// 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 "direct.h"
#include <string>
#include "SG_bagPositioning_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)
{
	SVzNLXYZRGBDLaserLine* _scanLines = NULL;
	return _scanLines;
}

SVzNL3DLaserLine* vzReadLaserScanPointFromFile_XYZ(const char* fileName, int* scanLineNum, float* scanV,
	int* dataCalib, int* scanMaxStamp, int* canClockUnit)
{
	SVzNL3DLaserLine* _scanLines = NULL;
	return _scanLines;
}

SVzNL3DLaserLine* _convertToGridData_XYZRGB(SVzNLXYZRGBDLaserLine* laser3DPoints, int lineNum, double _F, double* camPoseR, int* outLineNum)
{
	SVzNL3DLaserLine* gridData = nullptr;
	return gridData;
}

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)
{
}

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)
{
}

void _outputScanDataFile_RGBD_sideBagObj(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
	float lineV, int maxTimeStamp, int clockPerSecond, std::vector<SSG_sideBagInfo>& objOps)
{
}

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 _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 x_skip = 16;
	int y_skip = 16;

	cv::Vec3b rgb = cv::Vec3b(0, 0, 0);
	cv::Vec3b objColor[8] = {
		{245,222,179},//淡黄色
		{210,105, 30},//巧克力色
		{240,230,140},//黄褐色
		{135,206,235},//天蓝色
		{250,235,215},//古董白
		{189,252,201},//薄荷色
		{221,160,221},//梅红色
		{188,143,143},//玫瑰红色
	};
	int size = 1;
	for (int line = 0; line < dataLines.size(); line++)
	{
		std::vector< SVzNL3DPosition>& a_line = dataLines[line];
		for (int i = 0; i < a_line.size(); i++)
		{
			SVzNL3DPosition* pt3D = &a_line[i];
			if (pt3D->pt3D.z < 1e-4)
				continue;

			int vType = pt3D->nPointIdx & 0xff;
			int hType = vType >> 4;
			int objId = (pt3D->nPointIdx >> 16) & 0xff;
			vType = vType & 0x0f;
			if (LINE_FEATURE_L_JUMP_H2L == vType)
			{
				rgb = { 255, 97, 0 };
				size = 2;
			}
			else if (LINE_FEATURE_L_JUMP_L2H == vType)
			{
				rgb = { 255, 255, 0 };
				size = 2;
			}
			else if (LINE_FEATURE_V_SLOPE == vType)
			{
				rgb = { 255, 0, 255 };
				size = 2;
			}
			else if (LINE_FEATURE_L_SLOPE_H2L == vType)
			{
				rgb = { 160, 82, 45 };
				size = 2;
			}
			else if ((LINE_FEATURE_LINE_ENDING_0 == vType) || (LINE_FEATURE_LINE_ENDING_1 == vType))
			{
				rgb = { 255, 0, 0 };
				size = 2;
			}
			else if (LINE_FEATURE_L_SLOPE_L2H == vType)
			{
				rgb = { 233, 150, 122 };
				size = 2;
			}
			else if (LINE_FEATURE_L_JUMP_H2L == hType)
			{
				rgb = { 0, 0, 255 };
				size = 2;
			}
			else if (LINE_FEATURE_L_JUMP_L2H == hType)
			{
				rgb = { 0, 255, 255 };
				size = 2;
			}
			else if (LINE_FEATURE_V_SLOPE == hType)
			{
				rgb = { 0, 255, 0 };
				size = 2;
			}
			else if (LINE_FEATURE_L_SLOPE_H2L == hType)
			{
				rgb = { 85, 107, 47 };
				size = 2;
			}
			else if (LINE_FEATURE_L_SLOPE_L2H == hType)
			{
				rgb = { 0, 255, 154 };
				size = 2;
			}
			else if ((LINE_FEATURE_LINE_ENDING_0 == hType) || (LINE_FEATURE_LINE_ENDING_1 == hType))
			{
				rgb = { 255, 0, 0 };
				size = 2;
			}
			else if (objId > 0)  //目标
			{
				rgb = objColor[objId % 8];
				size = 1;
			}
			else
			{
				rgb = { 60, 60, 60 };
				size = 1;
			}


