// motorStatorPosition_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 "beltTearingDetection_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* _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;
}

SVzNL3DLaserLine* _yRngFilterData_XYZRGB(SVzNLXYZRGBDLaserLine* laser3DPoints, int lineNum, double y_min, double y_max, int* outLineNum)
{
	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;
		}
	}

	int vldLineNum = validEndLine - validStartLine + 1;
	*outLineNum = vldLineNum;
	SVzNL3DLaserLine* filterData = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
	memset(filterData, 0, sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
	for (int line = validStartLine; line <= validEndLine; line++)
	{
		std::vector<SVzNLPointXYZRGBA> vldPts;
		for (int i = 0; i < laser3DPoints[line].nPointCnt; i++)
		{
			SVzNLPointXYZRGBA a_pt = laser3DPoints[line].p3DPoint[i];
			if ((a_pt.z > 1e-4) && (a_pt.y >= y_min) && (a_pt.y <= y_max))
			{
				vldPts.push_back(a_pt);
			}
		}
		int filterLine = line - validStartLine;
		int ptNum = vldPts.size();
		filterData[filterLine].nPositionCnt = ptNum;
		filterData[filterLine].nTimeStamp = laser3DPoints[line].nTimeStamp;
		filterData[filterLine].p3DPosition = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * ptNum);
		memset(filterData[filterLine].p3DPosition, 0, sizeof(SVzNL3DPosition) * ptNum);
		for(int i = 0, i_max = vldPts.size(); i < i_max; i ++)
		{
			filterData[filterLine].p3DPosition[i].nPointIdx = i;
			filterData[filterLine].p3DPosition[i].pt3D.x = vldPts[i].x;
			filterData[filterLine].p3DPosition[i].pt3D.y = vldPts[i].y;
			filterData[filterLine].p3DPosition[i].pt3D.z = vldPts[i].z;
		}
	}
	return filterData;
}

SVzNL3DLaserLine* _linesDownSample_XYZRGB(SVzNLXYZRGBDLaserLine* laser3DPoints, int lineNum, int* outLineNum)
{
	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;
		}
	}

	int vldLineNum = (validEndLine - validStartLine + 1)/2;
	*outLineNum = vldLineNum;
	SVzNL3DLaserLine* filterData = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
	memset(filterData, 0, sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
	int totalLines = 0;
	for (int line = validStartLine; line <= validEndLine; line+=2)
	{
		if (totalLines >= vldLineNum)
			break;
		std::vector<SVzNLPointXYZRGBA> vldPts;
		for (int i = 0; i < laser3DPoints[line].nPointCnt; i++)
		{
			SVzNLPointXYZRGBA a_pt = laser3DPoints[line].p3DPoint[i];
			if (a_pt.z > 1e-4)
			{
				vldPts.push_back(a_pt);
			}
		}
		int filterLine = totalLines;
		int ptNum = vldPts.size();
		filterData[filterLine].nPositionCnt = ptNum;
		filterData[filterLine].nTimeStamp = laser3DPoints[line].nTimeStamp;
		filterData[filterLine].p3DPosition = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * ptNum);
		memset(filterData[filterLine].p3DPosition, 0, sizeof(SVzNL3DPosition) * ptNum);
		for (int i = 0, i_max = vldPts.size(); i < i_max; i++)
		{
			filterData[filterLine].p3DPosition[i].nPointIdx = i;
			filterData[filterLine].p3DPosition[i].pt3D.x = vldPts[i].x;
			filterData[filterLine].p3DPosition[i].pt3D.y = vldPts[i].y;
			filterData[filterLine].p3DPosition[i].pt3D.z = vldPts[i].z;
		}
		totalLines++;
	}
	return filterData;
}

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();
}

void _outputScanDataFile_removeZeros(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++)
	{
		int realNum = 0;
		for (int i = 0; i < scanData[line].nPositionCnt; i++)
		{
			if (scanData[line].p3DPosition[i].pt3D.z > 1e-4)
				realNum++;
		}
		sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << realNum << std::endl;
		for (int i = 0; i < scanData[line].nPositionCnt; i++)
		{
			if (scanData[line].p3DPosition[i].pt3D.z > 1e-4)
			{
				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();
}

