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/******************************************************************************
* Copyright (C) 2018 Alejandro Colomar Andrés *
* SPDX-License-Identifier: GPL-2.0-only *
******************************************************************************/
/******************************************************************************
******* headers **************************************************************
******************************************************************************/
#include "vision-artificial/proc/lighters.hpp"
#include <cstddef>
#include <cstdio>
#include <opencv2/opencv.hpp>
#include "libalx/base/stdlib/swap.hpp"
#include "vision-artificial/image/iface.hpp"
#include "vision-artificial/proc/common.hpp"
#include "vision-artificial/user/iface.hpp"
/******************************************************************************
******* macros ***************************************************************
******************************************************************************/
/******************************************************************************
******* enums ****************************************************************
******************************************************************************/
enum Lighter_Hood {
HOOD_OK,
HOOD_NOT_PRESENT,
HOOD_NOT_OK
};
/******************************************************************************
******* structs / unions *****************************************************
******************************************************************************/
struct Point {
uint16_t x;
uint16_t y;
};
struct Size {
uint16_t h;
uint16_t w;
};
struct Lighter_Properties {
struct Point pos;
struct Size size;
double angle;
bool fork;
bool valve;
int hood_;
bool hood;
bool wheel;
bool ok;
};
/******************************************************************************
******* variables ************************************************************
******************************************************************************/
/* Global --------------------------------------------------------------------*/
/* Static --------------------------------------------------------------------*/
static class std::vector <class std::vector <class cv::Point_ <int>>> contours_all;
static class std::vector <class std::vector <class cv::Point_ <int>>> contours_one;
static class cv::Mat hierarchy;
static class cv::RotatedRect rect_rot[CONTOURS_MAX];
static class cv::Rect_ <int> rect;
static struct Lighter_Properties lighter[CONTOURS_MAX];
static ptrdiff_t lighters_n;
/******************************************************************************
******* static functions (prototypes) ****************************************
******************************************************************************/
static void result_lighter (int status);
static void lighters_bgr2gray (void);
static void lighters_segment_full (void);
static int lighters_find (void);
static void lighter_segment_body (int i);
static void lighter_rm_body (int i);
static void lighter_crop_head (int i);
static void lighter_chk_hood (int i);
static void lighter_rm_hood (void);
static void lighter_chk_fork (int i);
static void lighter_chk_wheel (int i);
static void lighter_chk_valve (int i);
static void lighters_log (void);
/******************************************************************************
