#include <iostream>
#include <fstream>
#include <vector>
#include <stdio.h>
#include <VZNL_Types.h>
#include "direct.h"
#include <string>
#include "SG_sieveNodeDetection_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* vzReadLaserScanPointFromFile_XYZ(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;

	SVzNL3DLaserLine* _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 = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (lineNum + 1));
		memset(_scanLines, 0, sizeof(SVzNL3DLaserLine) * (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 = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (lineNum + 1));
		memset(_scanLines, 0, sizeof(SVzNL3DLaserLine) * (lineNum + 1));
		if (scanLineNum)
			*scanLineNum = lines;
	}
	if (_scanLines == NULL)
		return NULL;

	int ptNum = 0;
	int lineIdx = -1;
	int ptIdx = 0;
	SVzNL3DPosition* 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 = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * ptNum);
					memset(p3DPoint, 0, sizeof(SVzNL3DPosition) * ptNum);
				}
				else
					p3DPoint = NULL;
				_scanLines[lineIdx].nPositionCnt = 0;
				_scanLines[lineIdx].nTimeStamp = timeStamp;
				_scanLines[lineIdx].p3DPosition = p3DPoint;

			}
			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);
				int id = _scanLines[lineIdx].nPositionCnt;
				if (id < ptNum)
				{
					p3DPoint[id].pt3D.x = X;
					p3DPoint[id].pt3D.y = Y;
					p3DPoint[id].pt3D.z = Z;
					_scanLines[lineIdx].nPositionCnt = 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 = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * VZ_LASER_LINE_PT_MAX_NUM);
				memset(p3DPoint, 0, sizeof(SVzNL3DPosition) * VZ_LASER_LINE_PT_MAX_NUM);
				_scanLines[lineIdx].nPositionCnt = 0;
				_scanLines[lineIdx].nTimeStamp = timeStamp;
				_scanLines[lineIdx].p3DPosition = 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].nPositionCnt;
				if (id < VZ_LASER_LINE_PT_MAX_NUM)
				{
					p3DPoint[id].pt3D.x = X;
					p3DPoint[id].pt3D.y = Y;
					p3DPoint[id].pt3D.z = Z;
					_scanLines[lineIdx].nPositionCnt = 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();
}

typedef struct
{
	int r;
	int g;
	int b;
}SG_color;
void _outputScanDataFile_RGBD_obj_XYZ(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
	float lineV, int maxTimeStamp, int clockPerSecond, std::vector<SVzNL3DPoint>& objOps)
{
	std::ofstream sw(fileName);
	int realLines = lineNum;
	if (objOps.size() > 0)
		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;
	for (int line = 0; line < lineNum; line++)
	{
		sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << scanData[line].nPositionCnt << std::endl;
		nTimeStamp = scanData[line].nTimeStamp;
		for (int i = 0; i < scanData[line].nPositionCnt; i++)
		{
			SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
			int vType = pt3D->nPointIdx & 0xff;
			int hType = vType >> 4;
			int objId = (pt3D->nPointIdx >> 16) & 0xffff;
			vType = vType & 0x0f;
			if (LINE_FEATURE_L_JUMP_H2L == vType)
			{
				rgb = { 255, 97, 0 };
				size = 3;
			}
			else if (LINE_FEATURE_L_JUMP_L2H == vType)
			{
				rgb = { 255, 255, 0 };
				size = 3;
			}
			else if (LINE_FEATURE_V_SLOPE == vType)
			{
				rgb = { 255, 0, 255 };
				size = 3;
			}
			else if (LINE_FEATURE_L_SLOPE_H2L == vType)
			{
				rgb = { 0, 0, 255 };
				size = 20;
			}
			else if ((LINE_FEATURE_LINE_ENDING_0 == vType) || (LINE_FEATURE_LINE_ENDING_1 == vType))
			{
				rgb = { 255, 0, 0 };
				size = 3;
			}
			else if (LINE_FEATURE_L_SLOPE_L2H == vType)  //已经焊接过
			{
				rgb = { 255, 255, 0 };
				size = 20;
			}
			else if (LINE_FEATURE_L_JUMP_H2L == hType)
			{
				rgb = { 0, 0, 255 };
				size = 3;
			}
			else if (LINE_FEATURE_L_JUMP_L2H == hType)
			{
				rgb = { 0, 255, 255 };
				size = 3;
			}
			else if (LINE_FEATURE_V_SLOPE == hType)
			{
				rgb = { 0, 255, 0 };
				size = 3;
			}
			else if (LINE_FEATURE_L_SLOPE_H2L == hType)
			{
				rgb = { 85, 107, 47 };
				size = 3;
			}
			else if (LINE_FEATURE_L_SLOPE_L2H == hType)
			{
				rgb = { 0, 255, 154 };
				size = 3;
			}
			else if ((LINE_FEATURE_LINE_ENDING_0 == hType) || (LINE_FEATURE_LINE_ENDING_1 == hType))
			{
				rgb = { 255, 0, 0 };
				size = 3;
			}
			else if (objId > 0)  //目标
			{
				rgb = objColor[objId % 8];
				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;
		}
	}
	if (objOps.size() > 0)
	{
		int ptNum = objOps.size();
		sw << "Line_" << lineNum << "_" << (nTimeStamp + 1000) << "_" << ptNum << std::endl;
		for (int i = 0; i < objOps.size(); i++)
		{
			if (i == 0)
				rgb = { 255, 0, 0 };
			else
				rgb = { 255, 255, 0 };
			size = 25;
			float x = (float)objOps[i].x;
			float y = (float)objOps[i].y;
			float z = (float)objOps[i].z;

