graft_cv/demo.cpp

// demo.cpp : 定义控制台应用程序的入口点。
//

#include "stdafx.h"
#include <iostream>
#include <opencv2\highgui\highgui.hpp> 
#include <opencv2\imgproc\imgproc.hpp> 
#include <opencv2\opencv.hpp>
#include <map>
#include <fstream>
#include <time.h>
#include <iomanip>
#include <fstream>
#include <stdlib.h>

#include "utils.h"
#include "config.h"
#include "data_def.h"
#include "optimal_angle.h"
#include "cut_point_sc.h"
#include "cut_point_rs.h"
#include "cut_point_rs_reid.h"
#include "graft_cv_api.h"
#include "logger.h"

using namespace cv;
using namespace graft_cv;

ofstream logger_ofs;
CGcvLogger g_logger = CGcvLogger(
		logger_ofs,
		CGcvLogger::file_and_terminal,
		CGcvLogger::info,
		"D:\\logs\\gcv.log");

void test_init_cp(ConfigParam&cp){
	cp.image_show=true;//
	cp.image_return=true;//
	cp.image_row_grid=20;
	cp.image_col_grid=100;
	cp.timeout_append=100;
	cp.timeout_proc=500;
	cp.self_camera=true;

	cp.image_save=true;
	cp.image_depository="D:\\logs\\img_depo";
	cp.image_backup_days=7;


	cp.oa_y_flip=true;
	cp.oa_morph_radius = 1;
	cp.oa_morph_iteration=2; 
	cp.oa_min_hist_value=10;
	cp.oa_morph_radius_base = 1;
	cp.oa_morph_iteration_base=2; 
	cp.oa_min_hist_value_base=10;

	cp.oa_col_th_ratio=0.7;	                       
	cp.oa_row_th_ratio=1.2; 	                        
	cp.oa_stem_x_padding=100; 
	cp.oa_stem_dia_min=10; 
    cp.oa_stem_fork_y_min=10;
	cp.oa_stem_dia_mp=0.9; 
	cp.oa_clip_y_min=245;
	cp.oa_clip_y_max = 355;

	cp.rs_y_flip=false;
	cp.rs_col_th_ratio= 0.7; 	                      
	cp.rs_row_th_ratio= 1.15; 
	cp.rs_stem_x_padding= 40;
	cp.rs_stem_dia_min=12; 
	cp.rs_stem_fork_y_min=10;     
    cp.rs_stem_dia_mp=0.98;
	cp.rs_stem_edge_detect_window=5;
	cp.rs_morph_radius=1;
	cp.rs_morph_iteration=2;
	cp.rs_morph_iteration_gray=5;
	cp.rs_max_corner_num=500;
	cp.rs_corner_qaulity_level= 0.1;
	cp.rs_corner_min_distance= 10;
	cp.rs_cand_corner_box_width_ratio=3.0;
	cp.rs_cand_corner_box_xoffset_ratio=0.75;
	cp.rs_opt_corner_xoffset_ratio = 0.2;
	cp.rs_opt_corner_yoffset_ratio = -0.5;
	cp.rs_corner_mask_rad_ratio=0.25;
	cp.rs_cut_angle=-45;

	cp.sc_y_flip=false;
	cp.sc_col_th_ratio=0.7;
	cp.sc_row_th_ratio=2.5; //2-3.0
	cp.sc_stem_x_padding=50; 
	cp.sc_stem_dia_min=3;   
   	cp.sc_clip_padding=5;
	cp.sc_stem_ymax_padding=50;
	cp.sc_default_cut_length=20;

	cp.sc_stem_edge_detect_window=5;
	cp.sc_r2_th=1.05;
	cp.sc_r2_window=10;
	cp.sc_average_window=10;
	cp.sc_morph_radius=1;
	cp.sc_morph_iteration=2;

	cp.rs_oa_pixel_ratio=1.0; 
	cp.rs_cut_pixel_ratio=1.0; 
	cp.sc_cut_pixel_ratio=1.0;
}
void test_imginfo2mat()
{
	int t=0;
	ImgInfo* ii = new ImgInfo();
	ii->angle=0;
	ii->width = ii->height = 13;
	ii->data = new graft_cv::byte[ii->width*ii->height];
	for (int i=0;i<ii->height;++i){
		for (int j=0;j<ii->width;++j){
			if (i==j || i+j==ii->width-1){
				ii->data[i*ii->width+j]=255;
			}
			else{
				ii->data[i*ii->width+j]=0;
			}
		}
	}
	Mat img = imginfo2mat(ii);

	/*namedWindow("3_3", 0);
	imshow("3_3", img);
	waitKey(1);
	destroyAllWindows();*/
	delete [] ii->data;
	delete ii;



};
void test_camconfig_write()
{
	ConfigParam cp0, cp1;
	memset(&cp1, 0, sizeof(ConfigParam));
	cp0 = cp1;
	CGCvConfig cam0 = CGCvConfig();
	CGCvConfig cam1 = CGCvConfig();
	cam0.setConfParam(&cp0);
	cam1.setConfParam(&cp1);

	FileStorage fs("cam_config.yml", FileStorage::WRITE);
	fs<<"conf_parameters";	
	fs<<cam0;
	//fs<<cam1;
	//fs<<"]";	
	fs.release();
	

};
void test_camconfig_read()
{
	ConfigParam cp0, cp1;
	memset(&cp1, 0, sizeof(ConfigParam));
	cp0 = cp1;
	cp0.oa_min_hist_value = 100;
	cout<<&cp0<<endl;

	CGCvConfig cam0 = CGCvConfig();
	//CGCvConfig cam1 = CGCvConfig();
	cam0.setConfParam(&cp0);
	//cam1.setConfParam(cp1);

	FileStorage fs("cam_config.yml", FileStorage::READ);
	cam0.read(fs["conf_parameters"]);	
	
	//fs<<cam1;
	//fs<<"]";	
	fs.release();
	

};

void test_anglefit_readdata(vector<map<int,int>>& data){
	string ifile = "E:\\projects\\grafting_robots\\py_code\\test.txt";
	ifstream ifs(ifile.c_str(), ifstream::in );
	data.clear();
	if( ifs.is_open()){
		string line;
		map<int,int> tmp;
		while(getline(ifs,line)){
			std::cout<<line<<std::endl;
			size_t found = line.find(",");
			if(found !=string::npos){
				//found
				string sub0 = line.substr(0,found);
				string sub1 = line.substr(found+1);
				int an = int(stod(sub0));
				int wi = stoi(sub1);
				if(an==0){
					tmp.clear();
				}
				tmp.insert(make_pair<int,int>(an,wi));
				if(an==180){
					data.push_back(tmp);
				}

