algoLib/BQ_assemblyPosition_test/BQ_assemblyPosition_test.cpp

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

#include <iostream>
#include <fstream>
#include <vector>
#include <stdio.h>
#include <VZNL_Types.h>
#include "direct.h"
#include <string>
#include "BQ_assemblyPosition_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_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;
			//迁移相机的XY次序和伟景相机正好相反
			sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &Y, &X, &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 wdSavePlyTxt(const char* fileName, std::vector<std::vector< SVzNL3DPosition>> scanLines)
{
	std::ofstream sw(fileName);
	int lineNum = scanLines.size();
	for (int line = 0; line < lineNum; line++)
	{
		int nPositionCnt = scanLines[line].size();
		for (int i = 0; i < nPositionCnt; i++)
		{
			SVzNL3DPoint* pt3D = &scanLines[line][i].pt3D;
			if (pt3D->z < 1e-4)
				continue;
			double x = (double)pt3D->x;
			double y = (double)pt3D->y;
			double z = (double)pt3D->z;
			sw << x << "," << y << "," << z << std::endl;
		}
	}
	sw.close();
}

void _convertToGridData_XYZ_vector(std::vector<std::vector< SVzNL3DPosition>>& scanData, double _F, std::vector<std::vector< SVzNL3DPosition>>& scanData_grid)
{
	int min_y = 100000000;
	int max_y = -10000000;
	int lineNum = scanData.size();
	for (int line = 0; line < lineNum; line++)
	{
		std::vector< SVzNL3DPosition>& a_line = scanData[line];
		int nPointCnt = a_line.size();
		for (int i = 0; i < nPointCnt; i++)
		{
			SVzNL3DPosition* a_pt = &scanData[line][i];
			if (a_pt->pt3D.z > 1e-4)
			{
				double v = _F * a_pt->pt3D.y / a_pt->pt3D.z + 2000;
				a_pt->nPointIdx = (int)(v + 0.5);
				max_y = max_y < (int)a_pt->nPointIdx ? (int)a_pt->nPointIdx : max_y;
				min_y = min_y > (int)a_pt->nPointIdx ? (int)a_pt->nPointIdx : min_y;
			}
		}
	}
	if (min_y == 100000000)
		return;

	int pt_counter = max_y - min_y + 1;
	for (int line = 0; line < lineNum; line++)
	{
		std::vector< SVzNL3DPosition> gridData;
		gridData.resize(pt_counter);
		for (int i = 0; i < pt_counter; i++)
			gridData[i] = { 0,{ 0.0, 0.0, 0.0} };

		std::vector< SVzNL3DPosition>& a_line = scanData[line];
		int nPointCnt = a_line.size();
		for (int i = 0; i < nPointCnt; i++)
		{
			SVzNL3DPosition a_pt = a_line[i];
			if (a_pt.pt3D.z > 1e-4)
			{
				int pt_id = a_pt.nPointIdx - min_y;
				gridData[pt_id] = a_pt;
			}
		}
		scanData_grid.push_back(gridData);
	}
	return;
}

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

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

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

void _getRoiData_XYZ_vector(
	std::vector<std::vector< SVzNL3DPosition>>& scanData,
	std::vector<std::vector< SVzNL3DPosition>>& roiData,
	SVzNL3DRangeD roi)
{
	int lineNum = scanData.size();
	for (int line = 0; line < lineNum; line++)
	{
		int nPositionCnt = scanData[line].size();
		std::vector< SVzNL3DPosition> linePts;
		for (int i = 0; i < nPositionCnt; i++)
		{
			SVzNL3DPosition pt3D = scanData[line][i];
			if ((pt3D.pt3D.z >= roi.zRange.min) &&
				(pt3D.pt3D.z <= roi.zRange.max) &&
				(pt3D.pt3D.y >= roi.yRange.min) &&
				(pt3D.pt3D.y <= roi.yRange.max))
			{
				linePts.push_back(pt3D);
			}
		}
		roiData.push_back(linePts);
	}
}

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

	sw.close();
}

void _outputPoseInfo(char* fileName, SSX_BQAssemblyInfo assemblyPose)
{
	std::ofstream sw(fileName);
	char dataStr[250];
	sprintf_s(dataStr, 250, "  O: (%g, %g, %g)", assemblyPose.O.x, assemblyPose.O.y, assemblyPose.O.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "  X: (%g, %g, %g)", assemblyPose.X.x, assemblyPose.X.y, assemblyPose.X.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "  Y: (%g, %g, %g)", assemblyPose.Y.x, assemblyPose.Y.y, assemblyPose.Y.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "  Z: (%g, %g, %g)", assemblyPose.Z.x, assemblyPose.Z.y, assemblyPose.Z.z);
	sw << dataStr << std::endl;
	sw.close();
}

