// bagPositioning_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 <string>
#include "SG_bagPositioning_Export.h"
#include <opencv2/opencv.hpp>
#ifdef _WIN32
#include <Windows.h>
#include "direct.h"
#endif


typedef struct
{
	int nPointIdx;
	double x;
	double y;
	double z;
	float r;
	float g;
	float b;
} SPointXYZRGB;

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;
}

SVzNLPointXYZRGBA _ptRotate_RGBD(SVzNLPointXYZRGBA pt3D, double matrix3d[9])
{
	SVzNLPointXYZRGBA _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;
				float r, g, b;
				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)
				{
					if (lineIdx == 537)
						int kkk = 1;
					p3DPoint[id].x = X;
					p3DPoint[id].y = Y;
					p3DPoint[id].z = Z;
					int nr = (int)(r * 255);
					int ng = (int)(g * 255);
					int nb = (int)(b * 255);
					nb <<= 8;
					nb += ng;
					nb <<= 8;
					nb += nr;
					p3DPoint[id].nRGB = nb;
					_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;
}

void vzReadLaserScanPointFromFile_XYZRGB_vector(const char* fileName, std::vector<std::vector< SPointXYZRGB>>& scanData)
{
	std::ifstream inputFile(fileName);
	std::string linedata;

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

	std::vector< SPointXYZRGB> a_line;
	while (getline(inputFile, linedata))
	{
		if (0 == strncmp("Line_", linedata.c_str(), 5))  //new line
		{
			if (a_line.size() > 0)
			{
				scanData.push_back(a_line);
				a_line.clear();
			}
		}
		else if (0 == strncmp("{", linedata.c_str(), 1))
		{
			float leftX, leftY;
			float rightX, rightY;
			SPointXYZRGB a_pt;
			sscanf_s(linedata.c_str(), "{ %lf, %lf, %lf, %f, %f, %f }-{ %f, %f }-{ %f, %f }", &a_pt.x, &a_pt.y, &a_pt.z, &a_pt.r, &a_pt.g, &a_pt.b, &leftX, &leftY, &rightX, &rightY);
			a_line.push_back(a_pt);
		}
	}
	if(a_line.size() > 0)
		scanData.push_back(a_line);

	inputFile.close();
	return;
}

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 _convertToGridData_XYZRGB_vector(std::vector<std::vector< SPointXYZRGB>>& scanData, double _F, std::vector<std::vector< SPointXYZRGB>>& scanData_grid)
{
	int min_y = 100000000;
	int max_y = -10000000;
	int lineNum = scanData.size();
	for (int line = 0; line < lineNum; line++)
	{
		std::vector< SPointXYZRGB>& a_line = scanData[line];
		int nPointCnt = a_line.size();
		for (int i = 0; i < nPointCnt; i++)
		{
			SPointXYZRGB* a_pt = &scanData[line][i];
			if (a_pt->z > 1e-4)
			{
				double v = _F * a_pt->y / a_pt->z + 2000;
				a_pt->nPointIdx = (int)(v + 0.5);
				max_y = max_y < (int)a_pt->nPointIdx ? (int)a_pt->nPointIdx : max_y;
				min_y = min_y > (int)a_pt->nPointIdx ? (int)a_pt->nPointIdx : min_y;
			}
		}
	}
	if (min_y == 100000000)
		return;

	int pt_counter = max_y - min_y + 1;
	std::vector< SPointXYZRGB> gridData;
	gridData.resize(pt_counter);
	for (int i = 0; i < pt_counter; i++)
		gridData[i] = { 0, 0.0, 0.0, 0.0, 0.0f, 0.0f, 0.0f };
	for (int line = 0; line < lineNum; line++)
	{
		std::vector< SPointXYZRGB>& a_line = scanData[line];
		int nPointCnt = a_line.size();
		for (int i = 0; i < nPointCnt; i++)
		{
			SPointXYZRGB a_pt = a_line[i];
			if (a_pt.z > 1e-4)
			{
				int pt_id = a_pt.nPointIdx - min_y;
				gridData[pt_id]= a_pt;
			}
		}
		scanData_grid.push_back(gridData);
	}
	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 _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_SPointXYZRGB_vector(char* fileName, std::vector<std::vector< SPointXYZRGB>>& scanData)
{
	std::ofstream sw(fileName);
	int lineNum = scanData.size();
	sw << "LineNum:" << lineNum << std::endl;
	sw << "DataType: 0" << std::endl;
	sw << "ScanSpeed: 0" << std::endl;
	sw << "PointAdjust: 1" << std::endl;
	sw << "MaxTimeStamp: 0_0" << std::endl;

	for (int line = 0; line < lineNum; line++)
	{
		int nPositionCnt = scanData[line].size();
		sw << "Line_" << line << "_0_" << nPositionCnt << std::endl;
		for (int i = 0; i < nPositionCnt; i++)
		{
			SPointXYZRGB* pt3D = &scanData[line][i];
			float x = (float)pt3D->x;
			float y = (float)pt3D->y;
			float z = (float)pt3D->z;
			char str[250];
			sprintf_s(str, "{ %lf, %lf, %lf, %f, %f, %f } - { 0, 0 } - { 0, 0 }", 
				pt3D->x, pt3D->y, pt3D->z, pt3D->r, pt3D->g, pt3D->b);
			
			sw << str << std::endl;
		}
	}
	sw.close();
}

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_peakRgnInfo>& 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 = { 160, 82, 45 };
				size = 3;
			}
			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)
			{
				rgb = { 233, 150, 122 };
				size = 3;
			}
			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].centerPos.x;
			float y = (float)objOps[i].centerPos.y;
			float z = (float)objOps[i].centerPos.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;
			}
		}
	}
	//画出方向线


