/****************************************************************************
** File name    :  HTOpencvImg.cpp
** Description  :  define 104 worker thread group
** Create date  :  2018.09.01
** Auther by    :  Liuyx
** Version info :  V1.0.01
** Copyrigth By:  xi'an huatek, Inc Co., Ltd
** Update record:
** DATE         AUTHER   DESC
** -------------------------------------------------------------------------
** 2018.09.01   Liuyx    first build
****************************************************************************/
#include "HTGlobal.h"
#include "HTTestOpencv.h"


using namespace cv;
static const char *_FILE_ = "HTTestOpencv.cpp";

#ifndef ERROR
#define ERROR -1
#endif

string hehe[100] = { "time_0.jpg", "time_1.jpg", "time_2.jpg", "time_3.jpg", "time_4.jpg",
"time_5.jpg", "time_6.jpg", "time_7.jpg", "time_8.jpg", "time_9.jpg", };

//-----------------------------------------------------------------------------
//平面几何相关函数http://www.cnblogs.com/zjutlitao/p/3243883.html
//-----------------------------------------------------------------------------

// file exist
bool isExistFile(const char *filename)
{
	FILE *fp = NULL;
	fp = fopen(filename, "rb");
	if (fp == NULL) return false;
	fclose(fp);
	return true;
}



////求向量的夹角
//double Angle(Point A, Point B)
//{ 
//    return acos(Dot(A, B) / Length(A) / Length(B)); 
//}
//
////点到直线的距离
//double DistanceToLine(Point P, Point A, Point B)
//{
//	Point v1 = B - A, v2 = P - A;
//	return fabs(Cross(v1, v2)) / Length(v1);//如果不加绝对值是带有方向的距离
//}



//度数转换
double DegreeTrans(double theta)
{
	double res = theta / CV_PI * 180;
	return res;
}

//逆时针旋转图像degree角度（原尺寸）    
void rotateImage(Mat src, Mat& img_rotate, double degree)
{
	//旋转中心为图像中心    
	Point2f center;
	center.x = float(src.cols / 2.0);
	center.y = float(src.rows / 2.0);
	int length = 0;
	length = (int)sqrt(src.cols*src.cols + src.rows*src.rows);
	//计算二维旋转的仿射变换矩阵  
	Mat M = getRotationMatrix2D(center, degree, 1);
	warpAffine(src, img_rotate, M, Size(length, length), 1, 0, Scalar(255, 255, 255));//仿射变换，背景色填充为白色  
	showImg("旋转后:", img_rotate);
}

//通过霍夫变换计算角度
//
double CalcDegree(const Mat &srcImage, Mat &dst)
{
	Mat midImage, dstImage;

	Canny(srcImage, midImage, 50, 200, 3);
	cvtColor(midImage, dstImage, CV_GRAY2BGR);

	//通过霍夫变换检测直线
	vector<Vec2f> lines;
	HoughLines(midImage, lines, 1, CV_PI / 180, 300, 0, 0);//第5个参数就是阈值，阈值越大，检测精度越高
	//cout << lines.size() << endl;

	//由于图像不同，阈值不好设定，因为阈值设定过高导致无法检测直线，阈值过低直线太多，速度很慢
	//所以根据阈值由大到小设置了三个阈值，如果经过大量试验后，可以固定一个适合的阈值。

	if (!lines.size())
	{
		HoughLines(midImage, lines, 1, CV_PI / 180, 200, 0, 0);
	}
	//cout << lines.size() << endl;

	if (!lines.size())
	{
		HoughLines(midImage, lines, 1, CV_PI / 180, 150, 0, 0);
	}
	//cout << lines.size() << endl;
	if (!lines.size())
	{
		cout << "没有检测到直线！" << endl;
		return -1;
	}
	float sum = 0;
	//依次画出每条线段
	for (size_t i = 0; i < lines.size(); i++)
	{
		float rho = lines[i][0];
		float theta = lines[i][1];
		Point pt1, pt2;
		//cout << theta << endl;
		double a = cos(theta), b = sin(theta);
		double x0 = a * rho, y0 = b * rho;
		pt1.x = cvRound(x0 + 1000 * (-b));
		pt1.y = cvRound(y0 + 1000 * (a));
		pt2.x = cvRound(x0 - 1000 * (-b));
		pt2.y = cvRound(y0 - 1000 * (a));
		//只选角度最小的作为旋转角度
		sum += theta;
		line(dstImage, pt1, pt2, Scalar(55, 100, 195), 1, CV_AA); //Scalar函数用于调节线段颜色
		showImg("直线探测效果图", dstImage);
	}
	float average = sum / lines.size(); //对所有角度求平均，这样做旋转效果会更好
	cout << "average theta:" << average << endl;
	double angle = DegreeTrans(average) - 90;
	rotateImage(dstImage, dst, angle);
	showImg("直线探测效果图2", dstImage);
	return angle;
}
// 图片矫正
void ImageRecify(const char* pInFileName)
{
	double degree;
	Mat src = imread(pInFileName);
	showImg("原始图", src);
	int srcWidth, srcHight;
	srcWidth = src.cols;
	srcHight = src.rows;
	cout << srcWidth << "   " << srcHight << endl;
	Mat dst;
	src.copyTo(dst);
	//倾斜角度矫正
	degree = CalcDegree(src, dst);
	if (degree == ERROR)
	{
		cout << "矫正失败！" << endl;
		return;
	}
	rotateImage(src, dst, degree);
	cout << "angle:" << degree << endl;
	showImg("旋转调整后", dst);

	Mat resulyImage = dst(Rect(0, 0, srcWidth, srcHight));
	showImg("裁剪之后", resulyImage);
	//imwrite("recified.jpg", resulyImage);
}
/****************倾斜校正子程序*****************/
//函数名称：IplImage *Rotate(IplImage *RowImage）
//功能：对每行数字进行倾斜校正
//入口参数：行图像RowImage
//出口参数：旋转后的图像RotateRow
//https://blog.csdn.net/ZhtSunday/article/details/52094745
/********************************************/
void ImgRotate(const char *img_file)
{
	IplImage * RowImage = cvLoadImage(img_file);
	//建立储存边缘检测结果图像canImage
	IplImage *canImage = cvCreateImage(cvGetSize(RowImage), IPL_DEPTH_8U, 1);
	//进行边缘检测
	cvCanny(RowImage, canImage, 30, 200, 3);
	//进行hough变换
	CvMemStorage *storage = cvCreateMemStorage();
	CvSeq *lines = NULL;

	lines = cvHoughLines2(canImage, storage, CV_HOUGH_STANDARD, 1, CV_PI / 180, 20, 0, 0);
	//统计与竖直夹角<30度的直线个数以及其夹角和
	int numLine = 0;
	float sumAng = 0.0;
	for (int i = 0; i < lines->total; i++)
	{
		float *line = (float *)cvGetSeqElem(lines, i);
		float theta = line[1];  //获取角度 为弧度制 
		if (theta < 30 * CV_PI / 180 || (CV_PI - theta) < 30 * CV_PI / 180)
		{
			numLine++;
			sumAng = sumAng + theta;
		}
	}
	//计算出平均倾斜角，anAng为角度制
	double avAng = ((sumAng / numLine) * 180) / CV_PI;

	//获取二维旋转的仿射变换矩阵
	CvPoint2D32f center;
	center.x = float(RowImage->width / 2.0);
	center.y = float(RowImage->height / 2.0);
	float m[6];
	CvMat M = cvMat(2, 3, CV_32F, m);
	cv2DRotationMatrix(center, avAng, 1, &M);
	//建立输出图像RotateRow
	double a = sin(sumAng / numLine);
	double b = cos(sumAng / numLine);
	int width_rotate = int(RowImage->height*fabs(a) + RowImage->width*fabs(b));
	int height_rotate = int(RowImage->width*fabs(a) + RowImage->height*fabs(b));
	IplImage *RotateRow = cvCreateImage(cvSize(width_rotate, height_rotate), IPL_DEPTH_8U, 1);
	//变换图像，并用黑色填充其余值
	m[2] += (width_rotate - RowImage->width) / 2;
	m[5] += (height_rotate - RowImage->height) / 2;

	cvWarpAffine(RowImage, RotateRow, &M, CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS, cvScalarAll(0));  // 这有异常报出
	//释放

	cvReleaseImage(&canImage);
	cvReleaseMemStorage(&storage);

	cvNamedWindow("Roter:");
	cvShowImage("Roter", RotateRow);
	return; // RotateRow;
}
//旋转图像内容不变，尺寸相应变大
//https ://blog.csdn.net/xiaowei_cqu/article/details/7616044
IplImage* rotateImage1(IplImage* img, int degree) {
	double angle = degree * CV_PI / 180.; // 弧度  
	double a = sin(angle), b = cos(angle);
	int width = img->width;
	int height = img->height;
	int width_rotate = int(height * fabs(a) + width * fabs(b));
	int height_rotate = int(width * fabs(a) + height * fabs(b));
	//旋转数组map
	// [ m0  m1  m2 ] ===>  [ A11  A12   b1 ]
	// [ m3  m4  m5 ] ===>  [ A21  A22   b2 ]
	float map[6];
	CvMat map_matrix = cvMat(2, 3, CV_32F, map);
	// 旋转中心
	CvPoint2D32f center = cvPoint2D32f(width / 2, height / 2);
	cv2DRotationMatrix(center, degree, 1.0, &map_matrix);
	map[2] += (width_rotate - width) / 2;
	map[5] += (height_rotate - height) / 2;
	IplImage* img_rotate = cvCreateImage(cvSize(width_rotate, height_rotate), 8, 3);
	//对图像做仿射变换
	//CV_WARP_FILL_OUTLIERS - 填充所有输出图像的象素。
	//如果部分象素落在输入图像的边界外，那么它们的值设定为 fillval.
	//CV_WARP_INVERSE_MAP - 指定 map_matrix 是输出图像到输入图像的反变换，
	cvWarpAffine(img, img_rotate, &map_matrix, CV_INTER_LINEAR | CV_WARP_FILL_OUTLIERS, cvScalarAll(0));
	return img_rotate;
}


