// 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 "workpieceHolePositioning_Export.h"
#include <opencv2/opencv.hpp>
#include <Windows.h>
#include <limits>
#include "SG_baseAlgo_Export.h"

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;
			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 _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 _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 _outputWorkpieceInfo(char* fileName, std::vector< WD_workpieceInfo>& workpiecePositioning)
{
	std::ofstream sw(fileName);
	char dataStr[250];

	int number = (int)workpiecePositioning.size();
	for (int i = 0; i < number; i++)
	{
		sprintf_s(dataStr, 250, "工件_%d", i + 1);
		sw << dataStr << std::endl;
		int holeNumber = (int)workpiecePositioning[i].holes.size();
		for (int j = 0; j < holeNumber; j++)
		{
			sprintf_s(dataStr, 250, "  孔%d: (%g, %g, %g)", (j+1), workpiecePositioning[i].holes[j].x, workpiecePositioning[i].holes[j].y, workpiecePositioning[i].holes[j].z);
			sw << dataStr << std::endl;
		}
		sprintf_s(dataStr, 50, "  center: (%g, %g, %g)", workpiecePositioning[i].center.x, workpiecePositioning[i].center.y, workpiecePositioning[i].center.z);
		sw << dataStr << std::endl;
		sprintf_s(dataStr, 50, "  x_dir: (%g, %g, %g)", workpiecePositioning[i].x_dir.x, workpiecePositioning[i].x_dir.y, workpiecePositioning[i].x_dir.z);
		sw << dataStr << std::endl;
		sprintf_s(dataStr, 50, "  y_dir: (%g, %g, %g)", workpiecePositioning[i].y_dir.x, workpiecePositioning[i].y_dir.y, workpiecePositioning[i].y_dir.z);
		sw << dataStr << std::endl;
		sprintf_s(dataStr, 50, "  z_dir: (%g, %g, %g)", workpiecePositioning[i].z_dir.x, workpiecePositioning[i].z_dir.y, workpiecePositioning[i].z_dir.z);
		sw << dataStr << std::endl;
	}
	sw.close();
}

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 _outputRGBDResult_RGBD(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	std::vector< WD_workpieceInfo>& workpiecePositioning)
{
	std::vector<SVzNL3DPosition> objects;
	int objNumber = (int)workpiecePositioning.size();
	for (int i = 0; i < objNumber; i++)
	{
		SVzNL3DPosition a_objPt;
		int holeNumber = (int)workpiecePositioning[i].holes.size();
		for (int j = 0; j < holeNumber; j++)
		{
			a_objPt.nPointIdx = i + 1;
			a_objPt.pt3D = workpiecePositioning[i].holes[j];
			objects.push_back(a_objPt);
		}
		a_objPt.pt3D = workpiecePositioning[i].center;
		objects.push_back(a_objPt);
	}

	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = (objNumber == 0) ? lineNum : (lineNum + 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 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 = (int)objects.size();
	sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;
	lineNum++;
	size = 10;
	for (int i = 0; i < linePtNum; i++)
	{
		int colorIdx = objects[i].nPointIdx % 8;
		rgb = objColor[colorIdx];
		float x = (float)objects[i].pt3D.x;
		float y = (float)objects[i].pt3D.y;
		float z = (float)objects[i].pt3D.z;
		sw << "{" << x << "," << y << "," << z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
	}
	//修正显示软件bug
	rgb = objColor[1];
	float x = (float)objects[0].pt3D.x;
	float y = (float)objects[0].pt3D.y;
	float z = (float)objects[0].pt3D.z;
	sw << "{" << x << "," << y << "," << z << "}-";
	sw << "{0,0}-{0,0}-";
	sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
	//输出方向线条
	rgb = { 255, 0, 0 };
	size = 2;
	for (int i = 0; i < objNumber; i++)
	{
		SVzNL3DPoint dirPt;
		dirPt = { workpiecePositioning[i].center.x + workpiecePositioning[i].y_dir.x * 10,
				workpiecePositioning[i].center.y + workpiecePositioning[i].y_dir.y * 10,
				workpiecePositioning[i].center.z + workpiecePositioning[i].y_dir.z * 10 };
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << workpiecePositioning[i].center.x << "," << workpiecePositioning[i].center.y << "," << workpiecePositioning[i].center.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