			double x = pt3D->pt3D.x;
			double y = pt3D->pt3D.y;

			int px = (int)((x - x_range.min) / x_scale + x_skip);
			int py = (int)((y - y_range.min) / y_scale + y_skip);
			if (size == 1)
				img.at<cv::Vec3b>(py, px) = cv::Vec3b(rgb[2], rgb[1], rgb[0]);
			else
				cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
		}
	}
	if (objOps.size() > 0)
	{
		for (int i = 0; i < objOps.size(); i++)
		{
			if (i == 0)
			{
				rgb = { 255, 0, 0 };
				size = 20;
			}
			else
			{
				rgb = { 255, 255, 0 };
				size = 10;
			}
			int px = (int)((objOps[i].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 = 100;
				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_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])
{
	//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;
	_XOYprojection(img, scan_lines, objOps,	x_scale, y_scale, x_range, y_range, true);

	//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);

	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_COMPUTE_GRASP_POINT	1
#define TEST_COMPUTE_CALIB_PARA		1
#define TEST_GROUP 16
int main()
{
	/**
	 * 计算调平参数
	 */
	char _calib_datafile[256];
	sprintf_s(_calib_datafile, "F:\\上古\\编织袋数据\\点云8_广东1213-1215数据\\LaserLine10_grid.txt");
	int lineNum = 0;
	float lineV = 0.0f;
	int dataCalib = 0;
	int maxTimeStamp = 0;
	int clockPerSecond = 0;
	SVzNL3DLaserLine* laser3DPoints = vzReadLaserScanPointFromFile_XYZ(_calib_datafile, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
	if (laser3DPoints)
	{
		SSG_planeCalibPara calibPara = sg_getBagBaseCalibPara(laser3DPoints, lineNum);
		//结果进行验证  
		for (int i = 0; i < lineNum; i++)
		{
			//调平，去除地面
			sg_lineDataR(&laser3DPoints[i], calibPara.planeCalib, calibPara.planeHeight);
		}
		//
		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");
		_outputCalibPara(calibFile, calibPara);
		char _out_file[256];
		sprintf_s(_out_file, "F:\\上古\\编织袋数据\\点云8_广东1213-1215数据\\LaserLine10_grid_calib.txt");
		_outputScanDataFile_self(_out_file, laser3DPoints, lineNum, lineV, maxTimeStamp, clockPerSecond);
		printf("%s: calib done!\n", _calib_datafile);
	}

	/**
	 * 计算抓取点
	 */
	const char* dataPath = "F:\\ShangGu\\编织袋数据\\点云1\\";


	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];

	SG_bagPositionParam algoParam;
	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.cornerParam.cornerTh = 30;  //45度角
	algoParam.cornerParam.scale = 15; // 30; // algoParam.bagParam.bagH / 8;
	algoParam.cornerParam.minEndingGap = algoParam.bagParam.bagW / 4;
	algoParam.cornerParam.jumpCornerTh_1 = 60;
	algoParam.cornerParam.jumpCornerTh_2 = 15;


	algoParam.growParam.maxLineSkipNum = 5;
	algoParam.growParam.yDeviation_max = 20.0;
	algoParam.growParam.maxSkipDistance = 20.0;
	algoParam.growParam.zDeviation_max = 80.0; //袋子高度1/2
	algoParam.growParam.minLTypeTreeLen = 50.0; //mm
	algoParam.growParam.minVTypeTreeLen = 50.0; //mm


	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);
	
	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();
	std::vector<SSG_peakRgnInfo> objOps;
	sg_getBagPosition(laser3DPoints, lineNum, algoParam, poseCalibPara, objOps);
	long t2 = GetTickCount64();

	char _dbg_file[256];

	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 };  //
	_genXOYProjectionImage(imgName, laser3DPoints, lineNum, objOps, rpy);

	printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
	
}