			}
		}

		ifs.close();
	}
};
void test_anglefit()
{
	ConfigParam cp;
	COptimalAnglePart opa = COptimalAnglePart(cp);
	vector<map<int,int>> data;
	//test_anglefit_readdata(data);
	map<int,int>tmp;
	/*tmp.insert(make_pair<int,int>(0,216));
	tmp.insert(make_pair<int,int>(30,189));
	tmp.insert(make_pair<int,int>(60,112));
	tmp.insert(make_pair<int,int>(90,151));
	tmp.insert(make_pair<int,int>(120,188));*/

	tmp.insert(make_pair<int,int>(0,315));
	tmp.insert(make_pair<int,int>(30,270));
	tmp.insert(make_pair<int,int>(60,218));
	tmp.insert(make_pair<int,int>(90,141));
	tmp.insert(make_pair<int,int>(120,127));

	data.push_back(tmp);
	for(vector<map<int,int>>::iterator it = data.begin(); it!=data.end(); ++it){

		map<int,int>& an2width = *it;		
		double oa = opa.angle_fit(an2width);
		cout<<oa<<endl;
	}

};
void test_optimal_angle(){
	//string folder = "E:\\projects\\grafting_robots\\py_code\\tmp";
	string folder = "D:\\grafting_robot\\samples\\tmp";
	namedWindow("pic", 0);
	vector<cv::String>filenames;	
	ConfigParam cp;
	test_init_cp(cp);	
	/*cp.oa_min_hist_value=10;
	cp.oa_morph_iteration=2;
	cp.oa_morph_radius = 1;*/
	COptimalAngle opa(cp);
	

	for(int i = 1;i<=5;++i){
		for(int j = 0;j<=1;++j){
			ostringstream ostr;
			ostr<<i<<j;
			string subfold = ostr.str();
			string src_folder = folder+"\\p"+subfold;
			
			cv::glob(src_folder, filenames);
			opa.reset();

			PositionInfo posinfo;

			clock_t t,t0;
			t = clock();
			for(size_t idx=0; idx<filenames.size();++idx){
				//cout<<filenames[idx]<<endl;
				size_t found0 = filenames[idx].rfind("\\");
				size_t found1 = filenames[idx].rfind(".");
				int an = stoi(filenames[idx].substr(found0+1, found1-found0))*20;
				if(an >=200){
					an-=200;
				}

				Mat img = imread(filenames[idx], cv::IMREAD_GRAYSCALE);
				ImgInfo* imginfo = mat2imginfo(img);
				imginfo->angle = an;
				int obj_width=0;
				try{
					t0 = clock();
					obj_width = opa.append(imginfo,posinfo);
					t0 =  clock() - t0;				

				imginfo_release(&imginfo);
				}
				catch(int i)
				{	
					cout<<"i= "<<i<<"异常了"<<endl;
					continue;
				}
				catch(string& msg){
					cout<<"error: "<<msg<<endl;
					continue;
				}
				catch(...)
				{
					continue;
				}




				//imshow("pic", img);
				//waitKey(1);

				cout<<"angle="<<an<<"  rootstock_width="<<obj_width<<"   time(seconds): "<<((float)t0)/CLOCKS_PER_SEC<<endl;

			}
			double oa = opa.infer(posinfo);
			t = clock() - t;
			cout<<"optimal angle: "<<oa<<endl;
			cout<<"time(seconds): "<<((float)t)/CLOCKS_PER_SEC<<endl;

			cout<<"\n\n";


		}
	}
		destroyAllWindows();
};
void test_optimal_angle_simulate(){

		
	//string folder = "E:\\projects\\grafting_robots\\py_code\\tmp";
	string folder = "D:\\grafting_robot\\samples\\tmp";
	//string folder = "D:\\grafting_robot\\samples\\rootstock_rotate_part";
	//string folder = "D:\\private\\grafting_robot\\samples\\rootstock_rotate_part";
	//string folder = "D:\\private\\grafting_robot\\samples\\20211215\\rotate";
	namedWindow("pic", CV_WINDOW_NORMAL);
	vector<cv::String>filenames;	
	ConfigParam cp;
	test_init_cp(cp);
	cp.image_return=true;
	cp.image_show=true;
	cp.oa_y_flip=false;
	cp.oa_clip_y_min=750;
	
	COptimalAnglePart opa(cp,&g_logger);
	

	for(int i = 1;i<=1;++i){
		//for(int j = 0;j<=1;++j){
			ostringstream ostr;
			ostr<<i;
			string subfold = ostr.str();
			string src_folder = folder+"\\"+subfold;
			
			cv::glob(src_folder, filenames);
			opa.reset();			

			PositionInfo posinfo;			

			clock_t t,t0;
			t = clock();
			for(size_t idx=0; idx<filenames.size();++idx){
				//cout<<filenames[idx]<<endl;
				size_t found0 = filenames[idx].rfind("\\");
				size_t found1 = filenames[idx].rfind(".");
				int an = stoi(filenames[idx].substr(found0+1, found1-found0));
				if(an >=200){
					an-=200;
				}

				Mat img = imread(filenames[idx], cv::IMREAD_GRAYSCALE);
				//Rect rect(Point(0,0),Point(img_.cols,cp.oa_clip_y_min));
				//Mat img = img_(rect);

				ImgInfo* imginfo = mat2imginfo(img);
				imginfo->angle = an;
				int obj_width=0;
				try{
					memset(&posinfo,0,sizeof(PositionInfo));
					t0 = clock();
					obj_width = opa.append(imginfo,posinfo);
					t0 =  clock() - t0;				

				imginfo_release(&imginfo);
				}
				catch(int i)
				{	
					cout<<"i= "<<i<<"异常了"<<endl;
					continue;
				}
				catch(string& msg){
					cout<<"error: "<<msg<<endl;
					continue;
				}
				catch(...)
				{
					continue;
				}


				//show return images
     			for (int i =0;i<5;++i){
					if (!posinfo.pp_images[i]){continue;}
					Mat tmp_img = imginfo2mat(posinfo.pp_images[i]);
					imshow("pic", tmp_img);
					waitKey(-1);
				}			

				

				cout<<"angle="<<an<<"  rootstock_width="<<obj_width<<"   time(seconds): "<<((float)t0)/CLOCKS_PER_SEC<<endl;

			}
			try{
			double oa = opa.infer(posinfo);
			t = clock() - t;
			cout<<"optimal angle: "<<oa<<endl;
			cout<<"time(seconds): "<<((float)t)/CLOCKS_PER_SEC<<endl;

			cout<<"\n\n";
			}
			catch(string& msg){
					cout<<"error: "<<msg<<endl;
					continue;
				}
			catch(...)
				{
					continue;
				}


