graft_cv/optimal_angle.cpp

//#include "StdAfx.h"
#include <opencv2\imgproc\imgproc.hpp>
#include "optimal_angle.h"
#include "utils.h"
#include <string.h>

namespace graft_cv{

COptimalAngle::COptimalAngle(ConfigParam&cp, CGcvLogger* pLog/*=0*/)
	:m_cparam(cp),
	m_pLogger(pLog),
	m_pImginfo(0),
	m_pImginfoBase(0),
	m_height(0),
	m_width(0),
	m_patch_id(""),
	m_imgIndex(0),
	m_imgId(""),
	m_ppImgSaver(0)
{
}
COptimalAngle::~COptimalAngle(void)
{
	this->clear_imginfo();
}
void COptimalAngle::clear_imginfo(){
	if (m_pImginfo){
		imginfo_release(&m_pImginfo);
		m_pImginfo=0;
	}
	if (m_pImginfoBase){
		imginfo_release(&m_pImginfoBase);
		m_pImginfoBase=0;
	}
}
int COptimalAngle::reset()
{
	if(m_pLogger){
		m_pLogger->DEBUG("optimal angle reset begin.");
	}
	m_fork_ys.clear();
	m_end_ys.clear();
	m_widths.clear();
	m_an2width.clear();
	m_an2widthBase.clear();
	m_width=0;
	m_height=0;
	m_patch_id="";
	m_imgIndex=0;
	if(m_pLogger){
		m_pLogger->DEBUG("optimal angle reset finished.");
	}
	return 0;
}

int COptimalAngle::append(
	ImgInfo* imginfo,
	PositionInfo& posinfo	
	)
{	
	//clear opencv windows
	if(m_cparam.image_show){destroyAllWindows();}

	clock_t t;
	clock_t t0 = clock();
	if(m_imgIndex==0){
		//new patch
		m_patch_id = getImgId(img_type::oa);	
	}
	m_imgId = getImgIdOa(m_patch_id,m_imgIndex);	
	m_imgIndex+=1;

	if(m_pLogger){
		m_pLogger->INFO(m_imgId + " append image begin.");
	}	
	if(!isvalid(imginfo)){
		throw_msg(m_imgId+" invalid input image");
	}
	if(m_width==0 || m_height==0){
		m_width = imginfo->width;
		m_height = imginfo->height;
	}
	int angle = imginfo->angle;
	if(m_pLogger){
		stringstream buff;
		buff<<m_imgId<<" append image, angle="<<angle
			<<"\twidth="<<imginfo->width
			<<"\theight="<<imginfo->height;
		m_pLogger->INFO(buff.str());
	}
	Mat img = imginfo2mat(imginfo);	
	
	//imshow_wait("src", img);
	if(m_cparam.self_camera){
		image_set_bottom(img,20,8);
		if(m_pLogger){				
			m_pLogger->DEBUG(m_imgId+" oa_append image set bottom with pixel value 20.");				
		}
	}
	if(m_cparam.oa_y_flip){
		flip(img,img,0);
		if(m_pLogger){				
			m_pLogger->DEBUG(m_imgId+" oa_append image y fliped.");				
		}
	}
	if(m_ppImgSaver && *m_ppImgSaver){
		(*m_ppImgSaver)->saveImage(img, m_imgId);
		if(m_pLogger){				
			m_pLogger->DEBUG(m_imgId+" oa_append after image save.");				
		}
	}
	if(m_cparam.image_show){
		Mat tmp_b = img.clone();
		cv::line(tmp_b,Point(0,m_cparam.oa_clip_y_min), Point(tmp_b.cols,m_cparam.oa_clip_y_min),Scalar(200),3);
		cv::line(tmp_b,Point(0,m_cparam.oa_clip_y_max), Point(tmp_b.cols,m_cparam.oa_clip_y_max),Scalar(200),3);			
		imshow_wait("oa_sub_image_range", tmp_b);
	}

	Rect rect_rs(Point(0,0),Point(img.cols,m_cparam.oa_clip_y_min));
	//Rect rect_base(Point(0,m_cparam.oa_clip_y_max),Point(img.cols,img.rows));

	Mat rs_img = img(rect_rs);
	//Mat bs_img = img(rect_base);

	
	// 1 rootstock image processing 
	// 1.1 calculate the image, get binary image and get object width
	int min_idx, max_idx;
	vector<int> hist_col;
	int width = imgproc(rs_img, hist_col, min_idx, max_idx);
	m_an2width.insert(make_pair<int,int>(angle, width));
	posinfo.rs_oa_width=width;

	if(m_cparam.image_show){			
		Mat hist_col_img;
		hist2image(hist_col,hist_col_img,1,m_cparam.image_col_grid,m_cparam.image_row_grid);
		imshow_wait("oa_hist_col", hist_col_img);			
	}

	if(m_pLogger){
		stringstream buff;
		buff<<m_imgId<<" append image, rootstock width="<<width;
		m_pLogger->INFO(buff.str());
	}

	if(!m_cparam.image_show){
		t = clock();		
		if(1000.0*((float)(t-t0))/CLOCKS_PER_SEC>(float)m_cparam.timeout_append){
			throw_msg(m_imgId+" time out");
		}
	}