//旋转图像内容不变，尺寸相应变大
//https ://blog.csdn.net/xiaowei_cqu/article/details/7616044 
IplImage* rotateImage2(IplImage* img, int degree)
{
	double angle = degree * CV_PI / 180.;
	double a = sin(angle), b = cos(angle);
	int width = img->width, height = img->height;

	//旋转后的新图尺寸
	int width_rotate = int(height * fabs(a) + width * fabs(b));
	int height_rotate = int(width * fabs(a) + height * fabs(b));
	IplImage* img_rotate = cvCreateImage(cvSize(width_rotate, height_rotate), img->depth, img->nChannels);
	cvZero(img_rotate);

	//保证原图可以任意角度旋转的最小尺寸
	int tempLength = (int)(sqrt((double)width * width + (double)height *height) + 10);
	int tempX = (tempLength + 1) / 2 - width / 2;
	int tempY = (tempLength + 1) / 2 - height / 2;
	IplImage* temp = cvCreateImage(cvSize(tempLength, tempLength), img->depth, img->nChannels);
	cvZero(temp);

	//将原图复制到临时图像tmp中心
	cvSetImageROI(temp, cvRect(tempX, tempY, width, height));
	cvCopy(img, temp, NULL);
	cvResetImageROI(temp);

	//旋转数组map
	// [ m0  m1  m2 ] ===>  [ A11  A12   b1 ]
	// [ m3  m4  m5 ] ===>  [ A21  A22   b2 ]
	double m[6];
	int w = temp->width;
	int h = temp->height;
	m[0] = b;
	m[1] = a;
	m[3] = -m[1];
	m[4] = m[0];
	// 将旋转中心移至图像中间  
	m[2] = w * 0.5f;
	m[5] = h * 0.5f;
	CvMat M = cvMat(2, 3, CV_32F, m);
	cvGetQuadrangleSubPix(temp, img_rotate, &M);
	cvReleaseImage(&temp);
	return img_rotate;
}

// 仿照matlab，自适应求高低两个门限
// https://blog.csdn.net/debug__boy/article/details/8179730
void _AdaptiveFindThreshold(CvMat *dx, CvMat *dy, double *low, double *high)
{
	CvSize size;
	IplImage *imge = 0;
	int i, j;
	CvHistogram *hist;
	int hist_size = 255;
	float range_0[] = { 0, 256 };
	float* ranges[] = { range_0 };
	double PercentOfPixelsNotEdges = 0.7;
	size = cvGetSize(dx);
	imge = cvCreateImage(size, IPL_DEPTH_32F, 1);
	// 计算边缘的强度, 并存于图像中                                        
	float maxv = 0;
	for (i = 0; i < size.height; i++)
	{
		const short* _dx = (short*)(dx->data.ptr + dx->step*i);
		const short* _dy = (short*)(dy->data.ptr + dy->step*i);
		float* _image = (float *)(imge->imageData + imge->widthStep*i);
		for (j = 0; j < size.width; j++)
		{
			_image[j] = (float)(abs(_dx[j]) + abs(_dy[j]));
			maxv = maxv < _image[j] ? _image[j] : maxv;

		}
	}
	if (maxv == 0) {
		*high = 0;
		*low = 0;
		cvReleaseImage(&imge);
		return;
	}

	// 计算直方图                                                          
	range_0[1] = maxv;
	hist_size = (int)(hist_size > maxv ? maxv : hist_size);
	hist = cvCreateHist(1, &hist_size, CV_HIST_ARRAY, ranges, 1);
	cvCalcHist(&imge, hist, 0, NULL);
	int total = (int)(size.height * size.width * PercentOfPixelsNotEdges);
	float sum = 0;
	int icount = hist->mat.dim[0].size;

	float *h = (float*)cvPtr1D(hist->bins, 0);
	for (i = 0; i < icount; i++)
	{
		sum += h[i];
		if (sum > total)
			break;
	}
	// 计算高低门限                                                        
	*high = (i + 1) * maxv / hist_size;
	*low = *high * 0.4;
	cvReleaseImage(&imge);
	cvReleaseHist(&hist);
}

// 根据图片，自动获取边缘高低阈值
// https://blog.csdn.net/debug__boy/article/details/8179730
//void AdaptiveFindThreshold(const CvArr* image, double *low, double *high, int aperture_size)
void AdaptiveFindThreshold(cv::Mat& image, double *low, double *high, int aperture_size)
{
	//cv::Mat src = cv::cvarrToMat(image);
	const int cn = image.channels();
	cv::Mat dx(image.rows, image.cols, CV_16SC(cn));
	cv::Mat dy(image.rows, image.cols, CV_16SC(cn));

	cv::Sobel(image, dx, CV_16S, 1, 0, aperture_size, 1, 0, cv::BORDER_REPLICATE);
	cv::Sobel(image, dy, CV_16S, 0, 1, aperture_size, 1, 0, cv::BORDER_REPLICATE);

	CvMat _dx = dx, _dy = dy;
	_AdaptiveFindThreshold(&_dx, &_dy, low, high);

}
// 识别仪表盘读数
double dReadPointerParserImg(const char *img_file)
{
	int i = 0;
	if (!img_file && strlen(img_file) <= 0) {
		return -1;
	}

	//src-->gray-->dst(src为原图；gaus是经过高斯模糊平滑后的图，gray是gaus经canny提取边缘的图，
	//用于下面霍夫变换；dst是最终结果图，要在gray灰度图的基础上变为彩色图才能呈现画线效果）
	Mat src, gray, dst, srcImage;

	src = imread(img_file);    //读取图片到mat
	// showImg("原始图", src);
	srcImage = src;
	/*
	// 霍夫圆变换
	cvtColor(srcImage, midImage, CV_BGR2GRAY);    // 转为灰度图
	GaussianBlur(midImage, midImage, Size(9, 9), 2, 2);    // 模糊

	vector<Vec3f> circles;
	HoughCircles(midImage, circles, CV_HOUGH_GRADIENT, 1, 30, 115, 90, 0, 0);
	printf("HoughCircles return resault == %d\n", circles.size());
	*/

	// 霍夫圆变换
	cvtColor(src, gray, CV_BGR2GRAY); //转为单通道的灰度图
	GaussianBlur(gray, gray, Size(9, 9), 2, 2);    // 高斯模糊平滑

	//储存检测圆的容器  
	std::vector<Vec3f> circles;
	//调用Hough变换检测圆  
	//参数为：待检测图像gray，检测结果circles，检测方法（这个参数唯一）,累加器的分辨率2，
	//两个圆间的距离50，canny门限的上限（下限自动设为上限的一半），圆心所需要的最小的投票数，最大和最小半径  
	HoughCircles(gray, circles, CV_HOUGH_GRADIENT, 1, 30, 115, 90, 0, 0);
	printf("HoughCircles return resault == %d\n", (int)circles.size());

	if (circles.size() <= 0) {
		printf("HoughCircles return resault == %d\n", (int)circles.size());
		return -1;
	}
	//找出圆盘（因为最大的不一定是的，所以加了几个限制条件）
	int pos = 0;
	int max = -1;
	for (size_t i = 0; i < circles.size(); i++)
	{
		Vec3f f = circles[i];
		if (f[2] > max && f[0] + f[2] < gray.rows && f[0] - f[2] >= 0 && f[1] + f[2] < gray.cols && f[1] - f[2]>0)
		{
			max = (int)f[2];
			pos = i;
		}
	}

	//Point center;
	//if (circles.size() > 0)   {
	// 找到圆心
	Point center((int)circles[pos][0], (int)circles[pos][1]);
	// 找到的半径
	int radius = (int)circles[pos][2];

	// 绘制圆心
	circle(src, center, 3, Scalar(0, 255, 0), -1, 8, 0);

