// motorStatorPosition_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 "motorStatorPosition_Export.h"
#include <opencv2/opencv.hpp>
#include <Windows.h>

SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, double matrix3d[9])
{
	SVzNL3DPoint _r_pt;
	_r_pt.x = pt3D.x * matrix3d[0] + pt3D.y * matrix3d[1] + pt3D.z * matrix3d[2];
	_r_pt.y = pt3D.x * matrix3d[3] + pt3D.y * matrix3d[4] + pt3D.z * matrix3d[5];
	_r_pt.z = pt3D.x * matrix3d[6] + pt3D.y * matrix3d[7] + pt3D.z * matrix3d[8];
	return _r_pt;

}

#define DATA_VER_OLD			0
#define DATA_VER_NEW			1
#define DATA_VER_FROM_CUSTOM	2
#define VZ_LASER_LINE_PT_MAX_NUM 4096
SVzNLXYZRGBDLaserLine* vzReadLaserScanPointFromFile_XYZRGB(const char* fileName, int* scanLineNum, float* scanV,
	int* dataCalib, int* scanMaxStamp, int* canClockUnit)
{
	std::ifstream inputFile(fileName);
	std::string linedata;

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

	SVzNLXYZRGBDLaserLine* _scanLines = NULL;

	int lines = 0;
	int dataElements = 4;
	int firstIndex = -1;

	int dataFileVer = DATA_VER_OLD;
	std::getline(inputFile, linedata);  //第一行
	int lineNum = 0;
	if (0 == strncmp("LineNum:", linedata.c_str(), 8))
	{
		dataFileVer = DATA_VER_NEW;
		sscanf_s(linedata.c_str(), "LineNum:%d", &lines);
		if (lines == 0)
			return NULL;
		lineNum = lines;
		_scanLines = (SVzNLXYZRGBDLaserLine*)malloc(sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
		memset(_scanLines, 0, sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
		if (scanLineNum)
			*scanLineNum = lines;
	}
	else if (0 == strncmp("LineNum_", linedata.c_str(), 8))
	{
		dataFileVer = DATA_VER_OLD;
		sscanf_s(linedata.c_str(), "LineNum_%d", &lines);
		if (lines == 0)
			return NULL;
		lineNum = lines;
		_scanLines = (SVzNLXYZRGBDLaserLine*)malloc(sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
		memset(_scanLines, 0, sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
		if (scanLineNum)
			*scanLineNum = lines;
	}
	if (_scanLines == NULL)
		return NULL;

	int ptNum = 0;
	int lineIdx = -1;
	int ptIdx = 0;
	SVzNLPointXYZRGBA* p3DPoint = NULL;
	if (dataFileVer == DATA_VER_NEW)
	{
		while (getline(inputFile, linedata))
		{
			if (0 == strncmp("ScanSpeed:", linedata.c_str(), 10))
			{
				double lineV = 0;
				sscanf_s(linedata.c_str(), "ScanSpeed:%lf", &lineV);
				if (scanV)
					*scanV = (float)lineV;
			}
			else if (0 == strncmp("PointAdjust:", linedata.c_str(), 12))
			{
				int ptAdjusted = 0;
				sscanf_s(linedata.c_str(), "PointAdjust:%d", &ptAdjusted);
				if (dataCalib)
					*dataCalib = ptAdjusted;
			}
			else if (0 == strncmp("MaxTimeStamp:", linedata.c_str(), 13))
			{
				unsigned int maxTimeStamp = 0;
				unsigned int timePerStamp = 0;
				sscanf_s(linedata.c_str(), "MaxTimeStamp:%u_%u", &maxTimeStamp, &timePerStamp);
				if (scanMaxStamp)
					*scanMaxStamp = maxTimeStamp;
				if (canClockUnit)
					*canClockUnit = timePerStamp;
			}
			else if (0 == strncmp("Line_", linedata.c_str(), 5))
			{
				int lineIndex;
				unsigned int timeStamp;
				sscanf_s(linedata.c_str(), "Line_%d_%u_%d", &lineIndex, &timeStamp, &ptNum);
				if (firstIndex < 0)
					firstIndex = lineIndex;

				lineIndex = lineIndex - firstIndex;
				if ((lineIndex < 0) || (lineIndex >= lines))
					break;