	//1.2 茎粗计算
	//1.2.1 茎x方向位置：x方向位置范围	
	int r0,r1;
	r0=r1=-1;	
	std::vector<int>hist_row_leaf;
	mat_histogram(m_binImg,hist_row_leaf,1);
	for(size_t i=0;i<hist_row_leaf.size();++i){
		if(hist_row_leaf[i]>=m_cparam.oa_min_hist_value && r0<0){r0=i;}
		if(hist_row_leaf[i]>=m_cparam.oa_min_hist_value){r1=i;}
	}
	if(r0<0 || r1<0){throw_msg(string(m_imgId+" invalid image, with no object in binary image"));}
		
	vector<int> hist_col_yfork;
	mat_histogram_yfork(m_binImg,hist_col_yfork,r0,r1);
	if(m_cparam.image_show){			
		Mat tmp;
		hist2image(hist_col_yfork,tmp,1,m_cparam.image_col_grid,m_cparam.image_row_grid);
		imshow_wait("oa_hist_col_yfork", tmp);			
	}	

	int x0,x1,stem_x0, stem_x1;
	int centx = (int)((min_idx+ max_idx)/2.0);
	get_stem_x_range_oa(
		hist_col_yfork,
		m_cparam.oa_col_th_ratio,
		m_cparam.oa_stem_x_padding,
		centx,
		width,
		x0,
		x1,
		stem_x0,
		stem_x1);

	if(m_pLogger){
		stringstream buff;
		buff<<m_imgId<<" append image, x0="<<x0
			<<"\tx1="<<x1
			<<"\tstem_x0="<<stem_x0
			<<"\tstem_x1="<<stem_x1;
		m_pLogger->INFO(buff.str());
	}

	if(m_cparam.image_show){
		Mat tmp_b = m_binImg.clone();
		cv::line(tmp_b,Point(x0,0), Point(x0,tmp_b.rows),Scalar(200),3);
		cv::line(tmp_b,Point(x1,0), Point(x1,tmp_b.rows),Scalar(200),3);			
		imshow_wait("oa_x_range", tmp_b);
	}

	if(!m_cparam.image_show){
		t = clock();
		if(1000.0*((float)(t-t0))/CLOCKS_PER_SEC>(float)m_cparam.timeout_append){
			throw_msg(m_imgId+" time out");
		}		
	}

	vector<int> hist_row;
	mat_histogram(m_binImg,hist_row,1,-1,-1,x0,x1+1);

	if(m_cparam.image_show){		
		Mat hist_row_img;
		hist2image(hist_row,hist_row_img, 0,m_cparam.image_col_grid,m_cparam.image_row_grid);		
		imshow_wait("oa_hist_row", hist_row_img);			
	}
	// 1.2.2 茎分叉点检测，y方向检测
	int stem_fork_y=-1,stem_end_y=-1, stem_dia=-1;
	get_stem_y_fork(
		hist_row,
		m_cparam.oa_row_th_ratio,
		m_cparam.oa_stem_dia_min,
		m_cparam.oa_stem_fork_y_min,
		m_cparam.oa_stem_dia_mp,
		stem_fork_y,
		stem_end_y,
		stem_dia);
	if(m_pLogger){
		stringstream buff;
		buff<<m_imgId<<" append image, stem_fork_y="<<stem_fork_y
			<<"\tstem_end_y="<<stem_end_y
			<<"\tstem_dia="<<stem_dia;
		m_pLogger->INFO(buff.str());
	}
	

	if(m_cparam.image_show){
		Mat tmp_bin = m_binImg.clone();
		cv::line(tmp_bin,Point(min_idx,0), Point(min_idx,tmp_bin.rows),Scalar(200),3);
		cv::line(tmp_bin,Point(max_idx,0), Point(max_idx,tmp_bin.rows),Scalar(200),3);		
		cv::line(tmp_bin,Point(x0,stem_fork_y), Point(x1,stem_fork_y),Scalar(200),3);
		cv::line(tmp_bin,Point(x0,stem_end_y), Point(x1,stem_end_y),Scalar(200),3);
		imshow_wait("oa_result", tmp_bin);
	}
	
	m_fork_ys.push_back(stem_fork_y);
	m_end_ys.push_back(stem_end_y);
	m_widths.push_back(width);


	//2 基质图像处理
	/*int min_idx_base, max_idx_base;
	vector<int> hist_col_base;
	int width_base = imgprocBase(bs_img, hist_col_base, min_idx_base, max_idx_base);
	m_an2widthBase.insert(make_pair<int,int>(angle, width_base));
	posinfo.rs_oa_width_base = width_base;

	if(m_pLogger){
		stringstream buff;
		buff<<m_imgId<<" append image, base width="<<width_base;
		m_pLogger->INFO(buff.str());
	}*/