	// 绘制圆轮廓
	circle(src, center, radius, Scalar(255), 2);
	//}
	// 效果图
	//showImg("霍夫圆变换", src);
	/*******************************************************************************/
	// 霍夫线变换
	Canny(src, gray, 100, 300, 3);    // 边缘检测
	cvtColor(gray, dst, CV_GRAY2BGR);    // 转为RGB图

	vector<Vec4i> lines;
	// 检测直线，最小投票为100，线条不短于50，间隙不小于10
	HoughLinesP(gray, lines, 1, CV_PI / 180, 100, 50, 10);
	printf("HoughLinesP return resault == %d\n", (int)lines.size());
	list<MyLine> list_MyLine;
	for (size_t i = 0; i < lines.size(); i++)
	{
		Vec4i l = lines[i];
		Point A(l[0], l[1]), B(l[2], l[3]);
		if (DistancetoSegment(center, A, B) < 30)//根据圆心到指针的距离阈值滤掉其他线段
		{
			bool down = (A.y + B.y - 2 * center.y > 0);//判断长的在过圆心的水平线上部还是下部
			if (A.x == B.x)  //斜率为无穷的情况
			{
				list_MyLine.push_back(MyLine(i, 90 + (down ? 180 : 0), (int)Length(Point(A.x - B.x, A.y - B.y))));
			}
			else if (A.y == B.y) //水平的情况
			{
				list_MyLine.push_back(MyLine(i, A.x + B.x - 2 * center.x > 0 ? 0 : 180, (int)Length(Point(A.x - B.x, A.y - B.y))));
			}
			else
			{
				if (down) {
					if (A.y > center.y)
						list_MyLine.push_back(MyLine(i, 360 - (int)(atan2(A.y - B.y, A.x - B.x) * 180 / PI), (int)Length(Point(A.x - B.x, A.y - B.y))));
					else
						list_MyLine.push_back(MyLine(i, 360 - (int)(atan2(B.y - A.y, B.x - A.x) * 180 / PI), (int)Length(Point(A.x - B.x, A.y - B.y))));
				}
				else {
					if (A.y < center.y)
						list_MyLine.push_back(MyLine(i, abs((int)(atan2(A.y - B.y, A.x - B.x) * 180 / PI)), (int)Length(Point(A.x - B.x, A.y - B.y))));
					else
						list_MyLine.push_back(MyLine(i, abs((int)(atan2(B.y - A.y, B.x - A.x) * 180 / PI)), (int)Length(Point(A.x - B.x, A.y - B.y))));
				}
			}
			//line(dst, A, B, Scalar(0, 0, i * 20 + 40), 2, CV_AA);
			line(dst, A, B, Scalar(186, 88, 255), 1, CV_AA);
		}
	}

	//根据角度区分所属指针
	int now_k, pre_k = 720;//当前线段的角度和前一个线段的角度
	int num = 0;//指针数（可能为2或3）
	int Du[3] = { 0 };//3个指针的度数（每组的平均）
	int Le[3] = { 0 };//Le[i]=Le_ping[i]*0.2+le_max[i]*0.8;
	int Le_ping[3] = { 0 };//3个指针的长度（每组的平均）
	int Le_max[3] = { 0 };//3个指针的长度（每组区最大的）
	int t_num = 0;//每组的数量（求平均用）

	MyLine now_Line;
	list_MyLine.push_back(MyLine(99, 888, 0));//向其中插入一个右边界这样方便处理
	list_MyLine.sort();
	while (!list_MyLine.empty())
	{
		now_Line = list_MyLine.front();
		now_k = now_Line.k;
		if (abs(now_k - pre_k) > 10)//两个角度之差小于10°的算是同一类
		{
			if (num != 0)  //对本组的度数和长度求平均
			{
				Du[num - 1] /= t_num;
				Le_ping[num - 1] /= t_num;
				Le[num - 1] = (int)(Le_ping[num - 1] * 0.2 + Le_max[num - 1] * 0.8);
			}
			if (now_k == 888)  break;//右边界直接跳出
			t_num = 0;//重新统计下一组
			num++;//组数增加1
			cout << "---------------------------\n";//输出分割线
		}
		t_num++;//组内多一条线
		Du[num - 1] += now_Line.k;
		Le_ping[num - 1] += now_Line.l;
		if (now_Line.l > Le_max[num - 1])  Le_max[num - 1] = now_Line.l;
		now_Line.print();
		list_MyLine.pop_front();
		pre_k = now_k;
	}
	cout << "---------------------------\n\n";

	cout << "---------------------------\n";
	int t;
	for (int i = 0; i < num - 1; i++)
	{
		for (int j = i + 1; j < num; j++)
		{
			if (Le[i] > Le[j])
			{
				t = Le[i], Le[i] = Le[j], Le[j] = t;
				t = Du[i], Du[i] = Du[j], Du[j] = t;
			}//if end
		}//for end
	}//for end

	char s[3][10] = { "point1:", "point2:", "point3:" };

	for (int i = 0; i < num; i++)
		printf("%s  k: %3d°  l: %3d\n", s[i], Du[i], Le[i]);
	cout << "---------------------------\n";
	if (num == 1)
		printf("read is: %5.2f\n", (float)abs(((360 - Du[0] + 90) % 360 / 30)));
	if (num == 2)
		printf("read is: %5.2f  %5.2f\n", (float)((360 - Du[0] + 90) % 360 / 30), (float)((360 - Du[1] + 90) % 360 / 6));
	else if (num == 3)
		printf("read is: %5.2f  %5.2f  %5.2f\n", (float)((360 - Du[0] + 90) % 360 / 30), (float)((360 - Du[1] + 90) % 360 / 6), (float)((360 - Du[2] + 90) % 360 / 6));

	cout << "---------------------------\n";

	showImg("src", src);
	showImg("dst", dst);

	return 0;
}
// 霍夫圆、线变换
double dReadValue(const char *img_file)
{
	Mat srcImage = imread(img_file);
	Mat midImage, dstImage;

	// 显示原始图
	//showImg("原始图", srcImage);

	// 霍夫圆变换
	cvtColor(srcImage, midImage, CV_BGR2GRAY);    // 转为灰度图
	GaussianBlur(midImage, dstImage, Size(9, 9), 2, 2);    // 模糊

	vector<Vec3f> circles;
	HoughCircles(midImage, circles, CV_HOUGH_GRADIENT, 1, 30, 115, 90, 0, 0);
	printf("HoughCircles return resault == %d\n", (int)circles.size());
	// 找出圆盘
	int pos = 0;
	int max = -1;
	for (size_t i = 0; i < circles.size(); i++)
	{
		Vec3f f = circles[i];
		if (f[2] > max && f[0] + f[2] < midImage.rows && f[0] - f[2] >= 0 && f[1] + f[2] < midImage.cols && f[1] - f[2] > 0)
		{
			max = (int)f[2];
			pos = i;
		}
	}

	if (circles.size() > 0)
	{
		// 找到圆心
		Point center((int)circles[pos][0], (int)circles[pos][1]);
		// 找到的半径
		int radius = (int)circles[pos][2];

		// 绘制圆心
		circle(srcImage, center, 3, Scalar(0, 255, 0), -1, 8, 0);

		// 绘制圆轮廓
		circle(srcImage, center, radius, Scalar(255), 2);
	}

	// 效果图
	//showImg("霍夫圆变换", srcImage);

	// 霍夫线变换
	Canny(srcImage, midImage, 100, 300, 3);    // 边缘检测
	cvtColor(midImage, dstImage, CV_GRAY2BGR);    // 转为灰度图

	vector<Vec4i> lines;
	// 检测直线，最小投票为100，线条不短于50，间隙不小于10
	HoughLinesP(midImage, lines, 1, CV_PI / 180, 100, 50, 10);
	printf("HoughLinesP return resault == %d\n", (int)lines.size());
	for (size_t i = 0; i < lines.size(); i++)
	{
		Vec4i l = lines[i];
		Point pt1(l[0], l[1]);
		Point pt2(l[2], l[3]);
		line(dstImage, pt1, pt2, Scalar(186, 88, 255), 1, CV_AA);
	}

	// showImg("边缘检测图", midImage);

	//showImg("霍夫线变换", dstImage);
	return 0;
}

//******************双阈值处理*************************
//第一个参数imageInput输入和输出的的Sobel梯度幅值图像；
//第二个参数lowThreshold是低阈值
//第三个参数highThreshold是高阈值
// 指定一个低阈值A，一个高阈值B，一般取B为图像整体灰度级分布的70%，且B为1.5到2倍大小的A；
// 灰度值大于B的，置为255，灰度值小于A的，置为0；
//******************************************************
void DoubleThreshold(Mat &imageIput, double lowThreshold, double highThreshold)
{
	for (int i = 0; i < imageIput.rows; i++)
	{
		for (int j = 0; j < imageIput.cols; j++)
		{
			//printf("[%d:%d] = %d\n", i, j, imageIput.at<uchar>(i, j));

			if (imageIput.at<uchar>(i, j) > highThreshold)
			{
				imageIput.at<uchar>(i, j) = 255;
			}
			if (imageIput.at<uchar>(i, j) < lowThreshold)
			{
				imageIput.at<uchar>(i, j) = 0;
			}
		}
	}
}