				//new Line
				lineIdx++;
				if (ptNum > 0)
				{
					p3DPoint = (SVzNLPointXYZRGBA*)malloc(sizeof(SVzNLPointXYZRGBA) * ptNum);
					memset(p3DPoint, 0, sizeof(SVzNLPointXYZRGBA) * ptNum);
				}
				else
					p3DPoint = NULL;
				_scanLines[lineIdx].nPointCnt = 0;
				_scanLines[lineIdx].nTimeStamp = timeStamp;
				_scanLines[lineIdx].p3DPoint = p3DPoint;

			}
			else if (0 == strncmp("{", linedata.c_str(), 1))
			{
				float X, Y, Z;
				int imageY = 0;
				float leftX, leftY;
				float rightX, rightY;
				int r = -1, g = -1, b = -1;
				sscanf_s(linedata.c_str(), "{%f,%f,%f,%f,%f,%f }-{%f,%f}-{%f,%f}", &X, &Y, &Z, &r, &g, &b, &leftX, &leftY, &rightX, &rightY);
				int id = _scanLines[lineIdx].nPointCnt;
				if (id < ptNum)
				{
					p3DPoint[id].x = X;
					p3DPoint[id].y = Y;
					p3DPoint[id].z = Z;
					p3DPoint[id].nRGB = 0;
					_scanLines[lineIdx].nPointCnt = id + 1;
				}
			}
		}

	}
	else if (dataFileVer == DATA_VER_OLD)
	{
		while (getline(inputFile, linedata))
		{
			if (0 == strncmp("DataElements_", linedata.c_str(), 13))
			{
				sscanf_s(linedata.c_str(), "DataElements_%d", &dataElements);
				if ((dataElements != 3) && (dataElements != 4))
					break;
			}
			if (0 == strncmp("LineV_", linedata.c_str(), 6))
			{
				double lineV = 0;
				sscanf_s(linedata.c_str(), "LineV_%lf", &lineV);
			}
			else if (0 == strncmp("Line_", linedata.c_str(), 5))
			{
				int lineIndex;
				unsigned int timeStamp;
				sscanf_s(linedata.c_str(), "Line_%d_%u", &lineIndex, &timeStamp);
#if 0
				if (scanLineListTail == NULL)
					firstIndex = lineIndex;
#endif
				lineIndex = lineIndex - firstIndex;
				if ((lineIndex < 0) || (lineIndex >= lines))
					break;
				//new Line
				//new Line
				lineIdx++;
				p3DPoint = (SVzNLPointXYZRGBA*)malloc(sizeof(SVzNLPointXYZRGBA) * VZ_LASER_LINE_PT_MAX_NUM);
				memset(p3DPoint, 0, sizeof(SVzNLPointXYZRGBA) * VZ_LASER_LINE_PT_MAX_NUM);
				_scanLines[lineIdx].nPointCnt = 0;
				_scanLines[lineIdx].nTimeStamp = timeStamp;
				_scanLines[lineIdx].p3DPoint = p3DPoint;
			}
			else if (0 == strncmp("(", linedata.c_str(), 1))
			{
				float X, Y, Z;
				int imageY = 0;
				if (dataElements == 4)
					sscanf_s(linedata.c_str(), "(%f,%f,%f,%d)", &X, &Y, &Z, &imageY);
				else
					sscanf_s(linedata.c_str(), "(%f,%f,%f)", &X, &Y, &Z);
				int id = _scanLines[lineIdx].nPointCnt;
				if (id < VZ_LASER_LINE_PT_MAX_NUM)
				{
					p3DPoint[id].x = X;
					p3DPoint[id].y = Y;
					p3DPoint[id].z = Z;
					p3DPoint[id].nRGB = 0;
					_scanLines[lineIdx].nPointCnt = id + 1;
				}
			}
		}
	}
	inputFile.close();
	return _scanLines;
}