	// 3 返回结果
	double fork_y = (double)stem_fork_y;
	double end_y = (double)stem_end_y;

	fork_y = ((double)m_height/2.0 - fork_y)*m_cparam.rs_oa_pixel_ratio;
	end_y =  ((double)m_height/2.0 - end_y)*m_cparam.rs_oa_pixel_ratio;
	posinfo.rs_oa_stem_y_fork=fork_y;
    posinfo.rs_oa_clamp_y_end=end_y;
	if(m_pLogger){
		stringstream buff;
		buff<<m_imgId<<" append image, stem_fork_y(mm)="<<fork_y
			<<"\tstem_end_y(mm)="<<end_y;
		m_pLogger->INFO(buff.str());
	}
	//4 返回图像
	if(m_cparam.image_return){
		this->clear_imginfo();
		cv::line(m_binImg,Point(min_idx,0), Point(min_idx,rs_img.rows),Scalar(200),3);
		cv::line(m_binImg,Point(max_idx,0), Point(max_idx,rs_img.rows),Scalar(200),3);

		cv::line(m_binImg,Point(x0,stem_fork_y), Point(x1,stem_fork_y),Scalar(200),3);
		cv::line(m_binImg,Point(x0,stem_end_y), Point(x1,stem_end_y),Scalar(200),3);

		clear_imginfo();
		m_pImginfo = mat2imginfo(m_binImg);
		//m_pImginfoBase = mat2imginfo(m_binImgBase);
		posinfo.pp_images[0]=m_pImginfo;
		//posinfo.pp_images[1]=m_pImginfoBase;

		if(m_ppImgSaver && *m_ppImgSaver){
			(*m_ppImgSaver)->saveImage(m_binImg, m_imgId+"_rst_0");			
		}
	}
	if(m_pLogger){
		m_pLogger->INFO(m_imgId + " append image finished.");
	}	
	return 0;
}

double COptimalAngle::infer(PositionInfo& posinfo){
	
	if(m_pLogger){
		m_pLogger->INFO(m_patch_id + " optimal angle infer begin.");
	}	
	double oa = this->angle_fit(this->m_an2width);
	/*double oa_base = 0.0;
	try{
		oa_base = this->angle_fit_base(this->m_an2widthBase);
	}
	catch(...){
		if(m_pLogger){		
			m_pLogger->WARNING("angle_fit_base() error");
		}
	}*/
	posinfo.rs_oa = oa;
	//posinfo.rs_oa_base=oa_base;

	if(m_fork_ys.size()==0 ||m_end_ys.size()==0){
		throw_msg(m_patch_id+ " empty fork_ys or end_ys, NEED append image");
	}
	vector<size_t>des_idx = sort_indexes_e(m_widths,false);	
	int e_idx = (int)((float)m_end_ys.size() * 0.5);	
	sort(m_end_ys.begin(), m_end_ys.end());
	double fork_y = ((m_fork_ys[des_idx[0]] +  m_fork_ys[des_idx[1]])/2.0);
	double end_y = m_end_ys[e_idx];
	if(m_pLogger){
		stringstream buff;
		buff<<m_patch_id<<" angle fit result, stem_fork_y(pixel)="<<(int)(fork_y)
			<<"\tstem_end_y(pixel)="<<(int)(end_y);
		m_pLogger->INFO(buff.str());
	}

	fork_y = ((double)m_height/2.0 - fork_y)*m_cparam.rs_oa_pixel_ratio;
	end_y =  ((double)m_height/2.0 - end_y)*m_cparam.rs_oa_pixel_ratio;
	posinfo.rs_oa_stem_y_fork=fork_y;
    posinfo.rs_oa_clamp_y_end=end_y;
	if(m_pLogger){
		stringstream buff;
		buff<<m_patch_id<<" angle fit result, stem_fork_y(mm)="<<fork_y
			<<"\tstem_end_y(mm)="<<end_y;
		m_pLogger->INFO(buff.str());
	
		m_pLogger->INFO(m_patch_id + " optimal angle infer finished.");
	}	
	return oa;
}

int COptimalAngle::imgproc(
	Mat& img, 
	vector<int>& hist,
	int& min_idx, 
	int& max_idx
	)
{
	//int morph_size = 1;
	//int min_hist_value = 10;
	hist.clear();

	Mat b_img;
	double th = threshold(
		img, 
		b_img, 
		255,
		255,
		THRESH_OTSU);//+THRESH_BINARY_INV

	Mat kernel = getStructuringElement(
		MORPH_RECT, 
		Size( 2*m_cparam.oa_morph_radius+1, 2*m_cparam.oa_morph_radius+1), 
		Point( m_cparam.oa_morph_radius, m_cparam.oa_morph_radius)
		);
    
    morphologyEx(
		b_img, 
		m_binImg, 
		MORPH_CLOSE,
		kernel,
		Point(-1,-1),
		m_cparam.oa_morph_iteration);

	
	
	mat_histogram(m_binImg, hist, 0);		

	/*int min_idx, max_idx;*/
	min_idx = hist.size();
	max_idx = 0;
	vector<int>::const_iterator it0 = hist.begin();
	for(vector<int>::const_iterator it = hist.begin();it!=hist.end();++it){
		if(*it>=m_cparam.oa_min_hist_value){
			int idx = it - it0;
			if(idx<min_idx){min_idx = idx;}
			if(idx > max_idx) {max_idx = idx;}
		}
	}
	if(max_idx<=min_idx){
		throw_msg(m_imgId+" invalid binary image, not exist valid objects");		
	}
	if(m_cparam.image_show){		
		Mat tmp = m_binImg.clone();
		cv::line(tmp,Point(min_idx,0), Point(min_idx,tmp.rows),Scalar(156),3);
		cv::line(tmp,Point(max_idx,0), Point(max_idx,tmp.rows),Scalar(156),3);
		imshow_wait("oa_bin", tmp);		
	}
    int width = max_idx-min_idx+1;	
	return width;
}

int COptimalAngle::imgprocBase(
	Mat& img, 
	vector<int>& hist,
	int& min_idx, 
	int& max_idx
	)
{
	//int morph_size = 1;
	//int min_hist_value = 10;
	hist.clear();