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

void _XOYprojection_nodePos(cv::Mat& img, std::vector<std::vector< SVzNL3DPosition>>& dataLines, std::vector<SVzNL3DPoint>& objOps,
	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 >> 16) & 0xff;
			vType = vType & 0x0f;
			if (LINE_FEATURE_L_JUMP_H2L == vType)
			{
				rgb = { 255, 97, 0 };
				size = 2;
			}
			else if (LINE_FEATURE_L_JUMP_L2H == vType)
			{
				rgb = { 255, 255, 0 };
				size = 2;
			}
			else if (LINE_FEATURE_V_SLOPE == vType)
			{
				rgb = { 255, 0, 255 };
				size = 2;
			}
			else if (LINE_FEATURE_L_SLOPE_H2L == vType)
			{
				rgb = { 160, 82, 45 };
				size = 2;
			}
			else if ((LINE_FEATURE_LINE_ENDING_0 == vType) || (LINE_FEATURE_LINE_ENDING_1 == vType))
			{
				rgb = { 255, 0, 0 };
				size = 2;
			}
			else if (LINE_FEATURE_L_SLOPE_L2H == vType)
			{
				rgb = { 233, 150, 122 };
				size = 2;
			}
			else if (LINE_FEATURE_L_JUMP_H2L == hType)
			{
				rgb = { 0, 0, 255 };
				size = 2;
			}
			else if (LINE_FEATURE_L_JUMP_L2H == hType)
			{
				rgb = { 0, 255, 255 };
				size = 2;
			}
			else if (LINE_FEATURE_V_SLOPE == hType)
			{
				rgb = { 0, 255, 0 };
				size = 2;
			}
			else if (LINE_FEATURE_L_SLOPE_H2L == hType)
			{
				rgb = { 85, 107, 47 };
				size = 2;
			}
			else if (LINE_FEATURE_L_SLOPE_L2H == hType)
			{
				rgb = { 0, 255, 154 };
				size = 2;
			}
			else if ((LINE_FEATURE_LINE_ENDING_0 == hType) || (LINE_FEATURE_LINE_ENDING_1 == hType))
			{
				rgb = { 255, 0, 0 };
				size = 2;
			}
			else if (objId > 0)  //目标
			{
				rgb = objColor[objId % 8];
				size = 1;
			}
			else
			{
				rgb = { 60, 60, 60 };
				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);
		}
	}
	if (objOps.size() > 0)
	{
		for (int i = 0; i < objOps.size(); i++)
		{
			if (i == 0)
			{
				rgb = { 255, 0, 0 };
				size = 20;
			}
			else
			{
				rgb = { 255, 255, 0 };
				size = 10;
			}
			int px = (int)((objOps[i].x - x_range.min) / x_scale + x_skip);
			int py = (int)((objOps[i].y - y_range.min) / y_scale + y_skip);
			cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
		}
	}

}

void _genXOYProjectionImage_nodePos(cv::String& fileName, SVzNL3DLaserLine* scanData, int lineNum, std::vector<SVzNL3DPoint>& nodeOps)
{
	//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;
	//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;
	if (x_scale > y_scale)
	{
		x_scale = y_scale;
		int nx_cols = (int)((x_range.max - x_range.min) / x_scale) + 1;
		if ( (nx_cols % 2) > 0)
			nx_cols += 1;
		x_cols = nx_cols;
		imgCols = x_cols + 32.0;
	}
	else
	{
		y_scale = x_scale;
		int ny_rows = (int)((y_range.max - y_range.min) / y_scale) + 1;
		if ((ny_rows % 2) > 0)
			ny_rows += 1;
		y_rows = ny_rows;
		imgRows = y_rows + 32.0;
	}
	cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
	_XOYprojection_nodePos(img, scan_lines, nodeOps, x_scale, y_scale, x_range, y_range);

