#include <algorithmThread.h>
#include <ReadBarcode.h>
#include "camera_thread.h"
#include "myiothread.h"
#include "FrontendBackendBridge.h"
#include <myTools.h>
#include "csvControler.h"
bool showOk = true;//显示ok缺陷的框
std::string fileSavePath("D://CCD//");
//////////////////////
void algoThread::getAllFiles(string path, vector<string>& files, string format)
{
	intptr_t  hFile = 0;//恅璃曆梟 	
	struct _finddata_t fileinfo;//恅璃陓洘 	
	string p;
	if ((hFile = _findfirst(p.assign(path).append("\\*" + format).c_str(), &fileinfo)) != -1) //恅璃湔婓	
	{
		do
		{
			if ((fileinfo.attrib & _A_SUBDIR))//瓚剿岆瘁峈恅璃標			
			{
				if (strcmp(fileinfo.name, ".") != 0 && strcmp(fileinfo.name, "..") != 0)//恅璃標靡笢祥漪"."睿".."				
				{
					files.push_back(p.assign(path).append("\\").append(fileinfo.name)); //悵湔恅璃標靡					
					getAllFiles(p.assign(path).append("\\").append(fileinfo.name), files, format); //菰寥梢盪恅璃標				
				}
			}
			else
			{
				files.push_back(p.assign(path).append("\\").append(fileinfo.name));//彆祥岆恅璃標ㄛ揣湔恅璃靡			
			}
		} while (_findnext(hFile, &fileinfo) == 0);
		_findclose(hFile);
	}
}

inline string getFileName(string path)
{
	return path.substr(path.find_last_of("\\") + 1, path.find_last_of(".") - path.find_last_of("\\") - 1);
}
void drawContoursOverlap(cv::Mat& image, const std::vector<std::vector<cv::Point>>& contours) {
	cv::Mat mask = cv::Mat::zeros(image.size(), CV_8U);

	// 绘制轮廓在掩码上
	cv::drawContours(mask, contours, -1, cv::Scalar(255), cv::FILLED);

	// 将图像中与掩码不重叠的区域涂黑
	cv::Mat result;
	image.copyTo(result, mask);
	image.setTo(cv::Scalar(0, 0, 0), ~mask);
}
void drawContourOnImage(Mat seg, cv::Mat& imgInput, Size offset = Size(0, 0)) {
	if (seg.empty() || imgInput.empty()) {
		std::cerr << "Empty contour or input image." << std::endl;
		return;
	}
	cv::Mat imgWithAlpha;
	cv::cvtColor(imgInput, imgWithAlpha, cv::COLOR_BGR2BGRA);
	std::vector<std::vector<cv::Point>>contours;
	if (offset.width != 0 && offset.height != 0)
	{
		Mat offsetImg(offset.width + seg.rows, offset.height + seg.cols, CV_8UC1, Scalar(0));
		seg.copyTo(offsetImg(Rect(offset.width, offset.height, seg.rows, seg.cols)));
		offsetImg.copyTo(seg);
	}
	cv::findContours(seg, contours, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
	for (auto& contour : contours)
	{
		cv::Scalar color(0, 255, 0, 128);
		cv::polylines(imgWithAlpha, contour, true, color);
		cv::cvtColor(imgWithAlpha, imgInput, cv::COLOR_BGRA2BGR);
	}
}
/////Specified function////////////////
void writeSpecificStatement(Mat& Paint, const wchar_t* Text, rectAndData& data, int amount, int limit, Scalar& color)
{
	wstring MM(to_wstring(max(data.defectHeight, data.defectWidth)));
	MM = MM.substr(0, MM.find_first_of(L".") + 2);
	putTextHusky(Paint, (WString2String(Text + to_wstring(amount)
		+ L"/" + to_wstring(limit) + L"|" +
		MM + L"mm")).c_str(),
		cv::Point(data.rect.x, data.rect.y - 20), color, 20);
}
/////////////////////ALGOTHREAD/////////////////////////
bool algoThread::addDetTask(detData* data)
{
	detQueueMutex.lock();
	detQueue.append(data);
	detQueueMutex.unlock();
	this->start();
	return false;
}
bool algoThread::waitForImg(detData* data,int timeOutSet=10000)
{
	int timeOut = 0;
	int sleepMs = 100;
	while (1)
	{
		int imgSize = data->imgs.size();
		int imgAmountMin = data->imgAmountMin;
		if (imgSize >= imgAmountMin)
			return true;
		timeOut+= sleepMs;
		if (timeOut > timeOutSet)
			return false;
		QThread::msleep(sleepMs);
	}
}
void algoThread::run()	
{
	while (m_runFlag == true)
	{
		while (detQueue.size() > 0)
		{

