#include <iostream>
#include <vector>
#include <math.h>
using namespace std;
struct Point
{
 int id;
 float x,y,z; 
 Point(int _id,float _x,float _y,float _z):id(_id),x(_x),y(_y),z(_z){}
};
struct Triangle
{
 Point p1,p2,p3;
};
class PointCloud
{
public: 
 bool readFile(char *filename);
 //void PointMatch(const PointCloud& pc1,const PointCloud &pc2);  
 vector<Point> pData;
 int r,g,b;
};
bool PointCloud::readFile(char *filename)
{
 if(filename==NULL)return false;
 FILE *fp=fopen(filename,"r");
 if (!fp)
 {
  printf("Load file %s failed\n", filename);
  return false;
 }
 char buffer[100];
 int count=0;
 while(!feof(fp))
 {
  fgets(buffer, 300, fp);
  float x,y,z; 
  sscanf_s(buffer,"%f%f%f",&x,&y,&z);
  Point p(count++,x,y,z);
  pData.push_back(p);
 } 
 pData.pop_back();
}
float calDis(const Point &p1,const Point &p2)
{
 return sqrt((p2.x-p1.x)*(p2.x-p1.x)+(p2.y-p1.y)*(p2.y-p1.y)+(p2.z-p1.z)*(p2.z-p1.z));
}
void PointMatch(const PointCloud& pc1,const PointCloud &pc2)
{ 
 for (int i=0;i<pc1.pData.size()-2;++i)
  for(int j=i+1;j<pc1.pData.size()-1;++j)
   for (int k=j+1;k<pc1.pData.size();++k)
   {
    Point p1=pc1.pData[i];
    Point p2=pc1.pData[j];
    Point p3=pc1.pData[k];
    float s12=calDis(p1,p2);
    float s13=calDis(p1,p3);
    float s23=calDis(p2,p3);
    for (int m=0;m<pc2.pData.size();++m)
     for (int n=0;n<pc2.pData.size();++n)
      for (int l=0;l<pc2.pData.size();++l)
      {
       if (n!=m&&m!=l&&n!=l)
       {      
        Point _p1=pc2.pData[m];
        Point _p2=pc2.pData[n];
        Point _p3=pc2.pData[l];
        float _s12=calDis(_p1,_p2);
        float _s13=calDis(_p1,_p3);
        float _s23=calDis(_p2,_p3);
        if (fabs(s12-_s12)<0.45&&fabs(s13-_s13)<0.45&&fabs(s23-_s23)<0.45)
        {
         cout<<"pc1....."<<p1.id<<"pc2......"<<_p1.id<<endl;
         cout<<"pc1....."<<p2.id<<"pc2......"<<_p2.id<<endl;
         cout<<"pc1....."<<p3.id<<"pc2......"<<_p3.id<<endl;
        }
       }
      }

   }

}
int main()
{
 char *file1="測試點云\\點云Mark0.txt";
 char *file2="測試點云\\點云Mark1.txt";
 PointCloud pc1,pc2;
 pc1.readFile(file1);
 pc2.readFile(file2);
 PointMatch(pc1,pc2);
}