// 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 "WD_particleSizeMeasure_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 _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 _outputParticleSizeInfo(char* fileName, std::vector<SWD_ParticlePosInfo>& particles)
{
	int particleSize = (int)particles.size();
	if (particleSize == 0)
		return;

	std::ofstream sw(fileName);
	char dataStr[250];
	sprintf_s(dataStr, 250, "particleNum: %d", particleSize);
	sw << dataStr << std::endl;

	for (int i = 0; i < particleSize; i++)
	{
		sprintf_s(dataStr, 250, "  id_%d: (%g, %g, %g)", i, particles[i].size.length, particles[i].size.width, particles[i].size.height);
		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 _outputScanDataResult_RGBD(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	std::vector<SWD_ParticlePosInfo>& particles)
{
	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = lineNum;
	if (particles.size() > 0)
		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 };
	int size = 1;
	int lineIdx = 0;
	for (int line = 0; line < lineNum; line++)
	{
		int linePtNum = (int)scanLines[line].size();
		if (linePtNum == 0)
			continue;

		int vldNum = 0;
		for (int i = 0; i < linePtNum; i++)
		{
			if (scanLines[line][i].pt3D.z > 1e-4)
				vldNum++;
		}

		sw << "Line_" << lineIdx << "_0_" << vldNum << std::endl;
		lineIdx++;
		for (int i = 0; i < linePtNum; i++)
		{
			if (scanLines[line][i].pt3D.z <= 1e-4)
				continue;

			SVzNL3DPosition* pt3D = &scanLines[line][i];
			int mkID = pt3D->nPointIdx;
			if (mkID < 2)
			{
				rgb = { 200, 200, 200 };
				size = 1;
			}
			else
			{
				rgb.r = (mkID * 97) % 256;
				rgb.g = (mkID * 73) % 256;
				rgb.b = (mkID * 59) % 256;
				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;
		}
	}

	rgb = { 255,0,0 };
	if (particles.size() > 0)
	{
		int objNum = (int)particles.size();
		int lineIdx = 0;
		for (int i = 0; i < objNum; i++)
		{
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << particles[i].vertix[0].x << "," << particles[i].vertix[0].y << "," << particles[i].vertix[0].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << particles[i].vertix[1].x << "," << particles[i].vertix[1].y << "," << particles[i].vertix[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 << "{" << particles[i].vertix[1].x << "," << particles[i].vertix[1].y << "," << particles[i].vertix[1].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << particles[i].vertix[2].x << "," << particles[i].vertix[2].y << "," << particles[i].vertix[2].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 << "{" << particles[i].vertix[2].x << "," << particles[i].vertix[2].y << "," << particles[i].vertix[2].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << particles[i].vertix[3].x << "," << particles[i].vertix[3].y << "," << particles[i].vertix[3].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 << "{" << particles[i].vertix[3].x << "," << particles[i].vertix[3].y << "," << particles[i].vertix[3].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << particles[i].vertix[0].x << "," << particles[i].vertix[0].y << "," << particles[i].vertix[0].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 << "{" << particles[i].vertix[0].x << "," << particles[i].vertix[0].y << "," << particles[i].vertix[0].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << particles[i].vertix[4].x << "," << particles[i].vertix[4].y << "," << particles[i].vertix[4].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 << "{" << particles[i].vertix[1].x << "," << particles[i].vertix[1].y << "," << particles[i].vertix[1].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << particles[i].vertix[5].x << "," << particles[i].vertix[5].y << "," << particles[i].vertix[5].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 << "{" << particles[i].vertix[2].x << "," << particles[i].vertix[2].y << "," << particles[i].vertix[2].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << particles[i].vertix[6].x << "," << particles[i].vertix[6].y << "," << particles[i].vertix[6].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 << "{" << particles[i].vertix[3].x << "," << particles[i].vertix[3].y << "," << particles[i].vertix[3].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << particles[i].vertix[7].x << "," << particles[i].vertix[7].y << "," << particles[i].vertix[7].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 << "{" << particles[i].vertix[4].x << "," << particles[i].vertix[4].y << "," << particles[i].vertix[4].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << particles[i].vertix[5].x << "," << particles[i].vertix[5].y << "," << particles[i].vertix[5].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 << "{" << particles[i].vertix[5].x << "," << particles[i].vertix[5].y << "," << particles[i].vertix[5].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << particles[i].vertix[6].x << "," << particles[i].vertix[6].y << "," << particles[i].vertix[6].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 << "{" << particles[i].vertix[6].x << "," << particles[i].vertix[6].y << "," << particles[i].vertix[6].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << particles[i].vertix[7].x << "," << particles[i].vertix[7].y << "," << particles[i].vertix[7].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 << "{" << particles[i].vertix[7].x << "," << particles[i].vertix[7].y << "," << particles[i].vertix[7].z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << particles[i].vertix[4].x << "," << particles[i].vertix[4].y << "," << particles[i].vertix[4].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 << "{" << particles[0].vertix[0].x << "," << particles[0].vertix[0].y << "," << particles[0].vertix[0].z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << particles[0].vertix[1].x << "," << particles[0].vertix[1].y << "," << particles[0].vertix[1].z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;
	}

	sw.close();
}

#define CONVERT_TO_GRID				0
#define TEST_COMPUTE_CALIB_PARA		0
#define TEST_COMPUTE_PARTICE_SIZE	1
#define TEST_GROUP 1
int main()
{
	const char* dataPath[TEST_GROUP] = {
		"F:\\ShangGu\\粒径数据\\曝光\\3D数据\\"  //0
	};

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

#if TEST_COMPUTE_PARTICE_SIZE
	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 = 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
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =1;
			char _scan_file[256];
			sprintf_s(_scan_file, "%sgridScanData_%d.txt", dataPath[grp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);

			long t1 = (long)GetTickCount64();//统计时间
			for (int i = 0, i_max = (int)scanLines.size(); i < i_max; i++)
			{
				if (i == 14)
					int kkk = 1;
				//行处理
				//调平，去除地面
				wd_lineDataR(scanLines[i], poseCalibPara.planeCalib, -1);
			}

			SWD_paricleSizeParam paricleSizeParam;
			paricleSizeParam.minSize = { 100.0, 100.0, 100.0 };
			paricleSizeParam.alarmSize = { 1000.0, 1000.0, 1000.0 };
			SWD_PSM_algoParam algoParam;
			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;
			algoParam.cornerParam.cornerTh = 60;  //45度角
			algoParam.cornerParam.scale = 50; // 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 = 10; //水平角度，小于此角度视为水平
			algoParam.cornerParam.jumpCornerTh_2 = 60;
			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

			int errCode = 0;
			std::vector<SWD_ParticlePosInfo> particles;
			wd_particleSizeMeasure(
				scanLines,
				paricleSizeParam,
				poseCalibPara,
				algoParam,
				particles,
				&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);
			_outputScanDataResult_RGBD(_scan_file, scanLines, particles);
			sprintf_s(calibFile, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
			_outputParticleSizeInfo(calibFile, particles);
		}
	}
#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