SVzNL3DLaserLine* _convertToGridData_XYZRGB(SVzNLXYZRGBDLaserLine* laser3DPoints, int lineNum, double _F, double* camPoseR, int* outLineNum)
{
	int min_y = 100000000;
	int max_y = -10000000;
	int validStartLine = -1;
	int validEndLine = -1;
	for (int line = 0; line < lineNum; line++)
	{
		if (laser3DPoints[line].nPointCnt > 0)
		{
			if (validStartLine < 0)
			{
				validStartLine = line;
				validEndLine = line;
			}
			else
				validEndLine = line;
		}

		for (int i = 0; i < laser3DPoints[line].nPointCnt; i++)
		{
			SVzNLPointXYZRGBA* a_pt = &laser3DPoints[line].p3DPoint[i];
			if (a_pt->z > 1e-4)
			{
				double v = _F * a_pt->y / a_pt->z + 2000;
				a_pt->nRGB = (int)(v + 0.5);
				max_y = max_y < (int)a_pt->nRGB ? (int)a_pt->nRGB : max_y;
				min_y = min_y > (int)a_pt->nRGB ? (int)a_pt->nRGB : min_y;
			}
		}
	}
	if (min_y == 100000000)
		return NULL;

	int vldLineNum = validEndLine - validStartLine + 1;
	*outLineNum = vldLineNum;
	int pt_counter = max_y - min_y + 1;
	SVzNL3DLaserLine* gridData = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
	memset(gridData, 0, sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
	for (int line = validStartLine; line <= validEndLine; line++)
	{
		int gridLine = line - validStartLine;
		gridData[gridLine].nPositionCnt = pt_counter;
		gridData[gridLine].nTimeStamp = laser3DPoints[line].nTimeStamp;
		gridData[gridLine].p3DPosition = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * pt_counter);
		memset(gridData[gridLine].p3DPosition, 0, sizeof(SVzNL3DPosition) * pt_counter);
		for (int i = 0; i < laser3DPoints[line].nPointCnt; i++)
		{
			SVzNLPointXYZRGBA a_pt = laser3DPoints[line].p3DPoint[i];
			if (a_pt.z > 1e-4)
			{
				int pt_id = a_pt.nRGB - min_y;
				SVzNL3DPoint tmp_pt = { a_pt.x, a_pt.y, a_pt.z };
				SVzNL3DPoint r_pt = _ptRotate(tmp_pt, camPoseR);
				gridData[gridLine].p3DPosition[pt_id].pt3D.x = r_pt.x;
				gridData[gridLine].p3DPosition[pt_id].pt3D.y = r_pt.y;
				gridData[gridLine].p3DPosition[pt_id].pt3D.z = r_pt.z;
			}
		}
	}
	return gridData;
}

void _outputScanDataFile_self(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
	float lineV, int maxTimeStamp, int clockPerSecond)
{
	std::ofstream sw(fileName);
	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++)
	{
		sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << scanData[line].nPositionCnt << std::endl;
		for (int i = 0; i < scanData[line].nPositionCnt; i++)
		{
			SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[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 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;
			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;
}

typedef struct
{
	int r;
	int g;
	int b;
}SG_color;
void _outputScanDataFile_RGBD_obj(
	char* fileName, 
	std::vector<std::vector< SVzNL3DPosition>>& scanData,
	float lineV, int maxTimeStamp, int clockPerSecond, 
	std::vector<SWD_motorStatorPosition>& resultObjPositions)
{
	int lineNum = (int)scanData.size();
	std::ofstream sw(fileName);
	int realLines = lineNum;
	realLines++;
	sw << "LineNum:" << realLines << std::endl;
	sw << "DataType: 0" << std::endl;
	sw << "ScanSpeed:" << lineV << std::endl;
	sw << "PointAdjust: 1" << std::endl;
	sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << 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 nTimeStamp = 0;
	double alpha = 0.8;
	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];
			int type = pt3D.nPointIdx;
			if (1 == type)
			{
				rgb = { 0,255,0 };
				rgb.r = (int)((double)rgb.r * alpha);
				rgb.g = (int)((double)rgb.g * alpha);
				rgb.b = (int)((double)rgb.b * alpha);
				size = 2;
			}
			else if (2 == type)
			{
				rgb = { 0,0,255 };
				rgb.r = (int)((double)rgb.r * alpha);
				rgb.g = (int)((double)rgb.g * alpha);
				rgb.b = (int)((double)rgb.b * alpha);
				size = 2;
			}
			else if (3 == type) //轮眉
			{
				rgb = { 255, 0, 0 };
				size = 3;
			}
			else if (4 == type) //
			{
				rgb = { 255, 255, 0 };
				size = 3;
			}
			else if (5 == type) //
			{
				rgb = { 255, 255, 0 };
				size = 3;
			}
			else
			{
				rgb = { 100, 100, 100 };
				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 0
	//if (objOps.size() > 0)
	{
		int ptNum = 3;
		sw << "Line_" << lineNum << "_" << (nTimeStamp + 1000) << "_" << ptNum << std::endl;

		rgb = { 255, 0, 0 };

		size = 10;
		float x = (float)wheelArcHeight.wheelArchPos.x;
		float y = (float)wheelArcHeight.wheelArchPos.y;
		float z = (float)wheelArcHeight.wheelArchPos.z;
		sw << "{" << x << "," << y << "," << z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;