			detQueueMutex.lock();
			detData* data = detQueue.dequeue();//取出数据
			detQueueMutex.unlock();
			if (waitForImg(data) == false)
			{
				qDebug() << "取图失败";
				cout << "get img err" << endl;
				break;
			}
			oriSaveThread->saveOriImg(data);//保存原图
			bridge.front.showImg("Camera", data->imgs[0], data->oriShowIndex);//显示原图
			int threadId = data->algoThreadIndex;//获取线程id
			switch (threadId)
			{
			case 0:
				_25D_1_Algo(data);
				break;
			case 1:
				_25D_2_Algo(data);
				break;
			}
			if (data->resultImgs.size() > 0)
			{
				bridge.front.showImg("Algorithm", data->resultImgs[0], data->resShowIndex);//显示原图
				resSaveThread->saveResImg(data);//保存结果图
			}
			if (!data->SNcode.compare(snDatas->snErrorsnError))//无sn阻塞
				data->SNcode = snDatas->waitForSn(data->timeCode);
			//cout << "algoEnd" << data->algoThreadIndex;
			sqlDataStruct sqlDataStruct;//定义sql数据
			sqlDataStruct.SN = data->SNcode;//
			for (auto sqlData : data->sqlVec)//将算法中的数据导入到数据结构中
				sqlDataStruct.dataVec.push_back(sql->sqlDatasInit(sqlData.first, sqlData.second));
			sql->addData(sqlDataStruct);//将数据插入数据库
			//delete data;
			detDataController* dController = data->dController;
			data->dController->deleteDetData(data->timeCode);
		}
		QThread::msleep(10);
	}
}
void algoThread::_25D_1_Algo(detData* data)
{
	if (data->imgs.size() < 6)
	{
		qDebug() << __FUNCDNAME__ << __LINE__ << "camera Mat size is Error!";
		return;
	}
	///////////////////取图///声明/////////////////////   
	ngNoteCls Note;

	cv::Mat SprfSpecularReflectionImage = data->imgs[0];
	cv::Mat SprfDiffuseReflectionImage = data->imgs[1];
	cv::Mat SprfShapeImage1 = data->imgs[2];
	cv::Mat SprfShapeImage2 = data->imgs[3];
	cv::Mat SprfGlossRatioImage = data->imgs[4];
	cv::Mat SprfNormalImage = data->imgs[5];

	cv::Mat Paint;
	if (SprfGlossRatioImage.channels() == 1)
	{
		cv::cvtColor(SprfGlossRatioImage, Paint, cv::COLOR_GRAY2BGR);
	}
	int CCD1OK = 1;
	double CCD1height = -1;
	double dmCodeWidth = 0, dmCodeHeight = 0;
	double pixAccX = bridge.back.json.PixelAccuracy.getData("_25D_1_X");
	double pixAccY = bridge.back.json.PixelAccuracy.getData("_25D_1_Y");
	cv::Point qrPos;
	Rect qrRect;
	////////////////算法///////////////////////////////
	if (data->skip[0] != 1)
	{
		int amount = 0, limit = 1;
		cv::Mat duanMianSegMat;
		resize(SprfShapeImage1, duanMianSegMat, cv::Size(SprfShapeImage1.cols / 2, SprfShapeImage1.rows / 2));
		cv::Mat resMat = ~modelPtr->DuanMian1Seg->Evaluate(duanMianSegMat);
		//drawContourOnImage(resMat, SprfShapeImage1Paint);
		std::vector<std::vector<cv::Point>>contours;
		cv::findContours(resMat, contours, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
		std::vector<std::vector<cv::Point>>contourForGrayShow;//给灰度值计算
		std::vector<rectAndData>paintVec;//flase NG true OK
		for (auto contour : contours)
		{
			cv::Rect rect = cv::boundingRect(contour);
			int rectCenterX = 0, rectCenterY = 0;
			rectCenterX = rect.x + rect.width / 2;
			rectCenterY = rect.y + rect.height / 2;
			//if (avoidA.checkOverLap(Point(rectCenterX, rectCenterY)) == true)//有与二维码重叠
			//	continue;
			double defectHeight = rect.height * pixAccY * 2;
			double defectWidth = rect.width * pixAccX * 2;
			if (rect.height > 10 &&
				rect.width > 10)
			{

				rect.x *= 2;
				rect.y *= 2;
				rect.width *= 2;
				rect.height *= 2;
				Mat img_cls = simpleAlgo::cutImg2Cls(contour, SprfShapeImage1);
				int res = modelPtr->DuanMian1Cls->Evaluate(img_cls);
				if (defectHeight > 0 || defectWidth > 0)//有就算
				{
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,res,false) });
				}
				else //if (showOk == true)
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,res,true) });
			}
		}
		//Paint
		for (auto& data : paintVec)
		{
			Scalar color(0, 255, 0);
			if (data.result == false)//NG
			{
				//0--OK 1--凹坑 2--划痕
				switch (data.badType)
				{
				case 1://凹坑
					Note.insertNgData(u8"壳体凹坑", data.defectWidth, data.defectHeight);
					amount++;
					color = Scalar(0, 0, 255);
					writeSpecificStatement(Paint, L"凹坑", data, amount, limit, color);
					break;
				case 2://划痕
					Note.insertNgData(u8"壳体划痕", data.defectWidth, data.defectHeight);
					writeSpecificStatement(Paint, L"划痕", data, amount, limit, color);
					color = Scalar(0, 0, 255);
					//	forHuaHeng++;
					break;
				}
			}
			cv::rectangle(Paint, data.rect, color, 2);
		}
		if (amount >= limit)
		{
			putTextHusky(Paint, (WString2String(L"凹坑NG").c_str()), { 6800,3800 }, Scalar(0, 0, 255), 300);
			CCD1OK = 1;
		}
	}
#if 0
	/////////二维码位置屏蔽
	avoidArea avoidA;
	avoidA.addArea(SprfShapeImage1Resize, modelPtr->camera1Seg_erWeiMa);
	///////////脏污///////////////////////
	if (data->skip[2] != 1)
	{
#if 1
		int amount = 0, limit = 1;
		cv::Mat resMat = ~modelPtr->camera1Seg_ZangWu->Evaluate(SprfSpecularReflectionImageResize);
		std::vector<std::vector<cv::Point>>contours;
		cv::findContours(resMat, contours, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
		std::vector<rectAndData>paintVec;//flase NG true OK
		for (auto contour : contours)
		{
			cv::Rect rect = cv::boundingRect(contour);
			int rectCenterX = 0, rectCenterY = 0;
			rectCenterX = rect.x + rect.width / 2;
			rectCenterY = rect.y + rect.height / 2;
			if (avoidA.checkOverLap(Point(rectCenterX, rectCenterY)) == true)//有与二维码重叠
				continue;

