#include <iostream>
#include <fstream>
#include <vector>
#include <stdio.h>
#include <VZNL_Types.h>
#include "direct.h"
#include <string>
#include "hybridPosePositioning_Export.h"
#include <opencv2/opencv.hpp>
#include <Windows.h>
#include <limits>
#include "SG_baseAlgo_Export.h"

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

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;
}

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 _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();
}

//读取3D和2D数据
void vzReadLaserScanPointFromFile_XYZUV_vector(const char* fileName, std::vector<std::vector< SVzNLPositionD>>& scanData)
{
	std::ifstream inputFile(fileName);
	std::string linedata;

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

	std::vector< SVzNLPositionD> a_line;
	int ptIdx = 0;
	while (getline(inputFile, linedata))
	{
		if (0 == strncmp("Line_", linedata.c_str(), 5))
		{
			int ptSize = (int)a_line.size();
			if (ptSize > 0)
			{
				scanData.push_back(a_line);
			}
			a_line.clear();
			ptIdx = 0;
		}
		else if (0 == strncmp("{", linedata.c_str(), 1))
		{
			float X, Y, Z;
			float leftU, leftV;
			float rightU, rightV;
			sscanf_s(linedata.c_str(), "{ %f, %f, %f }-{ %f, %f }-{ %f, %f }", &X, &Y, &Z, &leftU, &leftV, &rightU, &rightV);
			if (Z > 1e-4)
				int kkk = 1;
			SVzNLPositionD a_pt;
			a_pt.ptLeft2D.x = leftU;
			a_pt.ptLeft2D.y = leftV;
			a_pt.ptRight2D.x = rightU;
			a_pt.ptRight2D.y = rightV;
			a_pt.pt3D.x = X;
			a_pt.pt3D.y = Y;
			a_pt.pt3D.z = Z;
			a_pt.nPointIdx = ptIdx;
			ptIdx++;
			a_line.push_back(a_pt);
		}
	}
	//last line
	int ptSize = (int)a_line.size();
	if (ptSize > 0)
	{
		scanData.push_back(a_line);
		a_line.clear();
	}
	inputFile.close();
	return;
}

void vzReadLaserScanPointFromFile_XYZ_vector(const char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
{
	std::ifstream inputFile(fileName);
	std::string linedata;

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

	std::vector< SVzNL3DPosition> a_line;
	int ptIdx = 0;
	while (getline(inputFile, linedata))
	{
		if (0 == strncmp("Line_", linedata.c_str(), 5))
		{
			int ptSize = (int)a_line.size();
			if (ptSize > 0)
			{
				scanData.push_back(a_line);
			}
			a_line.clear();
			ptIdx = 0;
		}
		else if (0 == strncmp("{", linedata.c_str(), 1))
		{
			float X, Y, Z;
			int imageY = 0;
			float leftX, leftY;
			float rightX, rightY;
			sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY);
			SVzNL3DPosition a_pt;
			a_pt.pt3D.x = X;
			a_pt.pt3D.y = Y;
			a_pt.pt3D.z = Z;
			a_pt.nPointIdx = ptIdx;
			ptIdx++;
			a_line.push_back(a_pt);
		}
	}
	//last line
	int ptSize = (int)a_line.size();
	if (ptSize > 0)
	{
		scanData.push_back(a_line);
		a_line.clear();
	}

	inputFile.close();
	return;
}

int counterLinePtNum_XYZ(std::vector< SVzNL3DPosition>& lineData)
{
	int num = 0;
	for (int i = 0; i < (int)lineData.size(); i++)
	{
		if (lineData[i].pt3D.z > 1e-4)
			num++;
	}
	return num;
}

int counterLinePtNum_XYZUV(std::vector< SVzNLPositionD>& lineData)
{
	int num = 0;
	for (int i = 0; i < (int)lineData.size(); i++)
	{
		if (lineData[i].pt3D.z > 1e-4)
			num++;
	}
	return num;
}

void _removeZeroLines_XYZ(std::vector<std::vector< SVzNL3DPosition>>& scanData)
{
	int lineNum = (int)scanData.size();
	int firstLine = -1;
	int lastLine = 0;
	for (int line = 0; line < lineNum; line++)
	{
		int num = counterLinePtNum_XYZ(scanData[line]);
		if ((num > 0) && (firstLine < 0))
			firstLine = line;
		if (num > 0)
			lastLine = line;
	}
	if (firstLine < 0)
	{
		scanData.clear();
		return;
	}

	if ((lastLine < (lineNum - 1)) && (lastLine > 0))
		scanData.erase(scanData.begin() + lastLine + 1, scanData.end());

	scanData.erase(scanData.begin(), scanData.begin() + firstLine);
	return;
}

void _removeZeroLines_XYZUV(std::vector<std::vector< SVzNLPositionD>>& scanData)
{
	int lineNum = (int)scanData.size();
	int firstLine = -1;
	int lastLine = 0;
	for (int line = 0; line < lineNum; line++)
	{
		int num = counterLinePtNum_XYZUV(scanData[line]);
		if ((num > 0) && (firstLine < 0))
			firstLine = line;
		if (num > 0)
			lastLine = line;
	}
	if (firstLine < 0)
	{
		scanData.clear();
		return;
	}

	if ((lastLine < (lineNum - 1)) && (lastLine > 0))
		scanData.erase(scanData.begin() + lastLine + 1, scanData.end());

	scanData.erase(scanData.begin(), scanData.begin() + firstLine);
	return;
}


void vzReadObj2DROI_1(const char* fileName, std::vector<WD_objArea2D>& objROIs)
{
	std::ifstream inputFile(fileName);
	std::string linedata;

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

	while (getline(inputFile, linedata))
	{
		if (0 == strncmp("obj_", linedata.c_str(), 4))
		{
			int objID;
			char type;
			float L, T, W, H, score;
			sscanf_s(linedata.c_str(), "obj_%d: C=%c, Rect={ %f, %f, %f, %f }, Score=%f",
				&objID, &type, sizeof(type), &L, &T, &W, &H, &score);

			WD_objArea2D a_roi;
			if ('a' == type)
				a_roi.workpieceType = 1;
			else if ('b' == type)
				a_roi.workpieceType = 2;
			else if ('c' == type)
				a_roi.workpieceType = 3;
			a_roi.roi.left = L;
			a_roi.roi.top = T;
			a_roi.roi.right = L + W;
			a_roi.roi.bottom = T + H;
			a_roi.score2D = score;
			objROIs.push_back(a_roi);
		}
	}
	inputFile.close();
	return;
}

void vzReadObj2DROI(const char* fileName, std::vector<WD_objArea2D>& objROIs)
{
	std::ifstream inputFile(fileName);
	std::string linedata;

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

	while (getline(inputFile, linedata))
	{
		if (0 == strncmp("obj_", linedata.c_str(), 4))
		{
			int objID;
			char type;
			float Cx, Cy, R, score;
			sscanf_s(linedata.c_str(), "obj_%d: C=%c, { %f, %f }, R=%f, Score=%f", 
				&objID, &type, sizeof(type),  &Cx, &Cy, &R, &score);

			WD_objArea2D a_roi;
			if ('a' == type)
				a_roi.workpieceType = 1;
			else if ('b' == type)
				a_roi.workpieceType = 2;
			else if ('c' == type)
				a_roi.workpieceType = 3;
			a_roi.roi.left = Cx - R ;
			a_roi.roi.top = Cy - R;
			a_roi.roi.right =  Cx + R;
			a_roi.roi.bottom = Cy + R;
			a_roi.score2D = score;
			objROIs.push_back(a_roi);
		}
	}
	inputFile.close();
	return;
}

void _outputRGBDResult_XYZUV_RGBD(
	char* fileName,
	std::vector<std::vector<SVzNLPositionD>>& scanLines,
	std::vector< WD_workpieceInfo>& workpiecePositions)
{
	std::vector<SVzNL3DPosition> objects;
	int objNumber = (int)workpiecePositions.size();
	for (int i = 0; i < objNumber; i++)
	{
		SVzNL3DPosition a_objPt;
		a_objPt.pt3D = workpiecePositions[i].center;
		objects.push_back(a_objPt);
	}

	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
	sw << "LineNum:" << realLines << std::endl;
	sw << "DataType: 0" << std::endl;
	sw << "ScanSpeed: 0" << std::endl;
	sw << "PointAdjust: 1" << std::endl;
	sw << "MaxTimeStamp: 0_0" << std::endl;

	int maxLineIndex = 0;
	int max_stamp = 0;
	SG_color rgb = { 0, 0, 0 };
	SG_color objColor[8] = {
		{245,222,179},//淡黄色
		{210,105, 30},//巧克力色
		{240,230,140},//黄褐色
		{135,206,235},//天蓝色
		{250,235,215},//古董白
		{189,252,201},//薄荷色
		{221,160,221},//梅红色
		{188,143,143},//玫瑰红色
	};
	int size = 1;
	int lineIdx = 0;
	for (int line = 0; line < lineNum; line++)
	{
		int linePtNum = (int)scanLines[line].size();
		if (linePtNum == 0)
			continue;

		sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
		lineIdx++;
		for (int i = 0; i < linePtNum; i++)
		{
			SVzNLPositionD* pt3D = &scanLines[line][i];
			if (pt3D->nPointIdx > 0)
				int kkk = 1;
			int flag = pt3D->nPointIdx & 0xffff;
			if (flag > 0)
			{
				rgb = objColor[flag % 8]; // { 255, 97, 0 };
				size = 1;
			}
			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;
		}
	}

	int linePtNum = (int)objects.size();
	sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;
	lineNum++;
	for (int i = 0; i < linePtNum; i++)
	{
		if (i == 0)
		{
			size = 10;
			rgb = { 255, 0, 0 };
		}
		else
		{
			rgb = { 255, 255, 0 };
			size = 10;
		}
		//int colorIdx = objects[i].nPointIdx % 8;
		//rgb = objColor[colorIdx];
		float x = (float)objects[i].pt3D.x;
		float y = (float)objects[i].pt3D.y;
		float z = (float)objects[i].pt3D.z;
		sw << "{" << x << "," << y << "," << z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
	}
	//输出方向线条
	rgb = { 255, 0, 0 };
	size = 2;
	for (int i = 0; i < objNumber; i++)
	{
		if (abs(workpiecePositions[i].y_dir.z) > 1e-4)
		{
			SVzNL3DPoint dirPt;
			dirPt = { workpiecePositions[i].center.x + workpiecePositions[i].y_dir.x * 10,
					workpiecePositions[i].center.y + workpiecePositions[i].y_dir.y * 10,
					workpiecePositions[i].center.z + workpiecePositions[i].y_dir.z * 10 };
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << workpiecePositions[i].center.x << "," << workpiecePositions[i].center.y << "," << workpiecePositions[i].center.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;

			dirPt = { workpiecePositions[i].center.x + workpiecePositions[i].z_dir.x * 10,
			workpiecePositions[i].center.y + workpiecePositions[i].z_dir.y * 10,
			workpiecePositions[i].center.z + workpiecePositions[i].z_dir.z * 10 };
			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << workpiecePositions[i].center.x << "," << workpiecePositions[i].center.y << "," << workpiecePositions[i].center.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;
		}
	}

	sw.close();
}

void _outputRGBDResult_XYZ_RGBD_binInfo(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	WD_HRM_BinInfo& poseInfo)
{
	int objNumber = 0;
	if (poseInfo.center.z > 1e-4)
		objNumber = 1;

