wheeldetect/3part/Cyclops/include/Luffy.h

#ifndef _Luffy_Process_h_
#define _Luffy_Process_h_

#include "CVUtils.h"
#include "stdio.h"
#include <list>
#include <map>
using namespace cv;
using std::vector;

namespace luffy_base
{
#define LP_MAX_ANGLE 360
#define LP_GRAY_LEVEL 256
#define LP_MAX_GRAY_VALUE 255

#define LP_COLOR_GREEN Scalar(0, 255, 0)
#define LP_COLOR_RED   Scalar(0, 0, 255)
#define LP_COLOR_BLUE  Scalar(255, 0, 0)
#define LP_COLOR_WHITE Scalar(255, 255, 255)
#define LP_COLOR_BLACK Scalar(0, 0, 0)

#define LuffyMax(a, b) ((a)>(b) ? (a) : (b))
#define LuffyMin(a, b) ((a)<(b) ? (a) : (b))

#define LP_SINGLE_LINE 1

	class luffyCircle
	{
	public:
		luffyCircle() :ptCenter(0,0), fRadius(0){}
	public:
		Point2f ptCenter;
		float fRadius;
	};

	class luffyObject
	{
	public:
		luffyObject();

		Rect rtPos;

		float getRadius()  { return (rtPos.width / 2.0); }
		//Rect 
	};

	typedef int LP_NORM_METHOD;

	class luffyPos
	{
	public:
		Point m_ptInPic;     //圆在大图中的圆心位置
		Point m_ptInROI;     //圆在ROI中的圆心位置
		Rect  m_rtROI;       //ROI区域
		float m_fRadiusAvg;  //半径
	};
	/*
	阈值分割算法汇总
	emThresMethodDefault          按照param1作为阈值分割
	emThresMethodInv              按照param1作为阈值
	emThresMethodRatio            按照灰度总数的前百分比emThresMethodRatio计算值作为阈值
	emThresMethodNum              按照灰度总数的前emThresMethodNum个灰度数量作为阈值
	emThresMethodOtsu             最大间方差得到的阈值
	emThresMethodIteration        迭代法
	emThresMethodBasicGlobal      基本全局阈值法
	emThresMethodMaxEntropy       最大熵阈值分割
	emThresMethodHuangFuzzy
	*/
	namespace luffy_threshold {
		enum EmThresMethod  {
			emThresMethodDefault = 000, emThresMethodInv = 100, emThresMethodRatio = 2, emThresMethodNum = 3, emThresMethodOtsu = 4,
			emThresMethodIteration= 5, emThresMethodBasicGlobal = 6, emThresMethodMaxEntropy = 7, emThresMethodHuangFuzzy = 8, emThresMethod2 = 9
		};
		void calcuHist(const Mat &src, Mat &matHist, int &nTotal, Mat &mask = gDummyMat);
		int getThresValue(Mat &matHist, int nTotal, double dRatio, EmThresMethod emMethod = emThresMethodRatio);
		int Threshold(const Mat &src, Mat &dst, double param1, int nThresMethod = emThresMethodDefault, Mat mask = Mat());
		int Threshold(const Mat &src, Mat &dst, vector<double> param, int nThresMethod = emThresMethodDefault, Mat mask = Mat());
	}

	/*
	投影计数：直角坐标与极坐标投影
	*/
	namespace luffy_projection {
		enum EmProjectionDirect	{ emProjX = 0, emProjY = 1 };

		void project2point(const Mat & src, Mat & projDst, Point ptCenter, int nAngleCount, LP_NORM_METHOD normType = 0);
		void project2axis(const Mat & src, Mat & projDst, EmProjectionDirect param1 = emProjX, LP_NORM_METHOD normType = 0);
	}

	//<! 基本的图像处理方法
	namespace luffy_imageProc {
		void meanvarnorm(Mat& src, Mat &dst, double avg, double var, Mat mask = Mat());  //<! 此函数由大饼提供
		bool lsCircleFit(vector<Point> &points, float &fRadius, Point2f &center);        //<! 最小二乘法圆拟合  
		bool lsLineFit(vector<Point> &points, float& a, float &b);                       //<! 最小二乘法直线拟合 y = a + b * x

		void rotateImage(Mat &src, Mat &dst, float angle, Point ptCenter = Point(), int clockWise = 1);
		void RemoveSmallRegion(Mat &Src, Mat &Dst, int AreaLimit, int CheckMode, int NeihborMode);
		int judgeCircle(const vector<Point> &vec, Point2f ptCenter, float radius, float dDiff);
		enum EmCreateMode{
			emCreateDefault, emCreateGray, emCreateColor, emCreateCopy, emCreateNull
		};
		void createImage(Mat & src, Mat & dst, EmCreateMode emMode = emCreateDefault, Scalar color = Scalar::all(0));
		void sobel(Mat &src, Mat *pDst = NULL, Mat *pSobelX = NULL, Mat *pSobelY = NULL, int iBlockSize = 3);

		enum EmGradientMethod {
			emGradient1
		};
		void ComputeGradient(Mat & src, EmGradientMethod method = emGradient1, Mat *pAngle = nullptr, Mat *pMag = NULL);




