#include "eyemEdge1d.h"

static void findPeak(int iSize, float projectMap[], float fAmpThreshold, std::vector<int>& peaks)
{
	std::vector<int> sign;
	for (int i = 1; i < iSize; i++) {
		auto diff = projectMap[i] - projectMap[i - 1];
		if (diff < 0.0f) {
			sign.push_back(-1);
		}
		else if (diff > 0.0f) {
			sign.push_back(1);
		}
		else {
			sign.push_back(0);
		}
	}
	for (int j = 1; j < sign.size(); j++) {
		int diff = sign[j] - sign[j - 1];
		if (diff != 0 && abs(projectMap[j]) > fAmpThreshold) {
			peaks.push_back(j);
		}
	}
}

static cv::Mat projectMap(const cv::Mat map, int threshold)
{
	double height = .0, width = map.cols;

	cv::Mat nmMap;
	cv::normalize(map, nmMap, 0, 255, cv::NORM_MINMAX);
	cv::minMaxLoc(nmMap, NULL, &height, NULL, NULL);

	cv::Mat image = cv::Mat::zeros((int)height, (int)width, CV_8UC3);
	image.setTo(cv::Scalar(100, 0, 0));

	std::vector<cv::Point> rejectPoint;
	for (int i = 0; i < nmMap.cols; i++)
	{
		rejectPoint.push_back(cv::Point(i, (int)(height - nmMap.at<float>(cv::Point(i, 0)))));
	}

	cv::polylines(image, rejectPoint, false, cv::Scalar(0, 255, 0), 1, 8, 0);
	//cv::line(image, cv::Point(0, (int)MAX(height - threshold, 0)), cv::Point((int)width, (int)MAX(height - threshold, 0)), cv::Scalar(0, 255, 255), 1, 8);
	return image;
}

void  getSuperResolution(const cv::Mat& src, cv::Mat& dst, int size)
{
	dst = cv::Mat::zeros(src.size() * size, src.type());
	for (int i = 0; i < src.cols; i++)
	{
		for (int j = 0; j < src.rows; j++)
		{
			cv::Mat m(cv::Size(size, size), src.type(), cv::Scalar::all(src.at<uchar>(j, i)));
			m.copyTo(dst(cv::Rect(i * size, j * size, size, size)));
		}
	}
}

int	eyemEdge1dGenMeasureRect(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, const char* ccSubType, int iTransition, double dSigma, double dAmpThresh, IntPtr* hObject)
{
	cv::Mat image = cv::Mat(tpImage.iHeight, tpImage.iWidth, MAKETYPE(tpImage.iDepth, tpImage.iChannels), tpImage.vpImage);

	if (image.empty()) {
		return FUNC_IMAGE_NOT_EXIST;
	}
	const int X = image.cols, Y = image.rows;

	if (tpLineSt.dX < 0 || tpLineSt.dY < 0 || tpLineSt.dX>tpImage.iWidth || tpLineSt.dY>tpImage.iHeight\
		|| tpLineEd.dX<0 || tpLineEd.dY<0 || tpLineEd.dX>tpImage.iWidth || tpLineEd.dY>tpImage.iHeight)
		return FUNC_ILLEGAL_ARGUMENT;

	return FUNC_OK;
}

int eyemEdge1dGenPosRect(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, int iTransition, double dSigma, double dAmpThresh, IntPtr* hObject)
{
	cv::Mat image = cv::Mat(tpImage.iHeight, tpImage.iWidth, MAKETYPE(tpImage.iDepth, tpImage.iChannels), tpImage.vpImage);

	if (image.empty()) {
		return FUNC_IMAGE_NOT_EXIST;
	}
	const int X = image.cols, Y = image.rows;

	if (tpLineSt.dX < 0 || tpLineSt.dY < 0 || tpLineSt.dX>tpImage.iWidth || tpLineSt.dY>tpImage.iHeight\
		|| tpLineEd.dX<0 || tpLineEd.dY<0 || tpLineEd.dX>tpImage.iWidth || tpLineEd.dY>tpImage.iHeight)
		return FUNC_ILLEGAL_ARGUMENT;