	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
	sw << "LineNum:" << realLines << std::endl;
	sw << "DataType: 0" << std::endl;
	sw << "ScanSpeed: 0" << std::endl;
	sw << "PointAdjust: 1" << std::endl;
	sw << "MaxTimeStamp: 0_0" << std::endl;

	int maxLineIndex = 0;
	int max_stamp = 0;
	SG_color rgb = { 0, 0, 0 };
	SG_color objColor[8] = {
		{245,222,179},//淡黄色
		{210,105, 30},//巧克力色
		{240,230,140},//黄褐色
		{135,206,235},//天蓝色
		{250,235,215},//古董白
		{189,252,201},//薄荷色
		{221,160,221},//梅红色
		{188,143,143},//玫瑰红色
	};
	int size = 1;
	int lineIdx = 0;
	for (int line = 0; line < lineNum; line++)
	{
		int linePtNum = (int)scanLines[line].size();
		if (linePtNum == 0)
			continue;

		sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
		lineIdx++;
		for (int i = 0; i < linePtNum; i++)
		{
			SVzNL3DPosition* pt3D = &scanLines[line][i];
			if (pt3D->nPointIdx > 0)
				int kkk = 1;
			int flag = pt3D->nPointIdx & 0xffff;
			if (flag > 0)
			{
				rgb = objColor[flag % 8]; // { 255, 97, 0 };
				size = 5;
			}
			else
			{
				rgb = { 200, 200, 200 };
				size = 1;
			}
			float x = (float)pt3D->pt3D.x;
			float y = (float)pt3D->pt3D.y;
			float z = (float)pt3D->pt3D.z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
		}
	}

	if (poseInfo.center.z > 1e-4)
	{
		sw << "Line_" << lineNum << "_0_1" << std::endl;
		lineNum++;
		size = 20;
		rgb = { 255, 255, 0 };
		float x = (float)poseInfo.center.x;
		float y = (float)poseInfo.center.y;
		float z = (float)poseInfo.center.z;
		sw << "{" << x << "," << y << "," << z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;

		//输出方向线条
		rgb = { 250, 0, 0 };
		size = 2;
		double dirLen = 500;
		SVzNL3DPoint dirPt1 = { poseInfo.center.x + poseInfo.x_dir.x * dirLen,
								poseInfo.center.y + poseInfo.x_dir.y * dirLen,
								poseInfo.center.z + poseInfo.x_dir.z * dirLen };
		SVzNL3DPoint dirPt2 = { poseInfo.center.x - poseInfo.x_dir.x * dirLen,
								poseInfo.center.y - poseInfo.x_dir.y * dirLen,
								poseInfo.center.z - poseInfo.x_dir.z * dirLen };

		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

		SVzNL3DPoint pose_y = poseInfo.y_dir;
		rgb = { 0, 250, 0 };
		SVzNL3DPoint dirPt;
		dirPt = { poseInfo.center.x + pose_y.x * dirLen,
				  poseInfo.center.y + pose_y.y * dirLen,
				  poseInfo.center.z + pose_y.z * dirLen };
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << poseInfo.center.x << "," << poseInfo.center.y << "," << poseInfo.center.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

		rgb = { 0, 0, 250 };
		dirPt1 = { poseInfo.center.x + poseInfo.bottomNormal.x * dirLen,
								poseInfo.center.y + poseInfo.bottomNormal.y * dirLen,
								poseInfo.center.z + poseInfo.bottomNormal.z * dirLen };
		dirPt2 = { poseInfo.center.x - poseInfo.bottomNormal.x * dirLen,
								poseInfo.center.y - poseInfo.bottomNormal.y * dirLen,
								poseInfo.center.z - poseInfo.bottomNormal.z * dirLen };
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

		//输出外接矩形
		dirPt1 = poseInfo.minRectVertex[0];
		dirPt2 = poseInfo.minRectVertex[1];
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

		dirPt1 = poseInfo.minRectVertex[1];
		dirPt2 = poseInfo.minRectVertex[2];
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

		dirPt1 = poseInfo.minRectVertex[2];
		dirPt2 = poseInfo.minRectVertex[3];
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

		dirPt1 = poseInfo.minRectVertex[3];
		dirPt2 = poseInfo.minRectVertex[0];
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;
	}

	sw.close();
}

void _outputRGBDResult_XYZ_RGBD_workpieceInfo(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	std::vector<WD_workpieceInfo>& poseInfo, 
	double dirLen)
{
	int objNumber = 0;
	if (poseInfo.size()>0)
		objNumber = 1;

	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
	sw << "LineNum:" << realLines << std::endl;
	sw << "DataType: 0" << std::endl;
	sw << "ScanSpeed: 0" << std::endl;
	sw << "PointAdjust: 1" << std::endl;
	sw << "MaxTimeStamp: 0_0" << std::endl;

	int maxLineIndex = 0;
	int max_stamp = 0;
	SG_color rgb = { 0, 0, 0 };
	SG_color objColor[8] = {
		{245,222,179},//淡黄色
		{210,105, 30},//巧克力色
		{240,230,140},//黄褐色
		{135,206,235},//天蓝色
		{250,235,215},//古董白
		{189,252,201},//薄荷色
		{221,160,221},//梅红色
		{188,143,143},//玫瑰红色
	};
	int size = 1;
	int lineIdx = 0;
	for (int line = 0; line < lineNum; line++)
	{
		int linePtNum = (int)scanLines[line].size();
		if (linePtNum == 0)
			continue;

		sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
		lineIdx++;
		for (int i = 0; i < linePtNum; i++)
		{
			SVzNL3DPosition* pt3D = &scanLines[line][i];
			if (pt3D->nPointIdx > 0)
				int kkk = 1;
			int flag = pt3D->nPointIdx & 0xffff;
			int highFlag = pt3D->nPointIdx >> 16;
#if 0
			if (flag > 0)
			{
				rgb = objColor[flag % 8]; // { 255, 97, 0 };
				size = 5;
			}
			else
#endif
			{
				rgb = { 200, 200, 200 };
				size = 1;
			}
			if (highFlag == 1)
			{
				rgb = { 250, 0, 0 };
				size = 2;
			}
			else if (highFlag == 2)
			{
				rgb = { 0, 0, 250 };
				size = 2;
			}

			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 (poseInfo.size() > 1e-4)
	{
		int objNum = (int)poseInfo.size();
		sw << "Line_" << lineNum << "_0_" << objNum << std::endl;
		lineNum++;
		size = 20;
		rgb = { 255, 255, 0 };
		for (int m = 0; m < (int)poseInfo.size(); m++)
		{
			float x = (float)poseInfo[m].center.x;
			float y = (float)poseInfo[m].center.y;
			float z = (float)poseInfo[m].center.z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
		}
		//输出方向线条
		rgb = { 250, 0, 0 };
		size = 2;
		//double dirLen = 500;
		for (int m = 0; m < (int)poseInfo.size(); m++)
		{
			SVzNL3DPoint dirPt1 = { poseInfo[m].center.x + poseInfo[m].z_dir.x * dirLen,
									poseInfo[m].center.y + poseInfo[m].z_dir.y * dirLen,
									poseInfo[m].center.z + poseInfo[m].z_dir.z * dirLen };
			SVzNL3DPoint dirPt2 = { poseInfo[m].center.x - poseInfo[m].z_dir.x * dirLen,
									poseInfo[m].center.y - poseInfo[m].z_dir.y * dirLen,
									poseInfo[m].center.z - poseInfo[m].z_dir.z * dirLen };

			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;
		}
	}

	sw.close();
}

void _outputRGBDResult_XYZ_RGBD_planningResult(
	char* fileName,
	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
	WD_HRM_BinInfo& binInfo,
	std::vector<WD_workpieceInfo>& posInfo,
	const double workpieceHeight)
{
	int objNumber = 0;
	if (posInfo.size() > 0)
		objNumber = 1;

	int lineNum = (int)scanLines.size();
	std::ofstream sw(fileName);
	int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
	sw << "LineNum:" << realLines << std::endl;
	sw << "DataType: 0" << std::endl;
	sw << "ScanSpeed: 0" << std::endl;
	sw << "PointAdjust: 1" << std::endl;
	sw << "MaxTimeStamp: 0_0" << std::endl;

	int maxLineIndex = 0;
	int max_stamp = 0;
	SG_color rgb = { 0, 0, 0 };
	SG_color objColor[8] = {
		{245,222,179},//淡黄色
		{210,105, 30},//巧克力色
		{240,230,140},//黄褐色
		{135,206,235},//天蓝色
		{250,235,215},//古董白
		{189,252,201},//薄荷色
		{221,160,221},//梅红色
		{188,143,143},//玫瑰红色
	};
	int size = 1;
	int lineIdx = 0;
	for (int line = 0; line < lineNum; line++)
	{
		int linePtNum = (int)scanLines[line].size();
		if (linePtNum == 0)
			continue;

		sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
		lineIdx++;
		for (int i = 0; i < linePtNum; i++)
		{
			SVzNL3DPosition* pt3D = &scanLines[line][i];
			if (pt3D->nPointIdx > 0)
				int kkk = 1;
			int flag = pt3D->nPointIdx & 0xffff;
			if (flag > 0)
			{
				rgb = objColor[flag % 8]; // { 255, 97, 0 };
				size = 5;
			}
			else
			{
				rgb = { 200, 200, 200 };
				size = 1;
			}
			float x = (float)pt3D->pt3D.x;
			float y = (float)pt3D->pt3D.y;
			float z = (float)pt3D->pt3D.z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
		}
	}

	if (posInfo.size() > 0)
	{
		int num = (int)posInfo.size();
		sw << "Line_" << lineNum << "_0_" << num << std::endl;
		lineNum++;
		size = 20;
		rgb = { 255, 255, 0 };
		for(int m = 0; m <num;m ++)
		{
			float x = (float)posInfo[m].center.x;
			float y = (float)posInfo[m].center.y;
			float z = (float)posInfo[m].center.z;
			sw << "{" << x << "," << y << "," << z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
		}