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;
}

typedef struct
{
	int r;
	int g;
	int b;
}SG_color;
void _outputScanDataFile_RGBD_obj(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
	float lineV, int maxTimeStamp, int clockPerSecond, 
	std::vector<SSG_beltTearingInfo>& total_tearings)
{
	std::ofstream sw(fileName);
	int realLines = lineNum;
	if (total_tearings.size() > 0)
		realLines += 1;

	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];
			if (pt3D->pt3D.z < 1e-4)
				continue;

			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 (total_tearings.size() > 0)
	{
		int ptNum = 0;
		for (int id = 0; id < total_tearings.size(); id++)
		{
			SSG_beltTearingInfo* a_tear = &total_tearings[id];
			ptNum += total_tearings[id].pts.size();
		}
		sw << "Line_" << lineNum << "_" << nTimeStamp+1000 << "_" << ptNum << std::endl;

		for (int id = 0; id < total_tearings.size(); id++)
		{
			SSG_beltTearingInfo* a_tear = &total_tearings[id];
			for (int i = 0; i < a_tear->pts.size(); i++)
			{
				int objID = a_tear->pts[i].nPointIdx;
				rgb = objColor[objID % 8];
				size = 3;
				float x = (float)a_tear->pts[i].pt3D.x;
				float y = (float)a_tear->pts[i].pt3D.y;
				float z = (float)a_tear->pts[i].pt3D.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 _rotateCloudPts(SVzNL3DLaserLine* scanData, int lineNum, double matrix3d[9], std::vector<std::vector< SVzNL3DPosition>>& rotateLines, SVzNLRangeD* rx_range, SVzNLRangeD* ry_range)
{
	rx_range->min = 0;
	rx_range->max = -1;
	ry_range->min = 0;
	ry_range->max = -1;
	for (int line = 0; line < lineNum; line++)
	{
		std::vector< SVzNL3DPosition> linePts;
		for (int i = 0; i < scanData[line].nPositionCnt; i++)
		{
			SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
			if (pt3D->pt3D.z < 1e-4)
				continue;

			SVzNL3DPosition r_pt;
			r_pt.pt3D = _ptRotate(pt3D->pt3D, matrix3d);
			r_pt.nPointIdx = pt3D->nPointIdx;
			if (rx_range->max < rx_range->min)
			{
				rx_range->min = r_pt.pt3D.x;
				rx_range->max = r_pt.pt3D.x;
			}
			else
			{
				if (rx_range->min > r_pt.pt3D.x)
					rx_range->min = r_pt.pt3D.x;
				if (rx_range->max < r_pt.pt3D.x)
					rx_range->max = r_pt.pt3D.x;
			}
			if (ry_range->max < ry_range->min)
			{
				ry_range->min = r_pt.pt3D.y;
				ry_range->max = r_pt.pt3D.y;
			}
			else
			{
				if (ry_range->min > r_pt.pt3D.y)
					ry_range->min = r_pt.pt3D.y;
				if (ry_range->max < r_pt.pt3D.y)
					ry_range->max = r_pt.pt3D.y;
			}
			linePts.push_back(r_pt);

		}
		rotateLines.push_back(linePts);
	}
}

void _XOYprojection(cv::Mat& img, 
	std::vector<std::vector< SVzNL3DPosition>>& dataLines,
	const double x_scale, const double y_scale, 
	const SVzNLRangeD x_range, 
	const SVzNLRangeD y_range,
	std::vector<SSG_beltTearingInfo>& total_tearings)
{
	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;