			double defectHeight = rect.height * pixAccY * 2;
			double defectWidth = rect.width * pixAccX * 2;

			if (rect.height > 10 &&
				rect.width > 10)
			{
				//amount++;
				rect.x *= 2;
				rect.y *= 2;
				rect.width *= 2;
				rect.height *= 2;
				if (defectHeight > 2 || defectWidth > 2)//2mm
				{
					amount++;
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,false) });
				}
				else //if (showOk == true)
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,true) });

			}
		}
		for (auto& data : paintVec)
		{
			Scalar color;
			if (amount >= limit || data.result == false)//NG
			{
				Note.insertNgData(u8"脏污", data.defectWidth, data.defectHeight);
				color = Scalar(0, 0, 255);
			}
			else//OK
				color = Scalar(0, 255, 0);
			cv::rectangle(Paint, data.rect, color, 2);
			writeSpecificStatement(Paint, L"脏污", data, amount, limit, color);

		}
		if (amount >= limit)
		{
			putTextHusky(Paint, (WString2String(L"脏污NG").c_str()), { 6800,3600 }, Scalar(0, 0, 255), 300);
			CCD1OK = 1;
		}
#endif
	}
	///////////////凹坑///////////////
	if (data->skip[3] != 1)
	{
		int amount = 0, limit = 1;
		cv::Mat resMat = ~modelPtr->camera1Seg_aoKeng->Evaluate(SprfShapeImage1Resize);
		drawContourOnImage(resMat, SprfShapeImage1Paint);
		std::vector<std::vector<cv::Point>>contours;
		cv::findContours(resMat, contours, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
		std::vector<std::vector<cv::Point>>contourForGrayShow;//给灰度值计算
		std::vector<rectAndData>paintVec;//flase NG true OK
		for (auto contour : contours)
		{
			cv::Rect rect = cv::boundingRect(contour);
			int rectCenterX = 0, rectCenterY = 0;
			rectCenterX = rect.x + rect.width / 2;
			rectCenterY = rect.y + rect.height / 2;
			if (avoidA.checkOverLap(Point(rectCenterX, rectCenterY)) == true)//有与二维码重叠
				continue;
			double defectHeight = rect.height * pixAccY * 2;
			double defectWidth = rect.width * pixAccX * 2;
			if (rect.height > 10 &&
				rect.width > 10)
			{

				rect.x *= 2;
				rect.y *= 2;
				rect.width *= 2;
				rect.height *= 2;
				Mat img_cls = simpleAlgo::cutImg2Cls(contour, SprfShapeImage1Resize);
				int res = modelPtr->camera1Cls_aoKeng->Evaluate(img_cls);
				if (defectHeight > 0 || defectWidth > 0)//有就算
				{
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,res,false) });
				}
				else //if (showOk == true)
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,res,true) });
			}
		}
		//Paint
		for (auto& data : paintVec)
		{
			Scalar color(0, 255, 0);
			if (data.result == false)//NG
			{
				//0--OK 1--凹坑 2--划痕
				switch (data.badType)
				{
				case 1://凹坑
					Note.insertNgData(u8"壳体凹坑", data.defectWidth, data.defectHeight);
					amount++;
					color = Scalar(0, 0, 255);
					writeSpecificStatement(Paint, L"凹坑", data, amount, limit, color);
					break;
				case 2://划痕
					//	Note.insertNgData(u8"壳体划痕", data.first.defectWidth, data.first.defectHeight);
					//	writeSpecificStatement(Paint, L"划痕", data, amount, limit, color);
					//	color = Scalar(0, 0, 255);
					//	forHuaHeng++;
					break;
				}
			}
			cv::rectangle(Paint, data.rect, color, 2);
		}

#if GRAY_DISPLAY
		drawContoursOverlap(resMat, contourForGrayShow);//除了容器内的缺陷全部画黑（0
		vector<std::pair<Rect2f, double>> res = grayScaleCalculation(~resMat, SprfShapeImage1Resize);
		for (auto& data : res)
		{
			putTextHusky(Paint, (WString2String(L"G:" + to_wstring(data.second))).c_str(),
				cv::Point(data.first.x * 2, data.first.y * 2 - 40), Scalar(0, 0, 255), 15);
		}
#endif
		if (amount >= limit)
		{
			putTextHusky(Paint, (WString2String(L"凹坑NG").c_str()), { 6800,3800 }, Scalar(0, 0, 255), 300);
			CCD1OK = 1;
		}
	}
	///////////////划伤///////////////
	if (data->skip[4] != 1)
	{
		int amount = 0, limit = 5;
		cv::Mat resMat = ~modelPtr->camera1Seg_huaShang->Evaluate(SprfNormalImageResize);
		cv::Mat resMat2 = ~modelPtr->camera1Seg_huaShang->Evaluate(SprfGlossRatioImageResize);
		drawContourOnImage(resMat, SprfNormalImagePaint);
		drawContourOnImage(resMat2, SprfGlossRatioImagePaint);
		//cv::Mat resM = mergeBinaryMats(resMat, resMat2);//融合两张图片中白色的区域
		std::vector<std::vector<cv::Point>>contourForGrayShow;//给灰度值计算
		std::vector<rectAndData>paintVec;//flase NG true OK
		std::vector<rectAndData>paintVec2;//flase NG true OK