		//输出方向线条
		rgb = { 250, 0, 0 };
		size = 5;
		double dirLen = workpieceHeight;
		for (int m = 0; m < (int)posInfo.size(); m++)
		{
			SVzNL3DPoint dirPt1 = posInfo[m].center; //
			SVzNL3DPoint dirPt2 = { posInfo[m].center.x - posInfo[m].z_dir.x * dirLen,
									posInfo[m].center.y - posInfo[m].z_dir.y * dirLen,
									posInfo[m].center.z - posInfo[m].z_dir.z * dirLen };

			sw << "Poly_" << lineIdx << "_2" << std::endl;
			sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
			sw << "{0,0}-{0,0}-";
			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
			lineIdx++;
		}

		rgb = { 0, 0, 250 };
		//输出外接矩形
		SVzNL3DPoint dirPt1 = binInfo.minRectVertex[0];
		SVzNL3DPoint dirPt2 = binInfo.minRectVertex[1];
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

		dirPt1 = binInfo.minRectVertex[1];
		dirPt2 = binInfo.minRectVertex[2];
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

		dirPt1 = binInfo.minRectVertex[2];
		dirPt2 = binInfo.minRectVertex[3];
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

		dirPt1 = binInfo.minRectVertex[3];
		dirPt2 = binInfo.minRectVertex[0];
		sw << "Poly_" << lineIdx << "_2" << std::endl;
		sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
		sw << "{0,0}-{0,0}-";
		sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
		lineIdx++;

	}
	sw.close();
}

void _outputScanDataFile_vector(char* fileName, std::vector<std::vector<SVzNL3DPosition>>& scanLines, bool removeZeros, int* headNullLines)
{
	std::ofstream sw(fileName);
	int lineNum = (int)scanLines.size();
	if (lineNum == 0)
		return;

	sw << "LineNum:" << lineNum << std::endl;
	sw << "DataType: 0" << std::endl;
	sw << "ScanSpeed: 0" << std::endl;
	sw << "PointAdjust: 1" << std::endl;
	sw << "MaxTimeStamp: 0_0" << std::endl;

	int lineIdx = 0;
	int null_lines = 0;
	bool counterNull = true;
	for (int line = 0; line < lineNum; line++)
	{
		int linePtNum = (int)scanLines[line].size();
		if (linePtNum == 0)
			continue;

		if (true == removeZeros)
		{
			int vldPtNum = 0;
			for (int i = 0; i < linePtNum; i++)
			{
				if (scanLines[line][i].pt3D.z > 1e-4)
					vldPtNum++;
			}
			linePtNum = vldPtNum;
		}
		sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
		lineIdx++;
		bool isNull = true;
		for (int i = 0; i < linePtNum; i++)
		{
			SVzNL3DPoint* pt3D = &scanLines[line][i].pt3D;
			if ((pt3D->z > 1e-4) && (isNull == true))
				isNull = false;
			if ((true == removeZeros) && (pt3D->z < 1e-4))
				continue;
			float x = (float)pt3D->x;
			float y = (float)pt3D->y;
			float z = (float)pt3D->z;
			sw << "{ " << x << "," << y << "," << z << " }-";
			sw << "{0,0}-{0,0}" << std::endl;
		}
		if (true == counterNull)
		{
			if (true == isNull)
				null_lines++;
			else
				counterNull = false;
		}
	}
	*headNullLines = null_lines;
	sw.close();
}

void _outputWorkpieceInfo(char* fileName, std::vector< WD_workpieceInfo>& workpiecePositions)
{
	std::ofstream sw(fileName);
	char dataStr[250];

	int number = (int)workpiecePositions.size();
	for (int i = 0; i < number; i++)
	{
		sprintf_s(dataStr, 250, "工件_%d", i + 1);
		sw << dataStr << std::endl;

		sprintf_s(dataStr, 50, "  center: (%g, %g, %g)", workpiecePositions[i].center.x, workpiecePositions[i].center.y, workpiecePositions[i].center.z);
		sw << dataStr << std::endl;
		sprintf_s(dataStr, 50, "  x_dir: (%g, %g, %g)", workpiecePositions[i].x_dir.x, workpiecePositions[i].x_dir.y, workpiecePositions[i].x_dir.z);
		sw << dataStr << std::endl;
		sprintf_s(dataStr, 50, "  y_dir: (%g, %g, %g)", workpiecePositions[i].y_dir.x, workpiecePositions[i].y_dir.y, workpiecePositions[i].y_dir.z);
		sw << dataStr << std::endl;
		sprintf_s(dataStr, 50, "  z_dir: (%g, %g, %g)", workpiecePositions[i].z_dir.x, workpiecePositions[i].z_dir.y, workpiecePositions[i].z_dir.z);
		sw << dataStr << std::endl;
	}
	sw.close();
}

void _outputBinInfo(char* fileName, WD_HRM_BinInfo& binInfo)
{
	std::ofstream sw(fileName);
	char dataStr[250];

	sprintf_s(dataStr, 50, "  center: (%g, %g, %g)", binInfo.center.x, binInfo.center.y, binInfo.center.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 50, "  L: %g;  W: %g", binInfo.length, binInfo.width);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 50, "  topZ: %g", binInfo.binTopZ);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 50, "  bottom_dir: (%g, %g, %g)", binInfo.bottomNormal.x, binInfo.bottomNormal.y, binInfo.bottomNormal.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 50, "  x_dir: (%g, %g, %g)", binInfo.x_dir.x, binInfo.x_dir.y, binInfo.x_dir.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 50, "  y_dir: (%g, %g, %g)", binInfo.y_dir.x, binInfo.y_dir.y, binInfo.y_dir.z);
	sw << dataStr << std::endl;
	for (int i = 0; i < 4; i++)
	{
		sprintf_s(dataStr, 50, "  vertex: (%g, %g, %g)", binInfo.minRectVertex[i].x, binInfo.minRectVertex[i].y, binInfo.minRectVertex[i].z);
		sw << dataStr << std::endl;
	}
	sw.close();
}

WD_HRM_BinInfo _readBinInfo(char* fileName)
{
	//设置初始结果
	WD_HRM_BinInfo binInfo;
	memset(&binInfo, 0, sizeof(WD_HRM_BinInfo));

	std::ifstream inputFile(fileName);
	std::string linedata;

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

	float x, y, z;
	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "  center: (%f, %f, %f)", &x, &y, &z);
	binInfo.center = { x, y, z };
	
	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "  L: %lf;  W: %lf", &binInfo.length, &binInfo.width);

	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "  topZ: %lf", &binInfo.binTopZ);

	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "  bottom_dir: (%lf, %lf, %lf)", &binInfo.bottomNormal.x, &binInfo.bottomNormal.y, &binInfo.bottomNormal.z);

	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "  x_dir: (%lf, %lf, %lf)", &binInfo.x_dir.x, &binInfo.x_dir.y, &binInfo.x_dir.z);

	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "  y_dir: (%lf, %lf, %lf)", &binInfo.y_dir.x, &binInfo.y_dir.y, &binInfo.y_dir.z);

	for (int i = 0; i < 4; i++)
	{
		std::getline(inputFile, linedata);
		sscanf_s(linedata.c_str(), "  vertex: (%f, %f, %f)", &x, &y, &z);
		binInfo.minRectVertex[i] = { x, y, z };
	}
	inputFile.close();
	return binInfo;
}

void _outputWorkpieceInfo(char* fileName, WD_HRM_workpieceSizeInfo& workpieceInfo)
{
	std::ofstream sw(fileName);
	char dataStr[250];

	sprintf_s(dataStr, 50, "  center: (%g, %g, %g)", workpieceInfo.center.x, workpieceInfo.center.y, workpieceInfo.center.z);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 50, "  R: %g;  H: %g", workpieceInfo.workpieceRadius, workpieceInfo.workpieceHeight);
	sw << dataStr << std::endl;
	sprintf_s(dataStr, 50, "  layerZ: %g", workpieceInfo.layerZValue);
	sw << dataStr << std::endl;

	sw.close();
}

WD_HRM_workpieceSizeInfo _readWorkpieceInfo(char* fileName)
{
	//设置初始结果
	WD_HRM_workpieceSizeInfo workpieceInfo;
	memset(&workpieceInfo, 0, sizeof(WD_HRM_workpieceSizeInfo));

	std::ifstream inputFile(fileName);
	std::string linedata;

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

	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "  center: (%lf, %lf, %lf)", &workpieceInfo.center.x, &workpieceInfo.center.y, &workpieceInfo.center.z);