	Mat b_img;
	double th = threshold(
		img, 
		b_img, 
		255,
		255,
		THRESH_OTSU+THRESH_BINARY_INV);

	Mat kernel = getStructuringElement(
		MORPH_RECT, 
		Size( 2*m_cparam.oa_morph_radius_base+1, 2*m_cparam.oa_morph_radius_base+1), 
		Point( m_cparam.oa_morph_radius_base, m_cparam.oa_morph_radius_base)
		);
    
    morphologyEx(
		b_img, 
		m_binImgBase, 
		MORPH_OPEN,
		kernel,
		Point(-1,-1),
		m_cparam.oa_morph_iteration_base);

	if(m_cparam.image_show){	
		destroyAllWindows();
		imshow_wait("oa_bin_base", m_binImgBase);		
	}
	
	mat_histogram(m_binImgBase, hist, 0);	

	/*int min_idx, max_idx;*/
	min_idx = hist.size();
	max_idx = 0;
	vector<int>::const_iterator it0 = hist.begin();
	for(vector<int>::const_iterator it = hist.begin()+5;it!=hist.end();++it){
		if(*it>=m_cparam.oa_min_hist_value_base){
			int idx = it - it0;
			if(idx<min_idx){min_idx = idx;}
			if(idx > max_idx) {max_idx = idx;}
		}
	}
	if(max_idx<=min_idx){
		throw_msg(m_imgId+" invalid binary image, not exist valid objects");		
	}
    int width = max_idx-min_idx+1;	
	return width;
}
//angle_fit（）方法
//append()加载的图片，满足下述条件：0-180度采样，其中0和180度都有数值
double COptimalAngle::angle_fit(map<int,int>& an2width,bool is_base/*=false*/)
{
	if(an2width.size()<3){
		throw_msg(m_patch_id+" not enough valid images, NEED append image");
	}
	double oa = 0.0;
	std::vector<double> x;//angle
	std::vector<double> y;//width

	map<int,int>::iterator it = an2width.begin();
	for(it=an2width.begin(); it!=an2width.end(); ++it)
	{
		x.push_back((double)(it->first));
		y.push_back((double)(it->second));
	}
	//mean value of first and latest y
	double y_mu = 0.5*(y[0]+ y[y.size()-1]);
	y[0] = y[y.size()-1] = y_mu;
	size_t ap_times = x.size()-1;
	for (size_t i=0; i<ap_times;++i)
	{
		x.push_back(x[i+1]+180.0);
		y.push_back(y[i+1]);
	}
	vector<double>::iterator smallest = min_element(begin(y), end(y));
	size_t min_idx, max_idx;
	min_idx = distance(y.begin(), smallest);

	for(size_t i = min_idx+1;i<y.size();++i){
		if(fabs(y[i]-*smallest)<0.1){
			max_idx = i;
			break;
		}
	}

	// slice x and y the convex segment
	vector<double>xx;
	vector<double>yy;
	for(size_t i=min_idx;i<=max_idx;++i){
		xx.push_back(x[i]);
		yy.push_back(y[i]);
	}

	// fit quadratic function with opencv
	Mat A = cv::Mat::zeros(cv::Size(3,xx.size()), CV_64FC1);
	for(int i=0; i<xx.size();++i){
		A.at<double>(i,0) = 1;
		A.at<double>(i,1) = xx[i];
		A.at<double>(i,2) = xx[i] * xx[i];
	}

	Mat b = cv::Mat::zeros(cv::Size(1,yy.size()), CV_64FC1);
	for(int i = 0; i<yy.size(); ++i){
		b.at<double>(i,0) = yy[i];
	}
	Mat c, d;
	c = A.t() * A;
	d = A.t() * b;
	Mat result = cv::Mat::zeros(cv::Size(1,3),CV_64FC1);
	cv::solve(c,d,result);
	

	double a0 = result.at<double>(0, 0);
    double a1 = result.at<double>(1, 0);
    double a2 = result.at<double>(2, 0);
	if(fabs(a2)<1.0e-6){
		throw_msg(m_patch_id+" a2 = 0 in solver");
	}
	oa = -a1 / a2 / 2;
	if(oa >180.0){oa -= 180.0;}
	return oa;
}
double COptimalAngle::angle_fit_base(map<int, int>&){
	return 0.0;
}

