#include <vector>
#include "SG_baseDataType.h"
#include "SG_baseAlgo_Export.h"
#include "motorStatorPosition_Export.h"
#include <opencv2/opencv.hpp>

#define DEBUG_OUT_IMAGE	1

typedef struct
{
	int objID;
	cv::Point2f pos;
	double angle;
}SSG_objAngleInfo;
typedef struct
{
	bool isSide;
	double sideDist;
}SSG_objSideInfo;
typedef struct
{
	int objID;
	cv::Point2f objPos;
	SVzNL3DPoint objPos3D;
	std::vector< SSG_objAngleInfo> neighbours;
	SSG_objSideInfo sideInfo[4];  //对应L，R，T，P
}SSG_statorNeighbourInfo;

typedef struct
{
	int ID;
	int linkNum;
	int neighborID[6]; 
}SSG_hexagonNeighbour;

std::string	m_strVersion = "1.0.0";
const char* wd_particleSegVersion(void)
{
	return m_strVersion.c_str();
}

//计算一个平面调平参数。
//数据输入中可以有一个地平面和参考调平平面，以最高的平面进行调平
//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
SSG_planeCalibPara wd_getBaseCalibPara(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines)
{
	return sg_getPlaneCalibPara2(scanLines);
}

//相机姿态调平，并去除地面
void wd_lineDataR(
	std::vector< SVzNL3DPosition>& a_line,
	const double* camPoseR,
	double groundH)
{
	lineDataRT_vector(a_line, camPoseR, groundH);
}

SSG_objSideInfo _getSideX(
	int cx, 
	int cy, 
	cv::Mat& zSliceData, 
	bool dirLeft)
{
	int edge_x = -1;
	SSG_objSideInfo sideInfo;
	sideInfo.isSide = false;
	sideInfo.sideDist = -1;

	if (true == dirLeft)
	{
		for (int m = cx; m >= 0; m--)
		{
			if (zSliceData.at<uchar>(cy, m) > 0)
				edge_x = m;
		}
	}
	else
	{
		for (int m = cx; m < zSliceData.cols; m++)
		{
			if (zSliceData.at<uchar>(cy, m) > 0)
				edge_x = m;
		}
	}
	if(edge_x >= 0)
	{
		sideInfo.isSide = true;
		sideInfo.sideDist = edge_x;
	}
	return sideInfo;
}

SSG_objSideInfo _getSideY(
	int cx,
	int cy,
	cv::Mat& zSliceData,
	bool dirUp)
{
	int edge_y = -1;
	SSG_objSideInfo sideInfo;
	sideInfo.isSide = false;
	sideInfo.sideDist = -1;

	if (true == dirUp)
	{
		for (int m = cy; m >= 0; m--)
		{
			if (zSliceData.at<uchar>(m, cx) > 0)
				edge_y = m;
		}
	}
	else
	{
		for (int m = cy; m < zSliceData.rows; m++)
		{
			if (zSliceData.at<uchar>(m, cx) > 0)
				edge_y = m;
		}
	}
	if (edge_y >= 0)
	{
		sideInfo.isSide = true;
		sideInfo.sideDist = edge_y;
	}
	sideInfo.isSide = true;
	return sideInfo;
}

void _getNeighbouringInfo(
	const SWD_statorParam positionParam,
	cv::Mat& zSliceData,  //用于寻找边界（边框） 
	std::vector<SG_fittingInfo>& Objects, //目标位置
	std::vector< SSG_statorNeighbourInfo>& neighbouringInfo //邻接关系
)
{
	double searchWin = positionParam.statorOuterD * 2.5; 
	int objNum = Objects.size();
	neighbouringInfo.resize(objNum);
	for (int i = 0; i < objNum; i++)
	{
		SG_fittingInfo* a_obj = &Objects[i];
		SSG_statorNeighbourInfo* obj_info = &neighbouringInfo[i];
		obj_info->objID = i;
		obj_info->objPos3D = a_obj->objCenter;
		obj_info->objPos = a_obj->fittingPara.center;
		bool checkSide[4];
		for (int m = 0; m < 4; m++)
			checkSide[m] = true;
		for (int j = 0; j < objNum; j++)
		{
			if (j != i)
			{
				//计算中心点距离
				double dist = sqrt(pow(a_obj->fittingPara.center.x - Objects[j].fittingPara.center.x, 2) + pow(a_obj->fittingPara.center.y - Objects[j].fittingPara.center.y, 2));
				if (dist < searchWin)
				{
					SSG_objAngleInfo a_neighbour;
					a_neighbour.objID = j;
					a_neighbour.pos = Objects[j].fittingPara.center;
					//计算角度
					double angle = atan2(Objects[j].fittingPara.center.y - a_obj->fittingPara.center.y, Objects[j].fittingPara.center.x - a_obj->fittingPara.center.x);
					angle = angle * 180.0 / PI; //转变成角度
					if (angle < 0)
						angle += 360; //转变成0-360度范围
					a_neighbour.angle = angle;
					if ((angle > 345) || (angle < 15))
						checkSide[0] = false;
					else if ((angle > 75) && (angle < 105))
						checkSide[1] = false;
					else if ((angle > 165) && (angle < 195))
						checkSide[2] = false;
					else if ((angle > 255) && (angle < 285))
						checkSide[3] = false;
					obj_info->neighbours.push_back(a_neighbour);
				}
			}
		}
		//分析neighbour情况，判断是否要检查side情况
		int cx = (int)a_obj->fittingPara.center.x;
		int cy = (int)a_obj->fittingPara.center.y;
		if (false == checkSide[0])
		{
			obj_info->sideInfo[0].isSide = false;
			obj_info->sideInfo[0].sideDist = -1;
		}
		else
		{
			SSG_objSideInfo sideInfo = _getSideX(cx, cy, zSliceData, true);
			obj_info->sideInfo[0] = sideInfo;
		}