	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "  R: %lf;  H: %lf", &workpieceInfo.workpieceRadius, &workpieceInfo.workpieceHeight);

	std::getline(inputFile, linedata);
	sscanf_s(linedata.c_str(), "  layerZ: %lf", &workpieceInfo.layerZValue);

	inputFile.close();
	return workpieceInfo;
}

void _XOYprojection_XYZUV(
	cv::Mat& img,
	std::vector<std::vector< SVzNLPositionD>>& dataLines,
	std::vector< WD_workpieceInfo>& holes,
	const double scale,
	const int sideWidth,
	const SVzNLRangeD x_range,
	const SVzNLRangeD y_range,
	bool drawDirAngle,
	const double dirAngleLen)
{
	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< SVzNLPositionD>& a_line = dataLines[line];
		for (int i = 0; i < a_line.size(); i++)
		{
			SVzNLPositionD& pt3D = a_line[i];
			if (pt3D.pt3D.z < 1e-4)
				continue;

			int flag = pt3D.nPointIdx & 0xffff;
			if (flag > 0)
			{
				rgb = objColor[flag % 8]; // { 255, 97, 0 };
				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) / scale + sideWidth);
			int py = (int)((y - y_range.min) / scale + sideWidth);
			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 (holes.size() > 0)
	{
		for (int i = 0; i < (int)holes.size(); i++)
		{
			if (i == 0)
			{
				rgb = { 255, 0, 0 };
				size = int(3.0 / scale);
			}
			else
			{
				rgb = { 255, 255, 0 };
				size = int(3.0 / scale);
			}
			WD_workpieceInfo& a_hole = holes[i];
			int px = (int)((a_hole.center.x - x_range.min) / scale + sideWidth);
			int py = (int)((a_hole.center.y - y_range.min) / scale + sideWidth);
			cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
			rgb = { 0, 255, 0 };
			size = int(2.0 / scale);
			if (true == drawDirAngle)
			{
				//画线
				double x1 = a_hole.center.x;
				double y1 = a_hole.center.y;
				int px1 = (int)((x1 - x_range.min) / scale + sideWidth);
				int py1 = (int)((y1 - y_range.min) / scale + sideWidth);
				//x轴
				double x2 = a_hole.center.x + dirAngleLen * a_hole.x_dir.x;
				double y2 = a_hole.center.y + dirAngleLen * a_hole.x_dir.y;
				int px2 = (int)((x2 - x_range.min) / scale + sideWidth);
				int py2 = (int)((y2 - y_range.min) / scale + sideWidth);
				rgb = { 255, 0, 0 }; //x轴用红色
				cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
				//y轴
				x2 = a_hole.center.x + dirAngleLen * a_hole.y_dir.x;
				y2 = a_hole.center.y + dirAngleLen * a_hole.y_dir.y;
				px2 = (int)((x2 - x_range.min) / scale + sideWidth);
				py2 = (int)((y2 - y_range.min) / scale + sideWidth);
				rgb = { 0, 255, 0 }; //y轴用绿色
				cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
				//z轴
				x2 = a_hole.center.x + dirAngleLen * a_hole.z_dir.x;
				y2 = a_hole.center.y + dirAngleLen * a_hole.z_dir.y;
				px2 = (int)((x2 - x_range.min) / scale + sideWidth);
				py2 = (int)((y2 - y_range.min) / scale + sideWidth);
				rgb = { 0, 0, 255 }; //z轴用蓝色
				cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
			}
		}
	}
}

void EulerRpyToRotation1(const 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_XYZUV(
	std::vector<std::vector< SVzNLPositionD>>& scanLines,
	double matrix3d[9],
	std::vector<std::vector< SVzNLPositionD>>& rotateLines,
	SVzNLRangeD& rx_range, SVzNLRangeD& ry_range)
{
	int lineNum = (int)scanLines.size();
	rotateLines.resize(lineNum);
	rx_range.min = 0;
	rx_range.max = -1;
	ry_range.min = 0;
	ry_range.max = -1;
	for (int line = 0; line < lineNum; line++)
	{
		for (int i = 0; i < (int)scanLines[line].size(); i++)
		{
			SVzNLPositionD& pt3D = scanLines[line][i];
			if (pt3D.pt3D.z < 1e-4)
				continue;

			SVzNLPositionD r_pt;
			r_pt.pt3D = _ptRotate(pt3D.pt3D, matrix3d);
			r_pt.nPointIdx = pt3D.nPointIdx;
			r_pt.ptLeft2D = pt3D.ptLeft2D;
			r_pt.ptRight2D = pt3D.ptRight2D;
			rotateLines[line].push_back(r_pt);
			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;
			}
		}
	}
}

void _genXOYProjectionImage_XYZUV(
	cv::String& fileName,
	std::vector<std::vector< SVzNLPositionD>>& scanLines,
	const double scale,
	std::vector< WD_workpieceInfo>& holes,
	const double rpy[3], const double dirLen)
{
	//旋转视角显示
	double matrix3d[9];
	EulerRpyToRotation1(rpy, matrix3d);
	std::vector<WD_workpieceInfo> r_objOps;
	r_objOps.resize(holes.size());
	std::vector<std::vector< SVzNLPositionD>> rotateLines;
	SVzNLRangeD rx_range, ry_range;
	_rotateCloudPts_XYZUV(scanLines, matrix3d, rotateLines, rx_range, ry_range);

	//统计X和Y的范围
	int x_cols = (int)((rx_range.max - rx_range.min) / scale) + 1;
	if (x_cols % 2 == 1)
		x_cols += 1;
	int y_rows = (int)((ry_range.max - ry_range.min) / scale) + 1;
	if (y_rows % 2 == 1)
		y_rows += 1;

	int sideWidth = 4;
	int imgCols = x_cols + sideWidth * 2;
	int imgRows = y_rows + sideWidth * 2;

	cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
	//计算投影比例
	_XOYprojection_XYZUV(img, rotateLines, r_objOps, scale, sideWidth, rx_range, ry_range, true, dirLen);
	cv::imwrite(fileName, img);
	return;
}

void _rotateCloudPts(
	std::vector<std::vector< SVzNL3DPosition>>& scanLines,
	double matrix3d[9],
	std::vector<std::vector< SVzNL3DPosition>>& rotateLines,
	SVzNLRangeD& rx_range, SVzNLRangeD& ry_range)
{
	int lineNum = (int)scanLines.size();
	rotateLines.resize(lineNum);
	rx_range.min = 0;
	rx_range.max = -1;
	ry_range.min = 0;
	ry_range.max = -1;
	for (int line = 0; line < lineNum; line++)
	{
		for (int i = 0; i < (int)scanLines[line].size(); i++)
		{
			SVzNL3DPosition& pt3D = scanLines[line][i];
			if (pt3D.pt3D.z < 1e-4)
				continue;

			SVzNL3DPosition r_pt;
			r_pt.pt3D = _ptRotate(pt3D.pt3D, matrix3d);
			r_pt.nPointIdx = pt3D.nPointIdx;
			rotateLines[line].push_back(r_pt);
			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;
			}
		}
	}
}

void _XOYprojection_binInfo(
	cv::Mat& img,
	std::vector<std::vector< SVzNL3DPosition>>& dataLines,
	WD_HRM_BinInfo& binInfo,
	const double scale,
	const int sideWidth,
	const SVzNLRangeD x_range,
	const SVzNLRangeD y_range,
	const double dirAngleLen)
{
	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 flag = pt3D.nPointIdx & 0xffff;
			if (flag > 0)
			{
				rgb = objColor[flag % 8]; // { 255, 97, 0 };
				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) / scale + sideWidth);
			int py = (int)((y - y_range.min) / scale + sideWidth);
			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 (binInfo.center.z > 1e-4)
	{
		rgb = { 255, 0, 0 };
		size = int(10.0 / scale);
		int px = (int)((binInfo.center.x - x_range.min) / scale + sideWidth);
		int py = (int)((binInfo.center.y - y_range.min) / scale + sideWidth);
		cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
		//画线
		double x1 = binInfo.center.x;
		double y1 = binInfo.center.y;
		int px1 = (int)((x1 - x_range.min) / scale + sideWidth);
		int py1 = (int)((y1 - y_range.min) / scale + sideWidth);
		//x轴
		double mx2 = binInfo.center.x - dirAngleLen * binInfo.x_dir.x;
		double my2 = binInfo.center.y - dirAngleLen * binInfo.x_dir.y;
		int mpx2 = (int)((mx2 - x_range.min) / scale + sideWidth);
		int mpy2 = (int)((my2 - y_range.min) / scale + sideWidth);

		double x2 = binInfo.center.x + dirAngleLen * binInfo.x_dir.x;
		double y2 = binInfo.center.y + dirAngleLen * binInfo.x_dir.y;
		int px2 = (int)((x2 - x_range.min) / scale + sideWidth);
		int py2 = (int)((y2 - y_range.min) / scale + sideWidth);
		rgb = { 255, 0, 0 }; //x轴用红色
		cv::line(img, cv::Point(mpx2, mpy2), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
		//y轴
		x2 = binInfo.center.x + dirAngleLen * binInfo.y_dir.x;
		y2 = binInfo.center.y + dirAngleLen * binInfo.y_dir.y;
		px2 = (int)((x2 - x_range.min) / scale + sideWidth);
		py2 = (int)((y2 - y_range.min) / scale + sideWidth);
		rgb = { 0, 255, 0 }; //y轴用绿色
		cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);

		//边1
		x1 = binInfo.minRectVertex[0].x;
		y1 = binInfo.minRectVertex[0].y;
		px1 = (int)((x1 - x_range.min) / scale + sideWidth);
		py1 = (int)((y1 - y_range.min) / scale + sideWidth);
		x2 = binInfo.minRectVertex[1].x;
		y2 = binInfo.minRectVertex[1].y;
		px2 = (int)((x2 - x_range.min) / scale + sideWidth);
		py2 = (int)((y2 - y_range.min) / scale + sideWidth);
		rgb = { 0, 0, 255 }; //y轴用绿色
		cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
		//边2
		x1 = binInfo.minRectVertex[1].x;
		y1 = binInfo.minRectVertex[1].y;
		px1 = (int)((x1 - x_range.min) / scale + sideWidth);
		py1 = (int)((y1 - y_range.min) / scale + sideWidth);
		x2 = binInfo.minRectVertex[2].x;
		y2 = binInfo.minRectVertex[2].y;
		px2 = (int)((x2 - x_range.min) / scale + sideWidth);
		py2 = (int)((y2 - y_range.min) / scale + sideWidth);
		rgb = { 0, 0, 255 }; //y轴用绿色
		cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
		//边3
		x1 = binInfo.minRectVertex[2].x;
		y1 = binInfo.minRectVertex[2].y;
		px1 = (int)((x1 - x_range.min) / scale + sideWidth);
		py1 = (int)((y1 - y_range.min) / scale + sideWidth);
		x2 = binInfo.minRectVertex[3].x;
		y2 = binInfo.minRectVertex[3].y;
		px2 = (int)((x2 - x_range.min) / scale + sideWidth);
		py2 = (int)((y2 - y_range.min) / scale + sideWidth);
		rgb = { 0, 0, 255 }; //y轴用绿色
		cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
		//边4
		x1 = binInfo.minRectVertex[3].x;
		y1 = binInfo.minRectVertex[3].y;
		px1 = (int)((x1 - x_range.min) / scale + sideWidth);
		py1 = (int)((y1 - y_range.min) / scale + sideWidth);
		x2 = binInfo.minRectVertex[0].x;
		y2 = binInfo.minRectVertex[0].y;
		px2 = (int)((x2 - x_range.min) / scale + sideWidth);
		py2 = (int)((y2 - y_range.min) / scale + sideWidth);
		rgb = { 0, 0, 255 }; //y轴用绿色
		cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
	}