	sw.close();
}

void _outputScanDataFile_obj_vector(char* fileName, std::vector<std::vector< SVzNL3DPosition>>scanData, 
	std::vector<SSG_peakOrienRgnInfo>& objOps)
{
	int lineNum = scanData.size();
	std::ofstream sw(fileName);
	int realLines = lineNum;
	if (objOps.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 nTimeStamp = 0;
	for (int line = 0; line < lineNum; line++)
	{
		int nPositionCnt = scanData[line].size();
		sw << "Line_" << line << "_0_" << nPositionCnt << std::endl;
		for (int i = 0; i < nPositionCnt; i++)
		{
			SVzNL3DPosition* pt3D = &scanData[line][i];
			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 = { 160, 82, 45 };
				size = 3;
			}
			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)
			{
				rgb = { 233, 150, 122 };
				size = 3;
			}
			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 << "_0_" << 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].centerPos.x;
			float y = (float)objOps[i].centerPos.y;
			float z = (float)objOps[i].centerPos.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;
			}
		}
	}
	//画出方向线
	sw.close();
}

void _outputRGBDScanDataFile_RGBD_obj(char* fileName, SVzNLXYZRGBDLaserLine* scanData, int lineNum,
	float lineV, int maxTimeStamp, int clockPerSecond, std::vector<SSG_peakOrienRgnInfo>& 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].nPointCnt << std::endl;
		nTimeStamp = scanData[line].nTimeStamp;
		for (int i = 0; i < scanData[line].nPointCnt; i++)
		{
			SVzNLPointXYZRGBA* pt3D = &scanData[line].p3DPoint[i];
#if 0
			int vType = pt3D->nRGB & 0xff;
			int hType = vType >> 4;
			int objId = (pt3D->nRGB >> 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 = { 160, 82, 45 };
				size = 3;
			}
			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)
			{
				rgb = { 233, 150, 122 };
				size = 3;
			}
			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
#endif
			{
				rgb = { 200, 200, 200 };
				size = 1;
			}
			float x = (float)pt3D->x;
			float y = (float)pt3D->y;
			float z = (float)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].centerPos.x;
			float y = (float)objOps[i].centerPos.y;
			float z = (float)objOps[i].centerPos.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 _outputScanDataFile_RGBD_sideBagObj(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
	float lineV, int maxTimeStamp, int clockPerSecond, std::vector<SSG_sideBagInfo>& 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++)
	{
		int nPntCount = 0;
		for (int i = 0; i < scanData[line].nPositionCnt; i++)
		{
			SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
			if (pt3D->pt3D.z > 1e-4)
				nPntCount++;
		}
		sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << nPntCount << 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;

			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 = { 160, 82, 45 };
				size = 3;
			}
			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)
			{
				rgb = { 233, 150, 122 };
				size = 3;
			}
			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].graspPos.x;
			float y = (float)objOps[i].graspPos.y;
			float z = (float)objOps[i].graspPos.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 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 _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 _rotateCloudPts_RGBD(SVzNLXYZRGBDLaserLine* scanData, int lineNum, double matrix3d[9], std::vector<std::vector< SVzNLPointXYZRGBA>>& 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< SVzNLPointXYZRGBA> linePts;
		for (int i = 0; i < scanData[line].nPointCnt; i++)
		{
			SVzNLPointXYZRGBA* pt3D = &scanData[line].p3DPoint[i];
			if (pt3D->z < 1e-4)
				continue;

			SVzNLPointXYZRGBA r_pt;
			r_pt = _ptRotate_RGBD(*pt3D, matrix3d);
			if (rx_range->max < rx_range->min)
			{
				rx_range->min = r_pt.x;
				rx_range->max = r_pt.x;
			}
			else
			{
				if (rx_range->min > r_pt.x)
					rx_range->min = r_pt.x;
				if (rx_range->max < r_pt.x)
					rx_range->max = r_pt.x;
			}
			if (ry_range->max < ry_range->min)
			{
				ry_range->min = r_pt.y;
				ry_range->max = r_pt.y;
			}
			else
			{
				if (ry_range->min > r_pt.y)
					ry_range->min = r_pt.y;
				if (ry_range->max < r_pt.y)
					ry_range->max = r_pt.y;
			}
			linePts.push_back(r_pt);
		}
		rotateLines.push_back(linePts);
	}
}

void _XOYprojection(
	cv::Mat& img, 
	std::vector<std::vector< SVzNL3DPosition>>& dataLines, 
	std::vector<SSG_peakRgnInfo>& objOps,
	const double x_scale, 
	const double y_scale, 
	const SVzNLRangeD x_range, 
	const SVzNLRangeD y_range, 
	bool drawDirAngle, 
	int dirAngleLen)
{
	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 = { 150, 150, 150 };
				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].centerPos.x - x_range.min) / x_scale + x_skip);
			int py = (int)((objOps[i].centerPos.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);
			if (true == drawDirAngle)
			{
				//画线
				double R = (double)dirAngleLen / 2.0;
				const double deg2rad = PI / 180.0;
				const double yaw = objOps[i].centerPos.z_yaw * deg2rad;
				double cy = cos(yaw); double sy = sin(yaw);
				double x1 = objOps[i].centerPos.x + R * cy; double y1 = objOps[i].centerPos.y - R * sy;
				double x2 = objOps[i].centerPos.x - R * cy; double y2 = objOps[i].centerPos.y + R * sy;
				int px1 = (int)((x1 - x_range.min) / x_scale + x_skip);
				int py1 = (int)((y1 - y_range.min) / y_scale + y_skip);
				int px2 = (int)((x2 - x_range.min) / x_scale + x_skip);
				int py2 = (int)((y2 - y_range.min) / y_scale + y_skip);
				cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
			}
		}
	}