		if (false == checkSide[1])
		{
			obj_info->sideInfo[1].isSide = false;
			obj_info->sideInfo[1].sideDist = -1;
		}
		else
		{
			SSG_objSideInfo sideInfo = _getSideX(cx, cy, zSliceData, false);
			obj_info->sideInfo[1] = sideInfo;
		}

		if (false == checkSide[2])
		{
			obj_info->sideInfo[2].isSide = false;
			obj_info->sideInfo[2].sideDist = -1;
		}
		else
		{
			SSG_objSideInfo sideInfo = _getSideY(cx, cy, zSliceData, true);
			obj_info->sideInfo[2] = sideInfo;
		}

		if (false == checkSide[3])
		{
			obj_info->sideInfo[3].isSide = false;
			obj_info->sideInfo[3].sideDist = -1;
		}
		else
		{
			SSG_objSideInfo sideInfo = _getSideY(cx, cy, zSliceData, false);
			obj_info->sideInfo[3] = sideInfo;
		}
	}
	return;
}

void _getPtsApart120(cv::Point2f center, double R, double angle, cv::Point2f* testPts)
{
	double theta_0 = angle * PI / 180;
	double theta_120 = angle + 120;
	if (theta_120 > 360)
		theta_120 = theta_120 - 360;
	theta_120 = theta_120 * PI / 180;
	double theta_240 = angle + 240;
	if (theta_240 > 360)
		theta_240 = theta_240 - 360;
	theta_240 = theta_240 *PI / 180;

	testPts[0].x = center.x + R * cos(theta_0);
	testPts[0].y = center.y - R * sin(theta_0);
	testPts[1].x = center.x + R * cos(theta_120);
	testPts[1].y = center.y - R * sin(theta_120);
	testPts[2].x = center.x + R * cos(theta_240);
	testPts[2].y = center.y - R * sin(theta_240);
}

double _getMinDist(
	SSG_statorNeighbourInfo& neighbouringInfo, 
	cv::Point2f* testPts
	)
{
	double min_dist = -1;
	for (int i = 0; i < 3; i++)
	{
		cv::Point2f* a_pt = &testPts[i];
		for (int j = 0; j < neighbouringInfo.neighbours.size(); j++)
		{
			cv::Point2f* n_pt = &(neighbouringInfo.neighbours[j].pos);
			double dist = sqrt(pow(a_pt->x - n_pt->x, 2) + pow(a_pt->y - n_pt->y, 2));
			if (min_dist < 0)
				min_dist = dist;
			else if (min_dist > dist)
				min_dist = dist;
		}
		if (true == neighbouringInfo.sideInfo[0].isSide)
		{
			double dist = a_pt->x - neighbouringInfo.sideInfo[0].sideDist;//外边界
			dist = dist - 10; //内边界处需要外边界减去壁厚。此处壁厚使用10mm
			if (dist < 0)
				dist = 0;
			if (min_dist < 0)
				min_dist = dist;
			else if (min_dist > dist)
				min_dist = dist;
		}
		if (true == neighbouringInfo.sideInfo[1].isSide)
		{
			double dist = neighbouringInfo.sideInfo[1].sideDist - a_pt->x;//外边界
			dist = dist - 10; //内边界处需要外边界减去壁厚。此处壁厚使用10mm
			if (dist < 0)
				dist = 0;
			if (min_dist < 0)
				min_dist = dist;
			else if (min_dist > dist)
				min_dist = dist;
		}
		if (true == neighbouringInfo.sideInfo[2].isSide)
		{
			double dist = a_pt->y - neighbouringInfo.sideInfo[2].sideDist;//外边界
			dist = dist - 10; //内边界处需要外边界减去壁厚。此处壁厚使用10mm
			if (dist < 0)
				dist = 0;
			if (min_dist < 0)
				min_dist = dist;
			else if (min_dist > dist)
				min_dist = dist;
		}
		if (true == neighbouringInfo.sideInfo[3].isSide)
		{
			double dist = neighbouringInfo.sideInfo[3].sideDist - a_pt->y;//外边界
			dist = dist - 10; //内边界处需要外边界减去壁厚。此处壁厚使用10mm
			if (dist < 0)
				dist = 0;
			if (min_dist < 0)
				min_dist = dist;
			else if (min_dist > dist)
				min_dist = dist;
		}
	}
	return min_dist;
}

void _computeGripperPose(
	SSG_statorNeighbourInfo& neighbouringInfo, 
	double gripperR,
	double* opAngle,
	double* obstacleDist)
{
	//根据相邻目标数量确定抓取点
	//圆周扫描获取距离相邻目标最小距离最大的点
	double searchStepping = 0.5; //搜索精度为0.5度
	int steps = (int)(360.0 / searchStepping);
	double max_dist = -1;
	double max_angle = -1;
	for (int i = 0; i < steps; i++)
	{
		double angle = i * searchStepping;
		cv::Point2f testPts[3];
		_getPtsApart120(neighbouringInfo.objPos, gripperR, angle, testPts);
		//计算最小距离，相邻目标和边界统一在一起计算
		double min_dist = _getMinDist(neighbouringInfo, testPts);
		//获取最小距离的最大值，对应的角度为操作角度
		if (max_dist < 0)
		{
			max_dist = min_dist;
			max_angle = angle;
		}
		else if(max_dist < min_dist)
		{
			max_dist = min_dist;
			max_angle = angle;
		}
	}
	*opAngle = max_angle;
	*obstacleDist = max_dist;
	return;
}

bool compareByNeighbourNumber(const SSG_hexagonNeighbour& a, const SSG_hexagonNeighbour& b)
{
	return a.linkNum < b.linkNum;
}
typedef struct
{
	cv::RotatedRect fittingPara;
	SVzNL3DPoint objCenter;
}SG_fittingInfo;