		//将resMat中的缺陷切出给cls检测后放入paintvec中
		camera1HuaHeng(resMat, SprfNormalImage, modelPtr->camera1Cls_huaHeng,
			pixAccX, pixAccY, avoidA,
			paintVec, contourForGrayShow);
		camera1HuaHeng(resMat2, SprfGlossRatioImage, modelPtr->camera1Cls_huaHeng,
			pixAccX, pixAccY, avoidA,
			paintVec2, contourForGrayShow);
#if 1
		//将paintVec2中的缺陷放入paintVec中,有是否重叠的判读
		for (auto& data : paintVec2)
		{
			bool overLap = false;
			for (auto& data2 : paintVec)
				if (simpleAlgo::isRectOverlap(data.rect, data2.rect) == true)//重合
				{
					data2.contour = simpleAlgo::contourPlusContour(data.contour, data2.contour);
					overLap = true;
					if (data.badType > 0)//如果另一张图检测出ng 如果两个都是不同的ng可能有点问题
						data2.badType = data.badType;
					break;
				}
			//不重合
			if (overLap == false)
				paintVec.push_back(data);
		}
		paintVec2.clear();
#endif
#if 0
		//将paintVec2中的缺陷放入paintVec中
		for (auto& data : paintVec2)
		{
			paintVec.push_back(data);
		}
		paintVec2.clear();
#endif
#if 0
		std::vector<std::vector<cv::Point>>contours1;
		cv::findContours(resMat, contours1, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
		std::vector<std::vector<cv::Point>>contours2;
		cv::findContours(resMat, contours2, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);

		//0 OK 1凹坑 2脏污 3划痕
		for (auto contour : contours1)//遍历第一张图
		{
			cv::Rect rect = cv::boundingRect(contour);
			double defectHeight = rect.height * pixAccY * 2;
			double defectWidth = rect.width * pixAccX * 2;
			int rectCenterX = 0, rectCenterY = 0;
			rectCenterX = rect.x + rect.width / 2;
			rectCenterY = rect.y + rect.height / 2;
			if (avoidA.checkOverLap(Point(rectCenterX, rectCenterY)) == true)//有与二维码重叠
				continue;
			if (rect.height > 10 && rect.width > 10)
			{
				amount++;
				rect.x *= 2;
				rect.y *= 2;
				rect.width *= 2;
				rect.height *= 2;
				Mat forCls = simpleAlgo::cutImg2Cls(contour, SprfNormalImageResize);
				int res = modelPtr->camera1Cls_huaHeng->Evaluate(forCls);
				if (res == 0)
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,0,true) });
				else
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,res,false) });
				if (defectHeight > 10 || defectWidth > 10)//10mm
				{
					amount = 10;
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,false) });
				}
				else //if (showOk == true)

					contourForGrayShow.push_back(contour);
			}
		}
		for (auto contour : contours2)//遍历第二张图
		{
			cv::Rect rect = cv::boundingRect(contour);
			double defectHeight = rect.height * pixAccY * 2;
			double defectWidth = rect.width * pixAccX * 2;
			int rectCenterX = 0, rectCenterY = 0;
			rectCenterX = rect.x + rect.width / 2;
			rectCenterY = rect.y + rect.height / 2;
			if (avoidA.checkOverLap(Point(rectCenterX, rectCenterY)) == true)//有与二维码重叠
				continue;
			if (rect.height > 10 && rect.width > 10)
			{
				amount++;
				rect.x *= 2;
				rect.y *= 2;
				rect.width *= 2;
				rect.height *= 2;
				if (defectHeight > 10 || defectWidth > 10)//10mm
				{
					amount = 10;
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,false) });
				}
				else //if (showOk == true)
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,true) });
				contourForGrayShow.push_back(contour);
			}
		}
#endif
		//Paint	
		for (auto& data : paintVec)
		{
			switch (data.badType)
			{
			case 0://OK
				writeSpecificStatement(Paint, L"clsOk", data, amount, limit, Scalar(0, 255, 0));
				cv::rectangle(Paint, data.rect, Scalar(0, 255, 0), 2);
				break;
			case 1:
				//color = Scalar(0, 0, 255);
				//Note.insertNgData(u8"壳体凹坑", data.defectWidth, data.defectHeight);
				//writeSpecificStatement(Paint, L"凹坑", data, amount, limit, color);
				break;
			case 2:
				//if (max(data.defectHeight, data.defectWidth) > 2)//>2mm
				//{
				//	color = Scalar(0, 0, 255);
				//	Note.insertNgData(u8"壳体脏污", data.defectWidth, data.defectHeight);
				//	writeSpecificStatement(Paint, L"脏污", data, amount, limit, color);
				//}
				//else
				//	writeSpecificStatement(Paint, L"脏污OK", data, amount, limit, color);
				break;
			case 3:

				if (max(data.defectHeight, data.defectWidth) > 10)//>10mm
				{
					Note.insertNgData(u8"壳体划痕", data.defectWidth, data.defectHeight);
					writeSpecificStatement(Paint, L"划痕", data, amount, limit, Scalar(0, 0, 255));
					cv::rectangle(Paint, data.rect, Scalar(0, 0, 255), 2);
				}
				else
				{
					writeSpecificStatement(Paint, L"划痕OK", data, amount, limit, Scalar(0, 255, 0));
					cv::rectangle(Paint, data.rect, Scalar(0, 255, 0), 2);
				}
				amount++;
				break;
			default:
				break;
			}
			CCD1OK = 1;