SSX_BQAssemblyInfo _readPoseInfo(char* fileName)
{
	std::ifstream inputFile(fileName);
	std::string linedata;

	SSX_BQAssemblyInfo pose;
	memset(&pose, 0, sizeof(SSX_BQAssemblyInfo));
	if (inputFile.is_open() == false)
		return pose;

	getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "  O: (%lf, %lf, %lf)", &pose.O.x, &pose.O.y, &pose.O.z);
	getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "  X: (%lf, %lf, %lf)", &pose.X.x, &pose.X.y, &pose.X.z);
	getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "  Y: (%lf, %lf, %lf)", &pose.Y.x, &pose.Y.y, &pose.Y.z);
	getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "  Z: (%lf, %lf, %lf)", &pose.Z.x, &pose.Z.y, &pose.Z.z);

	inputFile.close();
	return pose;
}

// 检测并跳过UTF-8 BOM头的工具函数
void skipUTF8BOM(std::ifstream& file) {
	// 存储BOM的3个字节（初始化为0）
	char bom[3] = { 0 };
	// 读取文件前3个字节
	file.read(bom, 3);

	// 检测是否是UTF-8 BOM（0xEF 0xBB 0xBF）
	bool isBOM = (bom[0] == (char)0xEF) &&
		(bom[1] == (char)0xBB) &&
		(bom[2] == (char)0xBF);

	// 不是BOM则将文件指针重置到开头，保证正常读取
	if (!isBOM) {
		file.seekg(0); // 重置文件指针到起始位置
	}
	// 是BOM则文件指针已在第4字节，无需处理
}
void _readMarkData(char* fileName, std::vector<SWD_charuco3DMark>& marks)
{
	std::ifstream inputFile(fileName, std::ios::in | std::ios::binary);
	skipUTF8BOM(inputFile);
	std::string linedata;
	while (getline(inputFile, linedata))
	{
		SWD_charuco3DMark a_mark;
		float x, y, z;
		sscanf_s(linedata.c_str(), "MarkID_%d: %f, %f, %f", &a_mark.markID, &x, &y, &z);
		a_mark.mark3D = { x, y, z };
		marks.push_back(a_mark);
	}
	inputFile.close();
	return;
}

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

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

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

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

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

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

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

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

	inputFile.close();
	return planePara;
}

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

	int maxLineIndex = 0;
	int max_stamp = 0;

	SG_color rgb = { 0, 0, 0 };

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

		sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
		lineIdx++;
		for (int i = 0; i < linePtNum; i++)
		{
			SVzNL3DPosition* pt3D = &scanLines[line][i];
			if (pt3D->nPointIdx > 0)
				int kkk = 1;
			int featureType_v = pt3D->nPointIdx & 0xff;
			int featureType_h = featureType_v >> 4;
			featureType_v &= 0x0f;

			if (pt3D->nPointIdx == 1)
			{
				rgb = { 255, 97, 0 };
				size = 5;
			}
			else
			{
				rgb = { 200, 200, 200 };
				size = 1;
			}
			float x = (float)pt3D->pt3D.x;
			float y = (float)pt3D->pt3D.y;
			float z = (float)pt3D->pt3D.z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
		}
	}

	int linePtNum = 1;
	sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;
	lineNum++;

	rgb = { 255, 0, 0 };
	size = 15;
	float x = (float)assemblyPose.O.x;
	float y = (float)assemblyPose.O.y;
	float z = (float)assemblyPose.O.z;
	sw << "{" << x << "," << y << "," << z << "}-";
	sw << "{0,0}-{0,0}-";
	sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
	sw.close();
}