//圆周扫描定子环
//以scanCenter为扫描中心，圆周扫描从scanR1到scanR2的圆形区域
void circileScan(
	cv::Mat& scanImg, //扫描对象
	int scanCenterX, int scanCenterY,  //扫描中心
	double scanR1, double scanR2,  //扫描区域
	std::vector<SVzNL2DPoint>& peakPts  //扫描结果
)
{
	//以1度间隔扫描
	double scale = 1.0;
	for (int i = 0; i < 360; i++)
	{
		double angle = (double)i * scale * PI / 180;
		double sinTheta = sin(angle);
		double cosTheta = cos(angle);
		int x0 = scanCenterX + (int)(scanR1 * cosTheta);
		int y0 = scanCenterY - (int)(scanR1 * sinTheta);
		int x1 = scanCenterX + (int)(scanR2 * cosTheta);
		int y1 = scanCenterY - (int)(scanR2 * sinTheta);
		
		//Bresenham算法
		std::vector<SVzNL2DPoint> pts;
		drawLine(x0, y0, x1, y1, pts);
		//搜索峰值
		float peakValue = 0;
		SVzNL2DPoint peakPos = { 0,0 };
		for (int m = 0, m_max = (int)pts.size(); m < m_max; m++)
		{
			if (peakValue < scanImg.at<float>(pts[m].y, pts[m].x))
			{
				peakValue = scanImg.at<float>(pts[m].y, pts[m].x);
				peakPos = pts[m];
			}
		}
		peakPts.push_back(peakPos);
	}
}

//对定子外圈抓取的三爪抓手计算旋转位置。
//三爪对称，分别在30,150,270度。根据抓取角度，计算最小旋转角度
double _computeGrasperRotateAngle(double grasperAngle)
{
	double rotateAngle = 0;
	if ((grasperAngle >= 330) || (grasperAngle < 90))  //丫第一个枝位置30度
	{
		if (grasperAngle < 90)
			rotateAngle = grasperAngle - 30;
		else
			rotateAngle = grasperAngle - 360 - 30;
	}
	else if ((grasperAngle >= 90) && (grasperAngle < 210))//丫第二个枝位置150度
		rotateAngle = grasperAngle - 150;
	else
		rotateAngle = grasperAngle - 270;
	return rotateAngle;
}

//计算两个角的间隔（绝对值），结果在0-180范围
double _computeAbsAngleInterval(double angle_0, double angle_1)
{
	double diff = angle_0 < angle_1 ? (angle_1 - angle_0) : (angle_0 - angle_1);
	if (diff > 180)
		diff = 360 - diff;
	return diff;
}

//计算角度与相邻目标的角度间隔，以其中最小值为结果
double _computeObjAngleInterval(double angle_0, std::vector<double>& linkObjAngles)
{
	if (linkObjAngles.size() == 0)
		return -1;
	double minInterval = _computeAbsAngleInterval(angle_0, linkObjAngles[0]);
	for (int i = 1, i_max = (int)linkObjAngles.size(); i < i_max; i++)
	{
		double angleInterval = _computeAbsAngleInterval(angle_0, linkObjAngles[i]);
		if (minInterval > angleInterval)
			minInterval = angleInterval;
	}
	return minInterval;
}

//计算目标最佳抓取角度。抓手为三爪设计，间隔120度。
//扫描与相邻目标最大的角度间隔点。此位置为最佳抓取位置
double _scanBestGrasperAngle(std::vector<double>& linkObjAngles, double* angleDistance)
{
	*angleDistance = 0;
	if (linkObjAngles.size() == 0)
		return -1;
	//以0.1度间隔扫描120度范围
	double maxAngleDist = -1;
	double bestAngleIdx = -1;
	//粗定位，精确到1度
	for (int i = 0; i < 120; i++)
	{
		double angle_0 = (double)i;
		double angle_1 = angle_0 + 120;
		if (angle_1 >= 360)
			angle_1 = angle_1 - 360;
		double angle_2 = angle_0 + 240;
		if (angle_2 >= 360)
			angle_2 = angle_2 - 360;

		double angleInterval_0 = _computeObjAngleInterval(angle_0, linkObjAngles);
		double angleInterval_1 = _computeObjAngleInterval(angle_1, linkObjAngles);
		double angleInterval_2 = _computeObjAngleInterval(angle_2, linkObjAngles);
		double angleInterval = angleInterval_0 < angleInterval_1 ? angleInterval_0 : angleInterval_1;
		angleInterval = angleInterval < angleInterval_2 ? angleInterval : angleInterval_2;

		if (maxAngleDist < 0)
		{
			maxAngleDist = angleInterval;
			bestAngleIdx = (double)i;
		}
		else
		{
			if (maxAngleDist < angleInterval)
			{
				maxAngleDist = angleInterval;
				bestAngleIdx = (double)i;
			}
		}
	}
	if (bestAngleIdx < 0)
		return -1;
	//精定位， 精确到0.1度
	maxAngleDist = -1;
	double bestAngle = bestAngleIdx;
	for (int i = -10; i <= 10; i++)
	{
		double angle_0 = (double)i * 0.1 + bestAngleIdx;
		double angle_1 = angle_0 + 120;
		if (angle_1 >= 360)
			angle_1 = angle_1 - 360;
		double angle_2 = angle_0 + 240;
		if (angle_2 >= 360)
			angle_2 = angle_2 - 360;

		double angleInterval_0 = _computeObjAngleInterval(angle_0, linkObjAngles);
		double angleInterval_1 = _computeObjAngleInterval(angle_1, linkObjAngles);
		double angleInterval_2 = _computeObjAngleInterval(angle_2, linkObjAngles);
		double angleInterval = angleInterval_0 < angleInterval_1 ? angleInterval_0 : angleInterval_1;
		angleInterval = angleInterval < angleInterval_2 ? angleInterval : angleInterval_2;