	return FUNC_OK;
}

int eyemEdge1dFindLine(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iCapLength, int iCapWidth, int nCalipers, int nFilterSize, int iSearchDirec, double dAmpThreshold, const char* ccTransition, IntPtr* hObject)
{
	cv::Mat image = cv::Mat(tpImage.iHeight, tpImage.iWidth, MAKETYPE(tpImage.iDepth, tpImage.iChannels), tpImage.vpImage).clone();
	if (image.empty()) {
		return FUNC_IMAGE_NOT_EXIST;
	}
	//灰度图
	int incn = image.channels();
	if (incn > 3) {
		cv::cvtColor(image, image, cv::COLOR_BGRA2GRAY);
	}
	else if (incn == 3) {
		cv::cvtColor(image, image, cv::COLOR_BGR2GRAY);
	}
	const int X = image.cols, Y = image.rows;
	//显示用
	cv::Mat cc;
	cv::cvtColor(image, cc, cv::COLOR_GRAY2BGR);
	//判断越界
	if (tpLineSt.dX < 0 || tpLineSt.dY < 0 || tpLineSt.dX>X || tpLineSt.dY>Y || tpLineEd.dX<0 || tpLineEd.dY<0 || tpLineEd.dX>X || tpLineEd.dY>Y) {
		return FUNC_ILLEGAL_ARGUMENT;
	}
	//主轴倾角
	double t;
	t = atan2(tpLineEd.dY - tpLineSt.dY, tpLineEd.dX - tpLineSt.dX);
	//参数限制
	iCapWidth = iCapWidth <= 0 ? iCapWidth = 0 : iCapWidth - 1;
	iCapLength = iCapLength <= 0 ? 8 : iCapLength;
	nCalipers = nCalipers <= 0 ? 5 : nCalipers;
	//直线上的坐标
	float L = (float)cv::norm(cv::Point2d(tpLineSt.dX, tpLineSt.dY) - cv::Point2d(tpLineEd.dX, tpLineEd.dY));
	//步长
	float plusStep = (L - (float)nCalipers * (float)iCapWidth) / ((float)nCalipers + 1.0f);
	//绘制profileLine
	cv::arrowedLine(cc, cv::Point(cvRound(tpLineSt.dX), cvRound(tpLineSt.dY)), cv::Point(cvRound(tpLineEd.dX), cvRound(tpLineEd.dY)), cv::Scalar(255, 153, 0), 1);
	//判断极性
	bool anyPolarity = strcmp("all", ccTransition) == 0;
	//默认过滤一半像素
	float* filterK = new float[2 * nFilterSize + 1]();
	//定义滤波核
	for (int n = 0; n < nFilterSize; n++) {
		filterK[n] = 1;
		filterK[2 * nFilterSize - n] = -1;
	}
	cv::Mat whalf(cv::Size(2 * nFilterSize + 1, 1), CV_32FC1, filterK);
	//线采样,双线性插值
	cv::Size szMap(2 * iCapLength + 1, iCapWidth + 1);
	//结果
	std::vector<EyemOcsDXY>* tpResults = new std::vector<EyemOcsDXY>();
	for (int n = 1; n <= nCalipers; n++)
	{
		float* pMag = new float[szMap.width * szMap.height];
		for (int m = 0; m <= iCapWidth; m++)
		{
			float plusX, plusY;
			plusX = ((float)n * (plusStep + (float)iCapWidth) - (float)iCapWidth + m) * (float)cos(t);
			plusY = ((float)n * (plusStep + (float)iCapWidth) - (float)iCapWidth + m) * (float)sin(t);
			//中轴线路径上的点
			cv::Point2f pLine((float)tpLineSt.dX + plusX, (float)tpLineSt.dY + plusY);
			for (int iR = -iCapLength; iR <= iCapLength; iR++) {
				//待插值坐标
				float _plusX, _plusY;
				_plusX = (float)iR * (float)cos(t + iSearchDirec * CV_PI / 2.0) + pLine.x;
				_plusY = (float)iR * (float)sin(t + iSearchDirec * CV_PI / 2.0) + pLine.y;
				//防止越界
				if (_plusX < 1 || _plusX >= X - 2 || _plusY < 1 || _plusY >= Y - 2) {
					pMag[(iCapLength + iR) + m * szMap.width] = -1;
					continue;
				}
#ifdef _DEBUG
				//drawPoint("", cv::Point2f(_plusX, _plusY), cv::Scalar(36, 127, 255), 1);
				//画像素
				float bb = (float)cos(t) * 0.5f;
				float aa = (float)sin(t) * 0.5f;
				cv::Point2f pt(_plusX, _plusY);
				cv::Point2f pts[4];
