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Diffstat (limited to 'src/proc/objects.cpp')
| -rw-r--r-- | src/proc/objects.cpp | 550 |
1 files changed, 550 insertions, 0 deletions
diff --git a/src/proc/objects.cpp b/src/proc/objects.cpp new file mode 100644 index 0000000..dd00820 --- /dev/null +++ b/src/proc/objects.cpp @@ -0,0 +1,550 @@ +/****************************************************************************** + * Copyright (C) 2018 Alejandro Colomar Andrés * + * SPDX-License-Identifier: GPL-2.0-only * + ******************************************************************************/ + + +/****************************************************************************** + ******* headers ************************************************************** + ******************************************************************************/ +#include "vision-artificial/proc/objects.hpp" + +#include <cstddef> +#include <cstdio> + +#include <opencv2/opencv.hpp> + +#include "libalx/base/math/median.hpp" + +#include "vision-artificial/image/iface.hpp" +#include "vision-artificial/proc/common.hpp" +#include "vision-artificial/user/iface.hpp" + + +/****************************************************************************** + ******* macros *************************************************************** + ******************************************************************************/ +#define OBJECTS_MAX (0xFFF) +#define PATTERN_SQUARE_LEN_MM (10.0) + +#define PATTERN_DILATE (2) + + +/****************************************************************************** + ******* enums **************************************************************** + ******************************************************************************/ + + +/****************************************************************************** + ******* structs / unions ***************************************************** + ******************************************************************************/ +struct Point { + uint16_t x_pix; + uint16_t y_pix; + + double x_mm; + double y_mm; +}; + +struct Pattern_Square { + struct Point pos; + uint8_t len; +}; + +struct Pattern_Properties { + struct Point center; + struct Point origin; + + double angle; + + uint16_t height; + uint16_t width; + + /* Squares (distance calibration) */ + struct Pattern_Square square[OBJECTS_MAX]; +}; + +struct Objects_Properties { + struct Point pos; + + double angle; + + double area_pix2; + double area_mm2; + double perimeter_pix; + double perimeter_mm; + + double ratio_p2_a; + double area_rect; + double ratio_a_arect; + double perimeter_rect; + double ratio_p_prect; +}; + + +/****************************************************************************** + ******* variables ************************************************************ + ******************************************************************************/ +/* Global --------------------------------------------------------------------*/ +/* Static --------------------------------------------------------------------*/ +static class std::vector <class std::vector <class cv::Point_ <int>>> contours; +static class cv::Mat hierarchy; +static class cv::RotatedRect rect_rot[OBJECTS_MAX]; +static class cv::Rect_ <int> rect[OBJECTS_MAX]; +static struct Pattern_Properties pattern; +static ptrdiff_t squares_n; +static double ratio_mm_pix; +static ptrdiff_t objects_n; +static struct Objects_Properties objects[OBJECTS_MAX]; + + +/****************************************************************************** + ******* static functions (prototypes) **************************************** + ******************************************************************************/ +static void