		if (maxAngleDist < 0)
		{
			maxAngleDist = angleInterval;
			bestAngle = angle_0;
		}
		else
		{
			if (maxAngleDist < angleInterval)
			{
				maxAngleDist = angleInterval;
				bestAngle = angle_0;
			}
		}
	}
	*angleDistance = maxAngleDist;
	if (bestAngle < 0)
		bestAngle = bestAngle + 360;

	return bestAngle;
}

bool computeOuterGraspPoint(
	int objID,
	double outerR,
	std::vector< SSG_peakRgnInfo>& objects,
	std::vector< SSG_hexagonNeighbour>& objLinkings,
	SWD_statorOuterGrasper& graspPoint,
	double* angleDistance
)
{
	//R = 1.155outR
	SSG_hexagonNeighbour& a_link = objLinkings[objID];
	std::vector<int> linkIDs;
	for (int i = 0; i < 6; i++)
	{
		if (a_link.neighborID[i] >= 0)
		{
			linkIDs.push_back(a_link.neighborID[i]);
		}
	}
	if (linkIDs.size() != a_link.linkNum)
		return false;

	//计算抓取位置
	if (a_link.linkNum == 0)  //默认抓取位置
	{
		graspPoint.objID = objID;
		graspPoint.grasperAngle = 0;
		graspPoint.rotateAngle = 0;
		graspPoint.graspR = 1.2 * outerR;
		*angleDistance = 120;
		return true;
	}
	else if (a_link.linkNum == 1) //与目标连线方向偏离60度
	{
		int linkID = linkIDs[0];
		SSG_peakRgnInfo& obj = objects[objID];
		SSG_peakRgnInfo& nObj = objects[linkID];
		double dy = nObj.pos2D.y - obj.pos2D.y;
		double dx = nObj.pos2D.x - obj.pos2D.x;
		double dist = sqrt(pow(dx, 2) + pow(dy, 2));
		double angle = atan2(dy, dx) * 180.0 / PI + 180;  //0-360度
		double grasperAngle = angle + 60;
		if (grasperAngle >= 360)
			grasperAngle = grasperAngle - 360;
		double rotateAngle = _computeGrasperRotateAngle(grasperAngle);
		graspPoint.grasperAngle = grasperAngle;
		graspPoint.rotateAngle = rotateAngle;
		graspPoint.graspR = 1.2 * outerR;
		graspPoint.objID = objID;
		*angleDistance = 60;
		return true;
	}
	else if ( (a_link.linkNum == 2) || (a_link.linkNum == 3)) //目标有两个或3个相邻目标
	{
		std::vector<double> linkObjAngles;
		for (int i = 0, i_max = (int)linkIDs.size(); i < i_max; i++)
		{
			int linkID = linkIDs[i];
			SSG_peakRgnInfo& obj = objects[objID];
			SSG_peakRgnInfo& nObj = objects[linkID];
			double dy = nObj.pos2D.y - obj.pos2D.y;
			double dx = nObj.pos2D.x - obj.pos2D.x;
			double dist = sqrt(pow(dx, 2) + pow(dy, 2));
			double angle = atan2(dy, dx) * 180.0 / PI + 180;  //0-360度
			linkObjAngles.push_back(angle);
		}
		double grasperAngle = _scanBestGrasperAngle(linkObjAngles, angleDistance);
		double rotateAngle = _computeGrasperRotateAngle(grasperAngle);
		graspPoint.grasperAngle = grasperAngle;
		graspPoint.rotateAngle = rotateAngle;
		graspPoint.graspR = 1.155 * outerR;
		graspPoint.objID = objID;
		return true;
	}
	else
		return false;
}

//电机定子定位。
//算法逻辑：找到定子的高度->设置截取Z去掉底面->
// 投影（注意此时边框也同时投影）->距离变换->提取定子目标->
// 根据相邻和边框寻找最佳抓取目标和抓取点
void wd_motorStatorPosition(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SWD_statorParam statorParam,
	const SSG_planeCalibPara groundCalibPara,
	const SWD_statorPositonParam algoParam,
	SWD_nextOpParam* refPos,  //上一次给出的参考位置，同时输出下一次的参考位置
	int* errCode,
	std::vector<SWD_motorStatorPosition>& resultObjPositions,
	SWD_statorOuterGrasper& resultGraspPos
)
{
	int lineNum = (int)scanLines.size();
	if (lineNum == 0)
	{
		*errCode = SG_ERR_3D_DATA_NULL;
		return;
	}
	//噪点过滤
	wd_noiseFilter(scanLines, algoParam.filterParam, errCode);
	if (*errCode != 0)
		return;

	///开始数据处理
	double statorRingWidth = (statorParam.statorOuterD - statorParam.statorInnerD) / 2;
	if (refPos->cuttingZ < 0) //提取特征：定子上半部的环。根据提取的环判断定子高度
	{
		//垂直数据处理
		std::vector<std::vector<SWD_segFeature>> all_vLineArcs;
		for (int i = 0; i < lineNum; i++)
		{
			if (i == 202)
				int k = 1;
			//提取定子环
			std::vector<SWD_segFeature> line_ringArcs;
			wd_getRingArcFeature(
				scanLines[i],
				i,
				algoParam.cornerParam,
				statorRingWidth, //定子的环宽度
				line_ringArcs  //环
			);
			all_vLineArcs.push_back(line_ringArcs);  //空行也加入，保证能按行号索引
		}
		//特征生长，用生长长度滤除虚假的特征
		//垂直方向特征生长（相机扫描方向）
		std::vector<SWD_segFeatureTree> v_seg_trees;
		//特征生长
		wd_getSegFeatureGrowingTrees(
			all_vLineArcs,
			v_seg_trees,
			algoParam.growParam);
		//提取环高度
		if (v_seg_trees.size() > 0)
		{
			int treeSize = (int)v_seg_trees.size();
			double z_sum = 0;
			for (int m = 0; m < treeSize; m++)
			{
				z_sum += v_seg_trees[m].tree_value;
			}
			refPos->cuttingZ = z_sum / (double)treeSize + statorParam.statorHeight / 2;
		}
	}
	if (refPos->cuttingZ < 0)
	{
		*errCode = SX_ERR_INVLID_CUTTING_Z;
		return;
	}
	//使用 refPos->cuttingZ 分割
	//投影到2D
	SWD_pointCloudPara pntCloudPara = wd_getPointCloudPara(scanLines);// 统计整个视野大小
	double scale;
	if ((pntCloudPara.scale_x < 0) || (pntCloudPara.scale_y < 0))
	{
		*errCode = SG_ERR_INVLD_Q_SCALE;
		return;
	}
	if (pntCloudPara.scale_x < pntCloudPara.scale_y)
		scale = pntCloudPara.scale_x;
	else
		scale = pntCloudPara.scale_y;