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

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

		x = (float)wheelArcHeight.wheelArchPos.x;
		y = (float)wheelArcHeight.wheelArchPos.y;
		z = (float)wheelArcHeight.wheelArchPos.z;
		sw << "{" << x << "," << y << "," << z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
	}
	//画出方向线
	rgb = { 255, 0, 0 };
	size = 3;
	int lineIdx = 0;
	sw << "Poly_" << lineIdx << "_2" << std::endl;
	sw << "{" << (float)wheelArcHeight.arcLine[0].x << "," << (float)wheelArcHeight.arcLine[0].y << "," << (float)wheelArcHeight.arcLine[0].z << "}-";
	sw << "{0,0}-{0,0}-";
	sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
	sw << "{" << (float)wheelArcHeight.arcLine[1].x << "," << (float)wheelArcHeight.arcLine[1].y << "," << (float)wheelArcHeight.arcLine[1].z << "}-";
	sw << "{0,0}-{0,0}-";
	sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;

	lineIdx++;
	sw << "Poly_" << lineIdx << "_2" << std::endl;
	sw << "{" << (float)wheelArcHeight.upLine[0].x << "," << (float)wheelArcHeight.upLine[0].y << "," << (float)wheelArcHeight.upLine[0].z << "}-";
	sw << "{0,0}-{0,0}-";
	sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
	sw << "{" << (float)wheelArcHeight.upLine[1].x << "," << (float)wheelArcHeight.upLine[1].y << "," << (float)wheelArcHeight.upLine[1].z << "}-";
	sw << "{0,0}-{0,0}-";
	sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;

	lineIdx++;
	sw << "Poly_" << lineIdx << "_2" << std::endl;
	sw << "{" << (float)wheelArcHeight.downLine[0].x << "," << (float)wheelArcHeight.downLine[0].y << "," << (float)wheelArcHeight.downLine[0].z << "}-";
	sw << "{0,0}-{0,0}-";
	sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
	sw << "{" << (float)wheelArcHeight.downLine[1].x << "," << (float)wheelArcHeight.downLine[1].y << "," << (float)wheelArcHeight.downLine[1].z << "}-";
	sw << "{0,0}-{0,0}-";
	sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;

	lineIdx++;
	sw << "Poly_" << lineIdx << "_2" << std::endl;
	sw << "{" << (float)wheelArcHeight.centerLine[0].x << "," << (float)wheelArcHeight.centerLine[0].y << "," << (float)wheelArcHeight.centerLine[0].z << "}-";
	sw << "{0,0}-{0,0}-";
	sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
	sw << "{" << (float)wheelArcHeight.centerLine[1].x << "," << (float)wheelArcHeight.centerLine[1].y << "," << (float)wheelArcHeight.centerLine[1].z << "}-";
	sw << "{0,0}-{0,0}-";
	sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;

	lineIdx++;
	sw << "Poly_" << lineIdx << "_2" << std::endl;
	sw << "{" << (float)wheelArcHeight.arcLine[0].x << "," << (float)wheelArcHeight.arcLine[0].y << "," << (float)wheelArcHeight.arcLine[0].z << "}-";
	sw << "{0,0}-{0,0}-";
	sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
	sw << "{" << (float)wheelArcHeight.arcLine[1].x << "," << (float)wheelArcHeight.arcLine[1].y << "," << (float)wheelArcHeight.arcLine[1].z << "}-";
	sw << "{0,0}-{0,0}-";
	sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
#endif
	sw.close();
}

void _rotateCloudPts(SVzNL3DLaserLine* scanData, int lineNum, double matrix3d[9], std::vector<std::vector< SVzNL3DPosition>>& rotateLines, SVzNLRangeD* rx_range, SVzNLRangeD* ry_range)
{
	rx_range->min = 0;
	rx_range->max = -1;
	ry_range->min = 0;
	ry_range->max = -1;
	for (int line = 0; line < lineNum; line++)
	{
		std::vector< SVzNL3DPosition> linePts;
		for (int i = 0; i < scanData[line].nPositionCnt; i++)
		{
			SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
			if (pt3D->pt3D.z < 1e-4)
				continue;