result_objects (int status); + +static void pattern_bgr2gray (void); +static int pattern_find (void); +static void pattern_rotation_get (void); +static void pattern_rotation_fix (void); +static void pattern_dimensions_get (void); +static void pattern_dimensions_fix (void); +static void pattern_squares_find (void); +static void pattern_squares_pos_get (void); +static void pattern_squares_len_get (void); +static void pattern_calib_mm_pix (void); + +static void objects_bgr2gray (void); +static void objects_rotation_fix (void); +static void objects_dimensions_fix (void); +static void objects_segment (void); +static int objects_contours (void); +static void objects_position_pix (void); +static void objects_size_pix (void); +static void objects_shape (void); +static void objects_position_mm (void); +static void objects_size_mm (void); +static void objects_log (void); + + +/****************************************************************************** + ******* global functions ***************************************************** + ******************************************************************************/ +int proc_objects_calibrate (void) +{ + int status; + + proc_save_mem(0); + /* Calibrate angle with the whole pattern */ + clock_start(); + pattern_bgr2gray(); + status = pattern_find(); + if (status) { + result_objects(status); + return status; + } + pattern_rotation_get(); + pattern_rotation_fix(); + clock_stop("Calibrate: rotation"); + + /* Segmentate pattern squares */ + clock_start(); + pattern_dimensions_get(); + pattern_dimensions_fix(); + clock_stop("Calibrate: dimensions"); + + /* Find squares */ + clock_start(); + pattern_squares_find(); + pattern_squares_pos_get(); + pattern_squares_len_get(); + pattern_calib_mm_pix(); + clock_stop("Calibrate (mm per pix)"); + + result_objects(OBJECTS_OK); + return 0; +} + +int proc_objects (void) +{ + int status; + + proc_save_mem(0); + /* Align image */ + clock_start(); + objects_bgr2gray(); + objects_rotation_fix(); + objects_dimensions_fix(); + clock_stop("Align image to pattern"); + + /* Segment objects */ + clock_start(); + objects_segment(); + clock_stop("Segment objects"); + + /* Find objects positions */ + clock_start(); + status = objects_contours(); + if (status) { + result_objects(status); + return status; + } + clock_stop("Find objects"); + + /* Get objects properties in pixels */ + clock_start(); + objects_position_pix(); + objects_position_mm(); + clock_stop("Objects positions"); + + /* Get objects properties in mm */ + clock_start(); + objects_size_pix(); + objects_size_mm(); + clock_stop("Objects sizes"); + + /* Get objects properties in mm */ + clock_start(); + objects_shape(); + clock_stop("Objects shapes"); + + /* Print properties of objects into log */ + clock_start(); + objects_log(); + clock_stop("Objects properties (log)"); + + result_objects(OBJECTS_OK); + return 0; +} + + +/****************************************************************************** + ******* static functions (definitions) *************************************** + ******************************************************************************/ +static void result_objects (int status) +{ + + switch (status) { + case OBJECTS_OK: + user_iface_log_write(0, "Coin: OK"); + break; + case OBJECTS_NOK_OBJECTS: + user_iface_log_write(0, "Coin: NOK_OBJECTS"); + break; + + case OBJECTS_NOK_SIZE: + user_iface_log_write(0, "Coin: NOK_SIZE"); + break; + default: + user_iface_log_write(0, "Coin: NOK"); + } +} + +/* calibration ---------------------------------------------------------------*/ +static void pattern_bgr2gray (void) +{ + + proc_load_mem(0); + + proc_cvt_color(cv::COLOR_BGR2GRAY); + proc_save_mem(1); +} + +static int pattern_find (void) +{ + + proc_load_mem(1); + + proc_threshold(cv::THRESH_BINARY_INV, IMG_IFACE_THR_OTSU); + proc_erode_dilate(16); + proc_dilate(2); + proc_contours(&contours, &hierarchy); + if (contours.size() != 1) + return OBJECTS_NOK_PATTERN; + + return 0; +} + +static void pattern_rotation_get (void) +{ + char txt[LOG_LINE_LEN]; + + proc_min_area_rect(&(contours[0]), &(rect_rot[0]), true); + + /* If angle is < -45º, it is taking into account the incorrect side */ + if (rect_rot[0].angle < -45.0) + rect_rot[0].angle += 90.0; + pattern.angle = rect_rot[0].angle; + pattern.center.x_pix = rect_rot[0].center.x; + pattern.center.y_pix = rect_rot[0].center.y; + + snprintf(txt, LOG_LINE_LEN, "pattern angle = %lf DEG", + -pattern.angle); + user_iface_log_write(0, txt); + snprintf(txt, LOG_LINE_LEN, "pattern center (x) = %i pix", + pattern.center.x_pix); + user_iface_log_write(0, txt); + snprintf(txt, LOG_LINE_LEN, "pattern center (y) = %i pix", + pattern.center.y_pix); + user_iface_log_write(0, txt); +} + +static void pattern_rotation_fix (void) +{ + + proc_load_mem(1); + + /* invert image before rotation to avoid black bands */ + proc_not(); + proc_rotate(pattern.center.x_pix, pattern.center.y_pix, pattern.angle); + proc_threshold(cv::THRESH_BINARY, IMG_IFACE_THR_OTSU); + proc_save_mem(2); +} + +static void pattern_dimensions_get (void) +{ + + proc_load_mem(2); + + proc_erode_dilate(16); + proc_dilate(PATTERN_DILATE); + proc_contours(&contours, &hierarchy); + proc_bounding_rect(&(contours[0]), &(rect[0]), true); +} + +static void pattern_dimensions_fix (void) +{ + + /* Need to correct also pattern dilatation (pattern_dimensions_get()) */ + pattern.origin.x_pix = rect[0].x; + pattern.origin.y_pix = rect[0].y; + pattern.width = rect[0].width; + pattern.height = rect[0].height; + + proc_load_mem(2); + proc_ROI(pattern.origin.x_pix, pattern.origin.y_pix, + pattern.width, pattern.height); + proc_save_mem(3); +} + +static void pattern_squares_find (void) +{ + + proc_load_mem(3); + + proc_distance_transform(); + proc_local_max(); + proc_dilate(6); + proc_save_mem(4); + + proc_contours(&contours, &hierarchy); + squares_n = contours.size(); +} + +static void pattern_squares_pos_get (void) +{ + + for (ptrdiff_t i = 0; i < squares_n; i++) { + proc_bounding_rect(&(contours[i]), &(rect[i]), true); + pattern.square[i].pos.x_pix = rect[i].x + rect[i].width/2.0; + pattern.square[i].pos.y_pix = rect[i].y + rect[i].height/2.0; + } +} + +static void pattern_squares_len_get (void) +{ + + proc_load_mem(4); + for (ptrdiff_t i = 0; i < squares_n; i++) { + proc_pixel_get(pattern.square[i].pos.x_pix, + pattern.square[i].pos.y_pix, + &(pattern.square[i].len)); + pattern.square[i].len *= 2; + } +} + +static void pattern_calib_mm_pix (void) +{ + uint8_t pattern_len[OBJECTS_MAX]; + uint8_t median_size; + char txt[LOG_LINE_LEN]; + + for (ptrdiff_t i = 0; i < squares_n; i++) + pattern_len[i] = pattern.square[i].len; + median_size = alx_median_u8(squares_n, pattern_len); + ratio_mm_pix = PATTERN_SQUARE_LEN_MM / median_size; + + snprintf(txt, LOG_LINE_LEN, "mm/pix = %lf", ratio_mm_pix); + user_iface_log_write(0, txt); +} + +/* process -------------------------------------------------------------------*/ +static void objects_bgr2gray (void) +{ + + proc_load_mem(0); + + proc_cvt_color(cv::COLOR_BGR2GRAY); + proc_save_mem(1); +} + +static void objects_rotation_fix (void) +{ + + proc_load_mem(1); + + /* invert image before rotation to avoid black bands */ + proc_not(); + proc_rotate(pattern.center.x_pix, pattern.center.y_pix, pattern.angle); + proc_save_mem(2); +} + +static void objects_dimensions_fix (void) +{ + + /* Need to correct also pattern dilatation (pattern_dimensions_get()) */ + proc_load_mem(2); + + proc_ROI(pattern.origin.x_pix, pattern.origin.y_pix, + pattern.width, pattern.height); + proc_threshold(cv::THRESH_BINARY, IMG_IFACE_THR_OTSU); + proc_save_mem(3); +} + +static void objects_segment (void) +{ + + proc_load_mem(3); + + proc_dilate_erode(3); + proc_erode_dilate(3); + proc_save_mem(4); + + proc_distance_transform(); + proc_threshold(cv::THRESH_BINARY_INV, 30); + proc_distance_transform(); + proc_skeleton(); + proc_threshold(cv::THRESH_BINARY_INV, 10); + proc_save_ref(); + proc_save_mem(5); + + proc_load_mem(3); + proc_and_2ref(); + proc_distance_transform(); + proc_threshold(cv::THRESH_BINARY, 10); + proc_save_mem(6); +} + +static int objects_contours (void) +{ + + proc_load_mem(6); + + proc_contours(&contours, &hierarchy); + objects_n = contours.size(); + if (!objects_n) + return OBJECTS_NOK_OBJECTS; + + return 0; +} + +static void objects_position_pix (void) +{ + + for (ptrdiff_t i = 0; i < objects_n; i++) { + proc_fit_ellipse(&(contours[i]), &(rect_rot[i]), true); + objects[i].pos.x_pix = rect_rot[i].center.x; + objects[i].pos.y_pix = rect_rot[i].center.y; + objects[i].angle = -rect_rot[i].angle + 90.0; + if (objects[i].angle < 0) + objects[i].angle += 180.0; + } +} + +static void objects_position_mm (void) +{ + + for (ptrdiff_t i = 0; i < objects_n; i++) { + objects[i].pos.x_mm = ratio_mm_pix * objects[i].pos.x_pix; + objects[i].pos.y_mm = ratio_mm_pix * objects[i].pos.y_pix; + } +} + +static void objects_size_pix (void) +{ + double area[OBJECTS_MAX]; + double perimeter[OBJECTS_MAX]; + + proc_contours_size(&contours, area, perimeter); + for (ptrdiff_t i = 0; i < objects_n; i++) { + objects[i].area_pix2 = area[i]; + objects[i].perimeter_pix = perimeter[i]; + } +} + +static void objects_size_mm (void) +{ + + for (ptrdiff_t i = 0; i < objects_n; i++) { + objects[i].area_mm2 = pow(ratio_mm_pix, 2) * + objects[i].area_pix2; + objects[i].perimeter_mm = ratio_mm_pix * + objects[i].perimeter_pix; + } +} + +static void objects_shape (void) +{ + + for (ptrdiff_t i = 0; i < objects_n; i++) { + proc_min_area_rect(&(contours[i]), &(rect_rot[i]), true); + + objects[i].ratio_p2_a = pow(objects[i].perimeter_pix, 2) / + objects[i].area_pix2; + objects[i].area_rect = rect_rot[i].size.width * + rect_rot[i].size.height; + objects[i].perimeter_rect = 2.0 * (rect_rot[i].size.width + + rect_rot[i].size.height); + objects[i].ratio_p_prect = objects[i].perimeter_pix / + objects[i].perimeter_rect; + objects[i].ratio_a_arect = objects[i].area_pix2 / + objects[i].area_rect; + } +} + +static void objects_log (void) +{ + char txt[LOG_LINE_LEN]; + + for (ptrdiff_t i = 0; i < objects_n; i++) { + snprintf(txt, LOG_LINE_LEN, "Object[%ti]:", i); + user_iface_log_write(0, txt); + snprintf(txt, LOG_LINE_LEN, " pos: (%.1lf, %.1lf) mm", + objects[i].pos.x_mm, + objects[i].pos.y_mm); + user_iface_log_write(0, txt); + snprintf(txt, LOG_LINE_LEN, " ang = %.1lf DEG", + objects[i].angle); + user_iface_log_write(0, txt); + snprintf(txt, LOG_LINE_LEN, " A = %.1lf mm2", + objects[i].area_mm2); + user_iface_log_write(0, txt); + snprintf(txt, LOG_LINE_LEN, " P = %.1lf mm", + objects[i].perimeter_mm); + user_iface_log_write(0, txt); + snprintf(txt, LOG_LINE_LEN, " p2/A = %.2lf", + objects[i].ratio_p2_a); + user_iface_log_write(0, txt); + snprintf(txt, LOG_LINE_LEN, " p/p_r = %.2lf", + objects[i].ratio_p_prect); + user_iface_log_write(0, txt); + snprintf(txt, LOG_LINE_LEN, " A/A_r = %.2lf", + objects[i].ratio_a_arect); + user_iface_log_write(0, txt); + } +} + + +/****************************************************************************** + ******* end of file ********************************************************** + ******************************************************************************/ |