				pts[0].x = (float)(pt.x - aa - bb);
				pts[0].y = (float)(pt.y + bb - aa);
				pts[1].x = (float)(pt.x + aa - bb);
				pts[1].y = (float)(pt.y - bb - aa);
				pts[2].x = (float)(2 * pt.x - pts[0].x);
				pts[2].y = (float)(2 * pt.y - pts[0].y);
				pts[3].x = (float)(2 * pt.x - pts[1].x);
				pts[3].y = (float)(2 * pt.y - pts[1].y);
				for (int j = 0; j < 4; j++)
				{
					//drawLine("", pts[j], pts[(j + 1) % 4], cv::Scalar(255, 153, 0));
				}
#endif
				//整数部分
				int x = cvRound(_plusX), y = cvRound(_plusY);
				//小数部分
				float u = abs(_plusX - ((float)x + 0.5f));
				float v = abs(_plusY - ((float)y - 1.0f + 0.5f));
				//插值计算灰度值
				float gv = (1.0f - v) * (image.ptr<uint8_t>(y - 1)[x] * (1.0f - u) + image.ptr<uint8_t>(y - 1)[x - 1] * u)
					+ v * (image.ptr<uint8_t>(y)[x] * (1.0f - u) + image.ptr<uint8_t>(y)[x - 1] * u);
				//填入灰度值
				pMag[(iCapLength + iR) + m * szMap.width] = gv;
			}
		}
		//采样位置
		cv::Point2f midLine((float)tpLineSt.dX + ((float)n * (plusStep + (float)iCapWidth) - (float)iCapWidth + (float)iCapWidth / 2.0f) * (float)cos(t),
			(float)tpLineSt.dY + ((float)n * (plusStep + (float)iCapWidth) - (float)iCapWidth + (float)iCapWidth / 2.0f) * (float)sin(t));
		//各位置采样路径
		cv::Point2f midLineStart, midLineEnd;
		midLineStart = cv::Point2f(-iCapLength * (float)cos(t + iSearchDirec * CV_PI / 2.0) + midLine.x, -iCapLength * (float)sin(t + iSearchDirec * CV_PI / 2.0) + midLine.y);
		midLineEnd = cv::Point2f(iCapLength * (float)cos(t + iSearchDirec * CV_PI / 2) + midLine.x, iCapLength * (float)sin(t + iSearchDirec * CV_PI / 2.0) + midLine.y);
		//采样图像
		cv::Mat interMap(szMap, CV_32FC1, pMag);
		//计算投影
		cv::Mat projectedMap;
		cv::reduce(interMap, projectedMap, 0, cv::REDUCE_AVG, CV_32F);
		//差分过滤(TODO:加高斯滤波)
		float* pFilteredMap = new float[szMap.width];
		cv::Mat filteredMap(cv::Size(szMap.width, 1), CV_32FC1, pFilteredMap);
		cv::Mat kY = cv::Mat::ones(1, 1, CV_32F);
		cv::sepFilter2D(projectedMap, filteredMap, CV_32F, whalf, kY);
		//投影峰值查找
		std::vector<int> peeks;
		findPeak(szMap.width, pFilteredMap, (float)dAmpThreshold, peeks);
		//存在满足幅度值的边缘
		if (!peeks.empty()) {
			float dist = 0; bool found = false;
			//判断灰度值过滤类型
			if (anyPolarity) {
				//不分极性
				float maxDist = 0; int maxPos = 0; found = true;
				for (auto& peek : peeks) {
					if (abs(pFilteredMap[peek]) > maxDist) {
						maxDist = abs(pFilteredMap[peek]);
						maxPos = peek;
					}
				}
				dist = (float)maxPos;
			}
			else if (strcmp("positive", ccTransition) == 0) {
				int maxPos = 0;
				for (auto& peek : peeks) {
					if (pFilteredMap[peek] > 0) {
						maxPos = peek;
						found = true;
						break;
					}
				}
				dist = (float)maxPos;
			}
			else if (strcmp("negative", ccTransition) == 0) {
				int maxPos = 0;
				for (auto& peek : peeks) {
					if (pFilteredMap[peek] < 0) {
						maxPos = peek;
						found = true;
						break;
					}
				}
				dist = (float)maxPos;
			}
			//阈值限制,计算亚像素坐标
			if (found) {
				int l, m, r; float a, b, c, u;
				m = (int)dist;
				l = m - 1 < 0 ? m : m - 1;
				r = m + 1 >= szMap.width ? m : m + 1;

