#include?“stdafx.h“
#include?
#include?
//?TODO:?reference?additional?headers?your?program?requires?here
#include?
#include????//?for?strings
#include???//?for?controlling?float?print?precision
#include???//?string?to?number?conversion
#include?
#include??
#include?
#include?
#include?

#include?“opencv2/core/core.hpp“
#include?“opencv2/imgproc/imgproc.hpp“
#include?“opencv2/highgui/highgui.hpp“
#include?“opencv2/objdetect/objdetect.hpp“
#include?“opencv2/video/video.hpp“


using?namespace?std;??
using?namespace?cv;

#define?PI?3.14159265




std::clock_t	clock_start;?//start?clock
double			time_consume;?//?time?consume

cv::Mat?raw_frame;			//raw?image
cv::Mat?gray_frame;		//my_gray_frame
cv::Mat	segmented_frame;	//image?after?segmentation
cv::Mat?ROI_frame;

cv::Mat?src;
cv::Mat?src_gray;
?cv::Mat?drawing;
?
?cv::Mat?poly_frame;
?cv::Mat?convex_frame;
?std::vector?defects;
std::vector?real_defects;
std::vector?convexhull;
VideoCapture?capture_single;


bool?capture_image?（int?id）;	//get?raw?frame
void?segment_image?（int?gray_lower_bound?int?gray_upper_bound）;	//segmentation
bool?substract_background?（）;	//get?rid?of?background?noise

void?draw_contour（Mat?frame?std::vector?contour?Scalar?scalar）;?//draw?contour?on?a?frame
int?calc_point_angle（cv::Point?point?cv::Point?center）;?//calculate?the?point?angle?based?on?the?center?point


int?calc_points_dist?（cv::Point?point1?cv::Point?point2）
{
	int?x_delta=point1.x?-?point2.x;
	int?y_delta=point1.y?-?point2.y;
	int?dist=（int）sqrt（（double）（x_delta*x_delta?+?y_delta*y_delta））;
	return?dist;
}
int?calc_point_angle（cv::Point?point?cv::Point?center）
{
	//calculate?two?point?dist
	int?angle?=?0;
	float?sin_value?=?0.0;
	int?dist	=	calc_points_dist（point?center）;
	
	if（dist==0）?return?-1;

#ifdef?DEBUG
//	printf（“dist?%d\n“dist）;
#endif
				
	//calculate?sin?value?based?on?two?points
	sin_value	=	（（float）point.y-?（float）center.y）/（float）dist;

	if（sin_value>1）	sin_value	=	1;?//exception?handling

	//get?value
	angle	=	（int）（（double）std::asin（sin_value）*180/PI）;

#ifdef?DEBUG
//	printf（“sin?value?%f\n“sin_value）;
//	printf（“my?angle?%d\n“angle）;	
#endif
				
	if（point.x?>?center.x）{
		if（point.y?		{
			//re?calculate?the?angle
			angle	=	360+angle;
		}
	}
	else
	{
			angle	=	180?-?angle;
	}

	return?angle;
}

bool?capture_image（int?id）{


	capture_single.open（id）;

	//open?fail
	if（!capture_single.isOpened（））?
	{
		printf（“Error:?cannot?open?camera!“）;
		return?false;
	}

}


void?segment_image（int?gray_lower_bound?int?gray_upper_bound）{
	cv::cvtColor（raw_frame?gray_frame?CV_BGR2GRAY）;
	//gray_lower_bound?=?pre_cut（raw_frame）;
	gray_lower_bound?=?100;
	cv::inRange（gray_frame?gray_lower_bound?gray_upper_bound?segmented_frame）;
	/