// glovePositioning_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_glovePositioning_Export.h"
#include <opencv2/opencv.hpp>
#include <Windows.h>

typedef struct
{
	int r;
	int g;
	int b;
}SG_color;

void vzReadLaserScanPointFromFile_plyTxt(const char* fileName, std::vector< SVzNL3DPoint>& scanData, bool exchangeXY)
{
	std::ifstream inputFile(fileName);
	std::string linedata;

	if (inputFile.is_open() == false)
		return;

	while (std::getline(inputFile, linedata))
	{
		if (linedata.empty())
			continue;

		double X, Y, Z;
		sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &X, &Y, &Z);
		SVzNL3DPoint a_pt;
		if (true == exchangeXY)
		{
			a_pt.x = Y;  //将扫描线调整为Y方向；扫描方向为X方向
			a_pt.y = X;
		}
		else
		{
			a_pt.x = X;
			a_pt.y = Y;
		}
		a_pt.z = Z;
		scanData.push_back(a_pt);
	}
	return;
}

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();
}

//输出水平扫描数据
void _outputScanDataFile_vector_h(char* fileName, std::vector<std::vector<SVzNL3DPosition>>& scanLines)
{
	std::ofstream sw(fileName);
	int lineNum = (int)scanLines[0].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 linePtNum = (int)scanLines.size();
	int lineIdx = 0;
	for (int line = 0; line < lineNum; line++)
	{

		sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
		lineIdx++;
		bool isNull = true;
		for (int i = 0; i < linePtNum; i++)
		{
			SVzNL3DPoint* pt3D = &scanLines[i][line].pt3D;

			float x = (float)pt3D->y;
			float y = (float)pt3D->x;
			float z = (float)pt3D->z;
			sw << "{ " << x << "," << y << "," << z << " }-";
			sw << "{0,0}-{0,0}" << std::endl;
		}
	}
	sw.close();
}

void _outputRGBDScanDataFile_RGBD(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	std::vector< SSG_peakRgnInfo> objPoints)
{
	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = lineNum;
	if (objPoints.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 };

	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];
			int featureType_v = pt3D->nPointIdx & 0xffff;
			int featureType_h = featureType_v >> 4;
			featureType_v &= 0xff;
			if (LINE_FEATURE_PEAK_TOP == featureType_v)
			{
				rgb = { 255, 97, 0 };
				size = 5;
			}
			else if (LINE_FEATURE_PEAK_TOP == featureType_h)
			{
				rgb = { 97, 255, 0 };
				size = 5;
			}
			else
			{
				rgb = { 200, 200, 200 };
				size = 1;
			}
			float x = (float)pt3D->pt3D.x;
			float y = (float)pt3D->pt3D.y;
			float z = (float)pt3D->pt3D.z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
		}
	}
	if (objPoints.size() > 0)
	{
		int linePtNum = (int)objPoints.size();
		sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;

		rgb = { 0, 0, 255 };
		size = 25;
		for (int i = 0; i < linePtNum; i++)
		{
			float x = (float)objPoints[i].centerPos.x;
			float y = (float)objPoints[i].centerPos.y;
			float z = (float)objPoints[i].centerPos.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)objPoints[0].centerPos.x;
		float y = (float)objPoints[0].centerPos.y;
		float z = (float)objPoints[0].centerPos.z;
		sw << "{" << x << "," << y << "," << z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
	}
	sw.close();
}


void _outputScanDataFile_ptr(char* fileName, SVzNL3DLaserLine* scanData, int lineNum)
{
	std::ofstream sw(fileName);
	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++)
	{
		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();
}


#define DATA_VER_OLD			0
#define DATA_VER_NEW			1
#define DATA_VER_FROM_CUSTOM	2
#define VZ_LASER_LINE_PT_MAX_NUM 4096
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;
}

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 _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;
}

void _getRoiClouds(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	int startLine,
	int endLine,
	int startPtIdx,
	int endPtIdx,
	std::vector< std::vector<SVzNL3DPosition>>& roiScanLines)
{
	for (int i = startLine; i < endLine; i++)
	{
		if (i >= scanLines.size())
			break;

		std::vector<SVzNL3DPosition> cut_line;
		std::vector<SVzNL3DPosition>& a_line = scanLines[i];
		for (int j = startPtIdx; j < endPtIdx; j++)
		{
			SVzNL3DPosition a_pt;
			if (j >= a_line.size())
			{
				a_pt.nPointIdx = 0;
				a_pt.pt3D = { 0,0,0 };
			}
			else
				a_pt = a_line[j];
			cut_line.push_back(a_pt);
		}
		roiScanLines.push_back(cut_line);
	}
	return;
}

void _convertToGridData(std::vector< std::vector<SVzNL3DPosition>>& scanLines, 
	std::vector< std::vector<SVzNL3DPosition>>& gridScanLines,
	double y_step)
{
	double y_min = scanLines[0][0].pt3D.y;
	double y_max = y_min;
	int lineNum = (int)scanLines.size();
	for(int line = 0; line < lineNum; line++)
	{
		std::vector<SVzNL3DPosition>& a_line = scanLines[line];
		int ptNum = (int)a_line.size();
		for (int i = 0; i < ptNum; i++)
		{
			if (y_min > a_line[i].pt3D.y)
				y_min = a_line[i].pt3D.y;
			if (y_max < a_line[i].pt3D.y)
				y_max = a_line[i].pt3D.y;
		}
	}
	double half_step = y_step / 2;
	int gridPtNum = (int)((y_max - y_min + half_step) / y_step) + 1;
	for (int line = 0; line < lineNum; line++)
	{
		std::vector<SVzNL3DPosition> grid_line;
		grid_line.resize(gridPtNum);
		for (int i = 0; i < gridPtNum; i++)
			grid_line[i] = { 0, {0.0, 0.0, 0.0} };

		std::vector<SVzNL3DPosition>& a_line = scanLines[line];
		int ptNum = (int)a_line.size();
		for (int i = 0; i < ptNum; i++)
		{
			int ptIdx = (int)((a_line[i].pt3D.y + half_step - y_min) / y_step);
			grid_line[ptIdx] = a_line[i];
		}
		gridScanLines.push_back(grid_line);
	}
	return;
}