}

void _XOYprojection_RGBD(
	cv::Mat& img, 
	std::vector<std::vector< SVzNLPointXYZRGBA>>& dataLines, 
	std::vector<SSG_peakOrienRgnInfo>& objOps,
	const double x_scale, 
	const double y_scale, 
	const SVzNLRangeD x_range, 
	const SVzNLRangeD y_range, 
	bool drawDirAngle, 
	int dirAngleLen)
{
	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< SVzNLPointXYZRGBA>& a_line = dataLines[line];
		for (int i = 0; i < a_line.size(); i++)
		{
			SVzNLPointXYZRGBA* pt3D = &a_line[i];
			if (pt3D->z < 1e-4)
				continue;

			int nRGB = pt3D->nRGB;
			int r = nRGB & 0xff;
			nRGB >>= 8;
			int g = nRGB & 0xff;
			nRGB >>= 8;
			int b = nRGB & 0xff;

			rgb[0] = r;
			rgb[1] = g;
			rgb[2] = b;
			size = 1;
			double x = pt3D->x;
			double y = 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 ((px == 666) && (py == 828))
				int kkk = 1;
			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].centerPos.x - x_range.min) / x_scale + x_skip);
			int py = (int)((objOps[i].centerPos.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);
			if (true == drawDirAngle)
			{
				//画线
				double R = (double)dirAngleLen / 2.0;
				const double deg2rad = PI / 180.0;
				const double yaw = objOps[i].centerPos.z_yaw * deg2rad;
				double cy = cos(yaw); double sy = sin(yaw);
				double arrowLen = R/3;
				double arrowAngle = 30;
				double ca = cos(arrowAngle * deg2rad);
				double sa = sin(arrowAngle * deg2rad);
				SVzNL2DPointD endingPt[4];
				endingPt[0] = { R, 0 };
				endingPt[1] = { -R, 0 };
				endingPt[2] = { R - arrowLen * ca, -arrowLen * sa };
				endingPt[3] = { R - arrowLen * ca, arrowLen * sa };
				for (int m = 0; m < 4; m++)
				{
					double tmp_x = endingPt[m].x * cy - endingPt[m].y * sy;
					double tmp_y = -endingPt[m].x * sy - endingPt[m].y * cy;
					endingPt[m].x = tmp_x + objOps[i].centerPos.x;
					endingPt[m].y = tmp_y + objOps[i].centerPos.y;
				}
				int px1 = (int)((endingPt[0].x - x_range.min) / x_scale + x_skip);
				int py1 = (int)((endingPt[0].y - y_range.min) / y_scale + y_skip);
				int px2 = (int)((endingPt[1].x - x_range.min) / x_scale + x_skip);
				int py2 = (int)((endingPt[1].y - y_range.min) / y_scale + y_skip);
				cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
				int px3 = (int)((endingPt[2].x - x_range.min) / x_scale + x_skip);
				int py3 = (int)((endingPt[2].y - y_range.min) / y_scale + y_skip);
				int px4 = (int)((endingPt[3].x - x_range.min) / x_scale + x_skip);
				int py4 = (int)((endingPt[3].y - y_range.min) / y_scale + y_skip);
				if (objOps[i].orienFlag == 1)
				{
					cv::line(img, cv::Point(px1, py1), cv::Point(px3, py3), cv::Scalar(0, 255, 0), 2);
					cv::line(img, cv::Point(px1, py1), cv::Point(px4, py4), cv::Scalar(0, 255, 0), 2);
					//cv::circle(img, cv::Point(px1, py1), 5, cv::Scalar(0, 255, 0), -1);
				}
				else if (objOps[i].orienFlag == 2)
				{
					cv::line(img, cv::Point(px1, py1), cv::Point(px3, py3), cv::Scalar(0, 0, 255), 2);
					cv::line(img, cv::Point(px1, py1), cv::Point(px4, py4), cv::Scalar(0, 0, 255), 2);
					//cv::circle(img, cv::Point(px1, py1), 5, cv::Scalar(0, 0, 255), -1);
				}
			}
		}
	}

}

void _XOYprojection_sideBagInfo(cv::Mat& img, std::vector<std::vector< SVzNL3DPosition>>& dataLines, std::vector<SSG_sideBagInfo>& 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) & 0xffff;
			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) &&( objId< 1000))  //目标
			{
				rgb = objColor[objId % 8];
				size = 3;
			}
			else
			{
				rgb = { 150, 150, 150 };
				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].graspPos.x - x_range.min) / x_scale + x_skip);
			int py = (int)((objOps[i].graspPos.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
			size = 3;
			cv::Point2d vec2d[4];
			vec2d[0].x = objOps[i].objROI.left;		vec2d[0].y = objOps[i].objROI.top;
			vec2d[1].x = objOps[i].objROI.right;		vec2d[1].y = objOps[i].objROI.top;
			vec2d[2].x = objOps[i].objROI.right;		vec2d[2].y = objOps[i].objROI.bottom;
			vec2d[3].x = objOps[i].objROI.left;		vec2d[3].y = objOps[i].objROI.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);
			}

			//画倾角
			double r = 50;
			double angle = objOps[i].graspPos.z_yaw;
			angle = -angle * PI / 180;
			cv::Point2d line_pt[2];
			line_pt[0].x = (int)(r * cos(angle) + px);
			line_pt[0].y = (int)(-r * sin(angle) + py);
			line_pt[1].x = (int)(-r * cos(angle) + px);
			line_pt[1].y = (int)(r * sin(angle) + py);
			cv::line(img, line_pt[0], line_pt[1], cv::Scalar(rgb[2], rgb[1], rgb[0]), size);
		}


	}

}

void _genXOYProjectionImage(cv::String& fileName, SVzNL3DLaserLine* scanData, int lineNum, std::vector<SSG_peakRgnInfo>& objOps, double rpy[3], double dirLen)
{
	//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;
	cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
	//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;
	else
		y_scale = x_scale;

	int angleDrawLen = dirLen / x_scale;
	_XOYprojection(img, scan_lines, objOps,	x_scale, y_scale, x_range, y_range, true, angleDrawLen);

