check point
This commit is contained in:
meelstorm
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using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Origin;
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using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Poly;
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using Hawkeye.VisionBuilder.Workflow.Links;
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using Hawkeye.VisionBuilder.Workflow.Operations.Attributes;
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using OpenCvSharp;
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using Point = OpenCvSharp.Point;
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using RectangleElement = Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Rectangle.RectangleElement;
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namespace Hawkeye.VisionBuilder.Workflow.Operations;
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[Category("Simple/Blobs")]
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public class FindBlobOperation : BaseOperation, IHaveOrigin, IHaveSearchArea
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{
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private readonly WorkflowList _workflowList;
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public int MinArea { get; set; } = 100;
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public int MaxArea { get; set; } = 99999;
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public int MinRadius { get; set; } = 0;
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public int MaxRadius { get; set; } = 99999;
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public bool BadIfFound { get; set; }
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public Guid ReferenceId { get; set; } = new Guid();
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public RectangleElement SearchArea { get; set; }
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//processing result of current element
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[NotForTool] public OriginElement Origin { get; private set; } = OriginElement.Default;
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public FindBlobOperation(WorkflowList workflowList)
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{
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_workflowList = workflowList;
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SearchArea = new RectangleElement()
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{
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Editable = true,
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Location = Vector2.One * 100,
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Size = Vector2.One * 100,
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IsGood = true
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};
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}
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protected override void InterpretInternal(Context context)
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{
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if (!CheckImageExists(context)) return;
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if (!CheckGrayscale(context)) return;
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SearchArea.MovePivot(_workflowList.GetOriginById(ReferenceId).Origin.Location);
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var img = context.ActiveImage.ImageData;
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var mat = new Mat(img.Size(), img.Type(), Scalar.Black);
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SearchArea.FillMat(mat);
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var contoursMat = img.BitwiseAnd(mat).ToMat();
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var contours = contoursMat.Threshold(128, 255, ThresholdTypes.Binary)
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.FindContoursAsArray(RetrievalModes.List, ContourApproximationModes.ApproxSimple);
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//case: no blobs found
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if (contours.Length == 0)
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{
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Status = "No blobs found";
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SearchArea.IsGood = false;
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context.GraphicsElements.Add(SearchArea);
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Result = BadIfFound;
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return;
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}
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int GetContourRadius(Point[] contour)
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{
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Cv2.MinEnclosingCircle(contour, out var center, out var radius);
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return (int)radius;
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}
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//case: blobs found but not matching criteria
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var contour = contours.Select(x => new { c = x, area = (int)Cv2.ContourArea(x),radius= GetContourRadius(x) })
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.OrderBy(x => Math.Min(Math.Abs(x.area - MinArea), Math.Abs(x.area - MaxArea)));
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var match = contour.Where(x=>x.c.Length>1)
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.Where(x => x.area >= MinArea && x.area <= MaxArea)
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.FirstOrDefault(x => x.radius >= MinRadius && x.radius <= MaxRadius);
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if (match == null)
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{
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var best = contour.First();
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Status = $"Area: {best.area} Radius: {best.radius}";
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PolyElement poly = new PolyElement() { IsGood = BadIfFound };
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poly.Points = best.c.Select(x => new Vector2(x.X, x.Y)).ToArray();
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context.GraphicsElements.Add(poly);
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context.GraphicsElements.Add(SearchArea);
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Result = BadIfFound;
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return;
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}
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{
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PolyElement poly = new PolyElement() { IsGood = !BadIfFound };
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poly.Points = match.c.Select(x => new Vector2(x.X, x.Y)).ToArray();
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context.GraphicsElements.Add(poly);
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SearchArea.IsGood = true;
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context.GraphicsElements.Add(SearchArea);
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var center = poly.Points.Aggregate((v1, v2) => v1 + v2) / poly.Points.Length;
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Origin = new OriginElement() { Location = center };
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Status = $"Area: {match.area} Radius: {match.radius}";
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Result = !BadIfFound;
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}
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}
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public override void SetParameters(Dictionary<string, object> parameters)
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{
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base.SetParameters(parameters);
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SearchArea.SetPivot(_workflowList.GetOriginById(ReferenceId).Origin.Location);
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}
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public override void Save(BinaryWriter bw)
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{
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bw.Write(Id.ToString());
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bw.Write(Label);
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bw.Write(MinArea);
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bw.Write(MaxArea);
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bw.Write(MinRadius);
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bw.Write(MaxRadius);