///////////////////////////////////////////////////////////////////////////////
COptimalAnglePart::COptimalAnglePart(ConfigParam&cp, CGcvLogger* pLog/*=0*/)
	:COptimalAngle(cp,pLog)
{
}
COptimalAnglePart::~COptimalAnglePart()
{
	COptimalAngle::clear_imginfo();
}
// append()加载的图片，满足不是0-180度采样，但保证部分采样中一定存在最大值，
// 直接利用这些数值进行二次函数的拟合
double COptimalAnglePart::angle_fit(map<int,int>& an2width,bool is_base/*=false*/)
{ 
	
	double oa = 0.0;
	std::vector<double> xx;//angle
	std::vector<double> yy;//width

	map<int,int>::iterator it = an2width.begin();
	for(it=an2width.begin(); it!=an2width.end(); ++it)
	{
		xx.push_back((double)(it->first));
		yy.push_back((double)(it->second));
	}
	//sort 
	for(size_t i =0;i<xx.size()-1;++i){
		for(size_t j = i+1; j<xx.size();++j){
			if(xx[j]<xx[i]){
				double tmp = xx[i];
				xx[i]=xx[j];
				xx[j]=tmp;
				tmp = yy[i];
				yy[i]=yy[j];
				yy[j]=tmp;
			}
		}
	}

	if(m_pLogger){			
		stringstream buff;
		buff<<m_patch_id;
		if(is_base){
			buff<<" rootstock_base ";
		}
		else{
			buff<<" rootstock_leaf ";
		}
		buff<<"opt-angle, (xi,yi): ";
		for(size_t i=0;i<xx.size();++i){
			buff<<"("<<xx[i]<<","<<yy[i]<<"), ";
		}		
		m_pLogger->INFO(buff.str());
	}

	if(an2width.size()<3){
		throw_msg(m_patch_id+" not enough valid images, NEED append image");
	}
	// angle field check
	if((xx.back()-xx.front())<90){
		if(m_pLogger){			
			stringstream buff;
			buff<<m_patch_id<<" x_end="<<xx.back()<<" x_front="<<xx.front();				
			buff<<" not enough angle field, small than 90 degree.";
			m_pLogger->ERRORINFO(buff.str());
		}
		throw_msg(m_patch_id+" not enough angle field, small than 90 degree");
	}
	oa = opt_angle_part_impl(xx,yy,is_base);
	if(m_pLogger){
		stringstream buff;
		buff<<m_patch_id;
		if(is_base){
			buff<<" rootstock_base ";
		}
		else{
			buff<<" rootstock_leaf ";
		}
        buff<<" opt-angle: "<<oa;
		m_pLogger->INFO(buff.str());
	}
	return oa;	
}
double COptimalAnglePart::angle_fit_base(map<int, int>& an2width){
	
	double oa = 0.0;
	//find the maximun angle
	oa = angle_fit(an2width,true);

	//get the minimum angle
	if(oa>45.0){oa -= 45.0;}
	else{oa +=45.0;}
	return oa;	
}
void COptimalAnglePart::zero_cross_detect(
	vector<int>&d_sign, //input
	bool& is_local_max, // whether exists local max 
	int& local_limit_idx // local limit index of original vector
)
{
	int min_zc_idx = -1;
    int max_zc_idx = -1;
	bool b_local_min =false;
	bool b_local_max =false;
    bool is_all_down=true;
    bool is_all_up = true;
    for (size_t i=0; i<d_sign.size();++i){
		if (d_sign[i] >0){is_all_down=false;}
		if (d_sign[i] <0){is_all_up=false;}
		if (i == d_sign.size()-1){continue;}

        if (d_sign[i] >=0 && d_sign[i+1] <=0){
			//is_local_max=true;
			max_zc_idx = i+1;
			b_local_max=true;
            
		}
        if (d_sign[i] <=0 && d_sign[i+1] >=0){
			//is_local_max=false;
            min_zc_idx=i+1;
			b_local_min=true;
		}
	}
    if(b_local_min){
		is_local_max=false;
        local_limit_idx = min_zc_idx;
		return;
	}
	if(b_local_max){
		is_local_max=true;
        local_limit_idx = max_zc_idx;
		return;
	}
    if (is_all_down){
		is_local_max=true;
        local_limit_idx=0;
        return;
	}
    if( is_all_up){
		is_local_max=true;
        local_limit_idx=d_sign.size();
        return;        
	}
	is_local_max=true;
    local_limit_idx=-1;
    return;
}
double COptimalAnglePart::limit_min_angle(
		vector<double>&x, //sorted, ascending
		vector<double>&y,
		size_t min_idx
		)
{
	size_t i = min_idx;
	if(fabs(x[i+1]-x[i])<1.0e-6 || fabs(x[i]-x[i-1])<1.0e-6){
	 throw_msg(m_patch_id+" limit_min_angle, diff_x < 1.0e-6");
	}
    double k_r = (y[i+1]-y[i])/(x[i+1]-x[i]);
    double k_l = (y[i]-y[i-1])/(x[i]-x[i-1]);
    double oa = 0.0;
	double b_r = 0.0;
	double b_l = 0.0;
	double cross_x = 0;
    if (fabs(k_r) > fabs(k_l)){
        // right line
        b_r = y[i]-k_r*x[i];
        b_l = y[i-1] + k_r*x[i-1];
        cross_x = line_cross(k_r,b_r,-k_r,b_l);
        oa = cross_x;
	}
    else{
        //# left line
        b_l = y[i]-k_l*x[i];
        b_r =  y[i+1] + k_l*x[i+1];
        cross_x = line_cross(k_l,b_l,-k_l,b_r);
        oa = cross_x;
	}
    return oa;
}