		//}
	}
		destroyAllWindows();
};
void test_optimal_angle_part(){
	/*
	string data_file = "D:\\private\\grafting_robot\\py_code\\test.txt";
	ifstream ifs;
	ifs.open(data_file, fstream::out);
	std::vector<std::map<int,int>>data;
	std::vector<string> answer;
	if(ifs.is_open()){
		string line;
		std::map<int,int>tmp;
		while(!ifs.eof()){
		getline(ifs, line);
		//cout<<line<<endl;
		size_t ptmp = line.find("tmp");
		if(ptmp!=string::npos){
			tmp.clear();
		}
		else{
			size_t pos = line.find(",");
			if(pos==string::npos){
				data.push_back(tmp);
				tmp.clear();
				answer.push_back(line);
			}
			else{
				string ang = line.substr(0,pos);
				int an = atoi(ang.c_str());
				string wid = line.substr(pos+1,string::npos);
				int wi = atoi(wid.c_str());
				//cout<<ang<<"    "<<wid<<endl;
				tmp.insert(make_pair<int,int>(an,wi));
			}
		}		
		}
		ifs.close();
	}
	
   
	
	//calculate
	ConfigParam cp;
	test_init_cp(cp);
	cp.image_return=true;
	cp.image_show=true;
	
	COptimalAnglePart opa(cp);
	for(size_t i=0;i< data.size();++i){
		cout<<"optimal angle: "<<answer[i]<<endl;
		for(size_t j=0;j<5;++j){
			int start_angle = j*20;
			std::map<int,int> impl_data;
			int impl_an = start_angle;
			if (impl_an==80 && data[i][impl_an]==277)
			{
				cout<<"debug"<<endl;
			}
			while(true){
				if((impl_an-start_angle)>110){break;}
				if(impl_an>180){break;}
				impl_data.insert(make_pair<int,int>(impl_an,data[i][impl_an]));
				cout<<impl_an<<"\t"<<data[i][impl_an]<<endl;
				impl_an+=20;
			}
			
			double a = opa.angle_fit(impl_data);
			cout<<"angle: "<<a<<"\n"<<endl;
		}
		
	}*/

	ConfigParam cp;
	test_init_cp(cp);
	cp.image_return=true;
	cp.image_show=true;
	
	COptimalAnglePart* opa=new COptimalAnglePart(cp);
	 map<int,int> d;
	d.insert(make_pair<int,int>(0,167));
	d.insert(make_pair<int,int>(30,126));
	d.insert(make_pair<int,int>(60,202));
	d.insert(make_pair<int,int>(90,193));
	d.insert(make_pair<int,int>(120,121));	
	double a = opa->angle_fit(d);
	cout<<"angle: "<<a<<"\n"<<endl;
};
void test_sc_cut_point()
{

	//string src_folder = "E:\\projects\\grafting_robots\\samples\\scion1_part";
	//string src_folder = "D:\\private\\grafting_robot\\samples\\scion1_part";
	string src_folder = "D:\\grafting_robot\\samples\\scion1_part";
	vector<cv::String>filenames;
	cv::glob(src_folder, filenames);
	ConfigParam cp;
	test_init_cp(cp);
	/*
	//cp.sc_col_th_ratio=0.7;//  = 0.7, scion binary image column histogram, threshold ratio for max-value, for 
	//                       // detect stem x-range
	// cp.sc_row_th_ratio=1.2; // = 1.2, row histogram of stem x-range subimage, stem diameter ratio for detect 
	//                        // stem fork position
	// cp.sc_stem_x_padding=50; // = 50; 
	// cp.sc_stem_dia_min=20;   //=20,
 //    cp.sc_stem_dia_max=60;   //=60,
 //    cp.sc_stem_fork_y_min=80;//=80, cut slop length, jump this range for seaching stem fork position
	// cp.sc_fork_down=10; // stem fork down X pixels, below this line to calculate r2 ratio
	// cp.sc_r2_th=1.05; //threshold for r2 ratio
	// cp.sc_r2_window=5; //= 5; the radius for calculate r2 index
	// cp.sc_average_window=10;// =10; 

	//cp.sc_morph_radius=1;//scion, open-operation morph-size, = 1;-->COptimalAngle::imgproc(Mat& img)
	// cp.sc_morph_iteration=2; //
	//
	*/
	 PositionInfo posinfo;
	CScionCutPoint scp(cp); 
	//namedWindow("pic", WINDOW_NORMAL);
	ofstream g_logger_ofs;
	CGcvLogger g_logger = CGcvLogger(
		g_logger_ofs,
		CGcvLogger::file_and_terminal,
		CGcvLogger::warning,
		"./gcv_debug.log");

	clock_t t;
	
	for(size_t idx=0; idx<filenames.size();++idx){	
		//cout<<idx<<"\t"<<filenames[idx]<<endl;
		//if(idx<38){continue;}
		//string fn = "D:\\private\\grafting_robot\\samples\\scion1_part\\IMG_20210830_153852.jpg";
		//Mat img_src = imread(fn, cv::IMREAD_COLOR);

		Mat img_src = imread(filenames[idx], cv::IMREAD_COLOR);
		Mat img;
		resize(img_src,img,Size(img_src.cols/4, img_src.rows/4));
		//ImgInfo* imginfo = mat2imginfo(img); 
		int fold_y = 0;
		try{
			t = clock();
			fold_y = scp.up_point_detect(0,img,posinfo);
			t = clock() - t;	
		}
		catch(exception &err){
			cout<<err.what()<<endl;
		}
		catch(const char* msg){
			cout<<msg<<endl;
			g_logger.ERRORINFO(msg);
			g_logger.INFO(filenames[idx]);
			
		}
		catch(string msg){
			cout<<msg<<endl;
			g_logger.ERRORINFO(msg);
			g_logger.INFO(filenames[idx]);

		}
		catch(...){
			cout<<"============================================unknown error"<<endl;
			cout<<filenames[idx]<<endl<<endl;
		}

		//cv::line(img,Point(0,fold_y), Point(img.cols,fold_y),Scalar(0,0,255));

		//imshow("pic", img);
		//waitKey(-1);
			
		cout<<"time(seconds): "<<((float)t)/CLOCKS_PER_SEC<<endl;

		cout<<"\n";

	}	
	
};
void test_sc_cut_point_simulate()
{

	//string src_folder = "E:\\projects\\grafting_robots\\samples\\scion1_part";
	//string src_folder = "D:\\private\\grafting_robot\\samples\\scion1_part";
	//string src_folder = "D:\\grafting_robot\\samples\\scion1_simulate";
	string src_folder = "D:\\private\\grafting_robot\\samples\\20211222\\scion";
	vector<cv::String>filenames;
	cv::glob(src_folder, filenames);
	ConfigParam cp;
	test_init_cp(cp);	
	cp.image_return=true;
	cp.image_show=true;
	cp.rs_y_flip=false;
	cp.self_camera=false;