/*
生成高斯卷积核 kernel
*/
void Gaussian_kernel(int kernel_size, int sigma, Mat &kernel)
{
	double pi = 3.1415926f;
	int m = kernel_size / 2;

	kernel = Mat(kernel_size, kernel_size, CV_32FC1);
	float s = (float)(2 * sigma*sigma);
	for (int i = 0; i < kernel_size; i++)
	{
		for (int j = 0; j < kernel_size; j++)
		{
			int x = i - m;
			int y = j - m;
			double w = exp(-(x*x + y * y) / s);
			kernel.at<int>(i, j) = (int)(w / (pi*s));
		}
	}
}

/*
计算梯度值和方向
imageSource 原始灰度图
imageX X方向梯度图像
imageY Y方向梯度图像
gradXY 该点的梯度幅值
pointDirection 梯度方向角度
*/
void GradDirection(const Mat imageSource, Mat &imageX, Mat &imageY, Mat &gradXY, Mat &theta)
{
	imageX = Mat::zeros(imageSource.size(), CV_32SC1);
	imageY = Mat::zeros(imageSource.size(), CV_32SC1);
	gradXY = Mat::zeros(imageSource.size(), CV_32SC1);
	theta = Mat::zeros(imageSource.size(), CV_32SC1);

	int rows = imageSource.rows;
	int cols = imageSource.cols;

	int stepXY = imageX.step;
	int step = imageSource.step;
	/*
	Mat.step参数指图像的一行实际占用的内存长度，
	因为opencv中的图像会对每行的长度自动补齐（8的倍数），
	编程时尽量使用指针，指针读写像素是速度最快的，使用at函数最慢。
	*/
	uchar *PX = imageX.data;
	uchar *PY = imageY.data;
	uchar *P = imageSource.data;
	uchar *XY = gradXY.data;
	for (int i = 1; i < rows - 1; i++)
	{
		for (int j = 1; j < cols - 1; j++)
		{
			int a00 = P[(i - 1)*step + j - 1];
			int a01 = P[(i - 1)*step + j];
			int a02 = P[(i - 1)*step + j + 1];

			int a10 = P[i*step + j - 1];
			int a11 = P[i*step + j];
			int a12 = P[i*step + j + 1];

			int a20 = P[(i + 1)*step + j - 1];
			int a21 = P[(i + 1)*step + j];
			int a22 = P[(i + 1)*step + j + 1];

			double gradY = double(a02 + 2 * a12 + a22 - a00 - 2 * a10 - a20);
			double gradX = double(a00 + 2 * a01 + a02 - a20 - 2 * a21 - a22);

			//PX[i*stepXY + j*(stepXY / step)] = abs(gradX);
			//PY[i*stepXY + j*(stepXY / step)] = abs(gradY);

			imageX.at<int>(i, j) = (int)abs(gradX);
			imageY.at<int>(i, j) = (int)abs(gradY);
			if (gradX == 0)
			{
				gradX = 0.000000000001;
			}
			theta.at<int>(i, j) = (int)(atan(gradY / gradX)*57.3);
			theta.at<int>(i, j) = (theta.at<int>(i, j) + 360) % 360;
			gradXY.at<int>(i, j) = (int)sqrt(gradX*gradX + gradY * gradY);
			//XY[i*stepXY + j*(stepXY / step)] = sqrt(gradX*gradX + gradY*gradY);
		}

	}
	convertScaleAbs(imageX, imageX);
	convertScaleAbs(imageY, imageY);
	convertScaleAbs(gradXY, gradXY);

}

/*
局部非极大值抑制
沿着该点梯度方向，比较前后两个点的幅值大小，若该点大于前后两点，则保留，
若该点小于前后两点任意一点，则置为0；
imageInput 输入得到梯度图像
imageOutput 输出的非极大值抑制图像
theta 每个像素点的梯度方向角度
imageX X方向梯度
imageY Y方向梯度
*/
void NonLocalMaxValue(const Mat imageInput, Mat &imageOutput, const Mat &theta, const Mat &imageX, const Mat &imageY)
{
	imageOutput = imageInput.clone();


	int cols = imageInput.cols;
	int rows = imageInput.rows;

	for (int i = 1; i < rows - 1; i++)
	{
		for (int j = 1; j < cols - 1; j++)
		{
			if (0 == imageInput.at<uchar>(i, j))continue;

			int g00 = imageInput.at<uchar>(i - 1, j - 1);
			int g01 = imageInput.at<uchar>(i - 1, j);
			int g02 = imageInput.at<uchar>(i - 1, j + 1);

			int g10 = imageInput.at<uchar>(i, j - 1);
			int g11 = imageInput.at<uchar>(i, j);
			int g12 = imageInput.at<uchar>(i, j + 1);

			int g20 = imageInput.at<uchar>(i + 1, j - 1);
			int g21 = imageInput.at<uchar>(i + 1, j);
			int g22 = imageInput.at<uchar>(i + 1, j + 1);

			int direction = theta.at<int>(i, j); //该点梯度的角度值
			int g1 = 0;
			int g2 = 0;
			int g3 = 0;
			int g4 = 0;
			double tmp1 = 0.0; //保存亚像素点插值得到的灰度数
			double tmp2 = 0.0;
			double weight = fabs((double)imageY.at<uchar>(i, j) / (double)imageX.at<uchar>(i, j));

			if (weight == 0)weight = 0.0000001;
			if (weight > 1)
			{
				weight = 1 / weight;
			}
			if ((0 <= direction && direction < 45) || 180 <= direction && direction < 225)
			{
				tmp1 = g10 * (1 - weight) + g20 * (weight);
				tmp2 = g02 * (weight)+g12 * (1 - weight);
			}
			if ((45 <= direction && direction < 90) || 225 <= direction && direction < 270)
			{
				tmp1 = g01 * (1 - weight) + g02 * (weight);
				tmp2 = g20 * (weight)+g21 * (1 - weight);
			}
			if ((90 <= direction && direction < 135) || 270 <= direction && direction < 315)
			{
				tmp1 = g00 * (weight)+g01 * (1 - weight);
				tmp2 = g21 * (1 - weight) + g22 * (weight);
			}
			if ((135 <= direction && direction < 180) || 315 <= direction && direction < 360)
			{
				tmp1 = g00 * (weight)+g10 * (1 - weight);
				tmp2 = g12 * (1 - weight) + g22 * (weight);
			}

			if (imageInput.at<uchar>(i, j) < tmp1 || imageInput.at<uchar>(i, j) < tmp2)
			{
				imageOutput.at<uchar>(i, j) = 0;
			}
		}
	}

}


/*
连接处理:
灰度值介于A和B之间的，考察该像素点临近的8像素是否有灰度值为255的，
若没有255的，表示这是一个孤立的局部极大值点，予以排除，置为0；
若有255的，表示这是一个跟其他边缘有“接壤”的可造之材，置为255，
之后重复执行该步骤，直到考察完之后一个像素点。

其中的邻域跟踪算法，从值为255的像素点出发找到周围满足要求的点，把满足要求的点设置为255，
然后修改i,j的坐标值，i,j值进行回退，在改变后的i,j基础上继续寻找255周围满足要求的点。
当所有连接255的点修改完后，再把所有上面所说的局部极大值点置为0；（算法可以继续优化）。

参数1，imageInput：输入和输出的梯度图像
参数2，lowTh:低阈值
参数3，highTh:高阈值
*/
void DoubleThresholdLink(Mat &imageInput, double lowTh, double highTh)
{
	int cols = imageInput.cols;
	int rows = imageInput.rows;

	for (int i = 1; i < rows - 1; i++)
	{
		for (int j = 1; j < cols - 1; j++)
		{
			double pix = imageInput.at<uchar>(i, j);
			if (pix != 255)continue;
			bool change = false;
			for (int k = -1; k <= 1; k++)
			{
				for (int u = -1; u <= 1; u++)
				{
					if (k == 0 && u == 0)continue;
					double temp = imageInput.at<uchar>(i + k, j + u);
					if (temp >= lowTh && temp <= highTh)
					{
						imageInput.at<uchar>(i + k, j + u) = 255;
						change = true;
					}
				}
			}
			if (change)
			{
				if (i > 1)i--;
				if (j > 2)j -= 2;

			}
		}
	}

	for (int i = 0; i < rows; i++)
	{
		for (int j = 0; j < cols; j++)
		{
			if (imageInput.at<uchar>(i, j) != 255)
			{
				imageInput.at<uchar>(i, j) = 0;
			}
		}
	}
}


/*
Canny边缘检测主要包括：

图像的灰度化；

图像的高斯滤波，来平滑图像，同时消除和降低图像噪声的影响；

计算出每一个像素点位置的梯度（X方向梯度、Y方向梯度、已经该点的梯度幅值）和方向角度；Y方向和X方向梯度的比值，得出梯度方向，X梯度的平方和+Y梯度的平方和的值，再进行求平方得到该点的梯度幅值。（Sobel算子等）

局部非极大值抑制处理；梯度方向垂直于边缘方向，在梯度方向上进行非极大值抑制可以细化边缘，在梯度方向上比较该点前后两个点的梯度的大小，如果大于两个点则保留，小于任意一个点则置为0。

双阈值处理和连接处理；指定高低阈值，然后高阈值直接赋值为255，低阈值为0，中间的值进行连接处理。如果中间的值八邻域内有255，则该值也变为255，也就是说255往周围进行扩张，收集边缘加闭合边缘。
*/
int HTCanny(char *filename)
{
	Mat image = imread(filename, 0);
	showImg("origin image", image);