	//旋转视角显示
	double matrix3d[9];
	EulerRpyToRotation1(rpy, matrix3d);
	std::vector<SSG_peakRgnInfo> r_objOps;
	r_objOps.insert(r_objOps.end(), objOps.begin(), objOps.end());
	for (int i = 0; i < objOps.size(); i++)
	{
		SVzNL3DPoint c_pt = { objOps[i].centerPos .x, objOps[i].centerPos .y, objOps[i].centerPos .z};
		SVzNL3DPoint r_c_pt = _ptRotate(c_pt, matrix3d);
		r_objOps[i].centerPos.x = r_c_pt.x;
		r_objOps[i].centerPos.y = r_c_pt.y;
		r_objOps[i].centerPos.z = r_c_pt.z;
	}
	std::vector<std::vector< SVzNL3DPosition>> rotateLines;
	SVzNLRangeD rx_range, ry_range;
	_rotateCloudPts(scanData, lineNum, matrix3d, rotateLines, &rx_range, &ry_range);
	cv::Mat r_img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
	//计算投影比例
	double rx_scale = (rx_range.max - rx_range.min) / x_cols;
	double ry_scale = (ry_range.max - ry_range.min) / y_rows;
	_XOYprojection(r_img, rotateLines, r_objOps, rx_scale, ry_scale, rx_range, ry_range, false, angleDrawLen);

	cv::Mat dis_img;
	cv::hconcat(img, r_img, dis_img);
	cv::imwrite(fileName, dis_img);
	return;
}

void _RGBDto2DImage(char* fileName, SVzNLXYZRGBDLaserLine* scanData, int lineNum)
{
	cv::String imgName(fileName);
	//统计X和Y的范围
	SVzNLRangeD x_range = { 0, -1 };
	SVzNLRangeD y_range = { 0, -1 };
	for (int line = 0; line < lineNum; line++)
	{
		for (int i = 0; i < scanData[line].nPointCnt; i++)
		{
			SVzNLPointXYZRGBA* pt3D = &scanData[line].p3DPoint[i];
			if (pt3D->z < 1e-4)
				continue;

			if (x_range.max < x_range.min)
			{
				x_range.min = pt3D->x;
				x_range.max = pt3D->x;
			}
			else
			{
				if (x_range.min > pt3D->x)
					x_range.min = pt3D->x;
				if (x_range.max < pt3D->x)
					x_range.max = pt3D->x;
			}
			if (y_range.max < y_range.min)
			{
				y_range.min = pt3D->y;
				y_range.max = pt3D->y;
			}
			else
			{
				if (y_range.min > pt3D->y)
					y_range.min = pt3D->y;
				if (y_range.max < pt3D->y)
					y_range.max = pt3D->y;
			}
		}
	}

	int x_skip = 16;
	int y_skip = 16;
	int imgRows = 992;
	int imgCols = 1056;
	double y_rows = (double)(imgRows - y_skip *2);
	double x_cols = (double)(imgCols - x_skip *2);
	cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
	//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;
	else
		y_scale = x_scale;

	int size = 1;
	cv::Vec3b rgb = cv::Vec3b(0, 0, 0);
	for (int line = 0; line < lineNum; line++)
	{
		for (int i = 0; i < scanData[line].nPointCnt; i++)
		{
			SVzNLPointXYZRGBA* pt3D = &scanData[line].p3DPoint[i];
			if (pt3D->z < 1e-4)
				continue;

			int nRGB = pt3D->nRGB;
			int r = nRGB & 0xff;
			nRGB >>= 8;
			int g = nRGB & 0xff;
			nRGB >>= 8;
			int b = nRGB & 0xff;

			rgb[0] = r;
			rgb[1] = g;
			rgb[2] = b;
			size = 1;
			double x = pt3D->x;
			double y = 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 ((px == 666) && (py == 828))
				int kkk = 1;
			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);
		}
	}
	cv::imwrite(imgName, img);
	return;
}

void _genXOYProjectionImage_RGBD(cv::String& fileName, SVzNLXYZRGBDLaserLine* scanData, int lineNum, std::vector<SSG_peakOrienRgnInfo>& objOps, double rpy[3], double dirLen)
{
	//统计X和Y的范围
	std::vector<std::vector< SVzNLPointXYZRGBA>> scan_lines;
	SVzNLRangeD x_range = { 0, -1 };
	SVzNLRangeD y_range = { 0, -1 };
	for (int line = 0; line < lineNum; line++)
	{
		std::vector< SVzNLPointXYZRGBA> a_line;
		for (int i = 0; i < scanData[line].nPointCnt; i++)
		{
			SVzNLPointXYZRGBA* pt3D = &scanData[line].p3DPoint[i];
			if (pt3D->z < 1e-4)
				continue;

			a_line.push_back(*pt3D);
			if (x_range.max < x_range.min)
			{
				x_range.min = pt3D->x;
				x_range.max = pt3D->x;
			}
			else
			{
				if (x_range.min > pt3D->x)
					x_range.min = pt3D->x;
				if (x_range.max < pt3D->x)
					x_range.max = pt3D->x;
			}
			if (y_range.max < y_range.min)
			{
				y_range.min = pt3D->y;
				y_range.max = pt3D->y;
			}
			else
			{
				if (y_range.min > pt3D->y)
					y_range.min = pt3D->y;
				if (y_range.max < pt3D->y)
					y_range.max = pt3D->y;
			}
		}
		scan_lines.push_back(a_line);
	}

	int imgRows = 992;
	int imgCols = 1056;
	double y_rows = 960.0;
	double x_cols = 1024.0;
	cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
	//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;
	else
		y_scale = x_scale;

	int angleDrawLen = dirLen / x_scale;
	_XOYprojection_RGBD(img, scan_lines, objOps, x_scale, y_scale, x_range, y_range, true, angleDrawLen);