		}

		if (amount >= limit)
		{
			putTextHusky(Paint, (WString2String(L"划痕NG").c_str()), { 6800,4000 }, Scalar(0, 0, 255), 300);
			CCD1OK = 1;
		}
#if GRAY_DISPLAY
		drawContoursOverlap(resMat, contourForGrayShow);//除了容器内的缺陷全部画黑（0
		vector<std::pair<Rect2f, double>> res = grayScaleCalculation(~resMat, SprfNormalImageResize);
		for (auto& data : res)
		{
			putTextHusky(Paint, (WString2String(L"G:" + to_wstring(data.second))).c_str(),
				cv::Point(data.first.x * 2, data.first.y * 2 - 40), Scalar(0, 0, 255), 15);
		}
#endif
	}
#endif
	if (CCD1OK == 2)
		cv::putText(Paint, "NG", cv::Point(150, 600), 1, 10, cv::Scalar(0, 0, 255), 30);
	else
		cv::putText(Paint, "OK", cv::Point(150, 600), 1, 10, cv::Scalar(0, 255, 0), 30);
	///////////////////无SN阻塞///////////////////////
	if (!data->SNcode.compare(snDatas->snErrorsnError))
		data->SNcode = snDatas->waitForSn(data->timeCode);
	cv::putText(Paint, data->SNcode, cv::Point(150, 800), 1, 10, cv::Scalar(0, 255, 0), 10);
	/////////////////////SQL////////////////////////
	data->sqlVec.push_back({ "_25D1Result", CCD1OK });
	data->sqlVec.push_back({ "_25D_WeiBaoMoQuYuKeTiHuaHeng", CCD1OK });
	data->sqlVec.push_back({ "_25D_KeTiFuShi", CCD1OK });
	data->sqlVec.push_back({ "_25D_KeTiZangWu", CCD1OK });
	data->sqlVec.push_back({ "_25D_GangKeMaMoHu", CCD1OK });
	////////////////////结果保存//////////////////
	data->resultImgs.push_back(Paint);
	//////////////CSV/////////////////////////////
	string OKNG("OK");
	if (CCD1OK == 2)OKNG = "NG";
	qDebug() << "[Debug]algo1 end:" << QString::fromStdString(data->SNcode);
	std::cout << "algo1 end:" << QString::fromStdString(data->SNcode).toStdString() << endl;
	csvController::writeToData_xxxCSVNew(data, OKNG, &Note,fileSavePath);
}
void algoThread::_25D_2_Algo(detData* data)
{
	if (data->imgs.size() < 6)
	{
		qDebug() << __FUNCDNAME__ << __LINE__ << "camera Mat size is Error!";
		return;
	}
	///////////////////取图///声明/////////////////////   
	ngNoteCls Note;

	cv::Mat SprfSpecularReflectionImage = data->imgs[0];
	cv::Mat SprfDiffuseReflectionImage = data->imgs[1];
	cv::Mat SprfShapeImage1 = data->imgs[2];
	cv::Mat SprfShapeImage2 = data->imgs[3];
	cv::Mat SprfGlossRatioImage = data->imgs[4];
	cv::Mat SprfNormalImage = data->imgs[5];

	cv::Mat Paint;
	if (SprfGlossRatioImage.channels() == 1)
	{
		cv::cvtColor(SprfGlossRatioImage, Paint, cv::COLOR_GRAY2BGR);
	}
	int CCD1OK = 1;
	double CCD1height = -1;
	double dmCodeWidth = 0, dmCodeHeight = 0;
	double pixAccX = bridge.back.json.PixelAccuracy.getData("camera1X");
	double pixAccY = bridge.back.json.PixelAccuracy.getData("camera1Y");
	cv::Point qrPos;
	Rect qrRect;
	////////////////算法///////////////////////////////
	if (data->skip[0] != 1)
	{
		int amount = 0, limit = 1;
		cv::Mat resMat = ~modelPtr->DuanMian2Seg->Evaluate(SprfShapeImage1);
		//drawContourOnImage(resMat, SprfShapeImage1Paint);
		std::vector<std::vector<cv::Point>>contours;
		cv::findContours(resMat, contours, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
		std::vector<std::vector<cv::Point>>contourForGrayShow;//给灰度值计算
		std::vector<rectAndData>paintVec;//flase NG true OK
		for (auto contour : contours)
		{
			cv::Rect rect = cv::boundingRect(contour);
			int rectCenterX = 0, rectCenterY = 0;
			rectCenterX = rect.x + rect.width / 2;
			rectCenterY = rect.y + rect.height / 2;
			//if (avoidA.checkOverLap(Point(rectCenterX, rectCenterY)) == true)//有与二维码重叠
			//	continue;
			double defectHeight = rect.height * pixAccY * 2;
			double defectWidth = rect.width * pixAccX * 2;
			if (rect.height > 10 &&
				rect.width > 10)
			{