	 PositionInfo posinfo;
	 memset(&posinfo,0,sizeof(PositionInfo));
	CScionCutPoint scp(cp,&g_logger); 
	//namedWindow("pic", WINDOW_NORMAL);
	/*ofstream g_logger_ofs;
	Logger g_logger = Logger(
		g_logger_ofs,
		Logger::file_and_terminal,
		Logger::warning,
		"./gcv_debug.log");*/

	clock_t t;
	
	for(size_t idx=0; idx<filenames.size();++idx){	
		//cout<<idx<<"\t"<<filenames[idx]<<endl;
		//if(idx<38){continue;}
		//string fn = "D:\\private\\grafting_robot\\samples\\scion1_part\\IMG_20210830_153852.jpg";
		//Mat img_src = imread(fn, cv::IMREAD_COLOR);
		cout<<idx<<"\t"<<filenames[idx]<<endl;
		//if(filenames[idx].find("0-4-504")==string::npos){continue;}

		Mat img = imread(filenames[idx], cv::IMREAD_COLOR);		
		int fold_y = 0;
		try{
			t = clock();
			fold_y = scp.up_point_detect(0,img,posinfo);
			t = clock() - t;	
		}
		catch(exception &err){
			cout<<err.what()<<endl;
		}
		catch(const char* msg){
			cout<<msg<<endl;
			g_logger.ERRORINFO(msg);
			g_logger.INFO(filenames[idx]);
			
		}
		catch(string msg){
			cout<<msg<<endl;
			g_logger.ERRORINFO(msg);
			g_logger.INFO(filenames[idx]);

		}
		catch(...){
			cout<<"============================================unknown error"<<endl;
			cout<<filenames[idx]<<endl<<endl;
		}

		//show return images
		for (int i =0;i<5;++i){
			if (!posinfo.pp_images[i]){continue;}
			Mat tmp_img = imginfo2mat(posinfo.pp_images[i]);
			imshow("pic", tmp_img);
			waitKey(-1);
		}			

		//cv::line(img,Point(0,fold_y), Point(img.cols,fold_y),Scalar(0,0,255));

		//imshow("pic", img);
		//waitKey(-1);
			
		cout<<"time(seconds): "<<((float)t)/CLOCKS_PER_SEC<<endl;

		cout<<"\n";

	}	
	
};
//void test_rs_cut_point(){
//	ConfigParam cp;
//	test_init_cp(cp);	
//
//	 namedWindow("pic", CV_WINDOW_NORMAL);
//	 CRootStockCutPoint rscp(cp);
//	 ofstream g_logger_ofs;
//	CGcvLogger g_logger = CGcvLogger(
//		g_logger_ofs,
//		CGcvLogger::file_and_terminal,
//		CGcvLogger::warning,
//		"./gcv_debug.log");
//	 clock_t t;
//	for(int i=4;i<193;++i){
//		//if (/*i !=11 &&*/ D:\private\grafting_robot\samples\rs_cut_simulate
//		//	i !=32 && 
//		//	i !=48 && 
//		//	i != 49 && 
//		//	i != 53 && 
//		//	i != 103 && 
//		//	i != 104 && 
//		//	i != 106 && 
//		//	i != 110 && 
//		//	i != 125 && 
//		//	i !=182 && 
//		//	i != 187 && 
//		//	i != 191)
//		//{
//		//	continue;
//		//}
//
//		stringstream buff;
//		buff<<setw(3) << setfill('0') << i;
//		cout<<buff.str()<<endl;
//
//		//string img_file= "E:/projects/grafting_robots/samples/rootstlock_pumpkin/"+buff.str()+"/6.jpg";
//		//string img_file= "D:/private/grafting_robot/samples/rootstlock_pumpkin/"+buff.str()+"/6.jpg";
//		string img_file= "D:/grafting_robot/samples/rootstlock_pumpkin/"+buff.str()+"/6.jpg";
//	
//		
//		Mat img = imread(img_file,CV_LOAD_IMAGE_COLOR  );
//		//ImgInfo* imginfo = mat2imginfo(img);
//		PositionInfo pinfo;
//		try{
//		t = clock();
//		int fold_y = rscp.up_point_detect(0,img, pinfo);
//		t = clock() - t;	
//		}
//		catch(exception &err){
//			cout<<err.what()<<endl;
//		}
//		catch(string msg){
//		 cout<<msg<<endl;
//		 cout<<img_file<<endl<<endl;
//		 g_logger.ERRORINFO(msg);
//		 g_logger.INFO(buff.str());
//		}
//		catch(...){
//			cout<<"============================================unknown error"<<endl;
//			cout<<img_file<<endl<<endl;
//		}
//		//cv::line(img,Point(0,fold_y), Point(img.cols,fold_y),Scalar(0,0,255));
//
//		imshow("pic", img);
//		waitKey(1);
//			
//		cout<<"time(seconds): "<<((float)t)/CLOCKS_PER_SEC<<endl;
//
//		cout<<"\n\n";
//
//	}
//
//
//};
//void test_rs_cut_point_simulate(){
//	ConfigParam cp;
//	test_init_cp(cp);
//	cp.image_show=true;
//	cp.image_return = true;
//
//	 namedWindow("pic", CV_WINDOW_NORMAL);
//	 CRootStockCutPoint rscp(cp,&g_logger);
//	 /*ofstream g_logger_ofs;
//	Logger g_logger = Logger(
//		g_logger_ofs,
//		Logger::file_and_terminal,
//		Logger::warning,
//		"./gcv_debug.log");*/
//
//	//string src_folder = "D:\\private\\grafting_robot\\samples\\rs_cut_simulate";	
//	//string src_folder = "D:\\private\\grafting_robot\\samples\\rootstock_hold_down";
//	//string src_folder = "D:\\grafting_robot\\samples\\rootstock_hold_down";
//	 string src_folder = "D:\\private\\grafting_robot\\samples\\20211215\\rootstock";
//	vector<cv::String>filenames;
//	cv::glob(src_folder, filenames);
//
//	 clock_t t;
//	 for(int i=0;i<filenames.size();++i){
//		
//		string img_file= filenames[i];
//		
//		Mat img = imread(img_file,CV_LOAD_IMAGE_COLOR  );
//		//ImgInfo* imginfo = mat2imginfo(img);
//		PositionInfo pinfo;
//		memset(&pinfo,0,sizeof(PositionInfo));
//		try{
//		t = clock();
//		int fold_y = rscp.up_point_detect(0,img, pinfo);
//		t = clock() - t;	
//		}
//		catch(exception &err){
//			cout<<err.what()<<endl;
//		}
//		catch(string msg){
//		 cout<<msg<<endl;
//		 cout<<img_file<<endl<<endl;
//		 g_logger.ERRORINFO(msg);
//		 g_logger.INFO(img_file);
//		}
//		catch(...){
//			cout<<"============================================unknown error"<<endl;
//			cout<<img_file<<endl<<endl;
//		}
//		//cv::line(img,Point(0,fold_y), Point(img.cols,fold_y),Scalar(0,0,255));
//
//		imshow("pic", img);
//		waitKey(1);
//
//		//show return images
//		for (int i =0;i<5;++i){
//			if (!pinfo.pp_images[i]){continue;}
//			Mat tmp_img = imginfo2mat(pinfo.pp_images[i]);
//			imshow("pic", tmp_img);
//			waitKey(-1);
//		}			
//		cout<<"time(seconds): "<<((float)t)/CLOCKS_PER_SEC<<endl;
//
//		cout<<"\n\n";
//
//	}
//
//
//};
//void test_rs_cp_reid()
//{
//	ConfigParam cp;
//	test_init_cp(cp);
//	cp.image_show=false;
//	cp.image_return = true;
//	cp.self_camera=false;
//	cp.oa_y_flip=false;
//
//	 namedWindow("pic", CV_WINDOW_NORMAL);
//	 CRootStockCutPoint rscp(cp,&g_logger);	
//
//	//string src_folder = "D:\\private\\grafting_robot\\samples\\rs_cut_simulate";	
//	//string src_folder = "D:\\private\\grafting_robot\\samples\\rootstock_hold_down";
//	//string src_folder = "D:\\grafting_robot\\samples\\rootstock_hold_down";
//	 string src_folder = "D:\\private\\grafting_robot\\samples\\20211215\\reid";
//	vector<cv::String>filenames;
//	cv::glob(src_folder, filenames);
//
//	 clock_t t;
//	 for(int i=0;i<filenames.size();++i){
//		
//		string img_file= filenames[i];
//		
//		Mat img = imread(img_file,CV_LOAD_IMAGE_COLOR);
//		//img = img(Rect(0,0,img.cols,(int)(img.rows/2)));
//		imshow("pic", img);
//		waitKey(-1);
//
//		//ImgInfo* imginfo = mat2imginfo(img);
//		PositionInfo pinfo;
//		memset(&pinfo,0,sizeof(PositionInfo));
//		try{
//		t = clock();
//		int fold_y = rscp.up_point_reid(0,img,100.0, pinfo);
//		t = clock() - t;	
//		}
//		catch(exception &err){
//			cout<<err.what()<<endl;
//		}
//		catch(string msg){
//		 cout<<msg<<endl;
//		 cout<<img_file<<endl<<endl;
//		 g_logger.ERRORINFO(msg);
//		 g_logger.INFO(img_file);
//		}
//		catch(...){
//			cout<<"============================================unknown error"<<endl;
//			cout<<img_file<<endl<<endl;
//		}
//		//cv::line(img,Point(0,fold_y), Point(img.cols,fold_y),Scalar(0,0,255));
//
//		imshow("pic", img);
//		waitKey(1);
//
//		//show return images
//		for (int i =0;i<5;++i){
//			if (!pinfo.pp_images[i]){continue;}
//			Mat tmp_img = imginfo2mat(pinfo.pp_images[i]);
//			imshow("pic", tmp_img);
//			waitKey(-1);
//		}			
//		cout<<"time(seconds): "<<((float)t)/CLOCKS_PER_SEC<<endl;
//
//		cout<<"\n\n";
//
//	}
//}
void test_api_scion(){
	// 0 ConfigParam cp;
	ConfigParam cp;