		dirPt = { workpiecePositioning[i].center.x + workpiecePositioning[i].z_dir.x * 10,
		workpiecePositioning[i].center.y + workpiecePositioning[i].z_dir.y * 10,
		workpiecePositioning[i].center.z + workpiecePositioning[i].z_dir.z * 10 };
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << workpiecePositioning[i].center.x << "," << workpiecePositioning[i].center.y << "," << workpiecePositioning[i].center.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

		for (int j = 0; j < (int)workpiecePositioning[i].holes.size(); j++)
		{
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << workpiecePositioning[i].holes[j].x << "," << workpiecePositioning[i].holes[j].y << "," << workpiecePositioning[i].holes[j].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << workpiecePositioning[i].holesDir[j].x << "," << workpiecePositioning[i].holesDir[j].y << "," << workpiecePositioning[i].holesDir[j].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;
		}
	}
	SVzNL3DPoint dirPt = { workpiecePositioning[0].center.x + workpiecePositioning[0].y_dir.x * 10,
		workpiecePositioning[0].center.y + workpiecePositioning[0].y_dir.y * 10,
		workpiecePositioning[0].center.z + workpiecePositioning[0].y_dir.z * 10 };
	sw << "Poly_" << lineIdx << "_2" << std::endl;
	sw << "{" << workpiecePositioning[0].center.x << "," << workpiecePositioning[0].center.y << "," << workpiecePositioning[0].center.z << "}-";
	sw << "{0,0}-{0,0}-";
	sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
	sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
	sw << "{0,0}-{0,0}-";
	sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)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;
}

#define TEST_COMPUTE_CALIB_PARA		0
#define TEST_COMPUTE_HOLE			0
#define TEST_COMPUTE_RT				1
#define TEST_GROUP 1
int main()
{
	const char* dataPath[TEST_GROUP] = {

		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/拓普发点云/", //0
	};

	SVzNLRange fileIdx[TEST_GROUP] = {
		{6,6},
	};

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

#if TEST_COMPUTE_RT
	std::vector<cv::Point3d> pts_eye;
	pts_eye.resize(6);
	std::vector<cv::Point3d> pts_robot;
	pts_robot.resize(6);
	pts_eye[0] = { 187.22, -99.43, 1797.70 }; //, R = 0.6413, P = 0.0302, Y = -91.1494
	pts_eye[1] = { 186.50, -140.52, 1797.69 }; // R = 0.6413, P = 0.0302, Y = -88.8130
	pts_eye[2] = { 256.73, -93.55, 1797.83 }; //, R = 0.6413, P = 0.0302, Y = -89.3432
	pts_eye[3] = { 236.69, -48.82, 1797.77 }; // R = 0.6413, P = 0.0302, Y = -89.5285
	pts_eye[4] = { 173.62, 13.92, 1797.30 };// R = 0.6413, P = 0.0302, Y = -89.6450
	pts_eye[5] = { 232.11, -153.38, 1797.88 };// R = 0.6413, P = 0.0302, Y = -82.0278

	//A:绕z, B：绕y， C:绕x
	pts_robot[0] = { 55.830, -984.472, 97.687 }; // A:0.018 B : -0.638 C : -0.292
	pts_robot[1] = { 95.469, -985.345, 97.782 }; //  A:-1.032 B : -0.354 C : 1.001
	pts_robot[2] = { 47.908, -1053.709, 97.802 }; // A:-1.032 B : -0.356 C : 0.998
	pts_robot[3] = { 3.646, -1033.152, 96.494 }; // A:-1.028 B : -0.367 C : 0.442
	pts_robot[4] = { -58.843, -969.793, 95.297 }; // A:-1.029 B : -0.367 C : 0.442
	pts_robot[5] = { 108.031, -1029.803, 98.333 }; // A:-9.208 B : -0.367 C : 0.442