				rect.x *= 2;
				rect.y *= 2;
				rect.width *= 2;
				rect.height *= 2;
				Mat img_cls = simpleAlgo::cutImg2Cls(contour, SprfShapeImage1);
				int res = modelPtr->DuanMian2Cls->Evaluate(img_cls);
				if (defectHeight > 0 || defectWidth > 0)//有就算
				{
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,res,false) });
				}
				else //if (showOk == true)
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,res,true) });
			}
		}
		//Paint
		for (auto& data : paintVec)
		{
			Scalar color(0, 255, 0);
			if (data.result == false)//NG
			{
				//0--OK 1--凹坑 2--划痕
				switch (data.badType)
				{
				case 1://凹坑
					Note.insertNgData(u8"壳体凹坑", data.defectWidth, data.defectHeight);
					amount++;
					color = Scalar(0, 0, 255);
					writeSpecificStatement(Paint, L"凹坑", data, amount, limit, color);
					break;
				case 2://划痕
					Note.insertNgData(u8"壳体划痕", data.defectWidth, data.defectHeight);
					writeSpecificStatement(Paint, L"划痕", data, amount, limit, color);
					color = Scalar(0, 0, 255);
					//	forHuaHeng++;
					break;
				}
			}
			cv::rectangle(Paint, data.rect, color, 2);
		}
		if (amount >= limit)
		{
			putTextHusky(Paint, (WString2String(L"凹坑NG").c_str()), { 6800,3800 }, Scalar(0, 0, 255), 300);
			CCD1OK = 1;
		}
	}
#if 0
	/////////二维码位置屏蔽
	avoidArea avoidA;
	avoidA.addArea(SprfShapeImage1Resize, modelPtr->camera1Seg_erWeiMa);
	///////////脏污///////////////////////
	if (data->skip[2] != 1)
	{
#if 1
		int amount = 0, limit = 1;
		cv::Mat resMat = ~modelPtr->camera1Seg_ZangWu->Evaluate(SprfSpecularReflectionImageResize);
		std::vector<std::vector<cv::Point>>contours;
		cv::findContours(resMat, contours, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
		std::vector<rectAndData>paintVec;//flase NG true OK
		for (auto contour : contours)
		{
			cv::Rect rect = cv::boundingRect(contour);
			int rectCenterX = 0, rectCenterY = 0;
			rectCenterX = rect.x + rect.width / 2;
			rectCenterY = rect.y + rect.height / 2;
			if (avoidA.checkOverLap(Point(rectCenterX, rectCenterY)) == true)//有与二维码重叠
				continue;

			double defectHeight = rect.height * pixAccY * 2;
			double defectWidth = rect.width * pixAccX * 2;

			if (rect.height > 10 &&
				rect.width > 10)
			{
				//amount++;
				rect.x *= 2;
				rect.y *= 2;
				rect.width *= 2;
				rect.height *= 2;
				if (defectHeight > 2 || defectWidth > 2)//2mm
				{
					amount++;
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,false) });
				}
				else //if (showOk == true)
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,true) });

			}
		}
		for (auto& data : paintVec)
		{
			Scalar color;
			if (amount >= limit || data.result == false)//NG
			{
				Note.insertNgData(u8"脏污", data.defectWidth, data.defectHeight);
				color = Scalar(0, 0, 255);
			}
			else//OK
				color = Scalar(0, 255, 0);
			cv::rectangle(Paint, data.rect, color, 2);
			writeSpecificStatement(Paint, L"脏污", data, amount, limit, color);

		}
		if (amount >= limit)
		{
			putTextHusky(Paint, (WString2String(L"脏污NG").c_str()), { 6800,3600 }, Scalar(0, 0, 255), 300);
			CCD1OK = 1;
		}
#endif
	}
	///////////////凹坑///////////////
	if (data->skip[3] != 1)
	{
		int amount = 0, limit = 1;
		cv::Mat resMat = ~modelPtr->camera1Seg_aoKeng->Evaluate(SprfShapeImage1Resize);
		drawContourOnImage(resMat, SprfShapeImage1Paint);
		std::vector<std::vector<cv::Point>>contours;
		cv::findContours(resMat, contours, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
		std::vector<std::vector<cv::Point>>contourForGrayShow;//给灰度值计算
		std::vector<rectAndData>paintVec;//flase NG true OK
		for (auto contour : contours)
		{
			cv::Rect rect = cv::boundingRect(contour);
			int rectCenterX = 0, rectCenterY = 0;
			rectCenterX = rect.x + rect.width / 2;
			rectCenterY = rect.y + rect.height / 2;
			if (avoidA.checkOverLap(Point(rectCenterX, rectCenterY)) == true)//有与二维码重叠
				continue;
			double defectHeight = rect.height * pixAccY * 2;
			double defectWidth = rect.width * pixAccX * 2;
			if (rect.height > 10 &&
				rect.width > 10)
			{

				rect.x *= 2;
				rect.y *= 2;
				rect.width *= 2;
				rect.height *= 2;
				Mat img_cls = simpleAlgo::cutImg2Cls(contour, SprfShapeImage1Resize);
				int res = modelPtr->camera1Cls_aoKeng->Evaluate(img_cls);
				if (defectHeight > 0 || defectWidth > 0)//有就算
				{
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,res,false) });
				}
				else //if (showOk == true)
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,res,true) });
			}
		}
		//Paint
		for (auto& data : paintVec)
		{
			Scalar color(0, 255, 0);
			if (data.result == false)//NG
			{
				//0--OK 1--凹坑 2--划痕
				switch (data.badType)
				{
				case 1://凹坑
					Note.insertNgData(u8"壳体凹坑", data.defectWidth, data.defectHeight);
					amount++;
					color = Scalar(0, 0, 255);
					writeSpecificStatement(Paint, L"凹坑", data, amount, limit, color);
					break;
				case 2://划痕
					//	Note.insertNgData(u8"壳体划痕", data.first.defectWidth, data.first.defectHeight);
					//	writeSpecificStatement(Paint, L"划痕", data, amount, limit, color);
					//	color = Scalar(0, 0, 255);
					//	forHuaHeng++;
					break;
				}
			}
			cv::rectangle(Paint, data.rect, color, 2);
		}