	double inerPolateDistTh = scale * 10; //插值门限， 两间距离大于此阈值不插值
	int edgeSkip = 2;
	int maskX = (int)(pntCloudPara.xRange.max - pntCloudPara.xRange.min) / scale + 1;
	int maskY = (int)(pntCloudPara.yRange.max - pntCloudPara.yRange.min) / scale + 1;
	if ((maskX < 16) || (maskY < 16))
		return;
	maskY = maskY + edgeSkip * 2;
	maskX = maskX + edgeSkip * 2;
	cv::Mat projectionImg(maskY, maskX, CV_32FC1, 0.0f);  //距离变换Mask，初始化为一个极大值1e+6
	cv::Mat projectionIndexing(maskY, maskX, CV_32SC2, cv::Vec2i(0, 0));  //坐标索引
	pointClout2DProjection(
		scanLines,
		pntCloudPara.xRange,
		pntCloudPara.yRange,
		scale,
		refPos->cuttingZ,
		edgeSkip,
		inerPolateDistTh,  //插值阈值。大于此阈值的不进行量化插值
		projectionImg,//投影量化数据，初始化为一个极大值1e+6
		projectionIndexing  //标记坐标索引，用于回找3D坐标
	);
	//距离变换
	cv::Mat distTransform;
	sg_distanceTrans(projectionImg, distTransform, 0);
#if OUTPUT_DEBUG  //debug	
	cv::Mat maskImage;
	cv::normalize(distTranformMask, maskImage, 0, 255, cv::NORM_MINMAX, CV_8U);
	cv::imwrite("distTransformMask.png", maskImage);
	cv::Mat dtImage;
	cv::normalize(distTransform, dtImage, 0, 255, cv::NORM_MINMAX, CV_8U);
	cv::Mat dtImage_color;
	cv::cvtColor(dtImage, dtImage_color, cv::COLOR_GRAY2BGR);
	cv::imwrite("distTransform.png", dtImage_color);
#endif
	//提取目标，并计算粗略中心点
	//对距离变换值进行截取，使目标不相边。
	double distanceTh = (statorParam.statorOuterD - statorParam.statorInnerD) / 8; 
	cv::Mat bwImg = cv::Mat::zeros(maskY, maskX, CV_8UC1);//rows, cols
	for (int y = 0; y < maskY; y++)
	{
		for (int x = 0; x < maskX; x++)
		{
			if(distTransform.at<float>(y,x) > distanceTh)
				bwImg.at<uchar>(y, x) = 1;
		}
	}
	//连通域标注
	cv::Mat labImg;
	std::vector<SSG_Region> labelRgns;
	SG_TwoPassLabel(bwImg, labImg, labelRgns, 8);
	//根据大小提取目标
	double objPixSize = statorParam.statorOuterD / scale;
	int objSizeTh1 = (int)(objPixSize * 0.75);
	int objSizeTh2 = (int)(objPixSize * 1.1);
	std::vector<SSG_Region> objectRgns;
	for (int i = 0, i_max = (int)labelRgns.size(); i < i_max; i++)
	{
		int width = labelRgns[i].roi.right - labelRgns[i].roi.left;
		int height = labelRgns[i].roi.bottom - labelRgns[i].roi.top;
		if ((width > objSizeTh1) && (width < objSizeTh2) &&
			(height > objSizeTh1) && (height < objSizeTh2))
			objectRgns.push_back(labelRgns[i]);
	}
	// 以中心点进行圆周扫描，并精确确定中心点
	double scanR1 = (statorParam.statorInnerD / 2) * 0.75;
	double scanR2 = (statorParam.statorOuterD / 2) * 1.25;
 	std::vector< SSG_peakRgnInfo> objects;
	SSG_peakRgnInfo a_nullObj;
	memset(&a_nullObj, 0, sizeof(SSG_peakRgnInfo));
	objects.push_back(a_nullObj); //ID从1开始，保持ID与数组下标相同
	int objNumber = 1;
	for (int i = 0, i_max = (int)objectRgns.size(); i < i_max; i++)
	{
		SSG_Region& a_objRgn = objectRgns[i];
		//y计算粗略中心
		int x = (a_objRgn.roi.left + a_objRgn.roi.right) / 2;
		int y = (a_objRgn.roi.top + a_objRgn.roi.bottom) / 2;
		//圆周扫描定子环
		std::vector<SVzNL2DPoint> peakPts;
		circileScan(
			distTransform, //扫描对象
			x, y,  //扫描中心
			scanR1, scanR2,  //扫描区域
			peakPts  //扫描结果
		);
		//计算中心（不进行拟合，使用几何中心）
		double cx = 0, cy = 0, cz = 0;
		int ptSize = (int)peakPts.size();
		if (ptSize == 0)
			continue;