				a = pFilteredMap[l]; b = pFilteredMap[m];
				c = pFilteredMap[r];
				u = 0.5f * (a - c) / (a - b - b + c);
				//定位结果
				float dstX, dstY;
				dstX = midLineStart.x + (dist + u) * (float)cos(t + iSearchDirec * CV_PI / 2.0);
				dstY = midLineStart.y + (dist + u) * (float)sin(t + iSearchDirec * CV_PI / 2.0);
				EyemOcsDXY tpResult;
				tpResult.dX = dstX; tpResult.dY = dstY;
				tpResults->push_back(tpResult);
			}
		}
#ifdef _DEBUG
		cv::arrowedLine(cc, midLineStart, midLineEnd, cv::Scalar(0, 255, 0), 1);
		//画卡尺
		float bb = (float)cos(t) * 0.5f;
		float aa = (float)sin(t) * 0.5f;
		cv::Point2f pt(midLine.x, midLine.y);
		cv::Point2f pts[4];
		pts[0].x = (float)(pt.x - aa * szMap.width - bb * szMap.height);
		pts[0].y = (float)(pt.y + bb * szMap.width - aa * szMap.height);
		pts[1].x = (float)(pt.x + aa * szMap.width - bb * szMap.height);
		pts[1].y = (float)(pt.y - bb * szMap.width - aa * szMap.height);
		pts[2].x = (float)(2 * pt.x - pts[0].x);
		pts[2].y = (float)(2 * pt.y - pts[0].y);
		pts[3].x = (float)(2 * pt.x - pts[1].x);
		pts[3].y = (float)(2 * pt.y - pts[1].y);
		for (int j = 0; j < 4; j++)
		{
			//drawLine("", pts[j], pts[(j + 1) % 4], cv::Scalar(255, 153, 0), 2);
			cv::line(cc, pts[j], pts[(j + 1) % 4], cv::Scalar(255, 153, 0));
		}
#endif
		//释放资源
		delete[] pMag;
		pMag = NULL;
	}
#ifdef _DEBUG
	//if (!tpResults->empty()) {
	//	//拟合直线
	//	EyemOcsDABC tpLine;
	//	eyemFitLine((int)tpResults->size(), tpResults->data(), 3, tpLine);
	//	//画直线y=kx+b--->kx-y+b=0
	//	//(0,P1)、(X,P2)、(P3,0)、(P4,Y)
	//	cv::Mat dst;
	//	getSuperResolution(image, dst, 10);
	//	cv::cvtColor(dst, dst, cv::COLOR_GRAY2BGR);
	//	for (int i = 0; i < tpResults->size(); i++)
	//	{
	//		cv::circle(dst, cv::Point(int(round(tpResults->at(i).dX * 10)), int(round(tpResults->at(i).dY * 10))), 1, cv::Scalar(0, 255, 0), -1);
	//	}
	//}
#endif
	//释放资源(Tips:当存在越界时候在用free释放时会报错)
	delete[] filterK;
	filterK = NULL;
	//输出结果
	*hObject = reinterpret_cast<IntPtr>(tpResults);
	return FUNC_OK;
}

int eyemEdge1dFindCircle(EyemImage tpImage, EyemOcsDXY tpPoint, int iRadius, int iCapLength, int iCapWidth, int nCalipers, int nFilterSize, int iSearchDirec, double dAmpThreshold, const char* ccTransition, IntPtr* hObject)
{
	cv::Mat image = cv::Mat(tpImage.iHeight, tpImage.iWidth, MAKETYPE(tpImage.iDepth, tpImage.iChannels), tpImage.vpImage).clone();
	if (image.empty()) {
		return FUNC_IMAGE_NOT_EXIST;
	}
	//灰度图
	int incn = image.channels();
	if (incn > 3) {
		cv::cvtColor(image, image, cv::COLOR_BGRA2GRAY);
	}
	else if (incn == 3) {
		cv::cvtColor(image, image, cv::COLOR_BGR2GRAY);
	}