}

void _genXOYProjectionImage_binInfo(
	cv::String& fileName,
	std::vector<std::vector< SVzNL3DPosition>>& scanLines,
	const double scale,
	WD_HRM_BinInfo& binInfo,
	const double rpy[3], const double dirLen)
{
	//旋转视角显示
	double matrix3d[9];
	EulerRpyToRotation1(rpy, matrix3d);
	WD_HRM_BinInfo rotateBin;
	rotateBin.length = binInfo.length;
	rotateBin.width = binInfo.width;
	rotateBin.center = _ptRotate(binInfo.center, matrix3d);
	rotateBin.bottomNormal = _ptRotate(binInfo.bottomNormal, matrix3d);
	rotateBin.x_dir = _ptRotate(binInfo.x_dir, matrix3d);
	rotateBin.y_dir = _ptRotate(binInfo.y_dir, matrix3d);
	for (int i = 0; i < 4; i++)
		rotateBin.minRectVertex[i] = _ptRotate(binInfo.minRectVertex[i], matrix3d);

	std::vector<std::vector< SVzNL3DPosition>> rotateLines;
	SVzNLRangeD rx_range, ry_range;
	_rotateCloudPts(scanLines, matrix3d, rotateLines, rx_range, ry_range);

	//统计X和Y的范围
	int x_cols = (int)((rx_range.max - rx_range.min) / scale) + 1;
	if (x_cols % 2 == 1)
		x_cols += 1;
	int y_rows = (int)((ry_range.max - ry_range.min) / scale) + 1;
	if (y_rows % 2 == 1)
		y_rows += 1;

	int sideWidth = 32;
	int imgCols = x_cols + sideWidth * 2;
	int imgRows = y_rows + sideWidth * 2;

	cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
	//计算投影比例
	_XOYprojection_binInfo(img, rotateLines, rotateBin, scale, sideWidth, rx_range, ry_range, dirLen);
	cv::imwrite(fileName, img);
	return;
}

void _XOYprojection_workpieceInfo(
	cv::Mat& img,
	std::vector<std::vector< SVzNL3DPosition>>& dataLines,
	std::vector<WD_workpieceInfo>& workpieceInfo,
	const double scale,
	const int sideWidth,
	const SVzNLRangeD x_range,
	const SVzNLRangeD y_range,
	const double dirAngleLen)
{
	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 flag = pt3D.nPointIdx & 0xffff;
			if (flag > 0)
			{
				rgb = objColor[flag % 8]; // { 255, 97, 0 };
				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) / scale + sideWidth);
			int py = (int)((y - y_range.min) / scale + sideWidth);
			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 (workpieceInfo.size() > 0)
	{

		for (int i = 0; i < (int)workpieceInfo.size(); i++)
		{
			rgb = { 255, 0, 0 };
			size = int(10.0 / scale);
			int px = (int)((workpieceInfo[i].center.x - x_range.min) / scale + sideWidth);
			int py = (int)((workpieceInfo[i].center.y - y_range.min) / scale + sideWidth);
			cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
			//画圆
			rgb = { 0, 0, 255 };
			size = (int)(workpieceInfo[i].value / scale);
			cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
		}
	}
}

void _genXOYProjectionImage_workpieceInfo(
	cv::String& fileName,
	std::vector<std::vector< SVzNL3DPosition>>& scanLines,
	const double scale,
	std::vector<WD_workpieceInfo>& workpieceInfo,
	const double rpy[3], const double dirLen)
{
	//旋转视角显示
	double matrix3d[9];
	EulerRpyToRotation1(rpy, matrix3d);

	std::vector<WD_workpieceInfo> rotatedWorkpiece;
	for (int i = 0; i < (int)workpieceInfo.size(); i++)
	{
		WD_workpieceInfo rotateObj;
		rotateObj.workpieceType = workpieceInfo[i].workpieceType;
		rotateObj.value = workpieceInfo[i].value;
		rotateObj.center = _ptRotate(workpieceInfo[i].center, matrix3d);
		rotateObj.z_dir = _ptRotate(workpieceInfo[i].z_dir, matrix3d);
		rotateObj.x_dir = _ptRotate(workpieceInfo[i].x_dir, matrix3d);
		rotateObj.y_dir = _ptRotate(workpieceInfo[i].y_dir, matrix3d);
		rotatedWorkpiece.push_back(rotateObj);
	}

	std::vector<std::vector< SVzNL3DPosition>> rotateLines;
	SVzNLRangeD rx_range, ry_range;
	_rotateCloudPts(scanLines, matrix3d, rotateLines, rx_range, ry_range);

	//统计X和Y的范围
	int x_cols = (int)((rx_range.max - rx_range.min) / scale) + 1;
	if (x_cols % 2 == 1)
		x_cols += 1;
	int y_rows = (int)((ry_range.max - ry_range.min) / scale) + 1;
	if (y_rows % 2 == 1)
		y_rows += 1;

	int sideWidth = 32;
	int imgCols = x_cols + sideWidth * 2;
	int imgRows = y_rows + sideWidth * 2;

	cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
	//计算投影比例
	_XOYprojection_workpieceInfo(img, rotateLines, rotatedWorkpiece, scale, sideWidth, rx_range, ry_range, dirLen);
	cv::imwrite(fileName, img);
	return;
}

void _XOYprojection_planningResult(
	cv::Mat& img,
	std::vector<std::vector< SVzNL3DPosition>>& dataLines,
	std::vector<WD_workpieceInfo>& workpieceInfo,
	WD_HRM_BinInfo& binInfo,
	const double scale,
	const int sideWidth,
	const SVzNLRangeD x_range,
	const SVzNLRangeD y_range,
	const double dirAngleLen)
{
	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 flag = pt3D.nPointIdx & 0xffff;
			if (flag > 0)
			{
				rgb = objColor[flag % 8]; // { 255, 97, 0 };
				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) / scale + sideWidth);
			int py = (int)((y - y_range.min) / scale + sideWidth);
			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 (workpieceInfo.size() > 0)
	{
		for (int i = 0; i < (int)workpieceInfo.size(); i++)
		{
			rgb = { 255, 0, 0 };
			size = int(10.0 / scale);
			int px = (int)((workpieceInfo[i].center.x - x_range.min) / scale + sideWidth);
			int py = (int)((workpieceInfo[i].center.y - y_range.min) / scale + sideWidth);
			cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
			//画圆
			rgb = { 0, 0, 255 };
			size = (int)(workpieceInfo[i].value / scale);
			cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
		}

		//边1
		double x1 = binInfo.minRectVertex[0].x;
		double y1 = binInfo.minRectVertex[0].y;
		int px1 = (int)((x1 - x_range.min) / scale + sideWidth);
		int py1 = (int)((y1 - y_range.min) / scale + sideWidth);
		double x2 = binInfo.minRectVertex[1].x;
		double y2 = binInfo.minRectVertex[1].y;
		int px2 = (int)((x2 - x_range.min) / scale + sideWidth);
		int py2 = (int)((y2 - y_range.min) / scale + sideWidth);
		rgb = { 0, 0, 255 }; //y轴用绿色
		cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
		//边2
		x1 = binInfo.minRectVertex[1].x;
		y1 = binInfo.minRectVertex[1].y;
		px1 = (int)((x1 - x_range.min) / scale + sideWidth);
		py1 = (int)((y1 - y_range.min) / scale + sideWidth);
		x2 = binInfo.minRectVertex[2].x;
		y2 = binInfo.minRectVertex[2].y;
		px2 = (int)((x2 - x_range.min) / scale + sideWidth);
		py2 = (int)((y2 - y_range.min) / scale + sideWidth);
		rgb = { 0, 0, 255 }; //y轴用绿色
		cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
		//边3
		x1 = binInfo.minRectVertex[2].x;
		y1 = binInfo.minRectVertex[2].y;
		px1 = (int)((x1 - x_range.min) / scale + sideWidth);
		py1 = (int)((y1 - y_range.min) / scale + sideWidth);
		x2 = binInfo.minRectVertex[3].x;
		y2 = binInfo.minRectVertex[3].y;
		px2 = (int)((x2 - x_range.min) / scale + sideWidth);
		py2 = (int)((y2 - y_range.min) / scale + sideWidth);
		rgb = { 0, 0, 255 }; //y轴用绿色
		cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
		//边4
		x1 = binInfo.minRectVertex[3].x;
		y1 = binInfo.minRectVertex[3].y;
		px1 = (int)((x1 - x_range.min) / scale + sideWidth);
		py1 = (int)((y1 - y_range.min) / scale + sideWidth);
		x2 = binInfo.minRectVertex[0].x;
		y2 = binInfo.minRectVertex[0].y;
		px2 = (int)((x2 - x_range.min) / scale + sideWidth);
		py2 = (int)((y2 - y_range.min) / scale + sideWidth);
		rgb = { 0, 0, 255 }; //y轴用绿色
		cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);