		for (int m = 0; m < ptSize; m++)
		{
			cx += (double)peakPts[m].x;
			cy += (double)peakPts[m].y;
			cz += projectionImg.at<float>(peakPts[m].y, peakPts[m].x);
		}
		cx = cx / (double)ptSize;
		cy = cy / (double)ptSize;
		cz = cz / (double)ptSize;
		//
		SSG_peakRgnInfo a_obj;
		a_obj.pos2D = {(int)cy,(int)cx};
		a_obj.centerPos.x = cx * scale + pntCloudPara.xRange.min;
		a_obj.centerPos.y = cy * scale + pntCloudPara.yRange.min;
		a_obj.centerPos.z = cz;
		a_obj.pkRgnIdx = objNumber;
		objNumber++;
		objects.push_back(a_obj);
	}
	if (objNumber < 2)
	{
		*errCode = SX_ERR_ZERO_OBJ;
		return;
	}
	//输出检测到的目标位置
	for (int i = 1; i < objNumber; i++)
	{
		SWD_motorStatorPosition a_obj;
		a_obj.objR = statorParam.statorOuterD / 2;
		a_obj.opCenter.x = objects[i].centerPos.x;
		a_obj.opCenter.y = objects[i].centerPos.y;
		a_obj.opCenter.z = objects[i].centerPos.z;
		resultObjPositions.push_back(a_obj);
	}

	//计算抓取点
	//建立邻接关系,每个目标最多有6个邻接目标
	std::vector< SSG_hexagonNeighbour> objLinkings;
	objLinkings.resize(objNumber);//第一个不使用。目标ID从1开始，保持ID与数组下标一致
	for (int i = 0; i < objNumber; i++)
	{
		objLinkings[i].ID = i;
		objLinkings[i].linkNum = 0;
		for (int j = 0; j < 6; j++)
			objLinkings[i].neighborID[j] = -1;
	}
	objLinkings[0].linkNum = INT_MAX;
	double linkPixDistTh = (statorParam.statorOuterD * 1.5) / scale;
	for (int i = 1; i < objNumber; i++)
	{
		SSG_peakRgnInfo& obj_0 = objects[i];
		for (int j = i + 1; j < objNumber; j++)
		{
			SSG_peakRgnInfo& obj_1 = objects[j];
			double dy = obj_1.pos2D.y - obj_0.pos2D.y;
			double dx = obj_1.pos2D.x - obj_0.pos2D.x;
			double dist = sqrt(pow(dx, 2) + pow(dy, 2));
			if (dist < linkPixDistTh)
			{
				double angle = atan2(dy, dx) * 180.0 / PI + 180;  //0-360度
				//60度为一扇区，0-59为扇区0， 60-119为扇区1
				int angleIndx = (int)(angle+ 30.0)/ 60;  //此处加30度，防止目标处于0度左右引起扇区归属临界。兼容定子水平和垂直排列
				int angleIndx_1 = (angleIndx + 3) % 6;
				objLinkings[i].neighborID[angleIndx] = j;
				objLinkings[j].neighborID[angleIndx_1] = i;
			}
		}
	}

	//确定最佳抓取点
	int objID = -1;
	bool validGrasper = false;
	if (refPos->refPos.z > 1e-4)  //根据上一次给定的位置进行抓取
	{
		double minDist = -1;
		int refx = (refPos->refPos.x - pntCloudPara.xRange.min) / scale;
		int refy = (refPos->refPos.y - pntCloudPara.yRange.min) / scale;
		for (int i = 1; i < objNumber; i++) //以最近的目标作为抓取目标
		{
			double dist = sqrt(pow(objects[i].pos2D.x-refx, 2) + pow(objects[i].pos2D.y - refy, 2));
			if (minDist < 0)
			{
				minDist = dist;
				objID = i;
			}
			else
			{
				if (minDist > dist)
				{
					minDist = dist;
					objID = i;
				}
			}
		}
		//计算抓取点
		SWD_statorOuterGrasper outerGrasper;
		double angleDistance;
		bool validGrasper = computeOuterGraspPoint(
			objID,
			statorParam.statorOuterD / 2,
			objects,
			objLinkings,
			outerGrasper,
			&angleDistance
		);
		resultGraspPos = outerGrasper;

	}
	else
	{
		//统计相邻目标数量
		int minLinkNum = -1;
		for (int i = 1; i < objNumber; i++)
		{
			objLinkings[i].linkNum = 0;
			for (int j = 0; j < 6; j++)
			{
				if (objLinkings[i].neighborID[j] >= 0)
					objLinkings[i].linkNum++;
			}
			if (minLinkNum < 0)
				minLinkNum = objLinkings[i].linkNum;
			else
			{
				if (minLinkNum > objLinkings[i].linkNum)
					minLinkNum = objLinkings[i].linkNum;
			}
		}

		std::vector<int> objCandidates;
		for (int i = 1; i < objNumber; i++)
		{
			if (minLinkNum = objLinkings[i].linkNum)
				objCandidates.push_back(i);
		}