	cv::imwrite(fileName, img);
	return;
}

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();
}

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;
}

#define TEST_CONVERT_TO_GRID		0
#define TEST_COMPUTE_SIEVE_NODES	1
#define TEST_COMPUTE_CALIB_PARA		0
#define TEST_GROUP 2
int main()
{
#if TEST_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, "F:\\上古\\项目\\筛孔节点检测\\20250303 筛网数据\\");
	char _scan_file[256];
	double _F = 1295.6;  //f
	for (int i = 1; i <= 12; i++)
	{
		sprintf_s(_scan_file, "%s%d_LaserData_Ik256139.txt", _scan_dir, i);
		SVzNLXYZRGBDLaserLine* laser3DPoints_RGBD = vzReadLaserScanPointFromFile_XYZRGB(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
		if (laser3DPoints_RGBD == NULL)
			continue;

#if 0
		double rpy[3] = { 0,-18, 0 };
		double camPoseR[9];
		EulerRpyToRotation1(rpy, camPoseR);
#else
		double camPoseR[9] = {
		1.0, 0.0, 0.0,
		0.0, 1.0, 0.0,
		0.0, 0.0, 1.0 };
#endif
		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);

#if 0
		//生成水平扫描数据
		int hLineNum = gridData[0].nPositionCnt;
		SVzNL3DLaserLine* hScanData = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * hLineNum);
		memset(hScanData, 0, sizeof(SVzNL3DLaserLine) * hLineNum);
		for (int hLine = 0; hLine < hLineNum; hLine++)
		{
			hScanData[hLine].nPositionCnt = vldLineNum;
			hScanData[hLine].nTimeStamp = hLine * 1000;
			hScanData[hLine].p3DPosition = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * lineNum);
			memset(hScanData[hLine].p3DPosition, 0, sizeof(SVzNL3DPosition) * lineNum);
			for (int m = 0; m < vldLineNum; m++)
			{
				hScanData[hLine].p3DPosition[m].nPointIdx = m;
				hScanData[hLine].p3DPosition[m].pt3D.x = gridData[m].p3DPosition[hLine].pt3D.y;
				hScanData[hLine].p3DPosition[m].pt3D.y = gridData[m].p3DPosition[hLine].pt3D.x;
				hScanData[hLine].p3DPosition[m].pt3D.z = gridData[m].p3DPosition[hLine].pt3D.z;
			}
		}

		sprintf_s(_out_file, "%sLaserLine%d_hScanData.txt", _scan_dir, i);
		_outputScanDataFile_removeZeros(_out_file, hScanData, hLineNum,
			lineV, maxTimeStamp, clockPerSecond);
#endif

		printf("%s: convert done!\n", _scan_file);
	}
	printf("all converting done!\n", _scan_file);
#endif

#if TEST_COMPUTE_CALIB_PARA
	char _calib_datafile[256];
	sprintf_s(_calib_datafile, "F:\\上古\\项目\\筛孔节点检测\\20250304 筛网\\LaserLine1_grid.txt");
	std::vector<SVzNL3DRangeD> dataROIs;
	dataROIs.resize(4);
	dataROIs[0].xRange = { -120, -107 };
	dataROIs[0].yRange = { -169, -79 };
	dataROIs[0].zRange = { 543, 557 };
	dataROIs[1].xRange = { -105, -95 };
	dataROIs[1].yRange = { 84, 208 };
	dataROIs[1].zRange = { 535, 548 };
	dataROIs[2].xRange = { 89, 103 };
	dataROIs[2].yRange = { -180, -57 };
	dataROIs[2].zRange = { 543, 557 };
	dataROIs[3].xRange = { 104, 116 };
	dataROIs[3].yRange = { 0, 198 };
	dataROIs[3].zRange = { 535, 548 };
	int lineNum = 0;
	float lineV = 0.0f;
	int dataCalib = 0;
	int maxTimeStamp = 0;
	int clockPerSecond = 0;
	SVzNL3DLaserLine* laser3DPoints = vzReadLaserScanPointFromFile_XYZ(_calib_datafile, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
	if (laser3DPoints)
	{

		SSG_planeCalibPara calibPara = sg_getSieveBaseCalibPara(
			laser3DPoints,
			lineNum,
			dataROIs);