	//旋转视角显示
	double matrix3d[9];
	EulerRpyToRotation1(rpy, matrix3d);
	std::vector<SSG_peakOrienRgnInfo> r_objOps;
	r_objOps.insert(r_objOps.end(), objOps.begin(), objOps.end());
	for (int i = 0; i < objOps.size(); i++)
	{
		SVzNL3DPoint c_pt = { objOps[i].centerPos.x, objOps[i].centerPos.y, objOps[i].centerPos.z };
		SVzNL3DPoint r_c_pt = _ptRotate(c_pt, matrix3d);
		r_objOps[i].centerPos.x = r_c_pt.x;
		r_objOps[i].centerPos.y = r_c_pt.y;
		r_objOps[i].centerPos.z = r_c_pt.z;
	}
	std::vector<std::vector< SVzNLPointXYZRGBA>> rotateLines;
	SVzNLRangeD rx_range, ry_range;
	_rotateCloudPts_RGBD(scanData, lineNum, matrix3d, rotateLines, &rx_range, &ry_range);
	cv::Mat r_img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
	//计算投影比例
	double rx_scale = (rx_range.max - rx_range.min) / x_cols;
	double ry_scale = (ry_range.max - ry_range.min) / y_rows;
	_XOYprojection_RGBD(r_img, rotateLines, r_objOps, rx_scale, ry_scale, rx_range, ry_range, false, angleDrawLen);

	cv::Mat dis_img;
	cv::hconcat(img, r_img, dis_img);
	cv::imwrite(fileName, dis_img);
	return;
}

void _genXOYProjectionImage_sideBagInfo(cv::String& fileName, SVzNL3DLaserLine* scanData, int lineNum, std::vector<SSG_sideBagInfo>& objOps, double rpy[3])
{
	//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);
	}

	double x_scale = 1.0;
	double y_scale = 1.0;
	int x_rows = int((x_range.max - x_range.min) / x_scale);
	int y_rows = int((y_range.max - y_range.min) / y_scale);
	if (x_rows % 2 > 0)
		x_rows += 1;
	if (y_rows % 2 > 0)
		y_rows += 1;
	int imgRows = y_rows + 32;
	int imgCols = x_rows + 32;

	cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
	//计算投影比例

	_XOYprojection_sideBagInfo(img, scan_lines, objOps, x_scale, y_scale, x_range, y_range);

#if 0
	//旋转视角显示
	double matrix3d[9];
	EulerRpyToRotation1(rpy, matrix3d);
	std::vector<SSG_sideBagInfo> r_objOps;
	r_objOps.insert(r_objOps.end(), objOps.begin(), objOps.end());
	for (int i = 0; i < objOps.size(); i++)
	{
		SVzNL3DPoint c_pt = { objOps[i].graspPos.x, objOps[i].graspPos.y, objOps[i].graspPos.z };
		SVzNL3DPoint r_c_pt = _ptRotate(c_pt, matrix3d);
		r_objOps[i].graspPos.x = r_c_pt.x;
		r_objOps[i].graspPos.y = r_c_pt.y;
		r_objOps[i].graspPos.z = r_c_pt.z;
	}
	std::vector<std::vector< SVzNL3DPosition>> rotateLines;
	SVzNLRangeD rx_range, ry_range;
	_rotateCloudPts(scanData, lineNum, matrix3d, rotateLines, &rx_range, &ry_range);
	cv::Mat r_img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
	//计算投影比例
	double rx_scale = (rx_range.max - rx_range.min) / x_cols;
	double ry_scale = (ry_range.max - ry_range.min) / y_rows;
	_XOYprojection_sideBagInfo(r_img, rotateLines, r_objOps, rx_scale, ry_scale, rx_range, ry_range);

	cv::Mat dis_img;
	cv::hconcat(img, r_img, dis_img);
	cv::imwrite(fileName, dis_img);
#else
	cv::Mat rot;
	cv::rotate(img, rot, cv::ROTATE_90_CLOCKWISE); // 顺时针90°旋转
	cv::flip(rot, img, 1); // 左右翻转
	cv::imwrite(fileName, img);
#endif
	return;
}


//量化成640*640左右大小的图像。
void project2DWithInterpolate(cv::Mat& img, SVzNL3DLaserLine* scanData, int lineNum, double fixed_xy_scale, double z_scale)
{
	double namedSize = 640.0;//目标图像最大尺度为640像素
	
	SVzNLRangeD x_range = { 0, -1 };
	SVzNLRangeD y_range = { 0, -1 };
	SVzNLRangeD z_range = { 0, -1 };
	for (int line = 0; line < lineNum; line++)
	{
		for (int i = 0; i < scanData[line].nPositionCnt; i++)
		{
			SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
			if (pt3D->pt3D.z < 1e-4)
				continue;

			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;
			}
			if (z_range.max < z_range.min)
			{
				z_range.min = pt3D->pt3D.z;
				z_range.max = pt3D->pt3D.z;
			}
			else
			{
				if (z_range.min > pt3D->pt3D.z)
					z_range.min = pt3D->pt3D.z;
				if (z_range.max < pt3D->pt3D.z)
					z_range.max = pt3D->pt3D.z;
			}
		}
	}

	double xy_scale = fixed_xy_scale;
	if (fixed_xy_scale < 1e-4)
	{
		double x_scale = (x_range.max - x_range.min) / namedSize;
		double y_scale = (y_range.max - y_range.min) / namedSize;
		double xy_scale;
		if (x_scale < y_scale)
			xy_scale = y_scale;
		else
			xy_scale = x_scale;
	}
	int img_rows = (int)((y_range.max - y_range.min) / xy_scale)+1;
	if(img_rows %2 >0)
		img_rows +=1;
	int img_cols = (int)((x_range.max - x_range.min) / xy_scale)+ 1;
	if (img_cols % 2 > 0)
		img_cols += 1;
	img = cv::Mat::zeros(img_rows, img_cols, CV_8UC1);