	//转换为灰度图
	Mat grayImage;
	//cvtColor(image, grayImage, CV_RGB2GRAY);
	cvtColor(image, grayImage, CV_GRAY2BGR);

	imshow("灰度图", grayImage);



	//计算XY方向梯度
	Mat imageX, imageY, imageXY;
	Mat theta;
	GradDirection(grayImage, imageX, imageY, imageXY, theta);
	imshow("计算XY方向梯度", imageXY);

	//对梯度幅值进行非极大值抑制
	Mat localImage;
	NonLocalMaxValue(imageXY, localImage, theta, imageX, imageY);
	imshow("对梯度幅值进行非极大值抑制", localImage);

	//双阈值算法检测和边缘连接
	DoubleThreshold(localImage, 30, 100);
	DoubleThresholdLink(localImage, 30, 100);
	imshow("双阈值算法检测和边缘连接", localImage);

	Mat temMat;
	vector<Vec4i> lines2;
	Canny(image, temMat, 30, 100);
	HoughLinesP(temMat, lines2, 1, CV_PI / 180, 50, 30, 10);
	printf("lines2 = %d\n", (int)lines2.size());
	for (size_t i = 0; i < lines2.size(); i++)
	{
		Vec4i l = lines2[i];
		Point A(l[0], l[1]), B(l[2], l[3]);
		line(temMat, A, B, Scalar(255, 0, 0), 2, CV_AA);
	}
	imshow("线条监测", temMat);

	waitKey(0);
	return 0;
}

/************************************************************************/

//////////////////////////////////////////////////////////////////
//函数功能：用向量来做COSα=两向量之积/两向量模的乘积求两条线段夹角
//输入：   线段3个点坐标pt1,pt2,pt0,最后一个参数为公共点
//输出：   线段夹角，单位为角度
//////////////////////////////////////////////////////////////////
double angle(CvPoint* pt1, CvPoint* pt2, CvPoint* pt0)
{
	double dx1 = pt1->x - pt0->x;
	double dy1 = pt1->y - pt0->y;
	double dx2 = pt2->x - pt0->x;
	double dy2 = pt2->y - pt0->y;
	double angle_line = (dx1*dx2 + dy1 * dy2) / sqrt((dx1*dx1 + dy1 * dy1)*(dx2*dx2 + dy2 * dy2) + 1e-10);//余弦值
	return acos(angle_line) * 180 / 3.141592653;
}
//////////////////////////////////////////////////////////////////
//函数功能：采用多边形检测，通过约束条件寻找矩形
//输入：   img 原图像
//          storage 存储
//          minarea，maxarea 检测矩形的最小/最大面积
//          minangle,maxangle 检测矩形边夹角范围，单位为角度
//输出：   矩形序列
//////////////////////////////////////////////////////////////////
CvSeq* findSquares4(IplImage* img, CvMemStorage* storage, int minarea, int maxarea, int minangle, int maxangle, int(&temp)[30])
{
	CvSeq* contours;//边缘
	int N = 6;  //阈值分级
	CvSize sz = cvSize(img->width & -2, img->height & -2);
	IplImage* timg = cvCloneImage(img);//拷贝一次img
	IplImage* gray = cvCreateImage(sz, 8, 1); //img灰度图
	IplImage* pyr = cvCreateImage(cvSize(sz.width / 2, sz.height / 2), 8, 3);  //金字塔滤波3通道图像中间变量
	IplImage* tgray = cvCreateImage(sz, 8, 1);;
	CvSeq* result;
	double s, t;
	int sk = 0;
	CvSeq* squares = cvCreateSeq(0, sizeof(CvSeq), sizeof(CvPoint), storage);

	cvSetImageROI(timg, cvRect(0, 0, sz.width, sz.height));
	//金字塔滤波 
	cvPyrDown(timg, pyr, 7);
	cvPyrUp(pyr, timg, 7);
	//在3个通道中寻找矩形 
	for (int c = 0; c < 3; c++) //对3个通道分别进行处理 
	{
		cvSetImageCOI(timg, c + 1);
		cvCopy(timg, tgray, 0);  //依次将BGR通道送入tgray         
		for (int l = 0; l < N; l++)
		{
			//不同阈值下二值化
			cvThreshold(tgray, gray, 75, 250, CV_THRESH_BINARY);
			cvShowImage("111", gray);
			cvFindContours(gray, storage, &contours, sizeof(CvContour), CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE, cvPoint(0, 0));
			while (contours)
			{ //多边形逼近             
				result = cvApproxPoly(contours, sizeof(CvContour), storage, CV_POLY_APPROX_DP, cvContourPerimeter(contours)*0.02, 0);

				//如果是凸四边形并且面积在范围内 
				if (result->total == 4 && fabs(cvContourArea(result, CV_WHOLE_SEQ)) > minarea  && fabs(cvContourArea(result, CV_WHOLE_SEQ)) < maxarea &&  cvCheckContourConvexity(result))
				{

					s = 0;
					//判断每一条边
					for (int i = 0; i < 5; i++)
					{
						if (i >= 2)
						{   //角度            
							t = fabs(angle((CvPoint*)cvGetSeqElem(result, i), (CvPoint*)cvGetSeqElem(result, i - 2), (CvPoint*)cvGetSeqElem(result, i - 1)));
							s = s > t ? s : t;
						}
					}
					//这里的S为直角判定条件 单位为角度
					if (s > minangle && s < maxangle)
					{
						for (int i = 0; i < 4; i++)
							cvSeqPush(squares, (CvPoint*)cvGetSeqElem(result, i));
						CvRect rect = cvBoundingRect(contours, 1);       // 获取矩形边界框 
						CvPoint p1;
						p1 = cvPoint(rect.x + rect.width / 2, rect.y + rect.height / 2);   //矩形中心坐标  
						std::cout << "X:" << p1.x << "Y：" << p1.y << std::endl;
					}
				}
				contours = contours->h_next;
			}
		}
		std::cout << "圆的数量是" << sk << std::endl;
		temp[26] = sk;


		sk = 0;
	}
	cvReleaseImage(&gray);
	cvReleaseImage(&pyr);
	cvReleaseImage(&tgray);
	cvReleaseImage(&timg);

	return squares;
}

//////////////////////////////////////////////////////////////////
//函数功能：画出所有矩形
//输入：   img 原图像
//          squares 矩形序列
//          wndname 窗口名称
//输出：   图像中标记矩形
//////////////////////////////////////////////////////////////////
void drawSquares(IplImage* img, CvSeq* squares, const char* wndname)
{
	CvSeqReader reader;
	IplImage* cpy = cvCloneImage(img);
	CvPoint pt[4];
	int i;
	cvStartReadSeq(squares, &reader, 0);
	for (i = 0; i < squares->total; i += 4)
	{
		CvPoint* rect = pt;
		int count = 4;
		memcpy(pt, reader.ptr, squares->elem_size);
		CV_NEXT_SEQ_ELEM(squares->elem_size, reader);
		memcpy(pt + 1, reader.ptr, squares->elem_size);
		CV_NEXT_SEQ_ELEM(squares->elem_size, reader);
		memcpy(pt + 2, reader.ptr, squares->elem_size);
		CV_NEXT_SEQ_ELEM(squares->elem_size, reader);
		memcpy(pt + 3, reader.ptr, squares->elem_size);
		CV_NEXT_SEQ_ELEM(squares->elem_size, reader);
		//cvPolyLine( cpy, &rect, &count, 1, 1, CV_RGB(0,255,0), 3, CV_AA, 0 );
		cvPolyLine(cpy, &rect, &count, 1, 1, CV_RGB(rand() & 255, rand() & 255, rand() & 255), 1, CV_AA, 0);//彩色绘制
	}
	cvShowImage("22", cpy);
	cvReleaseImage(&cpy);
}

void SendMessageOne(char *rtsp_url)
{
	String rtsp_addr = rtsp_url;

	VideoCapture capture(rtsp_addr);

	//开起摄像头
	//capture.open(0);
	Mat edges;  //定义转化的灰度图
	const char* winn = "1111";
	if (!capture.isOpened())
	{
		namedWindow("【效果图】", CV_WINDOW_NORMAL);
	}
	while (1)
	{
		int Y = 0, J = 0;
		Mat frame;
		capture >> frame;
		IplImage img0 = frame;