	//0 	
	//char* lpath="D:\\grafting_robot\\cpp_code\\logs\\gcv.log";
	//char* lpath = "D:\\private\\grafting_robot\\logs\\gcv.log";
	//cv_set_logpath(lpath);
	//cv_set_loglevel(0);
	//cout<<"test"<<endl;
	
	// 1 get version
	//test_init_cp(cp);
	

	char* ver = new char[10];
	get_version(ver);
	cout<<ver<<endl;
	delete [] ver;
	ver=0;

	//2 cv_set_param
	//cp.image_show=false;
	//cv_set_param(cp);
	//cv_save_param(0);

	//3 set log
	//cv_set_logpath("D:\\logs");
	//cv_set_loglevel(0);

	//3 cv_get_param();
	//ConfigParam cp_tmp;	
	//cv_get_param(cp_tmp);

	//4 void cv_get_conf_file
	//char* conf_file_ret = new char[128];
	//cv_get_conf_file(conf_file_ret);
	//cout<<conf_file_ret<<endl;
	//delete [] conf_file_ret;
	//conf_file_ret=0;

	//5 cv_init()
	//char *conf_file = "D:\\private\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	//char *conf_file = "D:\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	char *conf_file = "E:\\projects\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	int rst = cv_init(conf_file);
	ConfigParam cp_ret;	
	cv_get_param(cp_ret);
	cv_set_loglevel(0);

	cv_init_image_saver();
	//return;

	//
	//string work_folder = "D:\\private\\grafting_robot\\samples\\20211215\\scion";
	string work_folder = "E:\\projects\\grafting_robot\\samples\\20220115\\scion";
	vector<cv::String>filenames;
	cv::glob(work_folder, filenames);
	for(size_t i=0;i<filenames.size();++i){		
		string fname = filenames[i];
		PositionInfo posinfo;

		Mat img = imread(fname, cv::IMREAD_GRAYSCALE);
		if(img.empty()){continue;}
		image_set_top(img,20,8);
		ImgInfo* imginfo = mat2imginfo(img);
		int rst = sc_cut_point(imginfo,posinfo);
		for (int i =0;i<5;++i){
			if (!posinfo.pp_images[i]){continue;}
			Mat tmp_img = imginfo2mat(posinfo.pp_images[i]);			
			imshow("pic", tmp_img);
			waitKey(-1);						
		}			
	}


	cv_release();
}
void test_sc_batch(){

	// 0 version;
	char* ver = new char[10];
	get_version(ver);
	cout<<ver<<endl;
	delete [] ver;
	ver=0;
	
	//2 cv_init()
	//char *conf_file = "D:\\private\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	//char *conf_file = "D:\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	char *conf_file = "E:\\projects\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	int rst = cv_init(conf_file);
	ConfigParam cp_ret;	
	cv_get_param(cp_ret);
	cv_set_loglevel(0);
	cv_init_image_saver();

	//cp_ret.image_show = true;	
	//cv_set_param(cp_ret);