double COptimalAnglePart::line_cross(double k1,double b1,double k2,double b2)
{
	double x = (b2-b1) / (k1-k2);
    return x;
}

double COptimalAnglePart::opt_angle_part_impl(
		vector<double>&x, //sorted, ascending
		vector<double>&y,
		bool is_base/*=false*/)
{
	// sign of difference of y
	vector<int> dy_sign;
	for(size_t i=1; i<y.size();++i){
		double dd = y[i] - y[i-1];
		if(dd>0){
			dy_sign.push_back(1);
		}
		else{
			if(dd<0){dy_sign.push_back(-1);}
			else{dy_sign.push_back(0);}
		}
	}
	//local limit search
	bool is_local_max = false; 
	int local_limit_idx = -1;
	zero_cross_detect(dy_sign,is_local_max,local_limit_idx);
	if(local_limit_idx<0){
	    throw_msg(m_patch_id+" not found local limit");
	}
	// optimal angle calculation
	vector<double> xx;
	vector<double> yy;
	double oa=0.0;
	if(is_local_max){
		//存在局部最大
        if( local_limit_idx == 0 || local_limit_idx==y.size()-1){
            //#单调  
			oa = x[local_limit_idx];
			/*if (local_limit_idx == 0){				
				for(size_t i=0;i<3;++i){
					xx.push_back(x[i]);
					yy.push_back(y[i]);
				}
			}
			else	{
				for(size_t i=y.size()-3;i<y.size();++i){
					xx.push_back(x[i]);
					yy.push_back(y[i]);
				}
			}             
			oa = qua_fitting(xx,yy); */
			if(m_pLogger){				
				m_pLogger->INFO(m_patch_id+ " angle fit -- signle --- max_angle");
			}
			
		}
        else{
            // 极大值        
			for(size_t i=local_limit_idx-1;i<local_limit_idx+2;++i){
					xx.push_back(x[i]);
					yy.push_back(-y[i]);
				}
			oa = limit_min_angle(xx,yy,1);  
			if(m_pLogger){				
				m_pLogger->INFO(m_patch_id+" angle fit -- local max --- 3p insert");
			}
		}
	}
    else{
		// 极小值   
        oa = limit_min_angle(x,y,local_limit_idx);
		if(is_base){
			//for base, offset 45 degree
			if(oa >45){oa = oa-45.0;}
			else{oa = oa+45.0;}  
		}
		else{  
			// for rootstock, offset 90 degree
			if(oa >90){oa = oa-90.0;}
			else{oa = oa+90.0;}   
		}
		if(m_pLogger){				
			m_pLogger->INFO(m_patch_id+" angle fit -- local min --- 3p insert");
		}
	}
    return oa;
}

CCotyledonAngle::CCotyledonAngle(ConfigParam&cp, CGcvLogger* pLog)
	:m_cparam(cp),
	m_pLogger(pLog),	
	m_imgId(""),
	m_ppImgSaver(0),
	m_height(0),
	m_width(0)
{
}

CCotyledonAngle::~CCotyledonAngle(void)
{	
}

void CCotyledonAngle::clear_imginfo(){
	if (m_pImginfoOpen){
		imginfo_release(&m_pImginfoOpen);
		m_pImginfoOpen=0;
	}
	if (m_pImginfoAngle){
		imginfo_release(&m_pImginfoAngle);
		m_pImginfoAngle=0;
	}
}
int CCotyledonAngle::angle_recognize(
	ImgInfo* imginfo,
	PositionInfo& posinfo	
	)
{
	//clear opencv windows
	if(m_cparam.image_show){destroyAllWindows();}

	clock_t t;
	clock_t t0 = clock();	
	m_imgId = getImgId(img_type::oa);	

	/*if(m_pLogger){
		m_pLogger->INFO(m_imgId + " cotyledon angle recognize begin.");
	}	
	if(!isvalid(imginfo)){
		throw_msg(m_imgId+" invalid input image");
	}
	if(m_width==0 || m_height==0){
		m_width = imginfo->width;
		m_height = imginfo->height;
	}	
	if(m_pLogger){
		stringstream buff;
		buff<<m_imgId<<" load image\twidth="<<imginfo->width
			<<"\theight="<<imginfo->height;
		m_pLogger->INFO(buff.str());
	}
	Mat img = imginfo2mat(imginfo);*/



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


	//imshow_wait("src", img);
	if(m_cparam.self_camera){
		image_set_bottom(img,20,8);
		if(m_pLogger){				
			m_pLogger->DEBUG(m_imgId+" oa_recognize image set bottom with pixel value 20.");				
		}
	}
	if(m_cparam.oa_y_flip){
		flip(img,img,0);
		if(m_pLogger){				
			m_pLogger->DEBUG(m_imgId+" oa_recognize image y fliped.");				
		}
	}
	if(m_ppImgSaver && *m_ppImgSaver){
		(*m_ppImgSaver)->saveImage(img, m_imgId);
		if(m_pLogger){				
			m_pLogger->DEBUG(m_imgId+" oa_recognize after image save.");				
		}
	}
	if(m_cparam.image_show){
		Mat tmp_b = img.clone();			
		imshow_wait("oa_image", tmp_b);
	}

