋子3D数据/ground_grid_calib_verify.txt");
		_outputScanDataFile(_out_file, scanLines, 0, 0, 0);
		printf("%s: calib done!\n", _calib_datafile);
	}

#endif

#if BAG_THREAD_POSITIONING
	for (int grp = 2; grp <= 2; grp++)
	{

		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			char _scan_file[256];
			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 = 2600.0;
			for (int i = 0; i < 9; i++)
				poseCalibPara.invRMatrix[i] = poseCalibPara.planeCalib[i];
			if (grp == 2)
			{
				sprintf_s(_scan_file, "%sground_calib_para.txt", dataPath[grp]);
				poseCalibPara = _readCalibPara(_scan_file);
			}

			sprintf_s(_scan_file, "%s袋子_grid_%d.txt", dataPath[grp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);

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

			SSG_cornerParam cornerParam;
			cornerParam.cornerTh = 90;  
			cornerParam.scale = 4; //袋子缝的尺度1.5mm比较合适
			cornerParam.minEndingGap = 1.0; // 
			cornerParam.minEndingGap_z = 3.5;
			cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
			cornerParam.jumpCornerTh_2 = 60;

			SSG_raisedFeatureParam raisedFeatureParam;
			raisedFeatureParam.minJumpZ = 1.5;
			raisedFeatureParam.minK = 2.0;  //对应63度
			raisedFeatureParam.widthRange.min = 1.0;
			raisedFeatureParam.widthRange.max = 4.0;

			SSG_outlierFilterParam filterParam;
			filterParam.continuityTh = 3.0; //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 = 3;

			SSG_treeGrowParam growParam;
			growParam.maxLineSkipNum = -1;  //对于轮廓仪，线间隔很小，使用扫描线数的物理意义不清晰，使用maxSkipDistance
			growParam.maxSkipDistance = 5.0;
			growParam.yDeviation_max = 1.0;
			growParam.zDeviation_max = 1.0;// 
			growParam.minLTypeTreeLen = 10; //mm,
			growParam.minVTypeTreeLen = 10; //mm

			SSX_ScanInfo scanInfo;
			if (grp == 1)
			{
				scanInfo.isHorizonScan = false;  //true:激光线平行线缝；false:激光线垂直线缝
				scanInfo.scanFromThreadHead = true; //true:线袋子线缝头部开始扫描。
				scanInfo.stitchWidth = 1.0; //mm，线头扫描后的最小宽度
				scanInfo.operateDist = 3.0; //mm，下刀位置距离线头位置
				scanInfo.mark_diameter = 6.0; //mark外径
				scanInfo.mark_height = 3.5;//mark高
				scanInfo.mark_distance = 53.0; //两个Mark的距离 
			}
			else if(grp == 2 )
			{
				scanInfo.isHorizonScan = false;  //true:激光线平行线缝；false:激光线垂直线缝
				scanInfo.scanFromThreadHead = true; //true:线袋子线缝头部开始扫描。
				scanInfo.stitchWidth = 1.0; //mm，线头扫描后的最小宽度
				scanInfo.operateDist = 3.0; //mm，下刀位置距离线头位置
				scanInfo.mark_diameter = 18.0; //mark外径
				scanInfo.mark_height = 18.0;//mark高
				scanInfo.mark_distance = 39.0; //两个Mark的距离 
			}
			else
			{
				scanInfo.isHorizonScan = false;  //true:激光线平行线缝；false:激光线垂直线缝
				scanInfo.scanFromThreadHead = true; //true:线袋子线缝头部开始扫描。
				scanInfo.stitchWidth = 1.0; //mm，线头扫描后的最小宽度
				scanInfo.operateDist = 3.0; //mm，下刀位置距离线头位置
				scanInfo.mark_diameter = 18.0; //mark外径
				scanInfo.mark_height = 16.5;//mark高
				scanInfo.mark_distance = 39.0; //两个Mark的距离 
			}

			int errCode = 0;
			std::vector<SSX_bagThreadInfo> bagThreadInfo;
			std::vector<SSX_bagThreadInfo> bagThreadInfo_relative; //相对于Mark的坐标
			std::vector<SVzNL3DPoint> output_markCenter;
			wd_bagThreadPositioning(
				scanLines,
				scanInfo,  //true:激光线平行线缝；false:激光线垂直线缝
				poseCalibPara,
				filterParam, //噪点过滤参数
				cornerParam, //V型特征参数
				raisedFeatureParam,//线尾凸起参数
				growParam, //特征生长参数
				bagThreadInfo,
				bagThreadInfo_relative,
				output_markCenter,
				&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, bagThreadInfo, output_markCenter);
			sprintf_s(_scan_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
			_outputChanneltInfo(_scan_file, bagThreadInfo);
		}
	}
#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