		//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
			sg_lineDataR(&laser3DPoints[i], calibPara.planeCalib, calibPara.planeHeight-1);
		}
		//
		char calibFile[250];
		sprintf_s(calibFile, "F:\\上古\\项目\\筛孔节点检测\\20250304 筛网\\ground_calib_para.txt");
		_outputCalibPara(calibFile, calibPara);
		char _out_file[256];
		sprintf_s(_out_file, "F:\\上古\\项目\\筛孔节点检测\\20250304 筛网\\LaserLine1_grid_calib.txt");
		_outputScanDataFile_self(_out_file, laser3DPoints, lineNum,
			lineV, maxTimeStamp, clockPerSecond);
		printf("%s: calib done!\n", _calib_datafile);
	}

#endif

#if TEST_COMPUTE_SIEVE_NODES
	const char* dataPath[TEST_GROUP] = {
	"F:\\ShangGu\\项目\\筛孔节点检测\\20250304 筛网\\",  //0
	"F:\\ShangGu\\项目\\筛孔节点检测\\20250303 筛网数据\\",  //1
	};

	SVzNLRange fileIdx[TEST_GROUP] = {
		{1,9},{1,12}
	};

	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 = -1.0;
	for (int i = 0; i < 9; i++)
		poseCalibPara.invRMatrix[i] = poseCalibPara.planeCalib[i];

	SSG_sieveNodeDetectionParam algoParam;
	algoParam.sieveDiameter = 5;  //
	algoParam.sieveHoleSize = 15;
	algoParam.slopeParam.LSlopeZWin = 5;  
	algoParam.slopeParam.minLJumpH = 4; // 30; // algoParam.bagParam.bagH / 8;
	algoParam.slopeParam.minEndingGap = 2;
	algoParam.slopeParam.validSlopeH = 4;

	algoParam.growParam.maxLineSkipNum = 5;
	algoParam.growParam.yDeviation_max = algoParam.sieveDiameter * 1.5;
	algoParam.growParam.maxSkipDistance = algoParam.sieveDiameter / 2;
	algoParam.growParam.zDeviation_max = algoParam.sieveDiameter * 1.5; //袋子高度1/2
	algoParam.growParam.minLTypeTreeLen = algoParam.sieveDiameter * 1.5; //mm
	algoParam.growParam.minVTypeTreeLen = algoParam.sieveDiameter * 1.5; //mm

	char _scan_file[256];

	int endGroup = TEST_GROUP - 1;
	for (int grp = 0; grp <= 1; grp++)
	{
		if (0 == grp)
		{
			char calibFile[250];
			sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
			poseCalibPara = _readCalibPara(calibFile);
			poseCalibPara.planeHeight = poseCalibPara.planeHeight - 1;
		}
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx = 102;
			int lineNum = 0;
			float lineV = 0.0f;
			int dataCalib = 0;
			int maxTimeStamp = 0;
			int clockPerSecond = 0;
			sprintf_s(_scan_file, "%sLaserLine%d_grid.txt", dataPath[grp], fidx);
			SVzNL3DLaserLine* laser3DPoints = vzReadLaserScanPointFromFile_XYZ(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
			if (laser3DPoints == NULL)
				continue;

			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;

			long t1 = GetTickCount64();

			//调平，去除地面
			for (int i = 0; i < lineNum; i++)
			{
				sg_lineDataR(&laser3DPoints[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight);
			}
			//计算节点位置
			std::vector<SVzNL3DPoint> nodePos;
			sg_getSieveNodes(
				laser3DPoints,
				lineNum,
				algoParam,
				nodePos);

			long t2 = GetTickCount64();

			char _dbg_file[256];
#if 1

			sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
			_outputScanDataFile_RGBD_obj_XYZ(_dbg_file, laser3DPoints, lineNum, lineV, maxTimeStamp, clockPerSecond, nodePos);

			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_nodePos(imgName, laser3DPoints, lineNum, nodePos);
#endif
#if 0
			//量化成2D图像作为训练样本
			cv::Mat project2D_img;
			double z_scale = 3.0;
			double xy_scale = 2.0;
			project2DWithInterpolate(project2D_img, laser3DPoints, lineNum, xy_scale, z_scale);
			cv::Mat project2D_color;
			cv::applyColorMap(project2D_img, project2D_color, cv::COLORMAP_JET);
			sprintf_s(_dbg_file, "%simg2D_JET\\LaserLine%d_img2D.png", dataPath[grp], fidx);
			cv::String img2DName(_dbg_file);
			cv::imwrite(img2DName, project2D_color);
			cv::Mat project2D_color_HOT;
			cv::applyColorMap(project2D_img, project2D_color_HOT, cv::COLORMAP_HOT);
			sprintf_s(_dbg_file, "%simg2D\\LaserLine%d_img2D.png", dataPath[grp], fidx);
			cv::String img2DName_HOT(_dbg_file);
			cv::imwrite(img2DName_HOT, project2D_color_HOT);
#endif
			printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
		}
	}

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



// 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