		//Mat E = frame(Range(1, 320), Range(1, 240));
		Mat E = frame(Range(1, 160), Range(1, 240));
		cvtColor(frame, edges, CV_BGR2GRAY);
		//高斯滤波
		GaussianBlur(edges, edges, Size(7, 7), 2, 2);
		std::vector<Vec3f> circles;//存储每个圆的位置信息
		//霍夫圆
		HoughCircles(edges, circles, CV_HOUGH_GRADIENT, 1.5, 5, 100, 240, 0, 50);
		for (size_t i = 0; i < circles.size(); i++)
		{
			Point center(cvRound(circles[i][0]), cvRound(circles[i][1]));
			int radius = cvRound(circles[i][2]);
			//std::cout << "圆的X是" << circles[i][0] << "圆的Y是" << circles[i][1] << std:: endl;
			//绘制圆轮廓  
			circle(frame, center, radius, Scalar(155, 50, 255), 3, 8, 0);
			int R = frame.at<Vec3b>(cvRound(circles[i][1]), cvRound(circles[i][0]))[2];//R
			int G = frame.at<Vec3b>(cvRound(circles[i][1]), cvRound(circles[i][0]))[1];//G
			int B = frame.at<Vec3b>(cvRound(circles[i][1]), cvRound(circles[i][0]))[0];//B
			int num = R + G + B;
			std::cout << "圆心颜色是" << num << std::endl;
		}

		imshow("【效果图】", frame);
		if ('q' == waitKey(30)) break;
	}
}

/**************************************************/

using namespace cv;
using namespace std;

cv::Mat img;
bool select_flag = false;
cv::Rect m_select;
cv::Point origin;
int ROI_count;

void onMouseRectPicking(int event, int x, int y, int, void*)
{
	if (select_flag)
	{
		m_select.x = MIN(origin.x, x);//不一定要等鼠标弹起才计算矩形框，而应该在鼠标按下开始到弹起这段时间实时计算所选矩形框
		m_select.y = MIN(origin.y, y);
		m_select.width = abs(x - origin.x);//算矩形宽度和高度
		m_select.height = abs(y - origin.y);
		m_select &= cv::Rect(0, 0, img.cols, img.rows);//保证所选矩形框在视频显示区域之内
	}
	if (event == CV_EVENT_LBUTTONDOWN)
	{
		select_flag = true;          //鼠标按下的标志赋真值
		origin = cv::Point(x, y);  //保存下来单击捕捉到的点
		m_select = cv::Rect(x, y, 0, 0);  //这里一定要初始化，宽和高为(0,0)是因为在opencv中Rect矩形框类内的点是包含左上角那个点的，但是不含右下角那个点 
	}
	else if (event == CV_EVENT_LBUTTONUP)
	{
		select_flag = false;
		ROI_count++;
	}
}

// 鼠标选取区域，实现截图功能并保持图片
void vCutPicture(char *filename)
{

	img = imread(filename);
	bool stop = false;

	cv::namedWindow("capframe", CV_WINDOW_AUTOSIZE);
	cv::setMouseCallback("capframe", onMouseRectPicking, 0);

	char pic_name[40];
	ROI_count = 0;

	while (!stop)
	{
		img = imread(filename);
		cv::rectangle(img, m_select, cv::Scalar(255, 0, 0), 2, 8, 0);  // 画矩形框
		cv::imshow("capframe", img);

		if ((m_select.x != 0) && (m_select.y != 0) && (m_select.width != 0) && (m_select.height != 0))
		{
			sprintf(pic_name, "ROI_%d.jpg", ROI_count);
			Mat ROI = img(m_select);
			imshow("ROI_WIN", ROI);
			imwrite(pic_name, ROI);
		}
		char key = cv::waitKey(30);
		if (key == 'q') stop = true;
	}
	waitKey(0);
	return;
}

//////////////////////////////////
//检测直线方法
int iCheckLine(char *filename)
{
	int i;
	IplImage* src = cvLoadImage(filename, 0);
	IplImage* dst;
	IplImage* color_dst;

	CvMemStorage* storage = cvCreateMemStorage(0);
	CvSeq* lines = 0;

	if (!src)     return -1;
	dst = cvCreateImage(cvGetSize(src), 8, 1);
	color_dst = cvCreateImage(cvGetSize(src), 8, 3);
	cvCanny(src, dst, 50, 200, 3);
	cvCvtColor(dst, color_dst, CV_GRAY2BGR);
#if 0

	lines = cvHoughLines2(dst, storage, CV_HOUGH_STANDARD, 1, CV_PI / 180, 100, 0, 0);
	for (i = 0; i < MIN(lines->total, 100); i++)
	{
		float* line = (float*)cvGetSeqElem(lines, i);
		float rho = line[0];
		float theta = line[1];
		CvPoint pt1, pt2;
		double a = cos(theta), b = sin(theta);
		double x0 = a * rho, y0 = b * rho;
		pt1.x = cvRound(x0 + 1000 * (-b));
		pt1.y = cvRound(y0 + 1000 * (a));
		pt2.x = cvRound(x0 - 1000 * (-b));
		pt2.y = cvRound(y0 - 1000 * (a));
		cvLine(color_dst, pt1, pt2, CV_RGB(255, 0, 0), 3, CV_AA, 0);
	}
#else
	lines = cvHoughLines2(dst, storage, CV_HOUGH_PROBABILISTIC, 1, CV_PI / 180, 50, 50, 10);
	for (i = 0; i < lines->total; i++)
	{
		CvPoint* line = (CvPoint*)cvGetSeqElem(lines, i);
		cvLine(color_dst, line[0], line[1], CV_RGB(255, 0, 0), 3, CV_AA, 0);
	}

#endif
	cvNamedWindow("Source", 1);
	cvShowImage("Source", src);
	cvNamedWindow("Hough", 1);
	cvShowImage("Hough", color_dst);
	cvReleaseMemStorage(&storage);
	cvWaitKey(0);
	return 0;
}
//检测圆方法
int iCheckCircles(char *filename)
{
	IplImage* img;
	if (img = cvLoadImage(filename, 1))
	{
		IplImage* gray = cvCreateImage(cvGetSize(img), 8, 1);
		CvMemStorage* storage = cvCreateMemStorage(0);

		cvCvtColor(img, gray, CV_BGR2GRAY);
		cvSmooth(gray, gray, CV_GAUSSIAN, 9, 9); // smooth it, otherwise a lot of false circles may be detected
		CvSeq* circles = cvHoughCircles(gray, storage, CV_HOUGH_GRADIENT, 2, gray->height / 5, 200, 100);
		int i;
		for (i = 0; i < circles->total; i++)
		{
			float* p = (float*)cvGetSeqElem(circles, i);
			cvCircle(img, cvPoint(cvRound(p[0]), cvRound(p[1])), 3, CV_RGB(0, 255, 0), -1, 8, 0);
			cvCircle(img, cvPoint(cvRound(p[0]), cvRound(p[1])), cvRound(p[2]), CV_RGB(0, 255, 0), 3, 8, 0);
		}
		cvNamedWindow("circles", 1);
		cvShowImage("circles", img);
		cvReleaseImage(&gray);
		cvReleaseMemStorage(&storage);
	}
	return 0;
}

//检测矩形代码：
/*
在程序里找寻矩形
*/
#ifdef _CH_
#pragma package <opencv>
#endif


IplImage* imgfx = 0;
CvMemStorage* storage = 0;
static const char* names[] = { "pic1.png", "pic2.png", "pic3.png", "pic4.png", "pic5.png", "pic6.png", 0 };
int thresh = 50;
// helper function:
// finds a cosine of angle between vectors
// from pt0->pt1 and from pt0->pt2 
//double angle(CvPoint* pt1, CvPoint* pt2, CvPoint* pt0)
//{
//    double dx1 = pt1->x - pt0->x;
//    double dy1 = pt1->y - pt0->y;
//    double dx2 = pt2->x - pt0->x;
//    double dy2 = pt2->y - pt0->y;
//    return (dx1*dx2 + dy1*dy2) / sqrt((dx1*dx1 + dy1*dy1)*(dx2*dx2 + dy2*dy2) + 1e-10);
//}

// returns sequence of squares detected on the image.
// the sequence is stored in the specified memory storage
CvSeq* findSquares4(IplImage* img, CvMemStorage* storage)
{
	CvSeq* contours;
	int i, c, l, N = 11;
	CvSize sz = cvSize(img->width & -2, img->height & -2);
	IplImage* timg = cvCloneImage(img); // make a copy of input image
	IplImage* gray = cvCreateImage(sz, 8, 1);
	IplImage* pyr = cvCreateImage(cvSize(sz.width / 2, sz.height / 2), 8, 3);
	IplImage* tgray;
	CvSeq* result;
	double s, t;
	// create empty sequence that will contain points -
	// 4 points per square (the square's vertices)
	CvSeq* squares = cvCreateSeq(0, sizeof(CvSeq), sizeof(CvPoint), storage);

	// select the maximum ROI in the image
	// with the width and height divisible by 2
	cvSetImageROI(timg, cvRect(0, 0, sz.width, sz.height));

	// down-scale and upscale the image to filter out the noise
	cvPyrDown(timg, pyr, 7);
	cvPyrUp(pyr, timg, 7);
	tgray = cvCreateImage(sz, 8, 1);

	// find squares in every color plane of the image
	for (c = 0; c < 3; c++)
	{
		// extract the c-th color plane
		cvSetImageCOI(timg, c + 1);
		cvCopy(timg, tgray, 0);

