#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/contrib/contrib.hpp"

#include <stdio.h>
#include <iostream>
#include <fstream>


using namespace cv;

int main(int argc, char** argv)
{
    Mat img = imread("pileczka_L.png");

    Mat edges = img.clone();
    Canny(img, edges, 150, 450);
    imwrite("MiI-Kontur.png", edges);

    Mat filled = edges.clone();
    cvtColor(edges, filled, CV_GRAY2RGB);
    floodFill(filled, Point(700, 400), CV_RGB(255, 255, 255));
    floodFill(filled, Point(0, 0), CV_RGB(0, 255, 0));
    imwrite("MiI-Obszar.png", filled);

    Mat mapa = imread("MiI-MapaRozbieznosci-Skalibrowana.png");

    Mat depth = 4800.0 / mapa;
    imwrite("MiI-MapaGlebi.png", depth);


    Mat dist = imread("MiI-MapaGlebi.png");
    Mat ball = imread("MiI-Obszar.png");

    double avgDist = 0;
    int nDist = 0;

    for (int i = 0; i < ball.rows; i++) {
        for (int j = 0; j < ball.cols; j++) {
            Vec3b ballPx = ball.at<Vec3b>(i, j);
            uchar distPx = dist.at<uchar>(i, j);

            // Skip pixels not in ball.
            if (ballPx != Vec3b(255, 255, 255))
                continue;

            avgDist += distPx;
            nDist++;
        }
    }

    avgDist /= nDist;

    std::ofstream out("MiI-SredniaOdleglosc.txt");
    out << avgDist;
    out.close();

    int nBallPixels = 0;
    for (int i = 0; i < ball.rows; i++) {
        for (int j = 0; j < ball.cols; j++) {
            if (ball.at<Vec3b>(i, j) == Vec3b(255, 255, 255))
                nBallPixels++;
        }
    }

    double diameterPx = 2 * sqrt((double)nBallPixels / 3.141592);
    double diameterCm = 0.001 * avgDist * diameterPx;

    std::cout << diameterCm << std::endl;

    system("pause");
    return 0;
}