	}
}

void _genXOYProjectionImage_planningResult(
	cv::String& fileName,
	std::vector<std::vector< SVzNL3DPosition>>& scanLines,
	const double scale,
	WD_HRM_BinInfo& binInfo,
	std::vector<WD_workpieceInfo>& workpieceInfo,
	const double rpy[3], const double dirLen)
{
	//旋转视角显示
	double matrix3d[9];
	EulerRpyToRotation1(rpy, matrix3d);

	std::vector<WD_workpieceInfo> rotatedWorkpiece;
	for (int i = 0; i < (int)workpieceInfo.size(); i++)
	{
		WD_workpieceInfo rotateObj;
		rotateObj.workpieceType = workpieceInfo[i].workpieceType;
		rotateObj.value = workpieceInfo[i].value;
		rotateObj.center = _ptRotate(workpieceInfo[i].center, matrix3d);
		rotateObj.z_dir = _ptRotate(workpieceInfo[i].z_dir, matrix3d);
		rotateObj.x_dir = _ptRotate(workpieceInfo[i].x_dir, matrix3d);
		rotateObj.y_dir = _ptRotate(workpieceInfo[i].y_dir, matrix3d);
		rotatedWorkpiece.push_back(rotateObj);
	}

	std::vector<std::vector< SVzNL3DPosition>> rotateLines;
	SVzNLRangeD rx_range, ry_range;
	_rotateCloudPts(scanLines, matrix3d, rotateLines, rx_range, ry_range);

	//统计X和Y的范围
	int x_cols = (int)((rx_range.max - rx_range.min) / scale) + 1;
	if (x_cols % 2 == 1)
		x_cols += 1;
	int y_rows = (int)((ry_range.max - ry_range.min) / scale) + 1;
	if (y_rows % 2 == 1)
		y_rows += 1;

	int sideWidth = 32;
	int imgCols = x_cols + sideWidth * 2;
	int imgRows = y_rows + sideWidth * 2;

	cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
	//计算投影比例
	_XOYprojection_planningResult(img, rotateLines, rotatedWorkpiece, binInfo, scale, sideWidth, rx_range, ry_range, dirLen);
	cv::imwrite(fileName, img);
	return;
}

void zPassThroughFilter(std::vector<std::vector< SVzNL3DPosition>>& scanData, const SVzNLRangeD zRange)
{
	for (int i = 0; i < (int)scanData.size(); i++)
	{
		for (int j = 0; j < (int)scanData[i].size(); j++)
		{
			if ((scanData[i][j].pt3D.z < zRange.min) || (scanData[i][j].pt3D.z > zRange.max))
				scanData[i][j].pt3D = { 0.0, 0.0, 0.0 };
		}
	}
	return;
}

//拓普发工件孔定位（工件定位)
#define HRM_TaperedWorkpiece_TEST_GROUP 1
void HaiRuiMa_TaperedWorkpiece_test(void)
{
	const char* dataPath[HRM_TaperedWorkpiece_TEST_GROUP] = {

		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/锥形工作2D+3D数据/数据1/", //0
	};

	SVzNLRange fileIdx[HRM_TaperedWorkpiece_TEST_GROUP] = {
		{1,21}, 
	};

	const char* ver = wd_hybridPositioningVersion();
	printf("ver:%s\n", ver);

	for (int grp = 0; grp < HRM_TaperedWorkpiece_TEST_GROUP; grp++)
	{
		SSG_planeCalibPara groundCalibPara;
		//初始化成单位阵
		groundCalibPara.planeCalib[0] = 1.0;
		groundCalibPara.planeCalib[1] = 0.0;
		groundCalibPara.planeCalib[2] = 0.0;
		groundCalibPara.planeCalib[3] = 0.0;
		groundCalibPara.planeCalib[4] = 1.0;
		groundCalibPara.planeCalib[5] = 0.0;
		groundCalibPara.planeCalib[6] = 0.0;
		groundCalibPara.planeCalib[7] = 0.0;
		groundCalibPara.planeCalib[8] = 1.0;
		groundCalibPara.planeHeight = -1.0;
		for (int i = 0; i < 9; i++)
			groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
		char calibFile[250];
		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
		//groundCalibPara = _readCalibPara(calibFile);

		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx =15;
			char _scan_file[256];
			sprintf_s(_scan_file, "%s%d_cloud.txt", dataPath[grp], fidx);
			std::vector<std::vector< SVzNLPositionD>> scanLines;
			vzReadLaserScanPointFromFile_XYZUV_vector(_scan_file, scanLines);			
			_removeZeroLines_XYZUV(scanLines);
			if (scanLines.size() == 0)
				continue;

			sprintf_s(_scan_file, "%s%d_result.txt", dataPath[grp], fidx);
			std::vector<WD_objArea2D> objROIs;
			vzReadObj2DROI_1(_scan_file, objROIs);

			long t1 = (long)GetTickCount64();//统计时间

			int errCode = 0;
			std::vector< WD_workpieceInfo> workpiecePositions;
			wd_HRM_TaperedWorkpiecePositioning(
				scanLines,
				objROIs,
				groundCalibPara,
				workpiecePositions,
				&errCode);
			long t2 = (long)GetTickCount64();
			if (errCode == SX_ERR_UNKNOWN_OBJECT)
				printf("%s: %d(ms), 有异物残留!\n", _scan_file, (int)(t2 - t1));
			else if (errCode == SX_ERR_ZERO_OBJECTS)
				printf("%s: %d(ms), 无产品!\n", _scan_file, (int)(t2 - t1));
			else
				printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
			//输出测试结果
			sprintf_s(_scan_file, "%sresult/LaserLine%d_result.txt", dataPath[grp], fidx);
			_outputRGBDResult_XYZUV_RGBD(_scan_file, scanLines, workpiecePositions);
			sprintf_s(calibFile, "%sresult/LaserLine%d_hole_info.txt", dataPath[grp], fidx);
			_outputWorkpieceInfo(calibFile, workpiecePositions);

#if 0
			sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx);
			double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 };  //
			double angleDrawLen = 15;
			double displayScale = 0.3;
			cv::String imgName(calibFile);
			_genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositions, rpy, angleDrawLen);
#endif
			printf("done\n");
		}
	}
}

//地面调平
#define HRM_GroundCalib_TEST_GROUP 1
void HaiRuiMa_groundCalib_test(void)
{
#if 0
	const char* dataPath[HRM_GroundCalib_TEST_GROUP] = {

		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件1/", //0
		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件2/", //1
		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件3/", //2
	};

	SVzNLRange fileIdx[HRM_GroundCalib_TEST_GROUP] = {
		{1,7}, {1,9}, {1,7},
	};
#else
	const char* dataPath[HRM_GroundCalib_TEST_GROUP] = {
		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/数据2D3D/", //0
	};

	SVzNLRange fileIdx[HRM_GroundCalib_TEST_GROUP] = {
		{1,9}, 
	};
#endif

	const char* ver = wd_hybridPositioningVersion();
	printf("ver:%s\n", ver);

	char _calib_datafile[256];
	sprintf_s(_calib_datafile, "F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/数据2D3D/ground_cloud.txt");
	int lineNum = 0;
	float lineV = 0.0f;
	int dataCalib = 0;
	int maxTimeStamp = 0;
	int clockPerSecond = 0;
	std::vector<std::vector< SVzNL3DPosition>> scanData;
	vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);

	lineNum = (int)scanData.size();
	if (scanData.size() > 0)
	{
#if 1
		//过滤背景数据
		SVzNLRangeD validZRange = { 100.0, 1600.0 };
		zPassThroughFilter(scanData, validZRange);
#endif
		SSG_planeCalibPara calibPara = wd_getGroundCalibPara(scanData);
		//
		char calibFile[250];
		sprintf_s(calibFile, "F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/数据2D3D/ground_calib_para.txt");
		_outputCalibPara(calibFile, calibPara);
#if 1
		for (int grp = 0; grp < HRM_GroundCalib_TEST_GROUP; grp++)
		{
			for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
			{
#if 0
				//fidx =4;
				char _scan_file[256];
				sprintf_s(_scan_file, "%s隔板%d_LaserData_Jl26C177.txt", dataPath[grp], fidx);
				std::vector<std::vector< SVzNL3DPosition>> scanLines;
				vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
				_removeZeroLines_XYZ(scanLines);
				if (scanLines.size() == 0)
					continue;
				lineNum = (int)scanLines.size();
				for (int i = 0; i < lineNum; i++)
					wd_lineDataR(scanLines[i], calibPara.planeCalib, -1);//调平，去除地面
				sprintf_s(_scan_file, "%s隔板%d_LaserData_Jl26C177_ground_calibrated.txt", dataPath[grp], fidx);
				int headNullLines = 0;
				_outputScanDataFile_vector(_scan_file, scanLines, false, &headNullLines);

				sprintf_s(_scan_file, "%s工件%d_LaserData_Jl26C177.txt", dataPath[grp], fidx);
				scanLines.clear();
				vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
				_removeZeroLines_XYZ(scanLines);
				if (scanLines.size() == 0)
					continue;
				lineNum = (int)scanLines.size();
				for (int i = 0; i < lineNum; i++)
					wd_lineDataR(scanLines[i], calibPara.planeCalib, -1);//调平，去除地面
				sprintf_s(_scan_file, "%s工件%d_LaserData_Jl26C177_ground_calibrated.txt", dataPath[grp], fidx);
				headNullLines = 0;
				_outputScanDataFile_vector(_scan_file, scanLines, false, &headNullLines);
#else
				char _scan_file[256];
				sprintf_s(_scan_file, "%s%d_cloud.txt", dataPath[grp], fidx);
				std::vector<std::vector< SVzNL3DPosition>> scanLines;
				vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
				_removeZeroLines_XYZ(scanLines);
				if (scanLines.size() == 0)
					continue;
				lineNum = (int)scanLines.size();
				for (int i = 0; i < lineNum; i++)
					wd_lineDataR(scanLines[i], calibPara.planeCalib, -1);//调平，去除地面
				sprintf_s(_scan_file, "%s%d_cloud_ground_calibrated.txt", dataPath[grp], fidx);
				int headNullLines = 0;
				_outputScanDataFile_vector(_scan_file, scanLines, false, &headNullLines);
#endif
				printf("%s: calib done!\n", _scan_file);
			}
		}
#endif
		printf("all calib done!\n", _calib_datafile);
	}

}

//拓普发工件孔定位（工件定位)
#define HRM_RotorCore_TEST_GROUP 1
void HaiRuiMa_rotorCorePositioning_test(void)
{
	const char* dataPath[HRM_RotorCore_TEST_GROUP] = {