******* global functions *****************************************************
******************************************************************************/
int proc_lighter (void)
{
proc_save_mem(0);
/* Segment lighters */
clock_start();
lighters_bgr2gray();
lighters_segment_full();
lighters_find();
clock_stop("Segment lighters");
/* Check each lighter */
for (ptrdiff_t i = 0; i < lighters_n; i++) {
clock_start();
lighter[i].ok = true;
lighter_segment_body(i);
lighter_rm_body(i);
lighter_crop_head(i);
lighter_chk_hood(i);
if (lighter[i].hood_ != HOOD_NOT_PRESENT) {
lighter_rm_hood();
} else {
proc_load_mem(7);
proc_save_mem(8);
}
lighter_chk_fork(i);
lighter_chk_wheel(i);
lighter_chk_valve(i);
clock_stop("Check parts");
}
/* Print results of lighters into log */
clock_start();
lighters_log();
clock_stop("Lighters properties (log)");
result_lighter(LIGHTER_OK);
return 0;
}
/******************************************************************************
******* static functions (definitions) ***************************************
******************************************************************************/
static void result_lighter (int status)
{
switch (status) {
case LIGHTER_OK:
user_iface_log_write(0, "Coin: OK");
break;
case LIGHTER_NOK_LIGHTER:
user_iface_log_write(0, "Coin: NOK_LIGHTER");
break;
case LIGHTER_NOK_SIZE:
user_iface_log_write(0, "Coin: NOK_SIZE");
break;
default:
user_iface_log_write(0, "Coin: NOK");
}
}
/* process -------------------------------------------------------------------*/
static void lighters_bgr2gray (void)
{
proc_load_mem(0);
proc_cvt_color(cv::COLOR_BGR2GRAY);
proc_not();
proc_save_mem(1);
proc_threshold(cv::THRESH_BINARY, IMG_IFACE_THR_OTSU);
proc_border(100);
proc_save_mem(3);
proc_load_mem(1);
proc_border(100);
proc_save_mem(2);
}
static void lighters_segment_full (void)
{
proc_load_mem(3);
proc_erode_dilate(1);
proc_dilate_erode(2);
proc_save_mem(4);
}
static int lighters_find (void)
{
proc_load_mem(4);
proc_contours(&contours_all, &hierarchy);
lighters_n = contours_all.size();
if (!lighters_n)
return LIGHTER_NOK_LIGHTER;
for (ptrdiff_t i = 0; i < lighters_n; i++) {
proc_min_area_rect(&contours_all[i], &rect_rot[i], true);
/* If width > height,
* it is taking into acount the incorrect side */
if (rect_rot[i].size.width > rect_rot[i].size.height) {
rect_rot[i].angle += 90.0;
ALX_SWAP(&rect_rot[i].size.width,
&rect_rot[i].size.height);
}
lighter[i].pos.x = rect_rot[i].center.x;
lighter[i].pos.y = rect_rot[i].center.y;
lighter[i].angle = -rect_rot[i].angle;
lighter[i].size.h = rect_rot[i].size.height;
lighter[i].size.w = rect_rot[i].size.width;
}
return 0;
}
static void lighter_segment_body (int i)
{
int x, y;
int w, h;
proc_load_mem(2);
proc_rotate(lighter[i].pos.x, lighter[i].pos.y, -lighter[i].angle);
w = lighter[i].size.w * 1.25;
h = lighter[i].size.h * 1.25;
x = lighter[i].pos.x - (w / 2.0);
y = lighter[i].pos.y - (h / 2.0);
proc_ROI(x, y, w, h);
proc_threshold(cv::THRESH_BINARY, UINT8_MAX - 165);
proc_erode_dilate(1);
proc_dilate_erode(1);
proc_erode_dilate(lighter[i].size.w * 0.43);
proc_save_mem(5);
proc_contours(&contours_one, &hierarchy);
proc_bounding_rect(&contours_one[0], &rect, true);
}
static void lighter_rm_body (int i)
{
int x, y;
int w, h;
proc_load_mem(5);
proc_not();
proc_erode(5);
proc_save_ref();
proc_load_mem(3);
proc_rotate(lighter[i].pos.x, lighter[i].pos.y, -lighter[i].angle);
w = lighter[i].size.w * 1.25;
h = lighter[i].size.h * 1.25;
x = lighter[i].pos.x - (w / 2.0);
y = lighter[i].pos.y - (h / 2.0);
proc_ROI(x, y, w, h);
