/*------------------------------------------------------------------------------------------*\
   This file contains material supporting chapter 6 of the cookbook:  
   Computer Vision Programming using the OpenCV Library. 
   by Robert Laganiere, Packt Publishing, 2011.

   This program is free software; permission is hereby granted to use, copy, modify, 
   and distribute this source code, or portions thereof, for any purpose, without fee, 
   subject to the restriction that the copyright notice may not be removed 
   or altered from any source or altered source distribution. 
   The software is released on an as-is basis and without any warranties of any kind. 
   In particular, the software is not guaranteed to be fault-tolerant or free from failure. 
   The author disclaims all warranties with regard to this software, any use, 
   and any consequent failure, is purely the responsibility of the user.
 
   Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name
\*------------------------------------------------------------------------------------------*/

#if !defined SOBELEDGES
#define SOBELEDGES

#define PI 3.1415926

#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>

class EdgeDetector {

  private:

	  // original image
	  cv::Mat img;

	  // 16-bit signed int image
	  cv::Mat sobel;

	  // Aperture size of the Sobel kernel
	  int aperture;

	  // Sobel magnitude
	  cv::Mat sobelMagnitude;

	  // Sobel orientation
	  cv::Mat sobelOrientation;

  public:

	  EdgeDetector() : aperture(3) {}

	  // Set the aperture size of the kernel
	  void setAperture(int a) {

		  aperture= a;
	  }

	  // Get the aperture size of the kernel
	  int getAperture() const {

		  return aperture;
	  }

	  // Compute the Sobel
	  void computeSobel(const cv::Mat& image, cv::Mat &sobelX=cv::Mat(), cv::Mat &sobelY=cv::Mat()) {

		  // Compute Sobel
		  cv::Sobel(image,sobelX,CV_32F,1,0,aperture);
		  cv::Sobel(image,sobelY,CV_32F,0,1,aperture);

		  // Compute magnitude and orientation
		  cv::cartToPolar(sobelX,sobelY,sobelMagnitude,sobelOrientation);
	  }

	  // Get Sobel magnitude
	  // Make a copy if called more than once
	  cv::Mat getMagnitude() {

		  return sobelMagnitude;
	  }

	  // Get Sobel orientation
	  // Make a copy if called more than once
	  cv::Mat getOrientation() {

		  return sobelOrientation;
	  }

	  // Get a thresholded binary map
	  cv::Mat getBinaryMap(double threshold) {

		  cv::Mat bin;		  
		  cv::threshold(sobelMagnitude,bin,threshold,255,cv::THRESH_BINARY_INV);

		  return bin;
	  }

	  // Get a CV_8U image of the Sobel
	  cv::Mat getSobelImage() {

		  cv::Mat bin;

		  double minval, maxval;
		  cv::minMaxLoc(sobelMagnitude,&minval,&maxval);
		  sobelMagnitude.convertTo(bin,CV_8U,255/maxval);

		  return bin;
	  }

	  // Get a CV_8U image of the Sobel orientation
	  // 1 gray-level = 2 degrees
	  cv::Mat getSobelOrientationImage() {

		  cv::Mat bin;

		  sobelOrientation.convertTo(bin,CV_8U,90/PI);

		  return bin;
	  }

};


#endif