	//namedWindow("pic", CV_WINDOW_NORMAL);
	
	string work_folder = "E:\\projects\\grafting_robot\\samples\\20220223\\scion";
	//string work_folder = "D:\\private\\grafting_robot\\samples\\20220220\\scion";
	vector<cv::String>filenames;
	cv::glob(work_folder, filenames);			
	for(size_t idx=0; idx<filenames.size();++idx){		
		/*stringstream buff;
		buff<<work_folder<<"\\"<<i;
		string batch_folder = buff.str();*/
		PositionInfo posinfo;
		string filename = filenames[idx];
		if(filename.find("rst_")!=string::npos){
			continue;
		}
		cout<<idx<<"\t"<<filename<<endl;
		Mat img = imread(filename, cv::IMREAD_GRAYSCALE);
		if(img.empty()){continue;}
		image_set_top(img,20,8);
		ImgInfo* imginfo = mat2imginfo(img);		
		try{
			//if(filename.find("1947_3.jpg")!=string::npos){
			//	int ooo=0;
			//	/*cp_ret.image_show=true;
			//	cv_set_param(cp_ret);*/
			//}
			//else{
			//	continue;
			//}

			int rst = sc_cut_point(imginfo, posinfo);
			imginfo_release(&imginfo);
			if(rst){
				cout<<"error"<<endl;
				continue;
			}
			for (int i =0;i<5;++i){
				if (!posinfo.pp_images[i]){continue;}
				Mat tmp_img = imginfo2mat(posinfo.pp_images[i]);			
				/*imshow("pic", tmp_img);
				waitKey(-1);*/

				stringstream bbu;
				bbu<<filename<<".rst_"<<i<<".jpg";
				string fnn = bbu.str();
				cv::imwrite(fnn,tmp_img);
			}			
		}
		catch(...){
			std::cout<<"some error ..."<<endl;
		}			
			
	}
	cv_release();
}
void test_rs_batch(){

	// 0 version;
	char* ver = new char[10];
	get_version(ver);
	cout<<ver<<endl;
	delete [] ver;
	ver=0;
	
	//2 cv_init()
	//char *conf_file = "D:\\private\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	//char *conf_file = "D:\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	char *conf_file = "E:\\projects\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	int rst = cv_init(conf_file);
	ConfigParam cp_ret;	
	cv_get_param(cp_ret);
	cv_set_loglevel(0);
	cv_init_image_saver();

	//cp_ret.image_show = true;	
	//cv_set_param(cp_ret);
	//namedWindow("pic", CV_WINDOW_NORMAL);
	
	string work_folder = "E:\\projects\\grafting_robot\\samples\\20220620\\rootstock";
	//string work_folder = "D:\\private\\grafting_robot\\samples\\20220220\\rootstock";
	vector<cv::String>filenames;
	cv::glob(work_folder, filenames);	
	int cnter=0;
	for(size_t idx=0; idx<filenames.size();++idx){	
		string rs_filename = filenames[idx];
		if(rs_filename.find("rst_")!=string::npos){
			continue;
		}
		//if(rs_filename.find("\\379.bmp")==string::npos){continue;}
		cout<<idx<<"\t"<<rs_filename<<endl;


		PositionInfo posinfo;
		Mat img = imread(rs_filename,cv::IMREAD_GRAYSCALE);
		image_set_top(img,20,8);
		ImgInfo* rs_imginfo = mat2imginfo(img);			

		memset(&posinfo,0,sizeof(PositionInfo));
		try{
			/*if(cnter==4){
				int test_tmp=0;
			}*/
			int fold_y = rs_cut_point(rs_imginfo, posinfo);		
			imginfo_release(&rs_imginfo);

			for (int i =0;i<5;++i){
				if (!posinfo.pp_images[i]){continue;}
				Mat tmp_img = imginfo2mat(posinfo.pp_images[i]);			
				/*imshow("pic", tmp_img);
				waitKey(-1);*/

				stringstream bbu;
				bbu<<rs_filename<<".rst_"<<i<<".jpg";
				string fnn = bbu.str();
				cv::imwrite(fnn,tmp_img);
			}			

		}
		catch(exception &err){
			cout<<err.what()<<endl;
		}
		catch(string msg){
		 cout<<msg<<endl;
		 cout<<rs_filename<<endl<<endl;
		 //g_logger.ERRORINFO(msg);
		 //g_logger.INFO(img_file);
		}
		catch(...){
			cout<<"============================================unknown error"<<endl;
			cout<<rs_filename<<endl<<endl;
		}	
		cnter+=1;
	}
	cv_release();
}
void test_rs_batch_camera(){

	// 0 version;
	char* ver = new char[10];
	get_version(ver);
	cout<<ver<<endl;
	delete [] ver;
	ver=0;
	
	//2 cv_init()
	//char *conf_file = "D:\\private\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	//char *conf_file = "D:\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	char *conf_file = "E:\\projects\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	int rst = cv_init(conf_file);
	ConfigParam cp_ret;	
	cv_get_param(cp_ret);
	cv_set_loglevel(0);
	cv_init_image_saver();
	//cp_ret.image_show = true;
	//cv_set_param(cp_ret);
	//namedWindow("pic", CV_WINDOW_NORMAL);
	
	string work_folder = "E:\\projects\\grafting_robot\\samples\\20220119\\rootstock_cut_compare";
	//string work_folder = "D:\\private\\grafting_robot\\samples\\20220104\\batch";
	vector<string> sub_path;
	sub_path.push_back("20220119133425");
	sub_path.push_back("20220119134921");
	sub_path.push_back("20220119135818");
	sub_path.push_back("20220119140720");
	sub_path.push_back("20220119141511");
	sub_path.push_back("20220119142616");
	sub_path.push_back("20220119143048");

	//vector<cv::String>filenames;
	//cv::glob(work_folder, filenames);	
	vector<string> fileidx;
	fileidx.push_back("3.bmp");
	fileidx.push_back("11.bmp");
	fileidx.push_back("19.bmp");
	fileidx.push_back("27.bmp");
	fileidx.push_back("35.bmp");
	fileidx.push_back("43.bmp");
	fileidx.push_back("51.bmp");
	fileidx.push_back("59.bmp");
	fileidx.push_back("67.bmp");
	fileidx.push_back("75.bmp");
	fileidx.push_back("83.bmp");
	fileidx.push_back("91.bmp");
	fileidx.push_back("99.bmp");
	fileidx.push_back("107.bmp");
	fileidx.push_back("115.bmp");
	fileidx.push_back("123.bmp");

	

	for(size_t idx=0; idx<sub_path.size();++idx){
		string subp = sub_path[idx];
		for(size_t i=0;i<fileidx.size();++i){
			string rs_filename = work_folder+"\\"+subp+ "\\"+fileidx[i];

			PositionInfo posinfo;
			Mat img = imread(rs_filename,cv::IMREAD_GRAYSCALE);
			if(img.empty()){continue;}

			ImgInfo* rs_imginfo = mat2imginfo(img);	
			memset(&posinfo,0,sizeof(PositionInfo));
			try{		
				int fold_y = rs_cut_point(rs_imginfo, posinfo);		
				imginfo_release(&rs_imginfo);

				for (int i =0;i<5;++i){
					if (!posinfo.pp_images[i]){continue;}
					Mat tmp_img = imginfo2mat(posinfo.pp_images[i]);			
					/*imshow("pic", tmp_img);
					waitKey(-1);*/

					stringstream bbu;
					bbu<<rs_filename<<".rst_"<<i<<".jpg";
					string fnn = bbu.str();
					cv::imwrite(fnn,tmp_img);
				}			