proc_threshold(cv::THRESH_BINARY, IMG_IFACE_THR_OTSU);
proc_and_2ref();
proc_save_mem(6);
}
static void lighter_crop_head (int i)
{
int x, y;
int w, h;
proc_load_mem(6);
w = rect.width * 1.15;
h = rect.width * 0.65;
x = rect.x - rect.width * 0.075;
y = rect.y - rect.width * 0.65;
proc_ROI(x, y, w, h);
rect.x = x;
rect.y = y;
rect.width = w;
rect.height = h;
lighter[i].size.w = w;
lighter[i].size.h = h;
proc_save_mem(7);
}
static void lighter_chk_hood (int i)
{
uint8_t val1;
uint8_t val2;
proc_load_mem(7);
proc_pixel_get(rect.width * 0.2, rect.height * 0.3, &val1);
proc_pixel_set(rect.width * 0.2, rect.height * 0.3, UINT8_MAX / 2);
proc_save_mem(9);
if (val1) {
proc_pixel_get(rect.width *0.2, rect.height *0.8, &val2);
proc_pixel_set(rect.width *0.2, rect.height *0.8, UINT8_MAX /2);
if (val2) {
lighter[i].hood_ = HOOD_OK;
lighter[i].hood = true;
} else {
lighter[i].hood_ = HOOD_NOT_OK;
lighter[i].hood = false;
lighter[i].ok = false;
}
} else {
lighter[i].hood_ = HOOD_NOT_PRESENT;
lighter[i].hood = false;
lighter[i].ok = false;
}
}
static void lighter_rm_hood (void)
{
proc_load_mem(7);
proc_border(2);
proc_save_ref();
proc_dilate_erode(2);
proc_erode_dilate(rect.height * 0.25);
proc_dilate(2);
proc_not();
proc_and_2ref();
proc_save_mem(8);
}
static void lighter_chk_fork (int i)
{
uint8_t val;
proc_load_mem(8);
proc_dilate_erode(2);
proc_pixel_get(rect.width * 0.8, rect.height * 0.8, &val);
proc_pixel_set(rect.width * 0.8, rect.height * 0.8, UINT8_MAX / 2);
proc_save_mem(10);
if (val) {
lighter[i].fork = true;
} else {
lighter[i].fork = false;
lighter[i].ok = false;
}
}
static void lighter_chk_wheel (int i)
{
uint8_t val;
proc_load_mem(8);
proc_dilate(5);
proc_pixel_get(rect.width * 0.58, rect.height * 0.19, &val);
proc_pixel_set(rect.width * 0.58, rect.height * 0.19, UINT8_MAX / 2);
proc_save_mem(11);
if (val) {
lighter[i].wheel = true;
} else {
lighter[i].wheel = false;
lighter[i].ok = false;
}
}
static void lighter_chk_valve (int i)
{
uint8_t val;
proc_load_mem(8);
if (lighter[i].hood_ == HOOD_NOT_PRESENT)
proc_dilate(5);
else
proc_dilate(10);
proc_pixel_get(rect.width * 0.07, rect.height * 0.92, &val);
proc_pixel_set(rect.width * 0.07, rect.height * 0.92, UINT8_MAX / 2);
proc_save_mem(12);
if (val) {
lighter[i].valve = true;
} else {
lighter[i].valve = false;
lighter[i].ok = false;
}
}
static void lighters_log (void)
{
char txt[LOG_LINE_LEN];
for (ptrdiff_t i = 0; i < lighters_n; i++) {
snprintf(txt, LOG_LINE_LEN, "Lighter[%ti]:", i);
user_iface_log_write(0, txt);
snprintf(txt, LOG_LINE_LEN, " pos: (%i, %i) pix",
lighter[i].pos.x, lighter[i].pos.y);
user_iface_log_write(0, txt);
snprintf(txt, LOG_LINE_LEN, " ang = %.1lf DEG",
lighter[i].angle);
user_iface_log_write(0, txt);
snprintf(txt, LOG_LINE_LEN, " hood = %s",
lighter[i].hood ? "ok" : "nok");
user_iface_log_write(0, txt);
snprintf(txt, LOG_LINE_LEN, " fork = %s",
lighter[i].fork ? "ok" : "nok");
user_iface_log_write(0, txt);
snprintf(txt, LOG_LINE_LEN, " wheel = %s",
lighter[i].wheel ? "ok" : "nok");
user_iface_log_write(0, txt);
snprintf(txt, LOG_LINE_LEN, " valve = %s",
lighter[i].valve ? "ok" : "nok");
user_iface_log_write(0, txt);
snprintf(txt, LOG_LINE_LEN, " RESULT = %s",
lighter[i].ok ? "OK" : "NOK");
user_iface_log_write(0, txt);
}
}
/******************************************************************************
******* end of file **********************************************************
******************************************************************************/
|
