tea_cv/tea_sorter.h

#pragma once

#include <opencv.hpp>
#include "data_def_api.h"
#include "data_def.h"
#include "logger.h"
#include "tea_detect.h"
#include "imstorage_manager.h"

using namespace cv;
namespace graft_cv{

	class CTeaSort{
	public:
		CTeaSort(
			ConfigParam& ap,			
			img_type dtype,
			CGcvLogger*pLog = 0
		);
		~CTeaSort();
		int detect(				
			ImgInfo*, PositionInfo& posinfo, const char* fn = 0);
		
		int load_data(
			ImgInfo*imginfo,
			const char* fn = 0);

		int load_model();
		void set_image_saver(CImStoreManager** ppis) { m_ppImgSaver = ppis; }
	private:
		img_type m_dtype; // data type: tea_grab, tea_cut
		string m_imgId;
		string m_dtype_str;
		Mat m_raw_img;
		Mat m_raw_gray_img;
		ConfigParam& m_cp;
		YoloDrop m_drop_detector;
		CImStoreManager** m_ppImgSaver;
		CGcvLogger* m_pLogger;

		ImgInfo* m_pImginfoRaw;
		ImgInfo* m_pImginfoDetected; 

		void img_rgb2bgr(cv::Mat&img);
		int generate_detect_windows(vector<Rect>&boxes);
		int detect_impl(cv::Mat& img, vector<Rect>&drop_regions, vector<Bbox> &droplets_raw);
		void clear_imginfo();
		double calculate_angle(Bbox&b, double& grab_x, double&grab_y);
		
		//// --- disused
		//void calculate_stem_grab_position(Bbox&b, double& grab_x, double&grab_y, double& grab_angle);
		
		void calculate_stem_grab_position_opt(Bbox&b, double& grab_x, double&grab_y, double& grab_angle);
		void calculate_stem_cut_position_opt(Bbox&b, double& grab_x, double&grab_y, double& grab_angle);

		//thinning
		void thinningIteration(cv::Mat& img, int iter);
		void thinning(const cv::Mat& src, cv::Mat& dst);

		//// --- disused
		//void distance_thinning(const cv::Mat& src, cv::Mat& dst); 

		void part_thinning(const cv::Mat& src, cv::Mat& dst);
		//find grab position
		double get_grab_position(const std::vector<cv::Point2f>& inner_pixels,
			 const cv::Mat& skele_img, 
			cv::Point&vertex,
			double ref_angle);
		void calc_bottom_vertex(cv::Point&vertex, double ref_angle, double delta_angle, double radius,	cv::Point&bpt0, cv::Point&bpt1);
		
		//// --- disused
		//bool poly_fit_cv(std::vector<cv::Point>& key_point, int n, cv::Mat& A);
		//double calc_fit_y(double x,cv::Mat& A);

		void line_fit(std::vector<cv::Point2f>& key_point, cv::Vec4f& lines);
		/**
		计算 [-pi,pi]间的两个角间的夹角
		*/
		double intersection_angle(double ref_angle, double angle_to_p3);
		
		/**
		计算灰度图是否为空(料盘是否为空)
		*/
		bool is_empty_feeder(cv::Mat& raw_img, double th=20.0);
		/**
		计算框图中单例概率
		*/
		double singleten_ratio(Bbox& region);
		/**
		计算框图方向系数, 针对抓取
		*/
		double direction_ratio(Bbox& box);

		/**
		计算综合得分，并排序, 针对抓取
		*/
		void calculate_overall_score_grab(std::vector<Bbox> &drops);
	};
};