		//<! fit model by Ransac
		enum EmModel {
			emModelCircle, emModelLine
		};

		struct RansacParam {
			RansacParam(float fProb, float fErrorDis, int nMaxItCount, int nMinFitNum, int nBreakCondit) {
				m_fProb = fProb; m_fErrorDis = fErrorDis; m_nMinFitNum = nMinFitNum; m_nMaxItCount = nMaxItCount; m_nBreakCondit = nBreakCondit;
			}
			float m_fProb;
			float m_fErrorDis;
			int m_nMaxItCount;
			int m_nMinFitNum;
			int m_nBreakCondit;
		};
		vector<Point> genRandPoints(vector<Point> & vecPoints, float fProb, int prec = 100);
		vector <Point> fitModelbyRansac(vector<Point> &vecPoints, EmModel emModel, float fProb, float errorDis, int nMaxItNum, int minFitNum, int breakCondi);
		vector <Point> fitModelbyRansac(vector<Point> &vecPoints, EmModel emModel, RansacParam *pParam);
		bool fitModel(vector<Point> &vecPoints, vector<double> &vecRes, EmModel emModel);
	}



	/*
	数学类操作：几何+代数
	*/
	namespace luffy_math {
		int mod(int index, int total, int periodNum = 1);                                                       //<! 取余
		float getVectorsAngle(float angle1, float angle2, const int nMaxAngle = 360);                           //<! 求夹角中心
		float caculAngle(Point ptCenter, Point ptTarget);                                                       //<! 角度计算
		
		template<typename T1, typename T2>                                                                      //<! 点之间距离
		float disofPoints(T1 pt1, T2 pt2) {
			float dx = pt1.x - pt2.x;
			float dy = pt1.y - pt2.y;
			return (float)sqrtf(dx*dx + dy*dy);
		}

		template <typename T>
		float disofPoint2Line(T pt, float a, float b) {                                                         //<! 点与直线间的距离， y=a+bx
			return fabs(pt.x * b + a - pt.y) / sqrtf(a*a + b*b);
		}

		template<typename T> 
		bool sort2Data(T &minData, T &maxData) {                                                                 //<! 2数据排序
			if (minData <= maxData) return true;
			else {
				T tmp = minData; minData = maxData; maxData = tmp;
				return false;
			}
		};

		bool isOutRange(Point pt, Size size);
		bool checkPoint(Point &pt, Rect rt);
		bool checkData(int &nData, int nMax, int nMin);
		bool checkRoiRect(Size imgSize, Rect & rtRoi);
		bool checkSquare(Rect rect, int nMinWidth, int nMaxWidth, int nMaxDiff = 20);
		bool checkSquare(RotatedRect rect, float nMinWidth, float nMaxWidth, float nMaxDiff = 20);
		bool checkSquare(Size2f size, float nMinWidth, float nMaxWidth, float nMaxDiff = 20);
		void LeastSquare1d(const cv::Mat & mat1d, cv::Mat &Basemat, cv::Mat &Residualmat);
		double rotateRectIntersects(const cv::RotatedRect &rRect1, const cv::RotatedRect& rRect2, bool ifDis = true);


		enum EmDataMinMax{ emDataMax, emDataMin };
		double getMinMaxData(const Mat & src, EmDataMinMax emData = emDataMax, Point *pIndex = NULL);
		Point polar2rect(Point2f ptCenter, float radius, float dCos, float dSin);
		void polar2rect(const Mat &src, Mat &dst, Point ptCenter, int nRadiusIn, int nRadiusOut, int nAngleMax);
	}

	bool CheckMatEqu(const cv::Mat &mask1, const cv::Mat &mask2, bool ifcheckType=false);
	bool CheckMatLogical(const cv::Mat &src);

//<! 一位数组数据可视化
	void drawCurveUsingArray(const Mat &src, Mat &dst, LP_NORM_METHOD normType = 0, Scalar bgColor = Scalar::all(255), Scalar curveColor = Scalar::all(0));

	//<! 大小端
	void swapBigEndian(unsigned short &data);
	/*
	图像匹配
	1、图像模板匹配（广义上的图像，不单单指灰度图本身）
	2、轮廓线匹配
	*/
	namespace luffy_match {
		enum EmLoopMatchDirect { emLoopMatchCol = 0, emLoopMatX = 0, emLoopMatchRow = 1, emLoopMatY = 1 };
		bool LoopMatMatch(Mat & src, Mat &temp, EmLoopMatchDirect direct, Mat &result, int method = CV_TM_CCORR_NORMED);
		void LoopMatShift(Mat & src, Mat & dst, EmLoopMatchDirect direct, int clockwiseShift = 0); //<! 顺时针偏移 偏移量为clockwiseShift
	}