			}
			catch(exception &err){
				cout<<err.what()<<endl;
			}
			catch(string msg){
			 cout<<msg<<endl;
			 cout<<rs_filename<<endl<<endl;
			 //g_logger.ERRORINFO(msg);
			 //g_logger.INFO(img_file);
			}
			catch(...){
				cout<<"============================================unknown error"<<endl;
				cout<<rs_filename<<endl<<endl;
			}		
		}
	}
	cv_release();
}
void test_oa_batch(){

	// 0 version;
	char* ver = new char[10];
	get_version(ver);
	cout<<ver<<endl;
	delete [] ver;
	ver=0;
	
	//2 cv_init()
	//char *conf_file = "D:\\private\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	//char *conf_file = "D:\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	char *conf_file = "E:\\projects\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	int rst = cv_init(conf_file);
	ConfigParam cp_ret;	
	cv_get_param(cp_ret);	
	cv_set_loglevel(0);
	cv_init_image_saver();

	//cp_ret.image_show=true;
	//cv_set_param(cp_ret);
	//namedWindow("pic", CV_WINDOW_NORMAL);
	
	string work_folder = "E:\\projects\\grafting_robot\\samples\\20220831\\top";
	//string work_folder = "D:\\private\\grafting_robot\\samples\\20220220\\rotate";
	vector<cv::String>filenames;
	cv::glob(work_folder, filenames);			
	for(size_t idx=0; idx<filenames.size();++idx){	
			string filename = filenames[idx];
			if(filename.find(".rst_")!=string::npos){continue;}
			//if(filename.find("\\249.bmp")==string::npos){continue;}
			PositionInfo posinfo;
			Mat img = imread(filename, cv::IMREAD_COLOR);//IMREAD_GRAYSCALE
			if(img.empty()){continue;}
			//image_set_top(img,20,8);
			//ImgInfo* imginfo = mat2imginfo(img);
			ImgInfo* imginfo = (ImgInfo*)(&img);
			//imginfo->angle = j*30;
			try{
				//rs_oa_init();
				//rs_oa_append(imginfo, posinfo);
				rs_oa_get_result(imginfo, posinfo);

				for (int i =0;i<5;++i){
					if (!posinfo.pp_images[i]){continue;}
					Mat tmp_img = imginfo2mat(posinfo.pp_images[i]);			
					imshow("pic", tmp_img);
					waitKey(-1);

					stringstream bbu;
					bbu<<filename<<".rst_"<<i<<".jpg";
					string fnn = bbu.str();
					cv::imwrite(fnn,tmp_img);
				}			
			}
			catch(...){
				std::cout<<"some error ..."<<endl;
			}			
			
			//imginfo_release(&imginfo);
			

		
	}
	cv_release();
}
void test_rs_batch_reid(){

	// 0 version;
	char* ver = new char[10];
	get_version(ver);
	cout<<ver<<endl;
	delete [] ver;
	ver=0;
	
	//2 cv_init()
	//char *conf_file = "D:\\private\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	//char *conf_file = "D:\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	char *conf_file = "E:\\projects\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	int rst = cv_init(conf_file);
	ConfigParam cp_ret;	
	cv_get_param(cp_ret);	
	cv_set_loglevel(0);
	cv_init_image_saver();

	//cp_ret.image_show=true;
	//cv_set_param(cp_ret);
	//namedWindow("pic", CV_WINDOW_NORMAL);
	
	string work_folder = "E:\\projects\\grafting_robot\\samples\\20221003";
	//string work_folder = "D:\\private\\grafting_robot\\samples\\20220220\\rotate";
	vector<cv::String>filenames;
	cv::glob(work_folder, filenames);	
	map<string, Mat> img_cache;
	for(size_t idx=0; idx<filenames.size();++idx){
			
		    if(idx %2 ==0){
				continue;
			}
			img_cache.clear();

			string filename_pre = filenames[idx-1];
			string filename = filenames[idx];
			if(filename_pre.find(".rst_")!=string::npos){continue;}
			if(filename.find(".rst_")!=string::npos){continue;}
			//if(filename.find("\\249.bmp")==string::npos){continue;}
			PositionInfo posinfo;
			memset(&posinfo,0,sizeof(PositionInfo));
			Mat img_pre = imread(filename_pre, cv::IMREAD_GRAYSCALE);
			Mat img = imread(filename, cv::IMREAD_GRAYSCALE);//IMREAD_GRAYSCALE  IMREAD_COLOR
			if(img_pre.empty() || img.empty()){continue;}
			//image_set_top(img,20,8);
			//ImgInfo* imginfo = mat2imginfo(img);
			//ImgInfo* imginfo = (ImgInfo*)(&img);
			//imginfo->angle = j*30;

			//for DEBUG			
			int m_width = img.cols/2;
			int m_height = img.rows/2;
			cv::resize(img, img, cv::Size(m_width,m_height ));
			cv::resize(img_pre, img_pre, cv::Size(m_width,m_height ));
			//for DEBUG end

			string imgid_pre("1");
			img_cache.insert(make_pair<string, Mat>(imgid_pre,img_pre ));

			try{
				//rs_oa_init();
				//rs_oa_append(imginfo, posinfo);

				CRootStockCutPointReid rs_reid(cp_ret,0);
				rs_reid.cut_point_reid(NULL, 
					img, 
					imgid_pre.c_str(),
					posinfo,
					img_cache);				

				for (int i =0;i<5;++i){
					if (!posinfo.pp_images[i]){continue;}
					Mat tmp_img = imginfo2mat(posinfo.pp_images[i]);			
					imshow("pic", tmp_img);
					waitKey(-1);

					//stringstream bbu;
					//bbu<<filename<<".rst_"<<i<<".jpg";
					//string fnn = bbu.str();
					//cv::imwrite(fnn,tmp_img);
				}			
			}
			catch(...){
				std::cout<<"some error ..."<<endl;
			}			
			
			//imginfo_release(&imginfo);
			

		
	}
	cv_release();
}
void test_api_batch(){

	// 0 version;
	char* ver = new char[10];
	get_version(ver);
	cout<<ver<<endl;
	delete [] ver;
	ver=0;
	
	//2 cv_init()
	//char *conf_file = "D:\\private\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	//char *conf_file = "D:\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	char *conf_file = "E:\\projects\\grafting_robot\\cpp_code\\demo\\demo\\gcv_conf.yml";
	int rst = cv_init(conf_file);
	ConfigParam cp_ret;	
	cv_get_param(cp_ret);
	cv_set_loglevel(0);
	cv_init_image_saver();
	namedWindow("pic", CV_WINDOW_NORMAL);
	
	string work_folder = "E:\\projects\\grafting_robot\\samples\\20220105\\batch";
	//string work_folder = "D:\\private\\grafting_robot\\samples\\20211215\\scion";
	//string work_folder = "D:\\grafting_robot\\samples\\20220102\\batch";
	for(size_t i=1;i<19;++i){
		stringstream buff;
		buff<<work_folder<<"\\"<<i;
		//buff<<work_folder<<"\\"<<"0-4-489.bmp";
		string batch_folder = buff.str();
		PositionInfo posinfo;