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bw.Write(BadIfFound);
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bw.Write(ReferenceId.ToString());
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SearchArea.Save(bw);
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}
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public override void Load(BinaryReader br)
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{
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Id = new Guid(br.ReadString());
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Label = br.ReadString();
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MinArea = br.ReadInt32();
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MaxArea = br.ReadInt32();
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MinRadius = br.ReadInt32();
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MaxRadius = br.ReadInt32();
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BadIfFound = br.ReadBoolean();
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ReferenceId = new Guid(br.ReadString());
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SearchArea.Load(br);
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}
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}
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@@ -0,0 +1,233 @@
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using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Origin;
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using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Poly;
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using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Rectangle;
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using Hawkeye.VisionBuilder.Workflow.Operations.Attributes;
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using OpenCvSharp;
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using Point = OpenCvSharp.Point;
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namespace Hawkeye.VisionBuilder.Workflow.Operations;
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[Category("Simple/Blobs")]
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public class FindManyBlobsExtOperation : BaseOperation
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{
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private readonly WorkflowList _workflowList;
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public int MinArea { get; set; } = 100;
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public int MaxArea { get; set; } = 99999;
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public int MinRadius { get; set; } = 0;
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public int MaxRadius { get; set; } = 99999;
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public bool CheckInternalRadius { get; set; } = false;
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public int MinInternalRadius { get; set; } = 0;
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public int MaxInternalRadius { get; set; } = 99999;
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public bool CheckWidth { get; set; } = false;
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public int MinWidth { get; set; } = 0;
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public int MaxWidth { get; set; } = 99999;
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public bool CheckHeight { get; set; } = false;
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public int MinHeight { get; set; } = 0;
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public int MaxHeight { get; set; } = 99999;
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public Guid ReferenceId { get; set; } = new Guid();
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public RectangleElement SearchArea { get; set; }
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public FindManyBlobsExtOperation(WorkflowList workflowList)
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{
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_workflowList = workflowList;
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SearchArea = new RectangleElement()
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{
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Editable = true,
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Location = Vector2.One * 100,
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Size = Vector2.One * 100,
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IsGood = true
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};
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}
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public record ContourMatch(Point[] c, int area, int radius, int internalRadius, int width, int height)
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{
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public override string ToString()
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{
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return $"{{area={area}, radius={radius}, internalRadius={internalRadius}, width={width}, height={height}}}";
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}
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}
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protected override void InterpretInternal(Context context)
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{
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Result = true;
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if (!CheckImageExists(context)) return;
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if (!CheckGrayscale(context)) return;
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if (SearchArea == null)
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{
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SearchArea = new RectangleElement()
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{
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Editable = true,
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Location = Vector2.Zero,
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Size = new Vector2(context.ActiveImage.ImageData.Width, context.ActiveImage.ImageData.Height),
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IsGood = true
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};
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}
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SearchArea.MovePivot(_workflowList.GetOriginById(ReferenceId).Origin.Location);
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var img = context.ActiveImage.ImageData;
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var mat = new Mat(img.Size(), img.Type(), Scalar.Black);
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SearchArea.FillMat(mat);
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var contoursMat = img.BitwiseAnd(mat).ToMat();
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var contours = contoursMat.Threshold(128, 255, ThresholdTypes.Binary)
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.FindContoursAsArray(RetrievalModes.List, ContourApproximationModes.ApproxSimple);
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context.GraphicsElements.Add(SearchArea);
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// Case: no blobs found
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if (contours.Length == 0)
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{
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Status = "No blobs found";
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SearchArea.IsGood = true;
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return;
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}
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int GetContourRadius(Point[] contour)
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{
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Cv2.MinEnclosingCircle(contour, out _, out var radius);
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return (int)radius;
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}
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int GetContourInternalRadius(Point[] contour)
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{
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// Create a mask for the contour with the size of the bounding rectangle.
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Mat mask = new Mat(contoursMat.Height, contoursMat.Width, MatType.CV_8UC1, Scalar.All(0));
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// Fill the mask with the polygon defined by the contour.
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Cv2.FillPoly(mask, new Point[][] { contour }, Scalar.White);
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// Compute the distance transform.