	//1图像分割
	this->img_segment(img);
	if(m_cparam.image_show){					
		imshow_wait("oa_image_bin", m_binImg);
	}
	Mat img_median, img_base, img_open, img_xor;
	cv::medianBlur(m_binImg,img_median, 5);	

	Mat kernel = getStructuringElement(
			MORPH_ELLIPSE,
			Size( 2*m_cparam.oa_morph_radius + 1, 2*m_cparam.oa_morph_radius+1),
			Point( m_cparam.oa_morph_radius, m_cparam.oa_morph_radius)
			);  
	morphologyEx(
		img_median,
		img_base,
		MORPH_CLOSE,
		kernel,
		Point(-1,-1),
		1);

	if(m_cparam.image_show){					
		imshow_wait("img_base", img_base);
	}

	//2 找到2片叶子，计算各自重心，主方向，面积，横纵比，椭圆度，选择最优，计算需要旋转角度
	int iter_step = 3;
	int iter_open = 10;
	
	double leaf_area_th = (double)m_cparam.oa_min_leaf_area;
	vector<vector<Point>> contours;
	vector<Vec4i> hierarchy;
	vector<t_leaf> leafs;

	while( iter_open >0 && iter_open < 50){

		morphologyEx(
			img_base,
			img_open,
			MORPH_OPEN,
			kernel,
			Point(-1,-1),
			iter_open);
		imshow_wait("img_base", img_base);
		imshow_wait("img_open", img_open);
		m_openImg = img_open.clone();
	
		contours.clear();
		hierarchy.clear();
		leafs.clear();
		findContours(img_open,contours,hierarchy,RETR_EXTERNAL,CHAIN_APPROX_NONE);
		for(int i=0;i<contours.size();++i){
			double area = contourArea(contours[i]);
			if (area < leaf_area_th){continue;}			
			RotatedRect minrect_ellips = fitEllipse(contours[i]);
			Moments moment = moments(contours[i]);
			double centx = moment.m10 / moment.m00;
			double centy = moment.m01 / moment.m00;

			t_leaf leaf;
			leaf.area = area;
			leaf.centx = centx;
			leaf.centy = centy;			
			leaf.minrect_ellips = minrect_ellips;
			leaf.contours = contours[i];

			leafs.push_back(leaf);
		}	

		if(leafs.size()<2){
			iter_open += iter_step;
		}
		if(leafs.size()>2){
			iter_open -= iter_step;
		}
		if(leafs.size()==2){
			break;
		}

	}
	if(leafs.size()!=2){
		throw_msg(m_imgId+" leafs detect failed");
	}

	//select one leaf for angle detection
	double min_err = 1.0e16;
	int min_err_idx = -1;
	for(size_t i =0; i<leafs.size();++i){		
		double err = fit_error_ellipse(leafs[i].minrect_ellips, leafs[i].contours);
		if(err<min_err){
			min_err = err;
			min_err_idx = i;
		}
	}
	if(min_err_idx<0){
		throw_msg(m_imgId+" no normal leaf");
	}

	//计算旋转角度
	double all_area = leafs[0].area+leafs[1].area;
    double r0 = leafs[0].area/all_area;
    double all_centx = leafs[0].centx * r0 + leafs[1].centx * (1-r0);
    double all_centy = leafs[0].centy * r0 + leafs[1].centy * (1 - r0);

	float tar_angle1 = 90 + leafs[min_err_idx].minrect_ellips.angle;//长轴与x轴的夹角（图像坐标系下），90-270间
	float tar_angle2 =  leafs[min_err_idx].minrect_ellips.angle - 90;//-90 ~ 90
	if(tar_angle2<0){
		tar_angle2+=360;
	}
	//叶尖方向（相对于两个叶片中心）
	float leaf_apex_angle = atan2(leafs[min_err_idx].centy - all_centy, leafs[min_err_idx].centx - all_centx) * 180 / CV_PI;
	if(leaf_apex_angle<0){
		leaf_apex_angle += 360;
	}

	float diff1 = fabs(leaf_apex_angle - tar_angle1);
	if(diff1>180){
		diff1 = 360 - diff1;
	}
	float diff2 = fabs(leaf_apex_angle - tar_angle2);
	if(diff2>180){
		diff2 = 360 - diff2;
	}
	float rot_angle = tar_angle1;
	if(diff2 < diff1){
		rot_angle = tar_angle2;
	}

	rot_angle -= 180;//需要旋转的角度

	//draw image
	Mat ellipse_img = m_openImg.clone();
	for(size_t j=0; j<leafs.size(); ++j){
		stringstream buff;
		buff<<"wa="<<(float)((int)(leafs[j].minrect_ellips.angle*10.0)/10.0);	
		Scalar color = Scalar(100);
		if(j == min_err_idx){
			color[0] = 180;
			buff<<",rot="<<(float)((int)(rot_angle*10.0)/10.0);
		}
			
		Point2f vertices[4];
		leafs[j].minrect_ellips.points(vertices);
		for (int i = 0; i < 4; i++)
			line(ellipse_img, vertices[i], vertices[(i+1)%4], color);
					
		putText(ellipse_img,buff.str(),leafs[j].minrect_ellips.center, 0,0.5,color);
			