			SVzNL3DPosition r_pt;
			r_pt.pt3D = _ptRotate(pt3D->pt3D, matrix3d);
			r_pt.nPointIdx = pt3D->nPointIdx;
			if (rx_range->max < rx_range->min)
			{
				rx_range->min = r_pt.pt3D.x;
				rx_range->max = r_pt.pt3D.x;
			}
			else
			{
				if (rx_range->min > r_pt.pt3D.x)
					rx_range->min = r_pt.pt3D.x;
				if (rx_range->max < r_pt.pt3D.x)
					rx_range->max = r_pt.pt3D.x;
			}
			if (ry_range->max < ry_range->min)
			{
				ry_range->min = r_pt.pt3D.y;
				ry_range->max = r_pt.pt3D.y;
			}
			else
			{
				if (ry_range->min > r_pt.pt3D.y)
					ry_range->min = r_pt.pt3D.y;
				if (ry_range->max < r_pt.pt3D.y)
					ry_range->max = r_pt.pt3D.y;
			}
			linePts.push_back(r_pt);

		}
		rotateLines.push_back(linePts);
	}
}

void _XOYprojection(cv::Mat& img, std::vector<std::vector< SVzNL3DPosition>>& dataLines,
	const double x_scale, const double y_scale, const SVzNLRangeD x_range, const SVzNLRangeD y_range)
{
	int x_skip = 16;
	int y_skip = 16;

	cv::Vec3b rgb = cv::Vec3b(0, 0, 0);
	cv::Vec3b 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;
	for (int line = 0; line < dataLines.size(); line++)
	{
		std::vector< SVzNL3DPosition>& a_line = dataLines[line];
		for (int i = 0; i < a_line.size(); i++)
		{
			SVzNL3DPosition* pt3D = &a_line[i];
			if (pt3D->pt3D.z < 1e-4)
				continue;

			int vType = pt3D->nPointIdx & 0xff;
			int hType = vType >> 4;
			int objId = (pt3D->nPointIdx >> 8) & 0xff;
			vType = vType & 0x0f;
			if (LINE_FEATURE_RIGHT_ANGLE_HR == vType)
			{
				rgb = { 255, 97, 0 };
				size = 3;
			}
			else if (LINE_FEATURE_RIGHT_ANGLE_HF == vType)
			{
				rgb = { 255, 255, 0 };
				size = 3;
			}
			else if (LINE_FEATURE_RIGHT_ANGLE_RH == vType)
			{
				rgb = { 255, 0, 255 };
				size = 3;
			}
			else if (LINE_FEATURE_RIGHT_ANGLE_FH == vType)
			{
				rgb = { 160, 82, 45 };
				size = 3;
			}
			else if (LINE_FEATURE_RIGHT_ANGLE_HR == hType)
			{
				rgb = { 0, 0, 255 };
				size = 3;
			}
			else if (LINE_FEATURE_RIGHT_ANGLE_HF == hType)
			{
				rgb = { 0, 255, 255 };
				size = 3;
			}
			else if (LINE_FEATURE_RIGHT_ANGLE_RH == hType)
			{
				rgb = { 0, 255, 0 };
				size = 3;
			}
			else if (LINE_FEATURE_RIGHT_ANGLE_FH == hType)
			{
				rgb = { 85, 107, 47 };
				size = 3;
			}
			else
			{
				rgb = { 200, 200, 200 };
				size = 1;
			}

			double x = pt3D->pt3D.x;
			double y = pt3D->pt3D.y;

			int px = (int)((x - x_range.min) / x_scale + x_skip);
			int py = (int)((y - y_range.min) / y_scale + y_skip);
			if (size == 1)
				img.at<cv::Vec3b>(py, px) = cv::Vec3b(rgb[2], rgb[1], rgb[0]);
			else
				cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
		}
	}
}