		//std::sort(objLinkings.begin(), objLinkings.end(), compareByNeighbourNumber);
		double maxAngleInterval = -1;
		SWD_statorOuterGrasper bestGrasper;
		for (int i = 0, i_max=(int)objCandidates.size(); i < i_max; i++)
		{
			int id = objCandidates[i];
			//计算抓取点
			SWD_statorOuterGrasper outerGrasper;
			double angleDistance;
			bool validGrasper = computeOuterGraspPoint(
				id,
				statorParam.statorOuterD / 2,
				objects,
				objLinkings,
				outerGrasper,
				&angleDistance
			);
			if (true == validGrasper)
			{
				if (maxAngleInterval < 0)
				{
					maxAngleInterval = angleDistance;
					bestGrasper = outerGrasper;
				}
				else
				{
					if (maxAngleInterval < angleDistance)
					{
						maxAngleInterval = angleDistance;
						bestGrasper = outerGrasper;
					}
				}
			}
		}
		resultGraspPos = bestGrasper;
	}
	//给出下一个参考抓取点
	int candiID = -1;
	int candiLinkNum = -1;
	for (int i = 0; i < 6; i++)
	{
		int neighborID = objLinkings[objID].neighborID[i];
		if (neighborID >= 0)
		{
			int linkNum = objLinkings[neighborID].linkNum;
			if (candiLinkNum < 0)
			{
				candiID = neighborID;
				candiLinkNum = linkNum;
			}
			else
			{
				if (candiLinkNum > linkNum)
				{
					candiID = neighborID;
					candiLinkNum = linkNum;
				}
			}
		}
	}
	if (candiID >= 0)
	{
		refPos->refPos.x = objects[candiID].centerPos.x;
		refPos->refPos.y = objects[candiID].centerPos.y;
		refPos->refPos.z = objects[candiID].centerPos.z;
	}
	else
	{
		refPos->refPos.x = 0;
		refPos->refPos.y = 0;
		refPos->refPos.z = -1;
	}
	return;

#if 0
	//Z方向统计。粒度为1mm
	int zHistSize = (int)(z_range.max - z_range.min) + 1;
	std::vector<int> zHist;
	zHist.resize(zHistSize);
	int totalPtNum = 0;
	for (int line = 0; line < lineNum; line++)
	{
		for (int i = 0; i < laser3DPoints[line].nPositionCnt; i++)
		{
			SVzNL3DPosition* pt3D = &laser3DPoints[line].p3DPosition[i];
			if (pt3D->pt3D.z < 1e-4)
				continue;

			totalPtNum++;
			int zPos = (int)(pt3D->pt3D.z - z_range.min);
			zHist[zPos] ++;
		}
	}
	//取定子顶面：取5mm统计区间，zHist数量大于总数量的10%
	std::vector<int> sumHist;
	sumHist.resize(zHistSize);
	for (int i = 0; i < zHistSize; i++)
	{
		int data = 0;
		for (int j = i - 2; j < i + 2; j++)
		{
			if ((j >= 0) && (j < zHistSize))
				data += zHist[j];
		}
		sumHist[i] = data;
	}
	//取第一个大于大于10%的极值点
	int dataTh = totalPtNum / 10;
	int maxPos = -1;
	for (int i = 1; i < zHistSize-1; i++)
	{
		int preData = sumHist[i-1];
		int data = sumHist[i];
		int nxtData = sumHist[i+1];
		if ((data > preData) && (data > nxtData) && (data > dataTh))
		{
			maxPos = i;
			break;
		}
	}
	if (maxPos < 0)
		return;

	//取定子顶面截面
	double zSliceTop = (double)maxPos - 10 + z_range.min;
	double zSliceBtm = (double)maxPos + 8 + z_range.min;

	//在XOY面上投影
	//距离变换Mask，以1mm为量化尺度
	int maskX = (int)(roi3D.xRange.max - roi3D.xRange.min) + 1;
	int maskY = (int)(roi3D.yRange.max - roi3D.yRange.min) + 1;
	cv::Mat zSliceData = cv::Mat::zeros(maskY, maskX, CV_8U);
	cv::Mat distTranformMask(maskY, maskX, CV_32FC1, 1e+6);  //距离变换Mask，初始化为一个极大值1e+6
	//标记坐标索引，用于距离变换后回找坐标
	cv::Mat distTranformIndexing(maskY, maskX, CV_32SC2, cv::Vec2i(0, 0));  //坐标索引
	for (int line = 0; line < lineNum; line++)
	{
		for (int i = 0; i < laser3DPoints[line].nPositionCnt; i++)
		{
			SVzNL3DPosition* pt3D = &laser3DPoints[line].p3DPosition[i];
			if ( (pt3D->pt3D.z < zSliceTop) || (pt3D->pt3D.z > zSliceBtm))
				continue;
			double x = pt3D->pt3D.x;
			double y = pt3D->pt3D.y;

			int px = (int)(x - roi3D.xRange.min);
			int py = (int)(y - roi3D.yRange.min);
			cv::Vec2i v2i = { line, i };
			zSliceData.at<uchar>(py, px) = (uchar)255;
			distTranformIndexing.at<cv::Vec2i>(py, px) = v2i;
			distTranformMask.at<float>(py, px) = 0;
		}
	}
	cv::Mat zSliceData_origin = zSliceData.clone();

	//距离变换
	cv::Mat distTransform;
	sg_distanceTrans(distTranformMask, distTransform, 0);
#if DEBUG_OUT_IMAGE  //debug	
	cv::Mat dtImage;
	cv::normalize(distTranformMask, dtImage, 0, 255, cv::NORM_MINMAX, CV_8U);
	cv::imwrite("distTransform.png", dtImage);
	//cv::normalize(zSliceData, dtImage, 64, 255, cv::NORM_MINMAX, CV_8U);
	cv::imwrite("zSliceImage.png", zSliceData);
#endif

	//对zSliceData进行处理：（1）填充（2）腐蚀（3）连通域处理得到目标（4）椭圆拟合得到中心点
	cv::Mat invertSliceData;
	cv::bitwise_not(zSliceData, invertSliceData);
#if DEBUG_OUT_IMAGE
	cv::imwrite("zSliceImage_invert.png", invertSliceData);
#endif
	//连通域
	cv::Mat labels, centroids, stats;
	int nccomps = connectedComponentsWithStats(invertSliceData, labels, stats, centroids, 4);
	for (int i = 1; i < nccomps; i++)
	{
		int size = stats.at<int>(i, cv::CC_STAT_AREA);
		if (size < 20)
		{
			int roi_x = stats.at<int>(i, cv::CC_STAT_LEFT);
			int roi_y = stats.at<int>(i, cv::CC_STAT_TOP);
			int roi_w = stats.at<int>(i, cv::CC_STAT_WIDTH);
			int roi_h = stats.at<int>(i, cv::CC_STAT_HEIGHT);
			//对小于20的区域填充
			for (int row = roi_y; row < roi_y+roi_h; row++)
			{
				for (int col = roi_x; col < roi_x+roi_w; col++)
				{
					if (labels.at<int>(row, col) == i)
						zSliceData.at<uchar>(row, col) = (uchar)255;
				}
			}
		}
	}
#if DEBUG_OUT_IMAGE
	cv::imwrite("zSliceImage_filled.png", zSliceData);
#endif