		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/数据2D3D/", //0
	};

	SVzNLRange fileIdx[HRM_RotorCore_TEST_GROUP] = {
		{1,9},
	};

	const char* ver = wd_hybridPositioningVersion();
	printf("ver:%s\n", ver);

	for (int grp = 0; grp < HRM_RotorCore_TEST_GROUP; grp++)
	{
		SSG_planeCalibPara groundCalibPara;
		//初始化成单位阵
		groundCalibPara.planeCalib[0] = 1.0;
		groundCalibPara.planeCalib[1] = 0.0;
		groundCalibPara.planeCalib[2] = 0.0;
		groundCalibPara.planeCalib[3] = 0.0;
		groundCalibPara.planeCalib[4] = 1.0;
		groundCalibPara.planeCalib[5] = 0.0;
		groundCalibPara.planeCalib[6] = 0.0;
		groundCalibPara.planeCalib[7] = 0.0;
		groundCalibPara.planeCalib[8] = 1.0;
		groundCalibPara.planeHeight = -1.0;
		for (int i = 0; i < 9; i++)
			groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
		char calibFile[250];
		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
		groundCalibPara = _readCalibPara(calibFile);

		//读取料筐参数
		sprintf_s(calibFile, "%sbin_info.txt", dataPath[grp]);
		WD_HRM_BinInfo binInfo = _readBinInfo(calibFile);

		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx = 3;
			char _scan_file[256];
			sprintf_s(_scan_file, "%s%d_cloud.txt", dataPath[grp], fidx);
			std::vector<std::vector< SVzNLPositionD>> scanLines;
			vzReadLaserScanPointFromFile_XYZUV_vector(_scan_file, scanLines);
			_removeZeroLines_XYZUV(scanLines);
			if (scanLines.size() == 0)
				continue;

			sprintf_s(_scan_file, "%s%d_result.txt", dataPath[grp], fidx);
			std::vector<WD_objArea2D> objROIs;
			vzReadObj2DROI(_scan_file, objROIs);

			SWD_Cylinder workpieceParam;  //圆柱形工件的标称半径和高度
			workpieceParam.radius = 45.0;
			workpieceParam.height = 20.0;

			long t1 = (long)GetTickCount64();//统计时间

			int errCode = 0;
			std::vector< WD_workpieceInfo> workpiecePositions;
			std::vector<std::vector<SVzNL3DPosition>> debugScanLines;
			wd_HRM_RotorCorePositioning(
				scanLines,
				objROIs,
				binInfo,
				groundCalibPara,
				workpieceParam,
				workpiecePositions,
#ifdef _OUTPUT_DEBUG_DATA
				debugScanLines,
#endif
				&errCode);

			long t2 = (long)GetTickCount64();
			if (errCode == SX_ERR_UNKNOWN_OBJECT)
				printf("%s: %d(ms), 有异物残留!\n", _scan_file, (int)(t2 - t1));
			else if (errCode == SX_ERR_ZERO_OBJECTS)
				printf("%s: %d(ms), 无产品!\n", _scan_file, (int)(t2 - t1));
			else
				printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
			//输出测试结果
			sprintf_s(calibFile, "%sresult/LaserLine%d_workpiece_info.txt", dataPath[grp], fidx);
			_outputWorkpieceInfo(calibFile, workpiecePositions);
			//旋转到调平坐标系
			int workpieceNum = (int)workpiecePositions.size();
			for (int i = 0; i < workpieceNum; i++)
			{
				SVzNL3DPoint rpt;
				rpt = wd_ptRotate(workpiecePositions[i].center, groundCalibPara.planeCalib);
				workpiecePositions[i].center = rpt;
				rpt = wd_ptRotate(workpiecePositions[i].y_dir, groundCalibPara.planeCalib);
				workpiecePositions[i].y_dir = rpt;
				rpt = wd_ptRotate(workpiecePositions[i].z_dir, groundCalibPara.planeCalib);
				workpiecePositions[i].z_dir = rpt;
				rpt = wd_ptRotate(workpiecePositions[i].x_dir, groundCalibPara.planeCalib);
				workpiecePositions[i].x_dir = rpt;
			}
			sprintf_s(_scan_file, "%sresult/result_%d.txt", dataPath[grp], fidx);
			_outputRGBDResult_XYZ_RGBD_workpieceInfo(_scan_file, debugScanLines, workpiecePositions, 50);
#if 0
			sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx);
			double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 };  //
			double angleDrawLen = 15;
			double displayScale = 0.3;
			cv::String imgName(calibFile);
			_genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositions, rpy, angleDrawLen);
#endif
			printf("done\n");
		}
	}
}

#define HRM_BIN_TEST_GROUP 3
//海瑞马料筐尺寸计算
void HaiRuiMa_BinSizeCompute_test(void)
{
	const char* dataPath[HRM_BIN_TEST_GROUP] = {

		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件1/", //0
		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件2/", //1
		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件3/", //2
	};

	SVzNLRange fileIdx[HRM_BIN_TEST_GROUP] = {
		{1,7}, {1,9}, {1,7},
	};

	const char* ver = wd_hybridPositioningVersion();
	printf("ver:%s  料筐尺寸计算\n", ver);

	for (int grp = 0; grp < HRM_BIN_TEST_GROUP; grp++)
	{
		SSG_planeCalibPara groundCalibPara;
		//初始化成单位阵
		groundCalibPara.planeCalib[0] = 1.0;
		groundCalibPara.planeCalib[1] = 0.0;
		groundCalibPara.planeCalib[2] = 0.0;
		groundCalibPara.planeCalib[3] = 0.0;
		groundCalibPara.planeCalib[4] = 1.0;
		groundCalibPara.planeCalib[5] = 0.0;
		groundCalibPara.planeCalib[6] = 0.0;
		groundCalibPara.planeCalib[7] = 0.0;
		groundCalibPara.planeCalib[8] = 1.0;
		groundCalibPara.planeHeight = -1.0;
		for (int i = 0; i < 9; i++)
			groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
		char calibFile[250];
		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
		groundCalibPara = _readCalibPara(calibFile);

		double binHeight = 640;  //料筐最上边沿距地面高度
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx = 15;
			char _scan_file[256];
			sprintf_s(_scan_file, "%s隔板%d_LaserData_Jl26C177.txt", dataPath[grp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);			
			_removeZeroLines_XYZ(scanLines);
			if (scanLines.size() == 0)
				continue;


			long t1 = (long)GetTickCount64();//统计时间

			int errCode = 0;
#if 0
			SSG_cornerParam cornerParam;
			cornerParam.cornerTh = 60;  //45度角
			cornerParam.scale = 10; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
			cornerParam.minEndingGap = 10; // algoParam.bagParam.bagW / 4;
			cornerParam.minEndingGap_z = 5.0;
			cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
			cornerParam.jumpCornerTh_2 = 60;
			//料筐码放：获取料筐尺寸、料筐姿态、料筐中心点坐标
			WD_HRM_BinInfo binInfo = wd_HRM_getBinSize(
				scanLines,
				cornerParam,
				&errCode);
#else
			//料筐码放：获取料筐尺寸、料筐姿态、料筐中心点坐标
			WD_HRM_BinInfo binInfo = wd_HRM_getBinSize(
				scanLines,
				groundCalibPara,
				binHeight, //料筐高度
				&errCode);
#endif
			long t2 = (long)GetTickCount64();
			printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
			//输出测试结果
			sprintf_s(_scan_file, "%sresult/LaserLine%d_result.txt", dataPath[grp], fidx);

			_outputRGBDResult_XYZ_RGBD_binInfo(_scan_file, scanLines, binInfo);
			sprintf_s(_scan_file, "%sresult/%d_bin_info.txt", dataPath[grp], fidx);			
			_outputBinInfo(_scan_file, binInfo);

			sprintf_s(calibFile, "%sresult/LaserLine%d_bin_projection.png", dataPath[grp], fidx);
			double rpy[3] = { 0, 0, 0 };  // { -30, 15, 0 }; //{ 0,-45, 0 };  //
			double angleDrawLen = 500;
			double displayScale = 1.0;
			cv::String imgName(calibFile);
			_genXOYProjectionImage_binInfo(imgName, scanLines, displayScale, binInfo, rpy, angleDrawLen);
			printf("done\n");
		}
	}
}
//海瑞马工件尺寸测量
void HaiRuiMa_workpieceSizeCompute_test(void)
{
	const char* dataPath[HRM_BIN_TEST_GROUP] = {

		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件1/", //0
		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件2/", //1
		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件3/", //2
	};

	SVzNLRange fileIdx[HRM_BIN_TEST_GROUP] = {
		{1,7}, {1,9}, {1,7},
	};

	const char* ver = wd_hybridPositioningVersion();
	printf("ver:%s   工件尺寸测量  \n", ver);

	for (int grp = 0; grp < HRM_BIN_TEST_GROUP; grp++)
	{
		SSG_planeCalibPara groundCalibPara;
		//初始化成单位阵
		groundCalibPara.planeCalib[0] = 1.0;
		groundCalibPara.planeCalib[1] = 0.0;
		groundCalibPara.planeCalib[2] = 0.0;
		groundCalibPara.planeCalib[3] = 0.0;
		groundCalibPara.planeCalib[4] = 1.0;
		groundCalibPara.planeCalib[5] = 0.0;
		groundCalibPara.planeCalib[6] = 0.0;
		groundCalibPara.planeCalib[7] = 0.0;
		groundCalibPara.planeCalib[8] = 1.0;
		groundCalibPara.planeHeight = -1.0;
		for (int i = 0; i < 9; i++)
			groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
		char calibFile[250];
		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
		groundCalibPara = _readCalibPara(calibFile);

		double binHeight = 640;  //料筐最上边沿距地面高度
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx = 15;
			char _scan_file[256];
			sprintf_s(_scan_file, "%s工件%d_LaserData_Jl26C177.txt", dataPath[grp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
			_removeZeroLines_XYZ(scanLines);
			if (scanLines.size() == 0)
				continue;


			long t1 = (long)GetTickCount64();//统计时间

			int errCode = 0;
			SSG_cornerParam cornerParam;
			cornerParam.cornerTh = 60;  //45度角
			cornerParam.scale = 10; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
			cornerParam.minEndingGap = 10; // algoParam.bagParam.bagW / 4;
			cornerParam.minEndingGap_z = 5.0;
			cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
			cornerParam.jumpCornerTh_2 = 60;