	}
	if(m_cparam.image_show){		
		imshow_wait("ellipse_img", ellipse_img);			
	}

	// 3 返回结果	
	posinfo.rs_oa=(double)rot_angle;
    
	if(m_pLogger){
		stringstream buff;
		buff<<m_imgId<<" detect rotat angle "<<posinfo.rs_oa;
		m_pLogger->INFO(buff.str());
	}
	//4 返回图像
	if(m_cparam.image_return){
		this->clear_imginfo();
		m_pImginfoOpen = mat2imginfo(m_openImg);
		m_pImginfoAngle = mat2imginfo(ellipse_img);
		posinfo.pp_images[0]=m_pImginfoOpen;
		posinfo.pp_images[1]=m_pImginfoAngle;

		if(m_ppImgSaver && *m_ppImgSaver){
			(*m_ppImgSaver)->saveImage(m_binImg, m_imgId+"_rst_0");	
			(*m_ppImgSaver)->saveImage(ellipse_img, m_imgId+"_rst_1");
			if(!m_grayImg.empty()){
				(*m_ppImgSaver)->saveImage(m_grayImg, m_imgId+"_rst_2");
			}
		}
	}
	
	if(m_pLogger){
		m_pLogger->INFO(m_imgId + " oa_recognize image finished.");
	}	
	return 0;
}
double CCotyledonAngle::fit_error_ellipse(
	RotatedRect& ellipse_rect,
	vector<Point>& pts)
{
	/*
	  ref:https://blog.csdn.net/fangyan90617/article/details/89486331
	  ellipse common function: A * x^2 + B * x*y + C * y^2 + D * x + E * y + F = 0
	  reformed function: 
	              A * x'^2 + B * x'*y' + C * y'^2 + F = 0
				  x' = x - x0
				  y' = y - y0
	  from ellipse_rect, calculate A,B,C,F

	*/
	if(pts.size()==0){
		return 1.0e6;
	}
	float A, B,C, F;
	get_ellipse_param(ellipse_rect, A, B,C, F);
	double mean_err = 0.0;
	double x,y,err;
	for(size_t i=0; i<pts.size(); ++i){
		x = (double)pts[i].x - ellipse_rect.center.x;
		y = (double)pts[i].y - ellipse_rect.center.y;
		err = A * x * x + B * x * y + C * y * y + F;
		mean_err += err*err;
	}
	mean_err /= (double)pts.size();
	mean_err = sqrt(mean_err);
	return mean_err;	
}
void CCotyledonAngle::get_ellipse_param(
	RotatedRect&ellipse_rect,
	float&A, 
	float&B, 
	float&C, 
	float&F)
{
	float theta = ellipse_rect.angle * CV_PI / 180.0;
	float a = ellipse_rect.size.width / 2.0;
	float b = ellipse_rect.size.height / 2.0;
	A = a * a * sin(theta) * sin(theta) + b * b * cos(theta) * cos(theta);
	B = (-2.0) * (a * a - b * b) * sin(theta) * cos(theta);
	C = a * a * cos(theta) * cos(theta) + b * b * sin(theta) * sin(theta);
    F = (-1.0) * a * a * b * b;
}
void CCotyledonAngle::img_segment(Mat&img)
{
	if(img.channels()!=1){
		//color image ,bgr, for testing
		/*Mat img_gray,b_img;
		cvtColor(img,img_gray,COLOR_BGR2GRAY);
		double th = threshold(
			img_gray,
			b_img,
			255,
			255,
			THRESH_OTSU
			);
	
		b_img/= 255;*/

		Mat img_hsv, b_img_hsv;		
		cvtColor(
			img, 
			img_hsv,
			COLOR_BGR2HSV
			);

		inRange(
			img_hsv,
			Scalar(30 , 30, 30),
			Scalar(75, 255, 255),
			b_img_hsv
			);

		/*imshow_wait("oa_image_range", b_img_hsv);
		b_img_hsv/=255;
		b_img = b_img.mul(b_img_hsv);	*/

		//int morph_size = 1;
		Mat kernel = getStructuringElement(
			MORPH_RECT,
			Size( 2*m_cparam.oa_morph_radius + 1, 2*m_cparam.oa_morph_radius+1),
			Point( m_cparam.oa_morph_radius, m_cparam.oa_morph_radius)
			);  
		morphologyEx(
			b_img_hsv,
			m_binImg,
			MORPH_CLOSE,
			kernel,
			Point(-1,-1),
			m_cparam.oa_morph_iteration);
		
	}
	else{
		//from imginfo image, gray image 
		//int morph_size = 1;	

		Mat b_img;
		m_grayImg = img.clone();
		double th = threshold(img, b_img, 255, 255,THRESH_OTSU);
		Mat kernel = getStructuringElement( 
			MORPH_RECT, 
			Size( 2*m_cparam.oa_morph_radius + 1, 2*m_cparam.oa_morph_radius+1 ), 
			Point( m_cparam.oa_morph_radius, m_cparam.oa_morph_radius)
			);    
		morphologyEx(
			b_img, 
			m_binImg, 
			MORPH_OPEN,
			kernel,
			Point(-1,-1),
			m_cparam.oa_morph_iteration
			);
	}	
}


};