		// try several threshold levels
		for (l = 0; l < N; l++)
		{
			// hack: use Canny instead of zero threshold level.
			// Canny helps to catch squares with gradient shading   
			if (l == 0)
			{
				// apply Canny. Take the upper threshold from slider
				// and set the lower to 0 (which forces edges merging) 
				cvCanny(tgray, gray, 0, thresh, 5);
				// dilate canny output to remove potential
				// holes between edge segments 
				cvDilate(gray, gray, 0, 1);
			}
			else
			{
				// apply threshold if l!=0:
				//     tgray(x,y) = gray(x,y) < (l+1)*255/N ? 255 : 0
				cvThreshold(tgray, gray, (l + 1) * 255 / N, 255, CV_THRESH_BINARY);
			}

			// find contours and store them all as a list
			cvFindContours(gray, storage, &contours, sizeof(CvContour),
				CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE, cvPoint(0, 0));

			// test each contour
			while (contours)
			{
				// approximate contour with accuracy proportional
				// to the contour perimeter
				result = cvApproxPoly(contours, sizeof(CvContour), storage,
					CV_POLY_APPROX_DP, cvContourPerimeter(contours)*0.02, 0);
				// square contours should have 4 vertices after approximation
				// relatively large area (to filter out noisy contours)
				// and be convex.
				// Note: absolute value of an area is used because
				// area may be positive or negative - in accordance with the
				// contour orientation
				if (result->total == 4 &&
					fabs(cvContourArea(result, CV_WHOLE_SEQ)) > 1000 &&
					cvCheckContourConvexity(result))
				{
					s = 0;

					for (i = 0; i < 5; i++)
					{
						// find minimum angle between joint
						// edges (maximum of cosine)
						if (i >= 2)
						{
							t = fabs(angle(
								(CvPoint*)cvGetSeqElem(result, i),
								(CvPoint*)cvGetSeqElem(result, i - 2),
								(CvPoint*)cvGetSeqElem(result, i - 1)));
							s = s > t ? s : t;
						}
					}

					// if cosines of all angles are small
					// (all angles are ~90 degree) then write quandrange
					// vertices to resultant sequence 
					if (s < 0.3)
						for (i = 0; i < 4; i++)
							cvSeqPush(squares,
							(CvPoint*)cvGetSeqElem(result, i));
				}

				// take the next contour
				contours = contours->h_next;
			}
		}
	}

	// release all the temporary images
	cvReleaseImage(&gray);
	cvReleaseImage(&pyr);
	cvReleaseImage(&tgray);
	cvReleaseImage(&timg);

	return squares;
}

// the function draws all the squares in the image
void drawSquares(IplImage* img, CvSeq* squares)
{
	CvSeqReader reader;
	IplImage* cpy = cvCloneImage(img);
	int i;
	CvPoint pt[4];
	// initialize reader of the sequence
	cvStartReadSeq(squares, &reader, 0);

	// read 4 sequence elements at a time (all vertices of a square)
	for (i = 0; i < squares->total; i += 4)
	{
		CvPoint* rect = pt;
		int count = 4;

		// read 4 vertices
		memcpy(pt, reader.ptr, squares->elem_size);
		CV_NEXT_SEQ_ELEM(squares->elem_size, reader);
		memcpy(pt + 1, reader.ptr, squares->elem_size);
		CV_NEXT_SEQ_ELEM(squares->elem_size, reader);
		memcpy(pt + 2, reader.ptr, squares->elem_size);
		CV_NEXT_SEQ_ELEM(squares->elem_size, reader);
		memcpy(pt + 3, reader.ptr, squares->elem_size);
		CV_NEXT_SEQ_ELEM(squares->elem_size, reader);

		// draw the square as a closed polyline 
		cvPolyLine(cpy, &rect, &count, 1, 1, CV_RGB(255, 255, 255), 3, CV_AA, 0);
	}

	// show the resultant image
	cvShowImage("Square Detection Demo", cpy);
	cvReleaseImage(&cpy);
}

void on_trackbar(int a)
{
	if (imgfx)
		drawSquares(imgfx, findSquares4(imgfx, storage));
}

// 检测矩形
int iCheckFangXiang(char *filename)
{
	IplImage* img0 = 0;
	int  c;
	// create memory storage that will contain all the dynamic data
	storage = cvCreateMemStorage(0);

	// load i-th image
	img0 = cvLoadImage(filename, 1);
	cvShowImage("原图", img0);
	if (!img0)
	{
		printf("Couldn't load %s/n", filename);
		return 0;
	}
	imgfx = cvCloneImage(img0);

	// create window and a trackbar (slider) with parent "image" and set callback
	// (the slider regulates upper threshold, passed to Canny edge detector) 
	//cvNamedWindow("Square Detection Demo1"，1);
	cvCreateTrackbar("canny thresh", "Square Detection Demo2", &thresh, 1000, on_trackbar);

	// force the image processing
	on_trackbar(0);

	// wait for key.
	// Also the function cvWaitKey takes care of event processing
	c = cvWaitKey(0);
	// release both images
	cvReleaseImage(&imgfx);
	cvReleaseImage(&img0);
	// clear memory storage - reset free space position
	cvClearMemStorage(storage);

	cvDestroyWindow("Square Detection Demo3");

	return 0;
}



///////////////////////////////////////////////////////////////////////////////////
double Angles(Point cen, Point first, Point second)
{
	double M_PIs = 3.1415926535897;

	double ma_x = first.x - cen.x;
	double ma_y = first.y - cen.y;
	double mb_x = second.x - cen.x;
	double mb_y = second.y - cen.y;
	double v1 = (ma_x * mb_x) + (ma_y * mb_y);
	double ma_val = sqrt(ma_x * ma_x + ma_y * ma_y);
	double mb_val = sqrt(mb_x * mb_x + mb_y * mb_y);
	double cosM = v1 / (ma_val * mb_val);
	double angleAMB = acos(cosM) * 180 / M_PIs;
	return angleAMB;
}

/************************************************************************
*函数名：        get_point_angle
*
*函数作用：      已知2个坐标点，求从 0------->x 逆时针需旋转多少角度到该位置
*
*                   |
*                   |
*                   |
*                   |
*------------------------------------> x
*                   | 0
*                   |
*                   |
*                   |
*                   v
*                   y
*
*函数参数：
*CvPoint2D32f pointO  - 起点
*CvPoint2D32f pointA  - 终点
*
*函数返回值：
*double         向量OA，从 0------->x 逆时针需旋转多少角度到该位置
**************************************************************************/

double get_point_angles(CvPoint pointO, CvPoint pointA)
{
	double angle = 0;
	CvPoint point;
	double temp;

	point = cvPoint((pointA.x - pointO.x), (pointA.y - pointO.y));

	if ((0 == point.x) && (0 == point.y))
	{
		return 0;
	}

	if (0 == point.x)
	{
		angle = 90;
		return angle;
	}

	if (0 == point.y)
	{
		angle = 0;
		return angle;
	}

	temp = fabsf(float(point.y) / float(point.x));
	temp = atan(temp);
	temp = temp * 180 / CV_PI;

	if ((0 < point.x) && (0 < point.y))
	{
		angle = 360 - temp;
		return angle;
	}

	if ((0 > point.x) && (0 < point.y))
	{
		angle = 360 - (180 - temp);
		return angle;
	}

	if ((0 < point.x) && (0 > point.y))
	{
		angle = temp;
		return angle;
	}

	if ((0 > point.x) && (0 > point.y))
	{
		angle = 180 - temp;
		return angle;
	}

	printf("sceneDrawing :: getAngle error!");
	return -1;
}

Mat src, src_gray;
Mat dst, detected_edges;

int edgeThresh = 1;
int lowThreshold = 77;
int max_lowThreshold = 100;
int ratio = 3;
int kernel_size = 3;

vector<Vec3f> circles;
Point g_Center(0, 0);
int g_radius = 0;
/**
* @函数 CannyThreshold
* @简介： trackbar 交互回调 - Canny阈值输入比例1:3
*/
void CannyThreshold(int, void*)
{
	int radius = 0;
	int iMaxLimit = 0;
	double min = 0;
	string window_name = "Edge Map";
	/// 使用 3x3内核降噪
	//while (lowThreshold > 0) {
	blur(src_gray, detected_edges, Size(3, 3));