	int polateWin = 5;
	for (int line = 0; line < lineNum; line++)
	{
		//同时进行垂直插值
		int pre_py = -1;
		SVzNL3DPosition* pre_pt3D = NULL;
		int pre_i = -1;
		for (int i = 0; i < scanData[line].nPositionCnt; i++)
		{
			SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
			if (pt3D->pt3D.z < 1e-4)
				continue;
			double x = pt3D->pt3D.x;
			double y = pt3D->pt3D.y;
			int px = (int)((x - x_range.min) / xy_scale);
			int py = (int)((y - y_range.min) / xy_scale);
			int value = (int)((pt3D->pt3D.z - z_range.min) / z_scale);
			if (value > 254)
				value = 254;
			value = 255 - value;
			img.at<uchar>(py, px) = (uchar)value;
			//检查是否需要插值
			if ( (py > pre_py + 1)&& (py <= pre_py + polateWin + 1) && (pre_py >= 0) && (pre_i >= 0) && (i == pre_i + 1))  //3D点连续，量化点不连续，插值
			{
				double dist = double(py - pre_py);
				for (int iy = pre_py + 1; iy < py; iy++)
				{
					double k1 = (double)(iy - pre_py) / dist;
					double k0 = 1 - k1;
					double inter_x = pre_pt3D->pt3D.x * k0 + pt3D->pt3D.x * k1;
					double inter_y = pre_pt3D->pt3D.y * k0 + pt3D->pt3D.y * k1;
					double inter_z = pre_pt3D->pt3D.z * k0 + pt3D->pt3D.z * k1;
					int polate_px = (int)((inter_x - x_range.min) / xy_scale);
					int polate_py = (int)((inter_y - y_range.min) / xy_scale);
					int polate_value = (int)((inter_z - z_range.min) / z_scale);
					if (polate_value > 254)
						polate_value = 254;
					polate_value = 255 - polate_value;
					img.at<uchar>(polate_py, polate_px) = (uchar)polate_value;
				}
			}
			pre_i = i;
			pre_py = py;
			pre_pt3D = pt3D;
		}
	}
	//水平插值
	for (int y = 0; y < img.rows; y++)
	{
		int pre_x = -1;
		uchar pre_value = 0;
		for (int x = 0; x < img.cols; x++)
		{
			uchar value = img.at<uchar>(y, x);
			if (value > 0)
			{
				if ((x > pre_x + 1) && (x <= pre_x + polateWin + 1) &&(pre_x >= 0)) //水平不连续，插值
				{
					double dist = double(x - pre_x);
					for (int ix = pre_x + 1; ix < x; ix++)
					{
						double k1 = (double)(ix - pre_x) / dist;
						double k0 = 1 - k1;
						double inter_data = (double)pre_value * k0 + (double)value * k1;
						if (inter_data > 255)
							inter_data = 255;
						uchar polate_value = (uchar)inter_data;
						img.at<uchar>(y, ix) = polate_value;
					}
				}
				pre_x = x;
				pre_value = value;
			}
		}
	}
}
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();
}

#define TEST_CONVERT_TO_GRID		0
#define TEST_CONVERT_RGBD_TO_GRID	0
#define TEST_COMPUTE_GRASP_POINT	1
#define TEST_COMPUTE_CALIB_PARA		0

#define TEST_GROUP 21
#define TEST_TOP_VIEW_GROUP			(TEST_GROUP - 8)
#define TEST_TOP_ORIEN_GROUP		(TEST_GROUP - 6)
int main()
{
#if TEST_CONVERT_RGBD_TO_GRID
	char _scan_dir[256];
	sprintf_s(_scan_dir, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\");
	char _in_file[256];
	double _F = 1247.95;// 1231.2; //1729.0;;  //f
	for (int i = 1; i <= 28; i++)
	{
		sprintf_s(_in_file, "%sLaserLine%d.txt", _scan_dir, i);
		std::vector<std::vector< SPointXYZRGB>> scanData;
		vzReadLaserScanPointFromFile_XYZRGB_vector(_in_file, scanData);
		if (scanData.size() == 0)
			continue;

		std::vector<std::vector< SPointXYZRGB>> gridData;
		_convertToGridData_XYZRGB_vector(scanData, _F, gridData);
		char _out_file[256];
		sprintf_s(_out_file, "%s%d-RGB点云.txt", _scan_dir, i);
		_outputScanDataFile_SPointXYZRGB_vector(_out_file, gridData);
		printf("%s: convert done!\n", _in_file);
	}
#endif
#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:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\");
	char _scan_file[256];
	double _F = 1247.95;// 1231.2; //1729.0;;  //f
	for (int i = 1; i <= 28; i++)
	{
		sprintf_s(_scan_file, "%sLaserLine%d.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);

		//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;
			}
		}
		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);
	}
#endif

#if TEST_COMPUTE_CALIB_PARA
	char _calib_datafile[256];
	sprintf_s(_calib_datafile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\底面点云\\底面点云.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 = sg_getBagBaseCalibPara(
			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
			sg_lineDataR(&laser3DPoints[i], calibPara.planeCalib, -1);// calibPara.planeHeight);
		}
		//
		char calibFile[250];
		sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\ground_calib_para.txt");
		_outputCalibPara(calibFile, calibPara);
		char _out_file[256];
		sprintf_s(_out_file, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\LaserLine1_grid_calib.txt");
		_outputScanDataFile_self(_out_file, laser3DPoints, lineNum,
			lineV, maxTimeStamp, clockPerSecond);
		printf("%s: calib done!\n", _calib_datafile);
	}

#endif

#if TEST_COMPUTE_GRASP_POINT
	const char* dataPath[TEST_GROUP] = {
	"F:\\ShangGu\\编织袋数据\\点云1\\",  //0
	"F:\\ShangGu\\编织袋数据\\点云2\\",  //1
	"F:\\ShangGu\\编织袋数据\\点云3\\", //2
	"F:\\ShangGu\\编织袋数据\\点云4_广东\\", //3
	"F:\\ShangGu\\编织袋数据\\点云5_广东\\", //4
	"F:\\ShangGu\\编织袋数据\\点云6_河南平顶山\\", //5
	"F:\\ShangGu\\编织袋数据\\点云7_广东1214\\", //6
	"F:\\ShangGu\\编织袋数据\\点云8_广东1213-1215数据\\", //7
	"F:\\ShangGu\\编织袋数据\\点云9_广东1219数据\\", //8
	"F:\\ShangGu\\编织袋数据\\点云10\\", //9
	"F:\\ShangGu\\编织袋数据\\点云11_盐袋\\", //10
	"F:\\ShangGu\\编织袋数据\\点云12_盐袋\\", //11
	"F:\\ShangGu\\编织袋数据\\点云13_现场测试\\", //12
	"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\", //13
	"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\", //14
	"F:\\ShangGu\\编织袋数据\\侧抓数据\\", //15
	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250419\\", //16
	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-1\\", //17
	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-2\\", //18
	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-3\\", //19
	"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-4\\", //20
	};