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


void _wirteVerifyResult(char* fileName, 
	std::vector<std::vector< SVzNL3DPoint>>& originMarksBuff,
	std::vector<std::vector< SVzNL3DPoint>>& currMarksBuff,
	std::vector< SSX_BQAssemblyInfo>& oiginPoseBuff,
	std::vector< SSX_BQAssemblyInfo>& computePoseBuff,
	std::vector< SSX_BQAssemblyInfo>& verifyPoseBuff)
{
	std::ofstream sw(fileName);
	char dataStr[250];

	for (int i = 0; i < (int)originMarksBuff.size(); i++)
	{
		int markSize = (int)originMarksBuff[i].size();
		sprintf_s(dataStr, 250, "origin: ");
		for (int j = 0; j < markSize; j++)
		{
			sprintf_s(dataStr, 250, "{ %g, %g, %g },", originMarksBuff[i][j].x, originMarksBuff[i][j].y, originMarksBuff[i][j].z);
			sw << dataStr;
		}
		sprintf_s(dataStr, 250, " operate: ");
		for (int j = 0; j < markSize; j++)
		{
			sprintf_s(dataStr, 250, "{ %g, %g, %g },", currMarksBuff[i][j].x, currMarksBuff[i][j].y, currMarksBuff[i][j].z);
			sw << dataStr;
		}
		sprintf_s(dataStr, 250, " oriPose: { %g, %g, %g },", oiginPoseBuff[i].O.x, oiginPoseBuff[i].O.y, oiginPoseBuff[i].O.z);
		sw << dataStr;
		sprintf_s(dataStr, 250, " verifyPose: { %g, %g, %g },", verifyPoseBuff[i].O.x, verifyPoseBuff[i].O.y, verifyPoseBuff[i].O.z);
		sw << dataStr;
		sprintf_s(dataStr, 250, " computePose: { %g, %g, %g },", computePoseBuff[i].O.x, computePoseBuff[i].O.y, computePoseBuff[i].O.z);
		sw << dataStr << std::endl;
	}
	sw.close();
	return;
}

#define CONVERT_TO_GRID				0
#define TEST_COMPUTE_CALIB_PARA		0
#define TEST_COMPUTE_CORNER			0
#define TEST_COMPUTE_POSE			1
#define TEST_GROUP 3
int main()
{
	const char* dataPath[TEST_GROUP] = {

		"F:/ShangGu/项目/冠钦_博清科技/组装/3D与Mark/21epic/", //0
		"F:/ShangGu/项目/冠钦_博清科技/组装/3D与Mark/20vizum/",
		"F:/ShangGu/项目/冠钦_博清科技/组装/3D与Mark/现场_张奔_20260106/",
	};

	SVzNLRange fileIdx[TEST_GROUP] = {
		{2,33},{2,33}, {1,14}
	};

#ifdef TEST_COMPUTE_POSE
	double R_3D_mark[9] = {
	9.7432217968400503e-01, - 6.5983238824482409e-03,
	- 2.2506166332308031e-01, 6.5293199817128209e-03,
	9.9997813155105764e-01, - 1.0509044828439812e-03,
	2.2506367578173436e-01, - 4.4558006908867375e-04,
	9.7434395533713669e-01
	};
	double T_3D_mark[3] = {
	2.0100138599065690e+02, - 3.4778670146875356e+02,
	- 2.8208030634996298e+01
	};
	double R_mark_3D[9] = {
	9.7432217968400503e-01, 6.5293199817128209e-03, 2.2506367578173436e-01,
	- 6.5983238824482409e-03, 9.9997813155105764e-01,
	- 4.4558006908867375e-04, - 2.2506166332308031e-01,
	- 1.0509044828439812e-03, 9.7434395533713669e-01
	};
	double T_mark_3D[3] = {
	-1.8722069479737289e+02, 3.4909279922237783e+02,
	7.2356539798828123e+01
	};

	double R_ip21_ip20[9] = {
	-9.0136463861749749e-01, 1.0494706583686632e-03,
	- 4.3305968048444010e-01, 3.8989008937143142e-03,
	- 9.9993686885077060e-01, - 1.0538353037260263e-02,
	- 4.3304340062142632e-01, - 1.1187355552326124e-02,
	9.0130364264989893e-01
	};
	double T_ip21_ip20[3] = {
	7.4953277493063717e+02, 2.8014434657528108e+02, 1.7494775044638942e+02
	};
	double R_ip20_ip21[9] = {
	-9.0136463861749749e-01, 3.8989008937143142e-03,
	- 4.3304340062142632e-01, 1.0494706583686632e-03,
	- 9.9993686885077060e-01, - 1.1187355552326124e-02,
	- 4.3305968048444010e-01, - 1.0538353037260263e-02,
	9.0130364264989893e-01
	};
	double T_ip20_ip21[3] = {
	7.5027005254846563e+02, 2.8129725077327970e+02, 1.6986363929894415e+02
	};