			rgb = { 200, 200, 200 };
			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);
		}
	}
	for (int i = 0, i_max = total_tearings.size(); i < i_max; i++)
	{
		SSG_beltTearingInfo* a_obj = &total_tearings[i];
		rgb = objColor[i % 8];
		int size = 3;
		for (int j = 0, j_max = a_obj->pts.size(); j < j_max; j++)
		{
			double x = a_obj->pts[j].pt3D.x;
			double y = a_obj->pts[j].pt3D.y;
			int px = (int)((x - x_range.min) / x_scale + x_skip);
			int py = (int)((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);
		}
		//画ROI
		cv::Point2d vec2d[4];
		vec2d[0].x = a_obj->roi.left;		vec2d[0].y = a_obj->roi.top;
		vec2d[1].x = a_obj->roi.right;		vec2d[1].y = a_obj->roi.top;
		vec2d[2].x = a_obj->roi.right;		vec2d[2].y = a_obj->roi.bottom;
		vec2d[3].x = a_obj->roi.left;		vec2d[3].y = a_obj->roi.bottom;
		cv::Point vec[4];
		for (int j = 0; j < 4; j++)
		{
			vec[j].x = (int)((vec2d[j].x - x_range.min) / x_scale + x_skip);
			vec[j].y = (int)((vec2d[j].y - y_range.min) / y_scale + y_skip);
		}
		for (int j = 0; j < 4; j++)
		{
			int nxtIdx = (j + 1) % 4;
			cv::line(img, vec[j], vec[nxtIdx], cv::Scalar(rgb[2], rgb[1], rgb[0]), size);
		}
	}
}

void EulerRpyToRotation1(double rpy[3], double matrix3d[9]) {
	double cos0 = cos(rpy[0] * PI / 180);
	double sin0 = sin(rpy[0] * PI / 180);
	double cos1 = cos(rpy[1] * PI / 180);
	double sin1 = sin(rpy[1] * PI / 180);
	double cos2 = cos(rpy[2] * PI / 180);
	double sin2 = sin(rpy[2] * PI / 180);
	matrix3d[0] = cos2 * cos1;
	matrix3d[1] = cos2 * sin1 * sin0 - sin2 * cos0;
	matrix3d[2] = cos2 * sin1 * cos0 + sin2 * sin0;
	matrix3d[3] = sin2 * cos1;
	matrix3d[4] = sin2 * sin1 * sin0 + cos2 * cos0;
	matrix3d[5] = sin2 * sin1 * cos0 - cos2 * sin0;
	matrix3d[6] = -sin1;
	matrix3d[7] = cos1 * sin0;
	matrix3d[8] = cos1 * cos0;
	return;
}

void _genXOYProjectionImage(cv::String& fileName, SVzNL3DLaserLine* scanData, int lineNum, 
	std::vector<SSG_beltTearingInfo>& total_tearings)
{
	//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);
	}

	//固定量化比例（因为皮带长度未知）
	double x_scale = 0.5;
	double y_scale = 0.5;
	double x_rows = (x_range.max - x_range.min) / x_scale;
	double y_rows = (y_range.max - y_range.min) / y_scale;
	int imgRows = (int)(y_rows + 0.5);
	if (imgRows % 2 != 0)
		imgRows += 1;
	int imgCols = (int)(x_rows + 0.5);
	if (imgCols % 2 != 0)
		imgCols += 1;

	imgRows += 32; 
	imgCols += 32;
	cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
	_XOYprojection(img, scan_lines, x_scale, y_scale, x_range, y_range, total_tearings);
	cv::imwrite(fileName, img);
	return;
}

void _outputObjInfo(char* fileName, std::vector<SSG_beltTearingInfo>& total_tearings)
{
	std::ofstream sw(fileName);
	int objNum = total_tearings.size();
	sw << "撕裂数目:" << objNum << std::endl;
	for (int i = 0; i < objNum; i++)
	{
		sw << " obj_" << i << std::endl;
		sw << "    Depth=" << total_tearings[i].tearDepth << std::endl;
		sw << "    Width=" << total_tearings[i].tearWidth << std::endl;
		sw << "    ROI={" << total_tearings[i].roi.left << "," << total_tearings[i].roi.right << "," << total_tearings[i].roi.top << "," << total_tearings[i].roi.bottom << "}" << std::endl;
		sw << "    start=" << total_tearings[i].statLineIdx << ", end=" << total_tearings[i].endLineIdx << std::endl;
	}
	sw.close();
}