	/*
	blob分析
	0906：可以取每一取blob的像素面积（个数）
	*/
	namespace luffy_blob {
		struct PolyEdge{
			PolyEdge() : y0(0), y1(0), x(0), dx(0), next(0) {}

			int y0, y1;
			int x, dx;
			PolyEdge *next;
		};
		static const int CodeDeltas[8][2] =
		{ { 1, 0 }, { 1, -1 }, { 0, -1 }, { -1, -1 }, { -1, 0 }, { -1, 1 }, { 0, 1 }, { 1, 1 } };

		struct CmpEdges
		{
			bool operator ()(const PolyEdge& e1, const PolyEdge& e2)
			{
				return e1.y0 - e2.y0 ? e1.y0 < e2.y0 :
					e1.x - e2.x ? e1.x < e2.x : e1.dx < e2.dx;
			}
		};
		enum { XY_SHIFT = 16, XY_ONE = 1 << XY_SHIFT, DRAWING_STORAGE_BLOCK = (1 << 12) - 256 };

		//20150906 当前版本只能计算每个blob的面积

		//获取面积
		//std::list<int> getArea(Size imgSize, vector< vector<Point> > &contours);
		int getArea(const Size imgSize, const vector<Point> & contours);

		//获取长度
		std::list<int> getLeng(Size imgSize, vector< vector<Point> > contours, int contourIdx);

		std::list<int> cvProcessContours(Size imgSize, CvSeq* contour, int max_level);
	
		void CollectPolyEdges(const Point* v, int count, vector<PolyEdge>& edges, int shift);
		int CaculCollectionArea(Size imgSize, vector<PolyEdge>& edges);
	}

	/*
	三角函数值的快速索引
	1、先初始化createNewTrigValue，其中total表示将360°进行total份等分，
	2、创建完成之后，即可使用getCos/Sin与getCosPtr/SinPtr索引相关参数，index为total等分下的索引
	*/
	namespace luffy_triangle {
		bool createNewTrigValue(int total);
		bool releaseTrigValue(int total);
		double getCos(int total, int index);
		double getSin(int total, int index);
		double *getCosPtr(int total);
		double *getSinPtr(int total);
	}

	/*
	碰击计算：记录从起点到终点，第一次遇见白点时候的坐标，分为极坐标与直角坐标	
	*/
	namespace luffy_hit {
		enum EmHitDirectParam {
			emHitIn2Out = 0, emHitOut2In = 1,
			emHitUp2Down = 0, emHitDown2Up = 1,
			emHitLeft2Right = 2, emRight2Left = 3
		};

		class MoutainClamp {
		public:
			MoutainClamp(int iTotal = 360, bool bLoop = false) { 
				left = 0; right = 0; total = iTotal; m_bLoop = bLoop; 
			}
			int left;
			int right;
			int total;
			bool m_bLoop;

			int getLen() {
				return (m_bLoop == false) ? (right - left + 1) : luffy_math::mod(right - left + 1, total);
			}

			vector<Rect> getRect(int nRow, int nCols) {
				vector<Rect> vecRect;
				if (1 != nCols) {
					if (left <= right) {
						vecRect.push_back(Rect(left, 0, getLen(), LP_SINGLE_LINE));
					}
					else {
						vecRect.push_back(Rect(left, 0, nCols - left + 1, LP_SINGLE_LINE));
						vecRect.push_back(Rect(0, 0, right, LP_SINGLE_LINE));
					}
				}
				else {
					if (left <= right) {
						vecRect.push_back(Rect(0, left, LP_SINGLE_LINE, getLen()));
					}
					else {
						vecRect.push_back(Rect(0, left, LP_SINGLE_LINE, nRow - left + 1));
						vecRect.push_back(Rect(0, 0, LP_SINGLE_LINE, right));
					}
				}
				return vecRect;
			};

			double getSum(Mat & src){
				double dSum = 0.0;
				vector<Rect> vecRect = getRect(src.rows, src.cols);
				for (int i = 0; i < vecRect.size(); i++) {
					dSum += cv::sum(src(vecRect[i]))[0];
				}
				return dSum;
			};

			int getMid(){
				return luffy_math::getVectorsAngle(left, right, total); 
			}

			bool judgeLen(int nMin = 0, int nMax = 360, bool bLoop = false) { 
				int nLen = getLen();
				return luffy_math::checkData(nLen, nMax, nMin);
			}
		};

		void firstHit4Circle(Mat &binary, Mat &hit, vector<Point> &vecHit, Point ptCenter, int nIn, int nOut, int nHitCount = 360, EmHitDirectParam emHit = emHitOut2In);
		void firstHit4Axis(Mat &binary, Mat &hit, int nMin, int nMax, EmHitDirectParam emHit = emHitUp2Down);
		void hit2Moutain(Mat & src, std::vector<MoutainClamp> &vecMouts, float thresValue, int nWidth);
		void filterMoutain(std::vector<MoutainClamp> & vecMouts, int nTotal, int minSpace, int minWidth, bool bLoop = false);
		MoutainClamp getMaxWidthMoutain(std::vector<MoutainClamp> & vecMouts, bool bLoop = false);
		MoutainClamp getMaxDensityMoutain(Mat &src, std::vector<MoutainClamp> & vecMouts, bool bLoop = false);
	}
}
 


#endif //_Luffy_Process_h_