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using Mat dist = new Mat();
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Cv2.DistanceTransform(mask, dist, DistanceTypes.C, DistanceTransformMasks.Mask3);
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Cv2.MinMaxLoc(dist, out double minVal, out var maxVal);
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return (int)maxVal;
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}
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(int width, int height) GetContourDimensions(Point[] contour)
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{
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var rect = Cv2.BoundingRect(contour);
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return (rect.Width, rect.Height);
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}
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var contourMatches = contours.Select(c =>
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{
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int area = (int)Cv2.ContourArea(c);
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int radius =-1;
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radius = GetContourRadius(c);
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int innerCircle=-1;
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if (CheckInternalRadius)
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innerCircle = GetContourInternalRadius(c);
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var (width, height) = GetContourDimensions(c);
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return new ContourMatch(c, area, radius, innerCircle, width, height);
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})
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.OrderBy(cm => Math.Min(Math.Abs(cm.area - MinArea), Math.Abs(cm.area - MaxArea)))
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.ToList();
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var matches = contourMatches.Where(cm => cm.c.Length > 1)
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.Where(cm => cm.area >= MinArea && cm.area <= MaxArea)
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.Where(cm => cm.radius >= MinRadius && cm.radius <= MaxRadius);
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if (CheckInternalRadius)
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{
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matches = matches.Where(cm => cm.internalRadius >= MinInternalRadius && cm.internalRadius <= MaxInternalRadius);
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}
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if (CheckWidth)
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{
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matches = matches.Where(cm => cm.width >= MinWidth && cm.width <= MaxWidth);
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}
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if (CheckHeight)
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{
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matches = matches.Where(cm => cm.height >= MinHeight && cm.height <= MaxHeight);
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}
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var finalMatches = matches.ToList();
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int badCount = 0;
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foreach (var contourMatch in finalMatches)
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{
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PolyElement poly = new PolyElement() { IsGood = false };
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poly.Points = contourMatch.c.Select(p => new Vector2(p.X, p.Y)).ToArray();
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context.GraphicsElements.Add(poly);
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badCount++;
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}
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if (badCount > 0)
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{
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Status = $"Found: {badCount} First: {finalMatches.First()}";
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Result = false;
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SearchArea.IsGood = false;
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return;
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}
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SearchArea.IsGood = true;
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Status = $"Best: {contourMatches.First()}";
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Result = true;
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}
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public override void SetParameters(Dictionary<string, object> parameters)
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{
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base.SetParameters(parameters);
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SearchArea.SetPivot(_workflowList.GetOriginById(ReferenceId).Origin.Location);
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}
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public override void Save(BinaryWriter bw)
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{
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bw.Write(Id.ToString());
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bw.Write(Label);
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bw.Write(MinArea);
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bw.Write(MaxArea);
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bw.Write(MinRadius);
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bw.Write(MaxRadius);
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bw.Write(CheckInternalRadius);
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bw.Write(MinInternalRadius);
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bw.Write(MaxInternalRadius);
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bw.Write(CheckWidth);
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bw.Write(MinWidth);
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bw.Write(MaxWidth);
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bw.Write(CheckHeight);
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bw.Write(MinHeight);
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bw.Write(MaxHeight);
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bw.Write(ReferenceId.ToString());
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SearchArea.Save(bw);
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}
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public override void Load(BinaryReader br)
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{
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Id = new Guid(br.ReadString());
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Label = br.ReadString();
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MinArea = br.ReadInt32();
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MaxArea = br.ReadInt32();
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MinRadius = br.ReadInt32();
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MaxRadius = br.ReadInt32();
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CheckInternalRadius = br.ReadBoolean();
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MinInternalRadius = br.ReadInt32();
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MaxInternalRadius = br.ReadInt32();
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CheckWidth = br.ReadBoolean();
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MinWidth = br.ReadInt32();
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MaxWidth = br.ReadInt32();
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CheckHeight = br.ReadBoolean();
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MinHeight = br.ReadInt32();
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MaxHeight = br.ReadInt32();
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ReferenceId = new Guid(br.ReadString());
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SearchArea.Load(br);
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}
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}