	//腐蚀
	cv::Mat test = cv::Mat::zeros(64, 64, CV_8UC1);
	cv::rectangle(test, cv::Rect(30, 30, 5, 5), 255, -1);

	cv::Mat element = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3));
	cv::Mat zSliceData_erode;
	cv::erode(zSliceData, zSliceData_erode, element, cv::Point(-1,-1),2);
#if DEBUG_OUT_IMAGE
	cv::imwrite("zSliceImage_erode.png", zSliceData_erode);
#endif
	//提取目标
	nccomps = connectedComponentsWithStats(zSliceData_erode, labels, stats, centroids, 4);
	//目标大小的门限
	int obj_size_min = (int)(positionParam.statorInnerD * 0.75);
	int obj_size_max = (int)(positionParam.statorOuterD * 1.25);
	std::vector<SG_fittingInfo> fittingObs;
	for (int i = 1; i < nccomps; i++)
	{
		int roi_x = stats.at<int>(i, cv::CC_STAT_LEFT);
		int roi_y = stats.at<int>(i, cv::CC_STAT_TOP);
		int roi_w = stats.at<int>(i, cv::CC_STAT_WIDTH);
		int roi_h = stats.at<int>(i, cv::CC_STAT_HEIGHT);
		if( (roi_w > obj_size_min) && (roi_w < obj_size_max) && (roi_h > obj_size_min) && (roi_h < obj_size_max))
		{
			//合格的目标
			//取轮廓点
			std::vector<cv::Point > contourPts;
			for (int row = roi_y; row < roi_y + roi_h; row++)
			{
				for (int col = roi_x; col < roi_x + roi_w; col++)
				{
					if (labels.at<int>(row, col) == i)
						contourPts.push_back(cv::Point(col, row));
				}
			}
			cv::RotatedRect ellipse = cv::fitEllipse(contourPts);
			SG_fittingInfo a_fitting;
			a_fitting.fittingPara = ellipse;
			//根据轮廓点计算高度Z
			double z_sum = 0;
			double z_counter = 0;
			for (int m = 0; m < contourPts.size(); m++)
			{
				cv::Vec2i ptIndexing = distTranformIndexing.at<cv::Vec2i>(contourPts[m].y, contourPts[m].x);
				int line = ptIndexing[0];
				int ptIdx = ptIndexing[1];
				SVzNL3DPosition* pt3D = &laser3DPoints[line].p3DPosition[ptIdx];
				if (pt3D->pt3D.z < 1e-4)
					continue;
				z_sum += pt3D->pt3D.z;
				z_counter++;
			}
			if (z_counter > 0)
			{
				a_fitting.objCenter.x = ellipse.center.x + roi3D.xRange.min;
				a_fitting.objCenter.y = ellipse.center.y + roi3D.yRange.min;
				z_sum = z_sum / z_counter;
				a_fitting.objCenter.z = z_sum;
				a_fitting.fittingPara = ellipse;
				fittingObs.push_back(a_fitting);
			}

		}
	}
#if DEBUG_OUT_IMAGE
	cv::Mat fittingImage;
	cv::cvtColor(zSliceData_origin, fittingImage, cv::COLOR_GRAY2BGR);
	for(int i = 0; i < fittingObs.size(); i ++)
		cv::ellipse(fittingImage, fittingObs[i].fittingPara, cv::Scalar(0, 255, 0), 2); // 在原图上绘制椭圆
	cv::imwrite("zSliceImage_fitting.png", fittingImage);
#endif
	//根据邻接关系确定最佳抓取点
	std::vector< SSG_statorNeighbourInfo> neighbouringInfo;
	_getNeighbouringInfo(
		positionParam,
		zSliceData_origin,  //用于寻找边界（边框） 
		fittingObs, //目标位置
		neighbouringInfo //邻接关系
	);

	//根据邻接关系确定抓取点
	std::vector< SSG_motorStatorPosition> grabPoses; //小于等于3个相邻目标的抓取点（按距离排序）
	std::vector< SSG_motorStatorPosition> grabPoses_2; //大于3个相邻目标的抓取点（按数量排序）
	//grabPoses.resize(neighbouringInfo.size());
	for (int i = 0; i < neighbouringInfo.size(); i++)
	{
		double opAngle = -1;
		double obstacleDist = -1;
		_computeGripperPose(neighbouringInfo[i], positionParam.gripperR, &opAngle, &obstacleDist);
		SSG_motorStatorPosition opPos;
		memset(&opPos, 0, sizeof(SSG_motorStatorPosition));
		opPos.neighbourNum = neighbouringInfo[i].neighbours.size();
		opPos.obstacleDist = obstacleDist;
		opPos.opAngle = opAngle;
		opPos.opCenter = neighbouringInfo[i].objPos3D;
		if (opPos.neighbourNum <= 3)
			grabPoses.push_back(opPos);
		else
			grabPoses_2.push_back(opPos);
	}

	//选取抓取点：（1）周边邻居最少（2）距离边的距离最大
	std::sort(grabPoses.begin(), grabPoses.end(),compareByNeighbourDist);
	std::sort(grabPoses_2.begin(), grabPoses_2.end(), compareByNeighbourNum);
	//合并
	grabPoses.insert(grabPoses.end(), grabPoses_2.begin(), grabPoses_2.end());
	return;
#endif
}