// 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 "gasFillingPortPosition_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;
			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 _outputFillingPortInfo(char* fileName, SSG_6DOF centerPose)
{
	std::ofstream sw(fileName);

	char dataStr[250];
	sw << "A:" << std::endl;
	sprintf_s(dataStr, 250, "中心点: (%g, %g, %g)", centerPose.x, centerPose.y, centerPose.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 250, "法向量: (%g, %g, %g)", centerPose.x_roll, centerPose.y_pitch, centerPose.z_yaw);
	sw << dataStr << std::endl;
	sw.close();
}

void _outputRGBDScan_fillingPort_RGBD(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	SSG_6DOF centerPose)
{
	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = lineNum;
	if (centerPose.z > 1e-4)
		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 == 1)
			{
				rgb = { 255, 97, 0 };
				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 (centerPose.z > 1e-4)
	{
		std::vector<SVzNL3DPoint> ptBuffer;
		SVzNL3DPoint cpt = { centerPose.x, centerPose.y, centerPose.z };
		ptBuffer.push_back(cpt);

		int linePtNum = (int)ptBuffer.size();
		sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;
		lineNum++;

		rgb = { 255, 0, 0 };
		size = 15;
		for (int j = 0; j < linePtNum; j++)
		{
			float x = (float)ptBuffer[j].x;
			float y = (float)ptBuffer[j].y;
			float z = (float)ptBuffer[j].z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
		}
		//加一个点，用于跳过显示工具bug
		float x = (float)ptBuffer[0].x;
		float y = (float)ptBuffer[0].y;
		float z = (float)ptBuffer[0].z;
		sw << "{" << x << "," << y << "," << z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
	
		size = 1;
		double len = 60;
		SVzNL3DPoint pt0 = { cpt.x + len * centerPose.x_roll,
							 cpt.y + len * centerPose.y_pitch,
							 cpt.z + len * centerPose.z_yaw };
		SVzNL3DPoint pt1 = { cpt.x - len * centerPose.x_roll,
							 cpt.y - len * centerPose.y_pitch,
							 cpt.z - len * centerPose.z_yaw };
		//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();
}

#define TEST_GROUP 1
int main()
{
	const char* dataPath[TEST_GROUP] = {
		"F:/ShangGu/项目/冠钦_LNG自动加气/加气口测试数据/",  //0
	};

	SVzNLRange fileIdx[TEST_GROUP] = {
		{2,30},
	};

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

	for (int grp = 0; grp < TEST_GROUP; grp++)
	{
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =7;
			char _scan_file[256];
			sprintf_s(_scan_file, "%s%d_LaserData_Hi229156.txt", dataPath[grp], fidx);

			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);

			//转成plyTxt格式
			//sprintf_s(_scan_file, "%s%d_ply_Hi229229.txt", dataPath[grp], fidx);
			//wdSavePlyTxt(_scan_file, scanLines);

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

			SSX_gasFillingPortPara gasFillingPortPara;
			gasFillingPortPara.innerD = 42.0;
			gasFillingPortPara.outerD = 52.0;

			SSG_lineSegParam lineSegPara;
			lineSegPara.maxDist = 1.0;
			lineSegPara.segGapTh_y = 5.0;  //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 = 5.0;
			growParam.maxSkipDistance = 5.0;
			growParam.zDeviation_max = 2.0;// 
			growParam.minLTypeTreeLen = 100; //mm
			growParam.minVTypeTreeLen = 100; //mm

			int errCode = 0;
			SSG_6DOF centerPose = wd_getGasFillingPortPosition(
				scanLines,
				gasFillingPortPara,
				lineSegPara,
				filterParam,
				growParam,
				&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_fillingPort_RGBD(_scan_file, scanLines, centerPose);
			sprintf_s(_scan_file, "%sresult\\%d_fillingPort_info.txt", dataPath[grp], fidx);
			_outputFillingPortInfo(_scan_file, centerPose);
		}
	}
}

// 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