	SVzNLRange fileIdx[TEST_GROUP] = { 
		{0,176},{1,200},{1,166},{122,141},{1,65},
		{1,29},{108,135},{0,200}, {1,200}, {1,12},
		{2,4}, {1,5}, {1,1}, {1,21},{1,28},
		{3,3}, {1,51}, {4,83}, {1,74}, {1,61},
		{1,84}
	};

	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 _scan_file[256];

	SG_bagPositionParam algoParam;
	int endGroup =  TEST_GROUP - 1;
	for (int grp = 14; grp <= 14; grp++)
	{
		if (grp < 10)
		{
			algoParam.bagParam.bagL = 650;  //袋子长65cm
			algoParam.bagParam.bagW = 450;  //袋子宽40cm
			algoParam.bagParam.bagH = 160;  //袋子高16cm
			algoParam.growParam.maxLineSkipNum = 5;
			algoParam.growParam.yDeviation_max = 20.0;
			algoParam.growParam.maxSkipDistance = 20.0;
			algoParam.growParam.zDeviation_max = algoParam.bagParam.bagH / 2; //袋子高度1/2
			algoParam.growParam.minLTypeTreeLen = 50.0; //mm
			algoParam.growParam.minVTypeTreeLen = 50.0; //mm
		}
		else if ( (grp >= 10) && (grp <= 11))
		{
			algoParam.bagParam.bagL = 150;  //袋子长65cm
			algoParam.bagParam.bagW = 110;  //袋子宽40cm
			algoParam.bagParam.bagH = 20;  //袋子高16cm
			algoParam.growParam.maxLineSkipNum = 5;
			algoParam.growParam.yDeviation_max = 20.0;
			algoParam.growParam.maxSkipDistance = 20.0;
			algoParam.growParam.zDeviation_max = algoParam.bagParam.bagH / 2; //袋子高度1/2
			algoParam.growParam.minLTypeTreeLen = 50.0; //mm
			algoParam.growParam.minVTypeTreeLen = 50.0; //mm
		}
		else if ( (grp >= 13) && (grp <= 14))
		{
			algoParam.bagParam.bagL = 750;  //袋子长65cm
			algoParam.bagParam.bagW = 450;  //袋子宽40cm
			algoParam.bagParam.bagH = 160;  //袋子高16cm
			algoParam.growParam.maxLineSkipNum = 5;
			algoParam.growParam.yDeviation_max = 20.0;
			algoParam.growParam.maxSkipDistance = 20.0;
			algoParam.growParam.zDeviation_max = algoParam.bagParam.bagH / 2; //袋子高度1/2
			algoParam.growParam.minLTypeTreeLen = 50.0; //mm
			algoParam.growParam.minVTypeTreeLen = 50.0; //mm
		}
		else
		{
			algoParam.bagParam.bagL = 650;  //袋子长65cm
			algoParam.bagParam.bagW = 450;  //袋子宽40cm
			algoParam.bagParam.bagH = 160;  //袋子高16cm
			algoParam.growParam.maxLineSkipNum = 5;
			algoParam.growParam.yDeviation_max = 20.0;
			algoParam.growParam.maxSkipDistance = 20.0;
			algoParam.growParam.zDeviation_max = algoParam.bagParam.bagH / 2; //袋子高度1/2
			algoParam.growParam.minLTypeTreeLen = 50.0; //mm
			algoParam.growParam.minVTypeTreeLen = 50.0; //mm
		}
#if BAG_ALGO_USE_CORNER_FEATURE
		algoParam.cornerParam.cornerTh = 30;  //45度角
		algoParam.cornerParam.scale = algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
		algoParam.cornerParam.minEndingGap = algoParam.bagParam.bagW / 4;
		algoParam.cornerParam.jumpCornerTh_1 = 60;
		algoParam.cornerParam.jumpCornerTh_2 = 15;
#else
		algoParam.slopeParam.LSlopeZWin = 10.0;
		algoParam.slopeParam.validSlopeH = 10.0;
		algoParam.slopeParam.minLJumpH = 20.0;
		algoParam.slopeParam.minEndingGap = algoParam.bagParam.bagW / 4; ///当没有中间袋子，只有左右袋子时，有两组Ending。此参数确定两个ending最小间距
		algoParam.valleyPara.valleyMinH = 10.0;
		algoParam.valleyPara.valleyMaxW = 80.0; //取袋子宽度的1/5
#endif

		if (grp == 7)
		{
			char calibFile[250];
			sprintf_s(calibFile, "F:\\上古\\编织袋数据\\点云8_广东1213-1215数据\\ground_calib_para.txt");
			poseCalibPara = _readCalibPara(calibFile);
		}
		else if (grp == 10) 
		{
			char calibFile[250];
			sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\点云11_盐袋\\ground_calib_para.txt");
			poseCalibPara = _readCalibPara(calibFile);
		}
		else if (grp == 11)
		{
			char calibFile[250];
			sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\点云12_盐袋\\ground_calib_para.txt");
			poseCalibPara = _readCalibPara(calibFile);
		}
		else if (grp == 12)
		{
			char calibFile[250];
			sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\点云13_现场测试\\ground_calib_para.txt");
			poseCalibPara = _readCalibPara(calibFile);
		}
		else if ( grp == 13) 
		{
			char calibFile[250];
			sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\ground_calib_para.txt");
			poseCalibPara = _readCalibPara(calibFile);
		}
		else if (grp == 14)
		{
			char calibFile[250];
			sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\ground_calib_para.txt");
			poseCalibPara = _readCalibPara(calibFile);
		}
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx = 10;
			if (grp < TEST_TOP_VIEW_GROUP)  //正面抓取
			{
				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();
#if 0
				int errCode = 0;
				std::vector<SSG_lineFeature> all_vLineFeatures;
				std::vector<std::vector<int>> all_vLineNoises;
				for (int i = 0; i < lineNum; i++)
				{
					if (i == 14)
						int kkk = 1;
					//行处理
					sg_lineDataR(&laser3DPoints[i], camPoseR);
					//sg_bagPositioning_lineProc(&laser3DPoints[i], i, &errCode, all_vLineFeatures, all_vLineNoises, algoParam);
				}
				std::vector<SSG_peakRgnInfo> objOps;
				sg_getBagPosition(laser3DPoints, lineNum, all_vLineFeatures, all_vLineNoises, algoParam, objOps);
#else
				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], poseCalibPara.planeCalib, poseCalibPara.planeHeight);
				}
				std::vector<SSG_peakRgnInfo> objOps;
				sg_getBagPosition(laser3DPoints, lineNum, algoParam, poseCalibPara, objOps);
#endif
				long t2 = GetTickCount64();