	/// 运行Canny算子 
	Canny(detected_edges, detected_edges, lowThreshold, lowThreshold*ratio, kernel_size);
	//printf("LowThresold : %d -- %d \n", lowThreshold, lowThreshold*ratio);
	/// 使用 Canny算子输出边缘作为掩码显示原图像,声明一个三通道图像，像素值全为0，用来将霍夫变换检测出的圆画在上面
	dst = Scalar::all(0);

	src.copyTo(dst, detected_edges);
	HoughCircles(detected_edges, circles, CV_HOUGH_GRADIENT,
		1,   //dp,累加器图像的分辨率,增大则分辨率变小
		100, // 100,  //minDist,很重要的一个参数，告诉两个圆之间的距离的最小距离，如果已知一副图像，可以先行计
					//算出符合自己需要的两个圆之间的最小距离。
		150, //param1,canny算法的阈值上限，下限为一半（即100以上为边缘点，50以下抛弃，中间视是否相连而定）
		100,  //param2,决定成圆的多寡 ，一个圆上的像素超过这个阈值，则成圆，否则丢弃
		230, //minRadius,最小圆半径，这个可以通过图片确定你需要的圆的区间范围
		460  //maxRadius,最大圆半径
	);
	//imshow(window_name, dst);
	   // if (circles.size() <= 0) {
	   //     lowThreshold--;
	   //     continue;
	   //}
	  //  break;
	//}
	if (circles.size() <= 0) {
		printf("Can not circles, return, thred=%d\n", lowThreshold);
		return;
	}
	for (size_t i = 0; i < circles.size(); i++)//把霍夫变换检测出的圆画出来
	{
		Point center(cvRound(circles[i][0]), cvRound(circles[i][1]));
		radius = cvRound(circles[i][2]);
		g_Center = center;
		g_radius = radius;
		line(dst, center, center, Scalar(0, 0, 255), 8);
		//circle(dst, center, 0, Scalar(0, 255, 0), -1, 8, 0);
		int a = cvRound(circles[i][0]);
		int b = cvRound(circles[i][1]);
		circle(dst, center, radius, Scalar(255, 0, 0), 2);
		//printf("low=%.4f  max=%d\n", lowThreshold, iMaxLimit);
		printf("No%d - {%d}   %4d    %dx%d        %d     %d     %d\n", i + 1, lowThreshold,
			(int)circles.size(), a, b, radius, dst.cols, dst.rows);
		//在控制台输出圆心坐标和半径				
	}
	imshow(window_name, dst);
#if 1
	// 找线段
	vector<Vec4i> lines2;
	int Len = 0, iCirLen = 0;
	HoughLinesP(detected_edges, lines2, 1, CV_PI / 180, 50, 50, 10);
	double vv = 0.0f;
	double fmin = 26.0f;
	int p = 0;
	//while (p <= 0) {
	//    min++;
	for (int n = 0; n < (int)lines2.size(); n++)
	{
		// minangle = 60 maxangle = 320 最大刻度量 10，theta = 220
		Point A(lines2[n][0], lines2[n][1]), B(lines2[n][2], lines2[n][3]);  // 一条线段的2头坐标点
		Point C((int)circles[0][0], (int)circles[0][1]);  // 圆心点坐标
		double vv = DistancetoSegment(C, A, B);
		Len = (int)Length(Point(A.x - B.x, A.y - B.y));
		//printf("Len=%d  vv = %.4f\n", Len, vv);
		if (Len > 150 && vv < fmin) {
			fmin = vv;
			line(dst, A, B, Scalar(0, 255, 0), 2, CV_AA);
			printf("OK_Len=%d  vv = %.4f\n", Len, vv);
			imshow(window_name, dst);
		}
		//iCirLen = (int)Length(Point((int)C.x - B.x, (int)C.y - B.y));

		//if (Len > g_radius) // && vv < 13.0f)         {
		//if (Len > 100 && vv < 10.0f) {
		//    line(dst, A, B, Scalar(0, 255, 0), 2, CV_AA);
		//    min = vv;
		//    p = n;
		//    // 
		//    //int x_angle = B.x - A.x;
		//    //int y_angle = A.y - B.y;
		//    //if (x_angle <= 0) continue;

		//    //double theta = atan(tan(y_angle / x_angle));
		//    //double final_theta = 0;
		//    //// 左右分
		//    ////if ((x_angle > 0 && y_angle > 0) || (x_angle > 0 && y_angle < 0))
		//    ////    final_theta = 270 - theta;
		//    ////if ((x_angle < 0 && y_angle >0) || (x_angle < 0 && y_angle < 0))
		//    ////    final_theta = 90 - theta;
		//    ////上下分
		//    //if ((x_angle > 0 && y_angle > 0) || (x_angle < 0 && y_angle > 0))
		//    //    final_theta = 360 - theta;
		//    //if ((x_angle > 0 && y_angle <0) || (x_angle < 0 && y_angle < 0))
		//    //    final_theta = 180 - theta;

		//    // minangle = 48, maxangle = 320 最大刻度量 10
		//    double du = get_point_angles(B, A);
		//    //double val = (final_theta - 48) * 1.6f / (270 - 24); 
		//    //double val = dGetReadValueOfYZFTH(du, 360, Len);
		//    double val = (du * 10) / (270);
		//    //printf_s(" = %.2f°   %.2f         %.2f     %.2f    %.2f   [%d]\n", Angles(C, B, A), val, final_theta, theta, vv, Len);
		//    //printf_s(" = %.2f°   %.2f         %.2f     %.2f    %.2f   [%d]\n", get_point_angles(B,A), val, final_theta, theta, vv, Len);
		//    printf(" = %.2f°   [%.2f]         %.2f   [%d]\n", get_point_angles(B, A), val, vv, Len);
		//}


	}
	printf("OK_Len=%d  vv = %.4f\n", Len, fmin);
	//}
#endif
	imshow(window_name, dst);
}

// 检测线段
void vHoughLines(int, void*)
{
	string window_name = "Edge Map";
	// 找线段
	vector<Vec4i> lines2;
	int Len = 0, iCirLen = 0;
	HoughLinesP(detected_edges, lines2, 1, CV_PI / 180, 50, 50, 10);
	for (int n = 0; n < (int)lines2.size(); n++)
	{
		// minangle = 60 maxangle = 320 最大刻度量 10，theta = 220
		Point A(lines2[n][0], lines2[n][1]), B(lines2[n][2], lines2[n][3]);  // 一条线段的2头坐标点
		Point C((int)circles[0][0], (int)circles[0][1]);  // 圆心点坐标
		double vv = DistancetoSegment(C, A, B);


		Len = (int)Length(Point(A.x - B.x, A.y - B.y));
		iCirLen = (int)Length(Point((int)C.x - B.x, (int)C.y - B.y));

		if (Len > g_radius && vv < 10.0f) {
			line(dst, A, B, Scalar(0, 255, 0), 2, CV_AA);
			// 
			int x_angle = B.x - C.x;
			int y_angle = C.y - B.y;
			if (x_angle <= 0) continue;

			double theta = atan(tan(y_angle / x_angle));
			double final_theta = 0;
			// 左右分
			//if ((x_angle > 0 && y_angle > 0) || (x_angle > 0 && y_angle < 0))
			//    final_theta = 270 - theta;
			//if ((x_angle < 0 && y_angle >0) || (x_angle < 0 && y_angle < 0))
			//    final_theta = 90 - theta;
			//上下分
			if ((x_angle > 0 && y_angle > 0) || (x_angle < 0 && y_angle > 0))
				final_theta = 360 - theta;
			if ((x_angle > 0 && y_angle < 0) || (x_angle < 0 && y_angle < 0))
				final_theta = 180 - theta;

			double val = (final_theta - 60) * 10 / (320 - 60);
			//double val = (final_theta - 48) * 10 / (270 - 24);
			printf("%.2f    %.2f    %.2f    %.2f    %.2f\n", Angles(C, A, B), val, final_theta, theta, vv);
		}
	}
	imshow(window_name, dst);
}

// 滑动窗口检测图片圆和线段
void HTImgAnalys(const char *img_file)
{
	char *window_name = NULL;
	/// 装载图像
	src = imread(img_file);
	//AdaptiveFindThreshold(src, (double*)&lowThreshold, (double*)&max_lowThreshold, 3);
	//AdaptiveFindThreshold(src, &lowThreshold, &max_lowThreshold, 3);
	printf("lowThreshold = %f      max_lowThreshold=%f\n", lowThreshold, max_lowThreshold);
	window_name = (char*)img_file;

	if (!src.data)
	{
		perror("error");
		return;
	}
	printf("width x higth = %dx%d\n", src.cols, src.rows);
	printf("No.   Ltld   Htld   cirs    center    radius    w_cols    h_rows     Angles     value     final_theta   theta     vv      Len\n");

	// 创建与src同类型和大小的矩阵(dst)
	dst.create(src.size(), src.type());

	// 原图像转换为灰度图像
	cvtColor(src, src_gray, CV_BGR2GRAY);

	// 创建显示窗口
	namedWindow(window_name, CV_WINDOW_AUTOSIZE);

	// 创建trackbar
	createTrackbar("Min Threshold:", window_name, &lowThreshold, max_lowThreshold, CannyThreshold);
	// createTrackbar("Min Threshold:", window_name, (int*)&low, max, CannyThreshold);

	// 显示图像
	CannyThreshold(0, 0);
	//vHoughLines(0, 0);

	// 等待用户反应
	waitKey(0);
	dst.release();
}

// 上海自动化仪表股份有限公司OCr17Ni12Mo2压力表，min~max=0-1.6MPa
void vInitPress_OCR17NI12MO2_16()
{
	// radio, du, val
	float initdu = 225.0f;   //max 315-1.6, 225-0.0
	float du = 225.0f;
	float val = 0;
	int i = 0;
	for (i = 0; i < 80; i++)
	{
		printf("{%d,%.2f,%.2f},\n", 183, du, val);
		du -= 5.40f;
		if (du < 0) du = 360 - du;
		val += 0.05f;
	}
	printf("{%d,%.2f,%.2f},\n", 180, du, val);
}

// 上海自动化仪表股份有限公司OCr17Ni12Mo2压力表，min~max=0-2.5MPa
void vInitPress_OCR17NI12MO2_25()
{

}