#include "caliCenter.h"
#include "lpbengine.h"
using namespace luffy_base;
CaliCenter::CaliCenter()
{
}


CaliCenter::~CaliCenter()
{
}

cv::Mat createCenterRoi(Mat &src, const Point2f &center, const float & radius)
{
	Mat srcImg = src.clone();
	//Mat centerMask(srcImg.size(), src.type(), Scalar::all(0));
	if ((center.x - radius) < 0 || (center.y - radius) < 0 || (center.x - radius + 2 * radius) > srcImg.cols || (center.y - radius + 2 * radius) > srcImg.rows)
		return Mat();
	return srcImg(Rect(center.x - radius, center.y - radius, 2*radius, 2*radius));
}

bool CaliCenter::detect(Mat & imgSrc, InputParam &paramIn, OutputParam &paramOut, Mat &imgDst /*= Mat()*/)
{
	Record_List records = paramIn.roi.records;
	int nCircleCount = records.size();

	if (nCircleCount == 0) {
		qWarning() << "no circle count";
		return false;
	}
	if (nCircleCount >= 2) {
		qWarning() << "circle count is more than 1";
	}

	luffy_base::luffyCircle realCircle;
	for (int i = 0; i < nCircleCount; i++)
	{
		Item_List item = records.at(i);
		Feature_List feature = item.at(0);

		if (1 == feature.first) {
			realCircle.ptCenter = Point2f(feature.second.at(0), feature.second.at(1));
			realCircle.fRadius = feature.second.at(2);
			break;
		}
	}
	
	//bob add abs（） fRadius会出现负数
	realCircle.fRadius = abs(realCircle.fRadius);
	
	Mat centerRoi = createCenterRoi(imgSrc, realCircle.ptCenter, realCircle.fRadius);
	paramOut.centerRoi = centerRoi;
	/*Mat imgBinary;
	cv::threshold(imgSrc, imgBinary, paramIn.nGray, 255.0, THRESH_BINARY);
	Mat imgHit;
	vector<Point> vecHits;
	luffy_hit::firstHit4Circle(imgBinary, imgHit, vecHits, realCircle.ptCenter, 10, realCircle.fRadius + 100, 60, luffy_hit::emHitIn2Out);

	vector<Point> vecRes = luffy_imageProc::fitModelbyRansac(vecHits, luffy_imageProc::emModelCircle, 0.4, 3, 20, 20, 30);
	luffy_imageProc::lsCircleFit(vecRes, realCircle.fRadius, realCircle.ptCenter);*/

	paramOut.ptCenter = realCircle.ptCenter;
	if (!imgDst.empty()) {

		cv::circle(imgDst, realCircle.ptCenter, realCircle.fRadius, LP_COLOR_RED, 2);
		cv::circle(imgDst, realCircle.ptCenter, 5, LP_COLOR_BLUE, -1);
	}

	return true;
}