		///////////////////////////////////////////////////////
		// 1 optimal angle
		/*rs_oa_init();		
		for(size_t j=0;j<5;++j){
			stringstream bf;
			bf<<batch_folder<<"\\"<<2*j+1<<".bmp";
			string filename = bf.str();
			Mat img = imread(filename, cv::IMREAD_GRAYSCALE);
			if(img.empty()){continue;}
			image_set_top(img,20,8);
			ImgInfo* imginfo = mat2imginfo(img);
			imginfo->angle = j*30;
			try{
				rs_oa_append(imginfo, posinfo);
			}
			catch(...){
				std::cout<<"some error ..."<<endl;
			}			
			std::cout<<"angle="<<imginfo->angle<<"  rootstock_width="<<posinfo.rs_oa_width<<endl;
			imginfo_release(&imginfo);
			
			
			for (int i =0;i<5;++i){
				if (!posinfo.pp_images[i]){continue;}
				Mat tmp_img = imginfo2mat(posinfo.pp_images[i]);
				imshow("pic", tmp_img);
				waitKey(-1);
			}			
		}
		rs_oa_get_result(posinfo);
		cout<<"optimal angle="<<posinfo.rs_oa<<endl;
		double opt_angle = posinfo.rs_oa;*/

		//////////////////////////////////////////////////////////////////
		// 2 rootstock cut point
		//if(!(i==4 || i==6 ||i==8 || i==12 || i==15) ){continue;}
		//if(i!=12){continue;}
		
		string rs_filename = batch_folder+"\\11.bmp";
		/*if (i==15){
			rs_filename = batch_folder+"\\11.jpg";
		}*/
		Mat img = imread(rs_filename,cv::IMREAD_GRAYSCALE);
		image_set_top(img,20,8);
		ImgInfo* rs_imginfo = mat2imginfo(img);		
		clock_t t;

		memset(&posinfo,0,sizeof(PositionInfo));
		try{
		t = clock();
		int fold_y = rs_cut_point(rs_imginfo, posinfo);
		t = clock() - t;
		imginfo_release(&rs_imginfo);

		}
		catch(exception &err){
			cout<<err.what()<<endl;
		}
		catch(string msg){
		 cout<<msg<<endl;
		 cout<<rs_filename<<endl<<endl;
		 //g_logger.ERRORINFO(msg);
		 //g_logger.INFO(img_file);
		}
		catch(...){
			cout<<"============================================unknown error"<<endl;
			cout<<rs_filename<<endl<<endl;
		}
		//show return images
		/*stringstream tu;
		tu<<batch_folder<<"\\rst_"<<int(opt_angle)<<"_"<<11<<".jpg";
		string tuu = tu.str();
		cv::imwrite(tuu,img);*/

		/*for (int i =0;i<5;++i){
			if (!posinfo.pp_images[i]){continue;}
			Mat tmp_img = imginfo2mat(posinfo.pp_images[i]);			
			imshow("pic", tmp_img);
			waitKey(-1);

			stringstream bbu;
			bbu<<batch_folder<<"\\rst_"<<i<<".jpg";
			string fnn = bbu.str();
			cv::imwrite(fnn,tmp_img);
		}			*/
		cout<<"time(seconds): "<<((float)t)/CLOCKS_PER_SEC<<endl;

		cout<<"\n\n";

		
		
	}
	cv_release();
}
void drawline_rs()
{
	string rs_filename = "D:\\grafting_robot\\samples\\20220108\\rootstock\\27.jpg";
	Mat img = imread(rs_filename,cv::IMREAD_GRAYSCALE);
	double angle = -40.0 * 3.1415926 /180.0;
	//angle =tan(angle );


	int x0=259;
	int y0 = 461;
	int b = x0-y0;
	Point p0=Point(x0,y0);
	int x1 = img.cols-1;
	double dx=x1-x0;
	double dy = tan(angle) * dx;
	if(dy<0){dy = -dy;}
	int y1 = y0+(int)(dy+0.5);
	Point p1 = Point(x1,y1);
	int x2=0;
	int y2 = x0*tan(angle )+y0;
	Point p2 = Point(x2,y2);

	line(img,p0,p1,Scalar(255,255,255));
	line(img,p2,p1,Scalar(255,255,255));
	string fnn = "./tmp27.bmp";
	cv::imwrite(fnn,img);
			

}
void drawline_sc()
{
	string rs_filename = "D:\\grafting_robot\\samples\\20220108\\rootstock\\26.jpg";
	Mat img = imread(rs_filename,cv::IMREAD_GRAYSCALE);
	double angle = -40.0 * 3.1415926 /180.0;
	//angle =tan(angle );


	int x0=395;
	int y0 = 340;
	int b = x0-y0;
	Point p0=Point(x0,y0);
	int x1 = img.cols-1;
	double dx=x1-x0;
	double dy = tan(angle) * dx;
	if(dy<0){dy = -dy;}
	int y1 = y0+(int)(dy+0.5);
	Point p1 = Point(x1,y1);
	int x2=0;
	int y2 = x0*tan(angle )+y0;
	Point p2 = Point(x2,y2);

	line(img,p0,p1,Scalar(255,255,255));
	line(img,p2,p1,Scalar(255,255,255));
	string fnn = "./tmp26.bmp";
	cv::imwrite(fnn,img);
			

}
void drawline_dist()
{
	double x0=260.0;
	double y0=292.0;

	double angle = -45.0 * 3.1415926 /180.0;
	double k=tan(angle );
	double b = -k*260.0-435.0;
	double yy = -(k*x0 +b);
	double dy = yy-y0;

	double r = 5.8479999999999997e-002;
	double dyy = dy *r;
	cout<<dy<<"\t"<<dyy;


}

int _tmain(int argc, _TCHAR* argv[])
{		
	//test_imginfo2mat();
	//test_camconfig_write();
	//test_camconfig_read();
	//test_anglefit();
	//test_optimal_angle();
	//test_optimal_angle_simulate();
	//test_optimal_angle_part();
	//test_sc_cut_point();
	//test_sc_cut_point_simulate();	
	//test_rs_cut_point();
	//test_rs_cut_point_simulate();
	//test_rs_cp_reid();

	/////////////////////////////
	//api test
	//test_api_scion();	
	//test_sc_batch();
	//test_rs_batch();
	//test_rs_batch_camera();
	test_rs_batch_reid();
	//test_oa_batch();
	//test_api_batch();
	//drawline_rs();
	//drawline_sc();
	//drawline_dist();


	//system("pause");
	return 0;
}