	const int X = image.cols, Y = image.rows;
	//判断越界
	if (tpPoint.dX < 0 || tpPoint.dY < 0 || tpPoint.dX>X || tpPoint.dY>Y) {
		return 0;
	}
	cv::Mat cc;
	cv::cvtColor(image, cc, cv::COLOR_GRAY2BGR);
	//步长
	float plusStep = float(TWO_PI / (float)nCalipers);
	//绘制profileLine
	cv::circle(cc, cv::Point(cvRound(tpPoint.dX), cvRound(tpPoint.dY)), iRadius, cv::Scalar(), 1);
	//判断极性
	bool anyPolarity = strcmp("all", ccTransition) == 0;
	//默认过滤一半像素
	float* filterK = new float[2 * nFilterSize + 1]();
	//定义滤波核
	for (int n = 0; n < nFilterSize; n++) {
		filterK[n] = 1;
		filterK[2 * nFilterSize - n] = -1;
	}
	cv::Mat whalf(cv::Size(2 * nFilterSize + 1, 1), CV_32FC1, filterK);
	//参数限制
	iCapWidth = iCapWidth <= 0 ? 0 : iCapWidth - 1;
	iCapLength = iCapLength <= 0 ? 12 : iCapLength;
	nCalipers = nCalipers <= 0 ? 10 : nCalipers;
	//线采样
	cv::Size szMap(2 * iCapLength + 1, iCapWidth + 1);
	//结果
	std::vector<EyemOcsDXY>* tpResults = new std::vector<EyemOcsDXY>();
	for (float t = -(float)PI; t < PI; t += plusStep)
	{
		int m = 0;
		//路径上的点
		float x = float(tpPoint.dX + (float)iRadius * cos(t));
		float y = float(tpPoint.dY + (float)iRadius * sin(t));
		//采样图像
		float* pMag = new float[szMap.width * szMap.height];
		for (float n = -(float)iCapWidth / 2.0f; n <= (float)iCapWidth / 2.0f; n += 1.0f, m++)
		{
			for (int iR = -iCapLength; iR <= iCapLength; iR++) {
				//待插值坐标
				float _plusX, _plusY;
				_plusX = (float)iR * iSearchDirec * (float)cos(t) + x + n * (float)cos(t + CV_PI / 2);
				_plusY = (float)iR * iSearchDirec * (float)sin(t) + y + n * (float)sin(t + CV_PI / 2);
				//防止越界
				if (_plusX < 1 || _plusX >= X - 2 || _plusY < 1 || _plusY >= Y - 2) {
					continue;
				}
				//drawPoint("", cv::Point2f(_plusX, _plusY), cv::Scalar(36, 127, 255), 1);
				//整数部分
				int x = cvRound(_plusX), y = cvRound(_plusY);
				//小数部分
				float u = abs(_plusX - ((float)x + 0.5f));
				float v = abs(_plusY - ((float)y - 1.0f + 0.5f));
				//插值计算灰度值
				float gv = (1.0f - v) * (image.ptr<uint8_t>(y - 1)[x] * (1.0f - u) + image.ptr<uint8_t>(y - 1)[x - 1] * u)
					+ v * (image.ptr<uint8_t>(y)[x] * (1.0f - u) + image.ptr<uint8_t>(y)[x - 1] * u);
				//填入灰度值
				pMag[(iCapLength + iR) + m * szMap.width] = gv;
			}
		}
		//采样位置中线
		cv::Point2f midLineStart, midLineEnd;
		midLineStart = cv::Point2f(-iCapLength * iSearchDirec * (float)cos(t) + x, -iCapLength * iSearchDirec * (float)sin(t) + y);
		midLineEnd = cv::Point2f(iCapLength * iSearchDirec * (float)cos(t) + x, iCapLength * iSearchDirec * (float)sin(t) + y);
		cv::arrowedLine(cc, cv::Point(), cv::Point(), cv::Scalar(0, 255, 0), 1);
		//采样图像
		cv::Mat interMap(szMap, CV_32FC1, pMag);
		//计算投影
		cv::Mat projectedMap;
		cv::reduce(interMap, projectedMap, 0, cv::REDUCE_AVG, CV_32F);
		//差分过滤(TODO:加高斯滤波)
		float* pFilteredMap = new float[szMap.width];
		cv::Mat filteredMap(cv::Size(szMap.width, 1), CV_32FC1, pFilteredMap);
		cv::sepFilter2D(projectedMap, filteredMap, CV_32F, whalf, cv::Mat::ones(1, 1, CV_32F));
		//投影峰值查找
		std::vector<int> peeks;
		findPeak(szMap.width, pFilteredMap, (float)dAmpThreshold, peeks);
		//存在满足幅度值的边缘
		if (!peeks.empty()) {
			float dist = 0; bool found = false;
			//判断灰度值过滤类型
			if (anyPolarity) {
				//不分极性
				float maxDist = 0; int maxPos = 0;
				for (auto& peek : peeks) {
					if (abs(pFilteredMap[peek]) > maxDist) {
						maxDist = abs(pFilteredMap[peek]);
						maxPos = peek;
					}
				}
				found = true;
				dist = (float)maxPos;
			}
			else if (strcmp("positive", ccTransition) == 0) {
				int maxPos = 0;
				for (auto& peek : peeks) {
					if (pFilteredMap[peek] > 0) {
						maxPos = peek;
						found = true;
						break;
					}
				}
				dist = (float)maxPos;
			}
			else if (strcmp("negative", ccTransition) == 0) {
				int maxPos = 0;
				for (auto& peek : peeks) {
					if (pFilteredMap[peek] < 0) {
						maxPos = peek;
						found = true;
						break;
					}
				}
				dist = (float)maxPos;
			}
			//阈值限制,计算亚像素坐标
			if (found) {
				int l, m, r; float a, b, c, u;
				m = (int)dist;
				l = m - 1 < 0 ? m : m - 1;
				r = m + 1 >= szMap.width ? m : m + 1;