#if GRAY_DISPLAY
		drawContoursOverlap(resMat, contourForGrayShow);//除了容器内的缺陷全部画黑（0
		vector<std::pair<Rect2f, double>> res = grayScaleCalculation(~resMat, SprfShapeImage1Resize);
		for (auto& data : res)
		{
			putTextHusky(Paint, (WString2String(L"G:" + to_wstring(data.second))).c_str(),
				cv::Point(data.first.x * 2, data.first.y * 2 - 40), Scalar(0, 0, 255), 15);
		}
#endif
		if (amount >= limit)
		{
			putTextHusky(Paint, (WString2String(L"凹坑NG").c_str()), { 6800,3800 }, Scalar(0, 0, 255), 300);
			CCD1OK = 1;
		}
	}
	///////////////划伤///////////////
	if (data->skip[4] != 1)
	{
		int amount = 0, limit = 5;
		cv::Mat resMat = ~modelPtr->camera1Seg_huaShang->Evaluate(SprfNormalImageResize);
		cv::Mat resMat2 = ~modelPtr->camera1Seg_huaShang->Evaluate(SprfGlossRatioImageResize);
		drawContourOnImage(resMat, SprfNormalImagePaint);
		drawContourOnImage(resMat2, SprfGlossRatioImagePaint);
		//cv::Mat resM = mergeBinaryMats(resMat, resMat2);//融合两张图片中白色的区域
		std::vector<std::vector<cv::Point>>contourForGrayShow;//给灰度值计算
		std::vector<rectAndData>paintVec;//flase NG true OK
		std::vector<rectAndData>paintVec2;//flase NG true OK

		//将resMat中的缺陷切出给cls检测后放入paintvec中
		camera1HuaHeng(resMat, SprfNormalImage, modelPtr->camera1Cls_huaHeng,
			pixAccX, pixAccY, avoidA,
			paintVec, contourForGrayShow);
		camera1HuaHeng(resMat2, SprfGlossRatioImage, modelPtr->camera1Cls_huaHeng,
			pixAccX, pixAccY, avoidA,
			paintVec2, contourForGrayShow);
#if 1
		//将paintVec2中的缺陷放入paintVec中,有是否重叠的判读
		for (auto& data : paintVec2)
		{
			bool overLap = false;
			for (auto& data2 : paintVec)
				if (simpleAlgo::isRectOverlap(data.rect, data2.rect) == true)//重合
				{
					data2.contour = simpleAlgo::contourPlusContour(data.contour, data2.contour);
					overLap = true;
					if (data.badType > 0)//如果另一张图检测出ng 如果两个都是不同的ng可能有点问题
						data2.badType = data.badType;
					break;
				}
			//不重合
			if (overLap == false)
				paintVec.push_back(data);
		}
		paintVec2.clear();
#endif
#if 0
		//将paintVec2中的缺陷放入paintVec中
		for (auto& data : paintVec2)
		{
			paintVec.push_back(data);
		}
		paintVec2.clear();
#endif
#if 0
		std::vector<std::vector<cv::Point>>contours1;
		cv::findContours(resMat, contours1, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
		std::vector<std::vector<cv::Point>>contours2;
		cv::findContours(resMat, contours2, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);

		//0 OK 1凹坑 2脏污 3划痕
		for (auto contour : contours1)//遍历第一张图
		{
			cv::Rect rect = cv::boundingRect(contour);
			double defectHeight = rect.height * pixAccY * 2;
			double defectWidth = rect.width * pixAccX * 2;
			int rectCenterX = 0, rectCenterY = 0;
			rectCenterX = rect.x + rect.width / 2;
			rectCenterY = rect.y + rect.height / 2;
			if (avoidA.checkOverLap(Point(rectCenterX, rectCenterY)) == true)//有与二维码重叠
				continue;
			if (rect.height > 10 && rect.width > 10)
			{
				amount++;
				rect.x *= 2;
				rect.y *= 2;
				rect.width *= 2;
				rect.height *= 2;
				Mat forCls = simpleAlgo::cutImg2Cls(contour, SprfNormalImageResize);
				int res = modelPtr->camera1Cls_huaHeng->Evaluate(forCls);
				if (res == 0)
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,0,true) });
				else
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,res,false) });
				if (defectHeight > 10 || defectWidth > 10)//10mm
				{
					amount = 10;
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,false) });
				}
				else //if (showOk == true)