void EulerRpyToRotation1(double rpy[3], double matrix3d[9]) {
	double cos0 = cos(rpy[0] * PI / 180);
	double sin0 = sin(rpy[0] * PI / 180);
	double cos1 = cos(rpy[1] * PI / 180);
	double sin1 = sin(rpy[1] * PI / 180);
	double cos2 = cos(rpy[2] * PI / 180);
	double sin2 = sin(rpy[2] * PI / 180);
	matrix3d[0] = cos2 * cos1;
	matrix3d[1] = cos2 * sin1 * sin0 - sin2 * cos0;
	matrix3d[2] = cos2 * sin1 * cos0 + sin2 * sin0;
	matrix3d[3] = sin2 * cos1;
	matrix3d[4] = sin2 * sin1 * sin0 + cos2 * cos0;
	matrix3d[5] = sin2 * sin1 * cos0 - cos2 * sin0;
	matrix3d[6] = -sin1;
	matrix3d[7] = cos1 * sin0;
	matrix3d[8] = cos1 * cos0;
	return;
}

void _genXOYProjectionImage(cv::String& fileName, SVzNL3DLaserLine* scanData, int lineNum, double rpy[3])
{
	//统计X和Y的范围
	std::vector<std::vector< SVzNL3DPosition>> scan_lines;
	SVzNLRangeD x_range = { 0, -1 };
	SVzNLRangeD y_range = { 0, -1 };
	for (int line = 0; line < lineNum; line++)
	{
		std::vector< SVzNL3DPosition> a_line;
		for (int i = 0; i < scanData[line].nPositionCnt; i++)
		{
			SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
			if (pt3D->pt3D.z < 1e-4)
				continue;

			a_line.push_back(*pt3D);
			if (x_range.max < x_range.min)
			{
				x_range.min = pt3D->pt3D.x;
				x_range.max = pt3D->pt3D.x;
			}
			else
			{
				if (x_range.min > pt3D->pt3D.x)
					x_range.min = pt3D->pt3D.x;
				if (x_range.max < pt3D->pt3D.x)
					x_range.max = pt3D->pt3D.x;
			}
			if (y_range.max < y_range.min)
			{
				y_range.min = pt3D->pt3D.y;
				y_range.max = pt3D->pt3D.y;
			}
			else
			{
				if (y_range.min > pt3D->pt3D.y)
					y_range.min = pt3D->pt3D.y;
				if (y_range.max < pt3D->pt3D.y)
					y_range.max = pt3D->pt3D.y;
			}
		}
		scan_lines.push_back(a_line);
	}

	int imgRows = 992;
	int imgCols = 1056;
	double y_rows = 960.0;
	double x_cols = 1024.0;
	cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
	//计算投影比例
	double x_scale = (x_range.max - x_range.min) / x_cols;
	double y_scale = (y_range.max - y_range.min) / y_rows;
	_XOYprojection(img, scan_lines, x_scale, y_scale, x_range, y_range);

	//旋转视角显示
	double matrix3d[9];
	EulerRpyToRotation1(rpy, matrix3d);

	std::vector<std::vector< SVzNL3DPosition>> rotateLines;
	SVzNLRangeD rx_range, ry_range;
	_rotateCloudPts(scanData, lineNum, matrix3d, rotateLines, &rx_range, &ry_range);
	cv::Mat r_img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
	//计算投影比例
	double rx_scale = (rx_range.max - rx_range.min) / x_cols;
	double ry_scale = (ry_range.max - ry_range.min) / y_rows;
	_XOYprojection(r_img, rotateLines, rx_scale, ry_scale, rx_range, ry_range);

	cv::Mat dis_img;
	cv::hconcat(img, r_img, dis_img);
	cv::imwrite(fileName, dis_img);
	return;
}

#define CONVERT_TO_GRID				0
#define TEST_COMPUTE_CALIB_PARA		0
#define TEST_COMPUTE_GRASP_POS		1
#define TEST_GROUP 1
int main()
{
#if CONVERT_TO_GRID
	//将数据转换成栅格格式格式
	char _scan_dir[256];
	int lineNum = 0;
	float lineV = 0.0f;
	int dataCalib = 0;
	int maxTimeStamp = 0;
	int clockPerSecond = 0;
	sprintf_s(_scan_dir, "E:\\上古\\电机定子\\");
	char _scan_file[256];
	double _F = 1300;  //f
	for (int i = 1; i <= 1; i++)
	{
		sprintf_s(_scan_file, "%sLaserLine%d.txt", _scan_dir, i);
		SVzNLXYZRGBDLaserLine* laser3DPoints_RGBD = vzReadLaserScanPointFromFile_XYZRGB(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
		if (laser3DPoints_RGBD == NULL)
			continue;