#define TEST_GROUP 3
int main()
{
#if 0
#if 1
	//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\\皮带撕裂点云\\SaveData\\");
	char _scan_file[256];
	double _F = 983.42;  //f
	for (int i = 11; i <= 11; i++)
	{
		sprintf_s(_scan_file, "%sSaveData_%d.txt", _scan_dir, i);
		SVzNLXYZRGBDLaserLine* laser3DPoints_RGBD = vzReadLaserScanPointFromFile_XYZRGB(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
		if (laser3DPoints_RGBD == NULL)
			continue;

		double camPoseR[9] = {
		1.0, 0.0, 0.0,
		0.0, 1.0, 0.0,
		0.0, 0.0, 1.0 };

		int vldLineNum = 0;
		SVzNL3DLaserLine* gridData = _convertToGridData_XYZRGB(laser3DPoints_RGBD, lineNum, _F, camPoseR, &vldLineNum);
		//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 = lineNum;
			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 < lineNum; m++)
			{
				hScanData[hLine].p3DPosition[m].nPointIdx = m;
				hScanData[hLine].p3DPosition[m].pt3D = gridData[m].p3DPosition[hLine].pt3D;
			}
		}
		char _out_file[256];
		sprintf_s(_out_file, "%sLaserLine%d_grid.txt", _scan_dir, i);
		_outputScanDataFile_self(_out_file, gridData, vldLineNum,
			lineV, maxTimeStamp, clockPerSecond);
		//sprintf_s(_out_file, "%sLaserLine%d_hScanData.txt", _scan_dir, i);
		//_outputScanDataFile_removeZeros(_out_file, hScanData, hLineNum,
		//	lineV, maxTimeStamp, clockPerSecond);
		printf("%s: convert done!\n", _scan_file);
	}
#else
#if 0
	//点云过滤Y范围过滤
	//double y_min = -210.0, y_max = 50; //正面3
	//double y_min = -178.0, y_max = 90; //正面4
	//double y_min = -180.0, y_max = 60; //侧面3
	double y_min = -190.0, y_max = 70; //侧面4
	char _scan_file[256];
	int lineNum = 0;
	float lineV = 0.0f;
	int dataCalib = 0;
	int maxTimeStamp = 0;
	int clockPerSecond = 0;
	sprintf_s(_scan_file, "F:\\3D数据\\铸造件(1)\\铸造件\\侧面\\侧面4.txt");
	SVzNLXYZRGBDLaserLine* laser3DPoints_RGBD = vzReadLaserScanPointFromFile_XYZRGB(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
	
	int vldLineNum = 0;
	SVzNL3DLaserLine* filterData = _yRngFilterData_XYZRGB(laser3DPoints_RGBD, lineNum, y_min, y_max, &vldLineNum);

	char _out_file[256];
	sprintf_s(_out_file, "F:\\3D数据\\铸造件(1)\\铸造件\\侧面\\侧面4_filter.txt");
	_outputScanDataFile_self(_out_file, filterData, vldLineNum,
		lineV, maxTimeStamp, clockPerSecond);
	printf("%s: convert done!\n", _scan_file);
#else
	char _scan_file[256];
	int lineNum = 0;
	float lineV = 0.0f;
	int dataCalib = 0;
	int maxTimeStamp = 0;
	int clockPerSecond = 0;
	sprintf_s(_scan_file, "F:\\客户\\天津阳润\\b侧替换标定数据\\004-b-u.txt");
	SVzNLXYZRGBDLaserLine* laser3DPoints_RGBD = vzReadLaserScanPointFromFile_XYZRGB(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);

	int vldLineNum = 0;
	SVzNL3DLaserLine* filterData = _linesDownSample_XYZRGB(laser3DPoints_RGBD, lineNum, &vldLineNum);

	char _out_file[256];
	sprintf_s(_out_file, "F:\\客户\\天津阳润\\b侧替换标定数据\\004-b-u-filter.txt");
	_outputScanDataFile_self(_out_file, filterData, vldLineNum,
		lineV, maxTimeStamp, clockPerSecond);
	printf("%s: convert done!\n", _scan_file);
#endif
#endif
#else

	const char* dataPath[TEST_GROUP] = {
	"F:\\上古\\皮带撕裂点云\\1-500-2000\\",  //0
	"F:\\上古\\皮带撕裂点云\\2-1700-2000\\",  //1
	"F:\\上古\\皮带撕裂点云\\SaveData\\"
	};

	SVzNLRange fileIdx[TEST_GROUP] = {
		{10,24}, {2, 18}, {15,15} };

	double camPoseR[9] = {
	1.0, 0.0, 0.0,
	0.0, 1.0, 0.0,
	0.0, 0.0, 1.0 };