	//使用前6组数据
	std::vector<cv::Point3d> test_pts_eye;
	std::vector<cv::Point3d> test_pts_robot;
	for (int i = 0; i < 5; i++)
	{
		test_pts_eye.push_back(pts_eye[i]);
		test_pts_robot.push_back(pts_robot[i]);
	}
	//对空间两组对应点计算旋转平移矩阵
	// Eigen库实现
	cv::Mat R, T;
	cv::Point3d C_eye, C_robot;
	caculateRT(
		test_pts_eye,
		test_pts_robot,
		R, T,
		C_eye, C_robot);

	std::cout << "方向向量转换结果：" << std::endl;
	std::cout << std::fixed << std::setprecision(6); // 固定小数位数为6
	std::cout << R << std::endl;
	std::cout << T << std::endl;

	//验算6轴姿态
	std::vector<cv::Point3d> verify_pts_eye;
	verify_pts_eye.insert(verify_pts_eye.end(), pts_eye.begin(), pts_eye.end());
	cv::Point3d a_center = { 232.997, -173.533, 1795.9 };
	verify_pts_eye.push_back(a_center);
	std::vector<std::vector< cv::Point3d>>  pose_eye;
	pose_eye.resize(7);
	for (int i = 0; i < 7; i++)
		pose_eye[i].resize(3);
	pose_eye[0][0] = { -0.020, -1.000, -0.011 }; pose_eye[0][1] = { 1.000, -0.020, -0.001 }; pose_eye[0][2] = { 0.001, -0.011, 1.000 };
	pose_eye[1][0] = { 0.021,-1.000,-0.011 }; pose_eye[1][1] = { 1.000,0.021,-0.000 }; pose_eye[1][2] = { 0.001,-0.011,1.000 };
	pose_eye[2][0] = { 0.011,-1.000,-0.011 }; pose_eye[2][1] = { 1.000,0.011,-0.000 }; pose_eye[2][2] = { 0.001,-0.011,1.000 };
	pose_eye[3][0] = { 0.008,-1.000,-0.011 }; pose_eye[3][1] = { 1.000,0.008,-0.000 }; pose_eye[3][2] = { 0.001,-0.011,1.000 };
	pose_eye[4][0] = { 0.006,-1.000,-0.011 }; pose_eye[4][1] = { 1.000,0.006,-0.000 }; pose_eye[4][2] = { 0.001,-0.011,1.000 };
	pose_eye[5][0] = { 0.139,-0.990,-0.011 }; pose_eye[5][1] = { 0.990,0.139,0.001 }; pose_eye[5][2] = { 0.001,-0.011,1.000 };
	pose_eye[6][0] = { 0.136746, -0.990563, -0.00926168 }; pose_eye[6][1] = { 0.990606, 0.136747, 0.000517805 }; pose_eye[6][2] = { 0.000753588, -0.00924548, 0.999957 };
	for (int i = 0; i < 7; i++)
	{
		cv::Point3d rtPt;
		pointRT_2(R, T, verify_pts_eye[i], rtPt);  //RT前后的点

		std::vector<cv::Point3d> dirVectors_eye = pose_eye[i];
		//dirVectors_eye[0] = { -dirVectors_eye[0].x, -dirVectors_eye[0].y, -dirVectors_eye[0].z };
		dirVectors_eye[1] = { -dirVectors_eye[1].x, -dirVectors_eye[1].y, -dirVectors_eye[1].z };
		dirVectors_eye[2] = { -dirVectors_eye[2].x, -dirVectors_eye[2].y, -dirVectors_eye[2].z };
		std::vector<cv::Point3d> dirVectors_robot;
		for (int j = 0; j < 3; j++)
		{
			cv::Point3d rt_pt;
			pointRotate(R, dirVectors_eye[j], rt_pt);
			dirVectors_robot.push_back(rt_pt);
		}
		//生成旋转矩阵
		double R_pose[3][3];
		R_pose[0][0] = dirVectors_robot[0].x;
		R_pose[0][1] = dirVectors_robot[1].x;
		R_pose[0][2] = dirVectors_robot[2].x;
		R_pose[1][0] = dirVectors_robot[0].y;
		R_pose[1][1] = dirVectors_robot[1].y;
		R_pose[1][2] = dirVectors_robot[2].y;
		R_pose[2][0] = dirVectors_robot[0].z;
		R_pose[2][1] = dirVectors_robot[1].z;
		R_pose[2][2] = dirVectors_robot[2].z;
		SSG_EulerAngles test_rpy = rotationMatrixToEulerZYX(R_pose);
		std::cout << i << ":" << std::endl;
		std::cout << rtPt.x << "," << rtPt.y << "," << rtPt.z << std::endl;
		std::cout << test_rpy.roll << "," << test_rpy.pitch << "," << test_rpy.yaw << std::endl;
	}
#endif
#if TEST_COMPUTE_CALIB_PARA
	char _calib_datafile[256];
	sprintf_s(_calib_datafile, "%sLaserData_ground2.txt", dataPath[0]);
	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);