				a = pFilteredMap[l]; b = pFilteredMap[m];
				c = pFilteredMap[r];
				u = 0.5f * (a - c) / (a - b - b + c);

				//定位结果
				float dstX, dstY;
				dstX = midLineStart.x + iSearchDirec * (dist + u) * (float)cos(t);
				dstY = midLineStart.y + iSearchDirec * (dist + u) * (float)sin(t);
				EyemOcsDXY tpResult;
				tpResult.dX = dstX; tpResult.dY = dstY;
				tpResults->push_back(tpResult);
			}
		}
#ifdef _DEBUG
		//画卡尺
		float bb = (float)cos(t + CV_PI / 2) * 0.5f;
		float aa = (float)sin(t + CV_PI / 2) * 0.5f;
		cv::Point2f pt(x, y);
		cv::Point2f pts[4];
		pts[0].x = (float)(pt.x - aa * szMap.width - bb * szMap.height);
		pts[0].y = (float)(pt.y + bb * szMap.width - aa * szMap.height);
		pts[1].x = (float)(pt.x + aa * szMap.width - bb * szMap.height);
		pts[1].y = (float)(pt.y - bb * szMap.width - aa * szMap.height);
		pts[2].x = (float)(2 * pt.x - pts[0].x);
		pts[2].y = (float)(2 * pt.y - pts[0].y);
		pts[3].x = (float)(2 * pt.x - pts[1].x);
		pts[3].y = (float)(2 * pt.y - pts[1].y);

		for (int j = 0; j < 4; j++)
		{
			cv::line(cc, pts[j], pts[(j + 1) % 4], cv::Scalar(255, 153, 0));
		}
#endif
		//释放资源
		delete[] pMag;
		pMag = NULL;
	}
	//释放资源
	delete[] filterK;
	filterK = NULL;
	//输出结果
	*hObject = reinterpret_cast<IntPtr>(tpResults);
	return FUNC_OK;
}

int eyemEdge1dGenArc(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, int iEdgeDirec, EyemOcsDXY* tpEdge)
{