		double camPoseR[9] = {
		1.0, 0.0, 0.0,
		0.0, 1.0, 0.0,
		0.0, 0.0, 1.0 };

		int vldLineNum = 0;
		SVzNL3DLaserLine* gridData = _convertToGridData_XYZRGB(laser3DPoints_RGBD, lineNum, _F, camPoseR, &vldLineNum);

		char _out_file[256];
		sprintf_s(_out_file, "%sLaserLine%d_grid.txt", _scan_dir, i);
		_outputScanDataFile_self(_out_file, gridData, vldLineNum,
			lineV, maxTimeStamp, clockPerSecond);
		printf("%s: convert done!\n", _scan_file);
	}
#endif

#if TEST_COMPUTE_GRASP_POS
	const char* dataPath[TEST_GROUP] = {
	"F:/ShangGu/电机定子/数据1/",  //0
	};

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


	int endGroup = TEST_GROUP - 1;
	for (int grp = 0; grp <= endGroup; 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 = 2600.0;
		for (int i = 0; i < 9; i++)
			poseCalibPara.invRMatrix[i] = poseCalibPara.planeCalib[i];
		char calibFile[250];
#if 0
		if (grp == 0)
		{
			sprintf_s(calibFile, "F:\\ShangGu\\粒径数据\\曝光\\3D数据\\ground_calib_para.txt");
			poseCalibPara = _readCalibPara(calibFile);
		}
#endif

		SWD_statorParam statorParam;
		statorParam.statorOuterD = 85.0;
		statorParam.statorInnerD = 50.0;

		SWD_statorPositonParam algoParam;
		memset(&algoParam, 0, sizeof(SWD_statorPositonParam));
		algoParam.cornerParam.cornerTh = 75;  //45度角
		algoParam.cornerParam.scale = 5; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
		algoParam.cornerParam.minEndingGap = 20; // algoParam.bagParam.bagW / 4;
		algoParam.cornerParam.minEndingGap_z = 20;
		algoParam.cornerParam.jumpCornerTh_1 = 20; //水平角度，小于此角度视为水平
		algoParam.cornerParam.jumpCornerTh_2 = 60;
		SSG_outlierFilterParam filterParam;
		algoParam.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
		algoParam.filterParam.outlierTh = 5;
		SSG_treeGrowParam growParam;
		algoParam.growParam.maxLineSkipNum = 10;
		algoParam.growParam.yDeviation_max = 10.0;
		algoParam.growParam.maxSkipDistance = 10.0;
		algoParam.growParam.zDeviation_max = 10.0;// algoParam.bagParam.bagH / 2; //袋子高度1/2
		algoParam.growParam.minLTypeTreeLen = 100; //mm
		algoParam.growParam.minVTypeTreeLen = 100; //mm

		SWD_nextOpParam refPos;
		memset(&refPos, 0, sizeof(SWD_nextOpParam));
		refPos.cuttingZ = -1; //初始值，设为-1
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx = 4;
			int lineNum = 0;
			float lineV = 0.0f;
			int dataCalib = 0;
			int maxTimeStamp = 0;
			int clockPerSecond = 0;

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

			long t1 = GetTickCount64();
			int errCode = 0;
			std::vector<SWD_motorStatorPosition> resultObjPositions;
			SWD_statorOuterGrasper resultGraspPos;
			wd_motorStatorPosition(
				scanLines,
				statorParam,
				poseCalibPara,
				algoParam,
				&refPos,  //上一次给出的参考位置，同时输出下一次的参考位置
				&errCode,
				resultObjPositions,
				resultGraspPos);
			long t2 = GetTickCount64();

			char _dbg_file[256];
#if 1
			sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
			_outputScanDataFile_RGBD_obj(_dbg_file,scanLines, 0,0,0,	resultObjPositions);
			sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result_img.png", dataPath[grp], fidx);
			cv::String imgName(_dbg_file);
			double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 };  //
			//_genXOYProjectionImage(imgName, laser3DPoints, lineNum, rpy);
#endif
			printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
		}
	}

#endif
	printf("all done!\n");
}