#define CONVERT_TO_GRID				0
#define TEST_COMPUTE_CALIB_PARA		0
#define TEST_COMPUTE_GLOVE_POSITION	1
#define TEST_GROUP 1
int main()
{
	const char* dataPath[TEST_GROUP] = {
		"F:\\ShangGu\\手套抓取定位\\",  //0

	};

	SVzNLRange fileIdx[TEST_GROUP] = {
		{1,35}
	};

#if CONVERT_TO_GRID
	int convertGrp = 0;
	for (int fidx = fileIdx[convertGrp].nMin; fidx <= fileIdx[convertGrp].nMax; fidx++)
	{
		char _scan_file[256];
		sprintf_s(_scan_file, "%sglove_%d.txt", dataPath[convertGrp], fidx);
		std::vector< SVzNL3DPoint> scanData;
		bool exchangeXY = true;
		vzReadLaserScanPointFromFile_plyTxt(_scan_file, scanData, exchangeXY);
		//将数据恢复为按扫描线存储格式
		std::vector< std::vector<SVzNL3DPosition>> scanLines;
		wd_getScanLines(scanData, scanLines);

		double y_step;
		if ( (fidx == 4)|| (fidx == 5))
			y_step = 0.106;  
		else
			y_step = 0.091;
		std::vector< std::vector<SVzNL3DPosition>> grid_scanLines;
		_convertToGridData(scanLines, grid_scanLines, y_step);
		sprintf_s(_scan_file, "%sglove_%d_scanLine.txt", dataPath[convertGrp], fidx);
		int headNullLines = 0;
		_outputScanDataFile_vector(_scan_file, grid_scanLines, false, &headNullLines);
		printf("%s: head null lines = %d\n", _scan_file, headNullLines);
#if 1
		sprintf_s(_scan_file, "%sglove_%d_scanLine_h.txt", dataPath[convertGrp], fidx);
		_outputScanDataFile_vector_h(_scan_file, grid_scanLines);
#endif
	}
#endif

#if TEST_COMPUTE_CALIB_PARA
	char _calib_datafile[256];
	sprintf_s(_calib_datafile, "F:\\ShangGu\\项目\\工件端部圆点二维码\\LaserLine3_grid.txt");
	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 = wd_getBaseCalibPara(
			laser3DPoints,
			lineNum);
		//结果进行验证  
		for (int i = 0; i < lineNum; i++)
		{
			if (i == 14)
				int kkk = 1;
			//行处理
			//调平，去除地面
			wd_lineDataR(&laser3DPoints[i], calibPara.planeCalib, -1);// calibPara.planeHeight);
		}
		//
		char calibFile[250];
		sprintf_s(calibFile, "F:\\ShangGu\\项目\\工件端部圆点二维码\\ground_calib_para.txt");
		_outputCalibPara(calibFile, calibPara);
		char _out_file[256];
		sprintf_s(_out_file, "F:\\ShangGu\\项目\\工件端部圆点二维码\\LaserLine3_calib_data.txt");
		_outputScanDataFile_ptr(_out_file, laser3DPoints, lineNum);
		printf("%s: calib done!\n", _calib_datafile);
	}

#endif

#if TEST_COMPUTE_GLOVE_POSITION
	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 = -1.0;
		for (int i = 0; i < 9; i++)
			poseCalibPara.invRMatrix[i] = poseCalibPara.planeCalib[i];
//		char calibFile[250];
//		sprintf_s(calibFile, "F:\\ShangGu\\项目\\工件端部圆点二维码\\ground_calib_para.txt");
//		poseCalibPara = _readCalibPara(calibFile);

		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =1;
			char _scan_file[256];
			sprintf_s(_scan_file, "%sglove_%d_scanLine.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);
			}
			//
			SSG_gloveArcParam arcFeatureParam;
			arcFeatureParam.cornerTh = 120;  //转角大于150
			arcFeatureParam.scale_angle = 1.0;
			arcFeatureParam.scale_corner = 5.0; 
			SSG_treeGrowParam growParam;
			growParam.maxLineSkipNum = 5;
			growParam.yDeviation_max = 1.0;
			growParam.maxSkipDistance = 5.0;
			growParam.zDeviation_max = 2;// algoParam.bagParam.bagH / 2; //袋子高度1/2
			growParam.minLTypeTreeLen = 30.0; //mm
			growParam.minVTypeTreeLen = 30.0; //mm

			int errCode = 0;
			std::vector<SSG_peakRgnInfo> objOps;
			wd_getGloveGrabPostion(
				scanLines,
				arcFeatureParam,
				growParam,
				objOps,
				&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);
			_outputRGBDScanDataFile_RGBD(_scan_file, scanLines, objOps);
		}
	}
#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