	return FUNC_OK;
}

int eyemPolarTrans(EyemImage tpImage, EyemOcsDXY tpCenter, int iRadius, int iSapWidth)
{
	cv::Mat image = cv::Mat(tpImage.iHeight, tpImage.iWidth, MAKETYPE(tpImage.iDepth, tpImage.iChannels), tpImage.vpImage).clone();
	if (image.empty()) {
		return FUNC_IMAGE_NOT_EXIST;
	}
	//灰度图
	int incn = image.channels();
	if (incn > 3) {
		cv::cvtColor(image, image, cv::COLOR_BGRA2GRAY);
	}
	else if (incn == 3) {
		cv::cvtColor(image, image, cv::COLOR_BGR2GRAY);
	}
	const int X = image.cols, Y = image.rows;
	//判断越界
	if (tpCenter.dX < 0 || tpCenter.dY < 0 || tpCenter.dX>X || tpCenter.dY>Y) {
		return 0;
	}
	//计算目标尺寸
	float C = 2.0f * (float)CV_PI * (float)(iRadius + iSapWidth);
	//步长(角度)
	float plusStep = 2.0f * asinf((1.0f + (C - (float)cvRound(C)) / (float)cvRound(C)) / (2.0f * (float)(iRadius + +iSapWidth)));
	//长度
	int iSapLength = cvRound(2.0f * CV_PI / plusStep);
	//结果图像
	cv::Mat polarMat(cv::Size(iSapLength, 2 * iSapWidth), CV_8UC1, cv::Scalar(0));
	for (int n = iSapWidth; n > -iSapWidth; n--)
	{
		//周长
		C = 2.0f * (float)CV_PI * (float)(iRadius + n);
		//步长(角度)
		plusStep = 2.0f * asinf((1.0f + (C - (float)cvRound(C)) / (float)cvRound(C)) / (2.0f * (float)(iRadius + n)));
		//长度
		iSapLength = cvRound(2.0f * CV_PI / plusStep);
		//线采样
		cv::Size szMap(iSapLength, 1);
		//采样图像
		int m = 0; float* pPolarBuf = new float[szMap.width * szMap.height * sizeof(float_t)];
		for (double t = -CV_PI; t < CV_PI; t += plusStep, m++)
		{
			//路径上的点
			float _plusX = float(tpCenter.dX + (float)(iRadius + n) * cos(t));
			float _plusY = float(tpCenter.dY + (float)(iRadius + n) * sin(t));
			//防止越界
			if (_plusX < 1 || _plusX >= X - 2 || _plusY < 1 || _plusY >= Y - 2) {
				continue;
			}
			//整数部分
			int x = cvRound(_plusX), y = cvRound(_plusY);
			//小数部分
			float u = abs(_plusX - ((float)x + 0.5f));
			float v = abs(_plusY - ((float)y - 1.0f + 0.5f));
			//插值计算灰度值
			float gv = (1.0f - v) * (image.ptr<uint8_t>(y - 1)[x] * (1.0f - u) + image.ptr<uint8_t>(y - 1)[x - 1] * u)
				+ v * (image.ptr<uint8_t>(y)[x] * (1.0f - u) + image.ptr<uint8_t>(y)[x - 1] * u);
			//填入灰度值
			pPolarBuf[m] = gv;
		}
		//仅支持8U类型
		cv::Mat polarMat1(szMap, CV_32FC1, pPolarBuf);
		polarMat1.convertTo(polarMat1, CV_8UC1);
		//插值,默认双线性插值
		cv::Mat polarMat2;
		cv::resize(polarMat1, polarMat2, cv::Size(polarMat.cols, 1));
		//保存到大图
		polarMat2.copyTo(polarMat(cv::Rect(0, iSapWidth - n, polarMat.cols, 1)));
		//释放资源
		delete[] pPolarBuf;
		pPolarBuf = NULL;
	}
	//绘制profileLine
	//drawCircle("", tpCenter, iRadius - iSapWidth, cv::Scalar(255, 153, 0), 2);
	//drawCircle("", tpCenter, iRadius + iSapWidth, cv::Scalar(255, 153, 0), 2);
	return FUNC_OK;
}

bool eyemEdge1dGenFree(IntPtr hObject)
{
	std::vector<EyemOcsDXY>* tpEdges = reinterpret_cast<std::vector<EyemOcsDXY>*>(hObject);
	delete tpEdges;
	tpEdges = NULL;
	return true;
}