	SSG_beltTearingParam algoParam;
	algoParam.differnceBinTh = 1.0;
	algoParam.extractPara.gapChkWin = 7;
	algoParam.extractPara.sameGapTh = 20.0;
	algoParam.scanXScale = 4.0;
	algoParam.scanYScale = 0.6;
	algoParam.tearingMinGap = 50.0; //两个同位置的纵撕的最小间隔。大于此门限视为两个撕裂
	algoParam.tearingMinLen = 30.0; 

	char _scan_file[256];
	int endGroup = TEST_GROUP - 1;
	for (int grp = 2; grp <= endGroup; grp++)
	{
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx = 4;
			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;

			std::vector<SSG_beltTearingInfo> total_tearings;

			printf("%s: \n", _scan_file);
			int errCode = 0;
			int nPointNum = laser3DPoints->nPositionCnt;
			std::vector<SSG_hLineProInfo> hLineWorkers;
			hLineWorkers.resize(nPointNum);
			std::vector<SSG_beltTearingInfo> beltTearings_new;
			std::vector<SSG_beltTearingInfo> beltTearings_growing;
			std::vector<SSG_beltTearingInfo> beltTearings_ended;
			std::vector<SSG_beltTearingInfo> beltTearings_unknown;  //未判明，应用无需处理。
			int lineIdx = 0;
			long t1 = GetTickCount64();

			beltTearings_new.clear();
			beltTearings_new.shrink_to_fit();
			beltTearings_growing.clear();
			beltTearings_growing.shrink_to_fit();
			beltTearings_ended.clear();
			beltTearings_ended.shrink_to_fit();
			beltTearings_unknown.clear();
			beltTearings_unknown.shrink_to_fit();
			sg_detectBeltTearing(
				NULL,  //空扫描线，用于复位内部静态变量
				0,
				0,
				&errCode,
				hLineWorkers,
				beltTearings_new,
				beltTearings_growing,
				beltTearings_ended,
				beltTearings_unknown,  //未判明，应用无需处理。
				algoParam);

			for (int lineIdx = 0; lineIdx < lineNum; lineIdx++)
			{
				if ((lineIdx == 56) || (lineIdx == 857))
					int kkk = 1;
				SVzNL3DLaserLine* a_line = &laser3DPoints[lineIdx];
				sg_detectBeltTearing(
					a_line,  //一条扫描线
					lineIdx,
					a_line->nPositionCnt,
					&errCode,
					hLineWorkers,
					beltTearings_new,
					beltTearings_growing,
					beltTearings_ended,
					beltTearings_unknown,  //未判明，应用无需处理。
					algoParam);

				long t2 = GetTickCount64();
				if (beltTearings_new.size() > 0)
					int kkk = 1;
				int newTearNum = beltTearings_new.size();
				if (newTearNum > 0)
					printf(" line_%d: %d(ms), newTearNum=%d!\n", lineIdx, (int)(t2 - t1), newTearNum);
#if OUTPUT_TEARING_POINTS
				if (beltTearings_ended.size() > 0) //收集撕裂点
				{
					total_tearings.insert(total_tearings.end(), beltTearings_ended.begin(), beltTearings_ended.end());
				}
				else if (lineIdx == lineNum - 1)  //测试数据最后一条扫描线。（实际中没有）
				{
					total_tearings.insert(total_tearings.end(), beltTearings_growing.begin(), beltTearings_growing.end());
				}
#endif
			}

			printf(" totalTearNum=%d!\n", (int)total_tearings.size());
			char _dbg_file[256];
#if 1
			sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
			_outputScanDataFile_RGBD_obj(_dbg_file, laser3DPoints, lineNum, lineV, maxTimeStamp, clockPerSecond, total_tearings);

			sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result_img.png", dataPath[grp], fidx);
			cv::String imgName(_dbg_file);
			double rpy[3] = { 0, 0, 0 }; //{ 0,-45, 0 };  //
			_genXOYProjectionImage(imgName, laser3DPoints, lineNum, total_tearings);
			sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result_info.txt", dataPath[grp], fidx);
			_outputObjInfo(_dbg_file, total_tearings);
#endif
			
		}
	}

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