graft_cv/cut_point_rs.h

//cut point recognization for rootstock plant
#pragma once
#include <time.h>
#include <opencv.hpp>
#include "data_def_api.h"
#include "data_def.h"
#include "logger.h"
#include "imstorage_manager.h"

using namespace cv;
namespace graft_cv{

class CRootStockCutPoint{
public:
	CRootStockCutPoint(ConfigParam&c,CGcvLogger*pLog=0);
	~CRootStockCutPoint();
	int up_point_detect(//上切割点，切前识别
		ImgInfo*, 
		Mat&,
		PositionInfo& posinfo
		);

	//int up_point_reid( // 上切割点，切后重识别
	//	ImgInfo*, 
	//	Mat&,
	//	double edge_length,
	//	PositionInfo& posinfo
	//	);
	void set_image_saver(CImStoreManager** ppis){m_ppImgSaver=ppis;}
private:	
	Mat m_binImg;// binary image
	Mat m_grayImg;// gray image
	Mat m_edgeImg;
	string m_imgId;
	CImStoreManager** m_ppImgSaver;

	//返回图片，用于调试
	ImgInfo* m_pImginfoBinFork;//fork-y, right-x
	ImgInfo* m_pImgCorners;//corners, reference-point, candidate box
	ImgInfo* m_pImgCutPoint;//reference-point, cutpoint


	//global configure parameters
	ConfigParam& m_cparam;
	CGcvLogger * m_pLogger;
	// image segment
	void img_segment(Mat&);
	
	// get_optimal_corner()
	// return 0--success, 1--error
	int get_optimal_corner( 
		int ref_x, 
		int ref_y,
		std::vector<Point2f>& corners,
		int stem_dia,
		double cand_corner_box_width_ratio,
		double cand_corner_box_xoffset_ratio,
		double opt_corner_xoffset_ratio,
	    double opt_corner_yoffset_ratio,
		double corner_mask_radius_ratio,
		Point2f& cut_pt);
	void get_default_cutpoint(
		int fork_cent_x,
		int fork_cent_y,
		int fork_stem_dia,
		Point2f& cut_pt);

	void clear_imginfo();

	/// pre-cut calculationo
	//# 通过砧木切前切割点识别结果（切割点）、二值图像，茎根y值，刀角度
	//# 输出切割点到根部的边缘曲线长度
	double get_cut_edge_length(
		Mat& bin_img,
		Mat& edge_img,
		gcv_point<int>& start_pt, //up cut point
		gcv_point<int>& lower_cut_pt,//output
		gcv_point<int>& root_pt,//output
		double cut_angle,
		int y_max,
		int stem_dia,
	    clock_t t0
		);

	void find_lower_cut_point(
		Mat& bin_img,
		gcv_point<int>&start_pt,
		gcv_point<int>&end_pt,//output
		double cut_angle,
		int stem_dia);
	double calculate_edge_length(
		Mat& edge_img,
		gcv_point<int>&lower_cut_pt,
		gcv_point<int>&root_pt,//output
		int y_max,
	    clock_t t0
		);

	//corner evluation
	void corner_magnificence(
		const vector<Point2f>& cand_pts,
		int stem_dia,
		double corner_mask_radius_ratio,
		vector<double>& scores
		);


	//functions for reid 
	int get_root_point_reid(
		int x0,
		int x1,
		int stem_end_y,		
		bool is_right  //是否右侧根部点， true-右侧，false-左侧
		);
	void  find_upper_cut_point_reid(
		Mat& edge_img,
		gcv_point<int>&start_pt,
		gcv_point<int>&end_pt,//output
		double curve_length
		);
	void get_stem_root_y(
		vector<int>&hist_row,		
		double rs_stem_dia_min,			
		int &stem_end_y);


};
};