	double R_3D_mark_20[9] = {
	-9.7565715189866242e-01, 1.0207261472102205e-02,
	- 2.1906376642939016e-01, - 8.0279186459975786e-03,
	- 9.9990905961091314e-01, - 1.0836283045053035e-02,
	- 2.1915445345966281e-01, - 8.8138709577232511e-03,
	9.7565036832235041e-01
	};
	double T_3D_mark_20[3] = {
			5.7984427943242531e+02, 6.3069724580763238e+02, 6.1343276694911815e+01
	};
	double R_mark_3D_20[9] = {
	-9.7565715189866242e-01, - 8.0279186459975786e-03,
	- 2.1915445345966281e-01, 1.0207261472102205e-02,
	- 9.9990905961091314e-01, - 8.8138709577232511e-03,
	- 2.1906376642939016e-01, - 1.0836283045053035e-02,
	9.7565036832235041e-01
	};
	double T_mark_3D_20[3] = {
		5.8423605667286893e+02, 6.2526193950634604e+02, 7.4007695164819168e+01
	};

	for (int grp = 2; grp <= 2; grp++)
	{
		char _scan_file[256];
		std::vector<std::vector< SVzNL3DPoint>> originMarksBuff;
		std::vector<std::vector< SVzNL3DPoint>> currMarksBuff;
		std::vector< SSX_BQAssemblyInfo> oiginPoseBuff;
		std::vector< SSX_BQAssemblyInfo> computePoseBuff;
		std::vector< SSX_BQAssemblyInfo> verifyPoseBuff;
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =4;
			char _scan_file[256];
			sprintf_s(_scan_file, "%sepic-cloud/result/LaserLine%d_corner_info.txt", dataPath[grp], fidx);
			SSX_BQAssemblyInfo pose_3D = _readPoseInfo(_scan_file);
			SSX_BQAssemblyInfo pose_3D_ip21;
			pose_3D_ip21.O = _pointRT(pose_3D.O, R_3D_mark, T_3D_mark);
			SSX_BQAssemblyInfo originPose_ip21_ip20_check;
			originPose_ip21_ip20_check.O = _pointRT(pose_3D_ip21.O, R_ip21_ip20, T_ip21_ip20);
			SSX_BQAssemblyInfo pose_3D_ip20;
			pose_3D_ip20.O = _pointRT(pose_3D.O, R_3D_mark_20, T_3D_mark_20);

			sprintf_s(_scan_file, "%smark21/marks_%d.txt", dataPath[grp], fidx);
			std::vector<SWD_charuco3DMark> marks_origin;
			_readMarkData(_scan_file, marks_origin);

			sprintf_s(_scan_file, "%smark20/marks_%d.txt", dataPath[grp], fidx);
			std::vector<SWD_charuco3DMark> marks_curr;
			_readMarkData(_scan_file, marks_curr);

			//配对
			std::vector<SVzNL3DPoint> originMarkPos;
			std::vector<SVzNL3DPoint> currMarkPos;
			for (int i = 0; i < (int)marks_origin.size(); i++)
			{
				for (int j = 0; j < (int)marks_curr.size(); j++)
				{
					if (marks_origin[i].markID == marks_curr[j].markID)
					{
						SVzNL3DPoint pt_1 = { marks_origin[i].mark3D.x, marks_origin[i].mark3D.y, marks_origin[i].mark3D.z };
						SVzNL3DPoint pt_2 = { marks_curr[j].mark3D.x, marks_curr[j].mark3D.y, marks_curr[j].mark3D.z };
						originMarkPos.push_back(pt_1);
						currMarkPos.push_back(pt_2);
					}
				}
			}

			SSX_BQAssemblyInfo testPose_origin, testPose_verify;

			if (originMarkPos.size() >= 4) //同时使用最后一个作验证
			{
				testPose_origin.O = originMarkPos.back();
				testPose_verify.O = currMarkPos.back();
				originMarkPos.pop_back();
				currMarkPos.pop_back();

				originMarksBuff.push_back(originMarkPos);
				currMarksBuff.push_back(currMarkPos);

				int errCode = 0;
				SSX_BQAssemblyInfo currPose = sx_BQ_computeAssemblyInfoFromMark(
					pose_3D_ip21, originMarkPos, currMarkPos, &errCode);

				SSX_BQAssemblyInfo compute_testPose = sx_BQ_computeAssemblyInfoFromMark(
					testPose_origin, originMarkPos, currMarkPos, &errCode);
#if 0
				SSX_BQAssemblyInfo checkPose;
				checkPose.O = _pointRT(originPose_raw.O, R_3D_mark_20, T_3D_mark_20);
				SSX_BQAssemblyInfo checkPose_check;
				checkPose_check.O = _pointRT(checkPose.O, R_mark_3D_20, T_mark_3D_20);
#endif
				if (errCode != 0)
					continue;