					contourForGrayShow.push_back(contour);
			}
		}
		for (auto contour : contours2)//遍历第二张图
		{
			cv::Rect rect = cv::boundingRect(contour);
			double defectHeight = rect.height * pixAccY * 2;
			double defectWidth = rect.width * pixAccX * 2;
			int rectCenterX = 0, rectCenterY = 0;
			rectCenterX = rect.x + rect.width / 2;
			rectCenterY = rect.y + rect.height / 2;
			if (avoidA.checkOverLap(Point(rectCenterX, rectCenterY)) == true)//有与二维码重叠
				continue;
			if (rect.height > 10 && rect.width > 10)
			{
				amount++;
				rect.x *= 2;
				rect.y *= 2;
				rect.width *= 2;
				rect.height *= 2;
				if (defectHeight > 10 || defectWidth > 10)//10mm
				{
					amount = 10;
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,false) });
				}
				else //if (showOk == true)
					paintVec.push_back({ rectAndData(rect,defectHeight,defectWidth,true) });
				contourForGrayShow.push_back(contour);
			}
		}
#endif
		//Paint	
		for (auto& data : paintVec)
		{
			switch (data.badType)
			{
			case 0://OK
				writeSpecificStatement(Paint, L"clsOk", data, amount, limit, Scalar(0, 255, 0));
				cv::rectangle(Paint, data.rect, Scalar(0, 255, 0), 2);
				break;
			case 1:
				//color = Scalar(0, 0, 255);
				//Note.insertNgData(u8"壳体凹坑", data.defectWidth, data.defectHeight);
				//writeSpecificStatement(Paint, L"凹坑", data, amount, limit, color);
				break;
			case 2:
				//if (max(data.defectHeight, data.defectWidth) > 2)//>2mm
				//{
				//	color = Scalar(0, 0, 255);
				//	Note.insertNgData(u8"壳体脏污", data.defectWidth, data.defectHeight);
				//	writeSpecificStatement(Paint, L"脏污", data, amount, limit, color);
				//}
				//else
				//	writeSpecificStatement(Paint, L"脏污OK", data, amount, limit, color);
				break;
			case 3:

				if (max(data.defectHeight, data.defectWidth) > 10)//>10mm
				{
					Note.insertNgData(u8"壳体划痕", data.defectWidth, data.defectHeight);
					writeSpecificStatement(Paint, L"划痕", data, amount, limit, Scalar(0, 0, 255));
					cv::rectangle(Paint, data.rect, Scalar(0, 0, 255), 2);
				}
				else
				{
					writeSpecificStatement(Paint, L"划痕OK", data, amount, limit, Scalar(0, 255, 0));
					cv::rectangle(Paint, data.rect, Scalar(0, 255, 0), 2);
				}
				amount++;
				break;
			default:
				break;
			}
			CCD1OK = 1;


		}

		if (amount >= limit)
		{
			putTextHusky(Paint, (WString2String(L"划痕NG").c_str()), { 6800,4000 }, Scalar(0, 0, 255), 300);
			CCD1OK = 1;
		}
#if GRAY_DISPLAY
		drawContoursOverlap(resMat, contourForGrayShow);//除了容器内的缺陷全部画黑（0
		vector<std::pair<Rect2f, double>> res = grayScaleCalculation(~resMat, SprfNormalImageResize);
		for (auto& data : res)
		{
			putTextHusky(Paint, (WString2String(L"G:" + to_wstring(data.second))).c_str(),
				cv::Point(data.first.x * 2, data.first.y * 2 - 40), Scalar(0, 0, 255), 15);
		}
#endif
	}
#endif
	if (CCD1OK == 2)
		cv::putText(Paint, "NG", cv::Point(150, 600), 1, 10, cv::Scalar(0, 0, 255), 30);
	else
		cv::putText(Paint, "OK", cv::Point(150, 600), 1, 10, cv::Scalar(0, 255, 0), 30);
	///////////////////无SN阻塞///////////////////////
	if (!data->SNcode.compare(snDatas->snErrorsnError))
		data->SNcode = snDatas->waitForSn(data->timeCode);
	cv::putText(Paint, data->SNcode, cv::Point(150, 800), 1, 10, cv::Scalar(0, 255, 0), 10);
	/////////////////////SQL////////////////////////
	data->sqlVec.push_back({ "_25D1Result", CCD1OK });
	data->sqlVec.push_back({ "_25D_WeiBaoMoQuYuKeTiHuaHeng", CCD1OK });
	data->sqlVec.push_back({ "_25D_KeTiFuShi", CCD1OK });
	data->sqlVec.push_back({ "_25D_KeTiZangWu", CCD1OK });
	data->sqlVec.push_back({ "_25D_GangKeMaMoHu", CCD1OK });
	////////////////////结果保存//////////////////
	data->resultImgs.push_back(Paint);
	//data->resultImgs.push_back(SprfSpecularReflectionImagePaint);
	//data->resultImgs.push_back(SprfDiffuseReflectionImagePaint);
	//data->resultImgs.push_back(SprfShapeImage1Paint);
	//data->resultImgs.push_back(SprfShapeImage2Paint);
	//data->resultImgs.push_back(SprfGlossRatioImagePaint);
	//data->resultImgs.push_back(SprfNormalImagePaint);
	//////////////CSV/////////////////////////////
	string OKNG("OK");
	if (CCD1OK == 2)OKNG = "NG";
	qDebug() << "[Debug]algo1 end:" << QString::fromStdString(data->SNcode);
	std::cout << "algo1 end:" << QString::fromStdString(data->SNcode).toStdString() << endl;
	csvController::writeToData_xxxCSVNew(data, OKNG, &Note, fileSavePath);
}