				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, objOps);

				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 };  //
				double angleDrawLen = algoParam.bagParam.bagL / 3;
				_genXOYProjectionImage(imgName, laser3DPoints, lineNum, objOps, rpy, angleDrawLen);
#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));
			}
			else if (grp < TEST_TOP_ORIEN_GROUP)
			{
				double FBVldPtRatioTh;

				SSG_hsvCmpParam colorCmpParam;  //色度和色饱和度比较门限，小于门限为同一颜色
				colorCmpParam.hueTh = 15.0;
				colorCmpParam.saturateTh = 120.0;  //60
				colorCmpParam.FBVldPtRatioTh = 0.075; //正反两面有效颜色点的比例门限
				colorCmpParam.frontVldPtGreater = true; //true：有效颜色比例高的点的是正面；false：有效颜色比例高的点的是反面
				colorCmpParam.front_upVldPtGreater = false;//true：有效颜色比例高的点的是正面朝上；false：有效颜色比例高的点的是正面朝下
				colorCmpParam.back_upVldPtGreater = true; //true：有效颜色比例高的点的是反面朝上；false：有效颜色比例高的点的是反面朝下
				RGB rgbColorPattern = {36, 165, 208};  //用于区分袋子方向的颜色
				double frontColorTemplate[RGN_HIST_SIZE] = {
					0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
				};
				
				double backColorTemplate[RGN_HIST_SIZE] = {
					0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
				};

				int lineNum = 0;
				float lineV = 0.0f;
				int dataCalib = 0;
				int maxTimeStamp = 0;
				int clockPerSecond = 0;
				sprintf_s(_scan_file, "%s%d-RGB点云.txt", dataPath[grp], fidx);
				SVzNLXYZRGBDLaserLine* laser3DPoints = vzReadLaserScanPointFromFile_XYZRGB(
					_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();

				for (int i = 0; i < lineNum; i++)
				{
					if (i == 14)
						int kkk = 1;
					//行处理
					//调平，去除地面
					sg_lineDataR_RGBD(&laser3DPoints[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight);
				}
#if 0
				//产生一个调平后的2D图像，核对颜色 
				char _tst_file[256];
				sprintf_s(_tst_file, "%sresult\\LaserLine%d_2D_img.png", dataPath[grp], fidx);
				_RGBDto2DImage(_tst_file, laser3DPoints, lineNum);
#endif
				int errCode = 0;
				std::vector<SSG_peakOrienRgnInfo> objOps;
#if OUTPUT_DEBUG
				std::vector<std::vector< SVzNL3DPosition>> debug_bagPositionCloud;
#endif
				sg_getBagPositionAndOrientation(
					laser3DPoints, 
					lineNum, 
					algoParam, 
					poseCalibPara, 
					colorCmpParam,
					rgbColorPattern,
					frontColorTemplate,
					backColorTemplate,
					objOps,
#if OUTPUT_DEBUG
					debug_bagPositionCloud,
#endif
					&errCode);

				long t2 = GetTickCount64();

				char _dbg_file[256];
#if 1
#if OUTPUT_DEBUG
				sprintf_s(_dbg_file, "%sresult\\LaserLine%d_bagPosition_result.txt", dataPath[grp], fidx);
				_outputScanDataFile_obj_vector(_dbg_file, debug_bagPositionCloud, objOps);
				
#endif

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

				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 };  //
				double angleDrawLen = algoParam.bagParam.bagL / 3;
				_genXOYProjectionImage_RGBD(imgName, laser3DPoints, lineNum, objOps, rpy, angleDrawLen);
#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));
			}
			else// if (grp >= TEST_TOP_VIEW_GROUP) //侧面抓取
			{
				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 = 5.0; //噪声滤除。当相邻点的距离大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
				algoParam.filterParam.outlierTh = 5;

				algoParam.bagParam.bagL = 650;  //袋子长65cm
				algoParam.bagParam.bagW = 450;  //袋子宽40cm
				algoParam.bagParam.bagH = 80;  //袋子高16cm

				algoParam.growParam.maxLineSkipNum = 5;
				algoParam.growParam.yDeviation_max = 20.0;
				algoParam.growParam.zDeviation_max = 8.0; 

				long t1 = GetTickCount64();
				int errCode = 0;

				SSG_stackBaseParam stackBaseParam = {200, 260, 550};
				SSG_treeGrowParam stackBaseGrowParam;
				memset(&stackBaseGrowParam, 0, sizeof(SSG_treeGrowParam));
				stackBaseGrowParam.maxLineSkipNum = 10;
				stackBaseGrowParam.yDeviation_max = 20.0;
				stackBaseGrowParam.zDeviation_max = 20.0;
				SSG_6DOF stackBasePosition;
				sg_getSideBagStackBasePosition(
					laser3DPoints,
					lineNum,
					stackBaseParam,
					stackBaseGrowParam,
					&stackBasePosition  //垛的托盘的中心位置和角度
				);

				//行列转置。侧面扫描时激光线水平，所以要按列处理
				std::vector<SSG_sideBagInfo> objOps;
				//sg_sideBagPosition(laser3DPoints, lineNum, algoParam, objOps);
				long t2 = GetTickCount64();

				char _dbg_file[256];
				sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
				_outputScanDataFile_RGBD_sideBagObj(_dbg_file, laser3DPoints, lineNum, lineV, maxTimeStamp, clockPerSecond, objOps);

				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_sideBagInfo(imgName, laser3DPoints, lineNum, objOps, rpy);
				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