				//输出
				oiginPoseBuff.push_back(testPose_origin);
				computePoseBuff.push_back(compute_testPose);
				verifyPoseBuff.push_back(testPose_verify);
			}

		}
		sprintf_s(_scan_file, "%sresult/group_verify_data.txt", dataPath[grp]);
		_wirteVerifyResult(_scan_file,
			originMarksBuff,
			currMarksBuff,
			oiginPoseBuff,
			computePoseBuff,
			verifyPoseBuff);
	}

#endif
#if TEST_COMPUTE_CALIB_PARA
	char _calib_datafile[256];
	sprintf_s(_calib_datafile, "F:/ShangGu/项目/冠钦_博清科技/组装/3D与Mark/21epic/调平/scan3D_0.txt");
	int lineNum = 0;
	float lineV = 0.0f;
	int dataCalib = 0;
	int maxTimeStamp = 0;
	int clockPerSecond = 0;
	std::vector<std::vector< SVzNL3DPosition>> scanData;
	vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);


	SVzNL3DRangeD roi;
	roi.xRange.min = -DBL_MAX;
	roi.xRange.max = DBL_MAX;
	roi.yRange.min = -DBL_MAX;
	roi.yRange.max = 580.0;
	roi.zRange.min = 2380.0;
	roi.zRange.max = 2460.0;

	std::vector<std::vector< SVzNL3DPosition>> roiData;
	_getRoiData_XYZ_vector(scanData, roiData, roi);

	lineNum = (int)scanData.size();
	if (scanData.size() > 0)
	{
		SSG_planeCalibPara calibPara = sx_BQ_getHoleBaseCalibPara(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_BQ_lineDataR(scanData[i], calibPara.planeCalib, -1); // calibPara.planeHeight);
		}
		//
		char calibFile[250];
		sprintf_s(calibFile, "F:/ShangGu/项目/冠钦_博清科技/组装/3D与Mark/21epic/ground_calib_para.txt");
		_outputCalibPara(calibFile, calibPara);
		char _out_file[256];
		sprintf_s(_out_file, "F:/ShangGu/项目/冠钦_博清科技/组装/3D与Mark/21epic/调平/scanData_ground_calib.txt");
		int headNullLines = 0;
		_outputScanDataFile_vector(_out_file, scanData, false, &headNullLines);
		printf("%s: calib done!\n", _calib_datafile);
	}
#endif

#if TEST_COMPUTE_CORNER
	const char* ver = wd_BQAssemblyPositionVersion();
	printf("ver:%s\n", ver);

	for (int grp = 0; grp <= 0; 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 =4;
			char _scan_file[256];
			sprintf_s(_scan_file, "%sscan3D_%d.txt", dataPath[grp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
			if (scanLines.size() == 0)
				continue;

			//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


#if 0
			char _out_file[256];
			sprintf_s(_out_file, "%sscanData_%d_calib.txt", dataPath[grp], fidx);
			int headNullLines = 0;
			_outputScanDataFile_vector(_out_file, scanLines, false, &headNullLines);
#endif

			SSG_cornerParam cornerParam;
			cornerParam.cornerTh = 30;  //45度角
			cornerParam.scale = 5; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
			cornerParam.minEndingGap = 20; // algoParam.bagParam.bagW / 4;
			cornerParam.minEndingGap_z = 20;
			cornerParam.jumpCornerTh_1 = 10; //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 = 10.0;
			growParam.maxSkipDistance = 10.0;
			growParam.zDeviation_max = 10.0;// algoParam.bagParam.bagH / 2; //袋子高度1/2
			growParam.minLTypeTreeLen = 100; //mm
			growParam.minVTypeTreeLen = 100; //mm
			SSX_BQAssemblyPara workpieceParam;
			workpieceParam.type = 0;
			workpieceParam.lineLen = 160.0; //直线段长度
			int errCode = 0;
			SSX_BQAssemblyInfo assemblyPose = sx_BQ_computeAssemblyInfoFrom3D(
				scanLines,
				cornerParam,
				filterParam,
				growParam,
				poseCalibPara,
				workpieceParam,
				&errCode);
			long t2 = (long)GetTickCount64();
			printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
			//输出测试结果
			//sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
			//_outputRGBDScanLapWeld_RGBD(_scan_file, scanLines, assemblyPose);
			sprintf_s(calibFile, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
			_outputPoseInfo(calibFile, assemblyPose);
		}
	}
#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