			//标准工件尺寸。目前3种工件尺寸
			std::vector<WD_HRM_workpieceSizeInfo> standardWorkpieceSize;
			standardWorkpieceSize.resize(3);
			//工件1
			standardWorkpieceSize[0].center = { 0, 0, 0 };
			standardWorkpieceSize[0].layerZValue = 0;
			standardWorkpieceSize[0].workpieceHeight = 40.0;
			standardWorkpieceSize[0].workpieceRadius = 45.0;
			//工件2
			standardWorkpieceSize[1].center = { 0, 0, 0 };
			standardWorkpieceSize[1].layerZValue = 0;
			standardWorkpieceSize[1].workpieceHeight = 70.0;
			standardWorkpieceSize[1].workpieceRadius = 45.0;
			//工件3
			standardWorkpieceSize[2].center = { 0, 0, 0 };
			standardWorkpieceSize[2].layerZValue = 0;
			standardWorkpieceSize[2].workpieceHeight = 60.0;
			standardWorkpieceSize[2].workpieceRadius = 62.5;

			//料筐码放：获取工件尺寸
			WD_HRM_workpieceSizeInfo workpieceInfo = wd_HRM_getWorkpieceSize(
				scanLines,
				standardWorkpieceSize,
				cornerParam,
				groundCalibPara,
				&errCode);

			long t2 = (long)GetTickCount64();
			printf("%s: %d(ms), R=%f, H=%f, errCode=%d  ...", _scan_file, (int)(t2 - t1), workpieceInfo.workpieceRadius, workpieceInfo.workpieceHeight, errCode);
			//输出测试结果
			sprintf_s(_scan_file, "%sresult/LaserLine%d_workpiece_result.txt", dataPath[grp], fidx);

			std::vector<WD_workpieceInfo> poseInfo;
			WD_workpieceInfo a_pose;
			memset(&a_pose, 0, sizeof(WD_workpieceInfo));
			a_pose.center = workpieceInfo.center;
			a_pose.value = workpieceInfo.workpieceRadius;
			a_pose.z_dir = { 0, 0, 1.0 };
			poseInfo.push_back(a_pose);
			_outputRGBDResult_XYZ_RGBD_workpieceInfo(_scan_file, scanLines, poseInfo, 500);
			sprintf_s(_scan_file, "%sresult/%d_workpiece_info.txt", dataPath[grp], fidx);
			_outputWorkpieceInfo(_scan_file, workpieceInfo);

			sprintf_s(calibFile, "%sresult/LaserLine%d_workpiece_projection.png", dataPath[grp], fidx);
			double rpy[3] = { 0, 0, 0 };  // { -30, 15, 0 }; //{ 0,-45, 0 };  //
			double angleDrawLen = 500;
			double displayScale = 1.0;
			cv::String imgName(calibFile);
			_genXOYProjectionImage_workpieceInfo(imgName, scanLines, displayScale, poseInfo, rpy, angleDrawLen);
			printf("done\n");
		}
	}
}
//海瑞马码垛规划
void HaiRuiMa_positionPlanning_test(void)
{
	const char* dataPath[HRM_BIN_TEST_GROUP] = {

		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件1/", //0
		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件2/", //1
		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件3/", //2
	};

	SVzNLRange fileIdx[HRM_BIN_TEST_GROUP] = {
		{1,7}, {1,9}, {1,7},
	};

	const char* ver = wd_hybridPositioningVersion();
	printf("ver:%s 码垛规划\n", ver);

	for (int grp = 0; grp < HRM_BIN_TEST_GROUP; grp++)
	{
		SSG_planeCalibPara groundCalibPara;
		//初始化成单位阵
		groundCalibPara.planeCalib[0] = 1.0;
		groundCalibPara.planeCalib[1] = 0.0;
		groundCalibPara.planeCalib[2] = 0.0;
		groundCalibPara.planeCalib[3] = 0.0;
		groundCalibPara.planeCalib[4] = 1.0;
		groundCalibPara.planeCalib[5] = 0.0;
		groundCalibPara.planeCalib[6] = 0.0;
		groundCalibPara.planeCalib[7] = 0.0;
		groundCalibPara.planeCalib[8] = 1.0;
		groundCalibPara.planeHeight = -1.0;
		for (int i = 0; i < 9; i++)
			groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
		char calibFile[250];
		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
		groundCalibPara = _readCalibPara(calibFile);

		double binHeight = 640;  //料筐最上边沿距地面高度
		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
		{
			//fidx = 15;
			char _scan_file[256];
			sprintf_s(_scan_file, "%s隔板%d_LaserData_Jl26C177.txt", dataPath[grp], fidx);
			std::vector<std::vector< SVzNL3DPosition>> scanLines;
			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
			_removeZeroLines_XYZ(scanLines);
			if (scanLines.size() == 0)
				continue;
			//地面调平
			for (int i = 0; i < (int)scanLines.size(); i++)
			{
				wd_lineDataR(scanLines[i], groundCalibPara.planeCalib, -1);//调平
				for (int j = 0; j < (int)scanLines[i].size(); j++)
					scanLines[i][j].nPointIdx = 0;
			}

			//读取料筐参数
			sprintf_s(_scan_file, "%sresult/%d_bin_info.txt", dataPath[grp], fidx);
			WD_HRM_BinInfo binInfo = _readBinInfo(_scan_file);
			//读取工件参数
			sprintf_s(_scan_file, "%sresult/%d_workpiece_info.txt", dataPath[grp], fidx);
			WD_HRM_workpieceSizeInfo workpieceInfo = _readWorkpieceInfo(_scan_file);

			SSG_size2D realBoardSize; //实际的托板大小
			realBoardSize.width = 720.0;
			realBoardSize.height = 520.0;

			double guardingInterval = 3.0;  //工作与工件的保护间隔

			long t1 = (long)GetTickCount64();//统计时间

			int out_rows = 0, out_cols = 0, isLastLayere = 0;
			std::vector< WD_workpieceInfo> planningPositions;
			wd_HRM_PlanBinPlacement(
				binInfo,
				realBoardSize,
				workpieceInfo,
				groundCalibPara,
				guardingInterval,  //工作与工件的保护间隔
				planningPositions,
				&out_rows,
				&out_cols,
				&isLastLayere);

			long t2 = (long)GetTickCount64();
			printf("%s: %d(ms), rows=%d cols=%d, isLastLayer=%d...", _scan_file, (int)(t2 - t1), out_rows, out_cols, isLastLayere);
			//输出测试结果
			sprintf_s(_scan_file, "%sresult/%d_planning_result.txt", dataPath[grp], fidx);
			_outputWorkpieceInfo(_scan_file, planningPositions);

			//旋转到调平坐标系中
			for (int i = 0; i < (int)planningPositions.size(); i++)
			{
				planningPositions[i].center = wd_ptRotate(planningPositions[i].center, groundCalibPara.planeCalib);
				planningPositions[i].x_dir = wd_ptRotate(planningPositions[i].x_dir, groundCalibPara.planeCalib);
				planningPositions[i].y_dir = wd_ptRotate(planningPositions[i].y_dir, groundCalibPara.planeCalib);
				planningPositions[i].z_dir = wd_ptRotate(planningPositions[i].z_dir, groundCalibPara.planeCalib);
			}
			sprintf_s(_scan_file, "%sresult/LaserLine%d_planning_result.txt", dataPath[grp], fidx);
			_outputRGBDResult_XYZ_RGBD_planningResult(_scan_file, scanLines, binInfo, planningPositions, workpieceInfo.workpieceHeight);

			sprintf_s(calibFile, "%sresult/LaserLine%d_planning_result.png", dataPath[grp], fidx);
			double rpy[3] = { 0, 0, 0 };  // { -30, 15, 0 }; //{ 0,-45, 0 };  //
			double angleDrawLen = 500;
			double displayScale = 1.0;
			cv::String imgName(calibFile);
			_genXOYProjectionImage_planningResult(imgName, scanLines, displayScale, binInfo, planningPositions, rpy, angleDrawLen);
			printf("done\n");
		}
	}
}
typedef enum
{
	keSG_2D3D定位_海瑞马_地面调平 = 0,
	keSG_2D3D定位_海瑞马_锥形工件,
	keSG_2D3D定位_海瑞马_转子芯,
	keSG_2D3D定位_海瑞马_码垛料筐定位,
	keSG_2D3D定位_海瑞马_码垛工件尺寸测量,
	keSG_2D3D定位_海瑞马_码垛位置规划,
} ESG_testMode;
int main()
{
	//ESG_testMode testMode = keSG_2D3D定位_海瑞马_地面调平;
	//ESG_testMode testMode = keSG_2D3D定位_海瑞马_锥形工件;
	ESG_testMode testMode = keSG_2D3D定位_海瑞马_转子芯;
	//ESG_testMode testMode = keSG_2D3D定位_海瑞马_码垛料筐定位;
	//ESG_testMode testMode = keSG_2D3D定位_海瑞马_码垛工件尺寸测量;
	//ESG_testMode testMode = keSG_2D3D定位_海瑞马_码垛位置规划;

	if (keSG_2D3D定位_海瑞马_锥形工件 == testMode)
		HaiRuiMa_TaperedWorkpiece_test();
	else if (keSG_2D3D定位_海瑞马_地面调平 == testMode)
		HaiRuiMa_groundCalib_test();
	else if (keSG_2D3D定位_海瑞马_转子芯 == testMode)
		HaiRuiMa_rotorCorePositioning_test();
	else if (keSG_2D3D定位_海瑞马_码垛料筐定位 == testMode)
		HaiRuiMa_BinSizeCompute_test();
	else if (keSG_2D3D定位_海瑞马_码垛工件尺寸测量 == testMode)
		HaiRuiMa_workpieceSizeCompute_test();
	else if (keSG_2D3D定位_海瑞马_码垛位置规划 == testMode)
	{
		//HaiRuiMa_BinSizeCompute_test();
		HaiRuiMa_workpieceSizeCompute_test();
		HaiRuiMa_positionPlanning_test();
	}


}