	lineNum = (int)scanData.size();
	if (scanData.size() > 0)
	{
		SSG_planeCalibPara calibPara = wd_getGroundCalibPara(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
			wd_lineDataR(scanData[i], calibPara.planeCalib,	-1);
		}
		//
		char calibFile[250];
		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[0]);
		_outputCalibPara(calibFile, calibPara);
		char _out_file[256];
		sprintf_s(_out_file, "%sscanData_ground_calib_verify.txt", dataPath[0]);
		int headNullLines = 0;
		_outputScanDataFile_vector(_out_file, scanData, false, &headNullLines);
#if 0
		for (int fidx = fileIdx[0].nMin; fidx <= fileIdx[0].nMax; fidx++)
		{
			//fidx =4;
			char _scan_file[256];
			sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[0], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
			if (scanLines.size() == 0)
				continue;
			lineNum = (int)scanLines.size();
			for (int i = 0; i < lineNum; i++)
			{
				//调平，去除地面
				wd_lineDataR(scanLines[i], calibPara.planeCalib, -1);
			}
			sprintf_s(_scan_file, "%sLaserData_%d_calib_verify.txt", dataPath[0], fidx);
			int headNullLines = 0;
			_outputScanDataFile_vector(_scan_file, scanLines, false, &headNullLines);
		}
#endif
		printf("%s: calib done!\n", _calib_datafile);
	}
#endif

#if TEST_COMPUTE_HOLE
	for (int grp = 0; grp <= 0; grp++)
	{
		SSG_planeCalibPara groundCalibPara;
		//初始化成单位阵
		groundCalibPara.planeCalib[0] = 1.0;
		groundCalibPara.planeCalib[1] = 0.0;
		groundCalibPara.planeCalib[2] = 0.0;
		groundCalibPara.planeCalib[3] = 0.0;
		groundCalibPara.planeCalib[4] = 1.0;
		groundCalibPara.planeCalib[5] = 0.0;
		groundCalibPara.planeCalib[6] = 0.0;
		groundCalibPara.planeCalib[7] = 0.0;
		groundCalibPara.planeCalib[8] = 1.0;
		groundCalibPara.planeHeight = -1.0;
		for (int i = 0; i < 9; i++)
			groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
		char calibFile[250];
		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
		groundCalibPara = _readCalibPara(calibFile);

		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;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
			if (scanLines.size() == 0)
				continue;

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

			SSG_lineSegParam lineSegPara;
			lineSegPara.distScale = 3.0;
			lineSegPara.segGapTh_y = 3.0;  //y方向间隔大于5mm认为是分段
			lineSegPara.segGapTh_z = 10.0; //z方向间隔大于10mm认为是分段
			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
			WD_workpieceHoleParam workpiecePara;
			workpiecePara.workpieceType = 0;
			workpiecePara.holeDiameter = 6.0; //
			workpiecePara.holeDist_W = 32.0;
			workpiecePara.holeDist_L = 40.0;
			int errCode = 0;
			std::vector< WD_workpieceInfo> workpiecePositioning;
			wd_workpieceHolePositioning(
				scanLines,
				workpiecePara,
				lineSegPara,
				filterParam,
				growParam,
				groundCalibPara,
				workpiecePositioning,
				&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);
			_outputRGBDResult_RGBD(_scan_file, scanLines, workpiecePositioning);
			sprintf_s(calibFile, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
			_outputWorkpieceInfo(calibFile, workpiecePositioning);
		}
	}
#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