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@@ -0,0 +1,175 @@
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using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Origin;
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using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Poly;
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using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Rectangle;
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using Hawkeye.VisionBuilder.Workflow.Operations.Attributes;
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using OpenCvSharp;
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using Point = OpenCvSharp.Point;
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namespace Hawkeye.VisionBuilder.Workflow.Operations;
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[Category("Simple/Blobs")]
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public class FindManyBlobsOperation:BaseOperation
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{
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private readonly WorkflowList _workflowList;
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public int MinArea { get; set; } = 100;
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public int MaxArea { get; set; } = 99999;
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public int MinRadius { get; set; } = 0;
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public int MaxRadius { get; set; } = 99999;
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public Guid ReferenceId { get; set; } = new Guid();
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public RectangleElement SearchArea { get; set; }
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//processing result of current element
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public FindManyBlobsOperation(WorkflowList workflowList)
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{
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_workflowList = workflowList;
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SearchArea = new RectangleElement()
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{
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Editable = true,
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Location = Vector2.One * 100,
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Size = Vector2.One * 100,
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IsGood = true
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};
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}
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public record ContourMatch(Point[] c, int area, int radius)
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{
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public override string ToString()
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{
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return $"{{area={area}, radius={radius}}}";
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}
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}
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||||
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||||
protected override void InterpretInternal(Context context)
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{
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Result = true;
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if (!CheckImageExists(context)) return;
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if (!CheckGrayscale(context)) return;
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if (SearchArea==null)
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{
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SearchArea = new RectangleElement()
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{
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Editable = true,
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Location = Vector2.Zero,
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Size = new Vector2(context.ActiveImage.ImageData.Width, context.ActiveImage.ImageData.Height),
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IsGood = true
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};
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}
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SearchArea.MovePivot(_workflowList.GetOriginById(ReferenceId).Origin.Location);
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var img = context.ActiveImage.ImageData;
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var mat = new Mat(img.Size(), img.Type(), Scalar.Black);
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SearchArea.FillMat(mat);
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var contoursMat = img.BitwiseAnd(mat).ToMat();
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var contours = contoursMat.Threshold(128, 255, ThresholdTypes.Binary)
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.FindContoursAsArray(RetrievalModes.List, ContourApproximationModes.ApproxSimple);
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context.GraphicsElements.Add(SearchArea);
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//case: no blobs found
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if (contours.Length == 0)
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{
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Status = "No blobs found";
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SearchArea.IsGood = true;
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return;
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}
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int GetContourRadius(Point[] contour)
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{
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Cv2.MinEnclosingCircle(contour, out var center, out var radius);
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return (int)radius;
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||||
}
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||||
//case: blobs found but not matching criteria
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||||
var contour = contours.Select(x => new ContourMatch(x, (int)Cv2.ContourArea(x), GetContourRadius(x)))
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||||
.OrderBy(x => Math.Min(Math.Abs(x.area - MinArea), Math.Abs(x.area - MaxArea))).ToList();
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||||
var match = contour.Where(x => x.c.Length > 1)
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.Where(x => x.area >= MinArea && x.area <= MaxArea)
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||||
.Where(x => x.radius >= MinRadius && x.radius <= MaxRadius).ToList();
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||||
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||||
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||||
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||||
int badCount = 0;
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||||
foreach (ContourMatch contourMatch in match)
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||||
{
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||||
PolyElement poly = new PolyElement() { IsGood = false };
|
||||
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||||
poly.Points = contourMatch.c.Select(x => new Vector2(x.X, x.Y)).ToArray();
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||||
|
||||
context.GraphicsElements.Add(poly);
|
||||
badCount++;
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (badCount > 0)
|
||||
{
|
||||
Status = $"Found: {badCount} First: {match.First().ToString()}";
|
||||
Result = false;
|
||||
SearchArea.IsGood = false;
|
||||
return;
|
||||
}
|
||||
|
||||
SearchArea.IsGood = true;
|
||||
Status = $"Best: {contour.First().ToString()}";
|
||||
Result = true;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
public override void SetParameters(Dictionary<string, object> parameters)
|
||||
{
|
||||
base.SetParameters(parameters);
|
||||
|
||||
SearchArea.SetPivot(_workflowList.GetOriginById(ReferenceId).Origin.Location);
|
||||
}
|
||||
|
||||
|
||||
public override void Save(BinaryWriter bw)
|
||||
{
|
||||
bw.Write(Id.ToString());
|
||||
bw.Write(Label);
|
||||
bw.Write(MinArea);
|
||||
bw.Write(MaxArea);
|
||||
bw.Write(MinRadius);
|
||||
bw.Write(MaxRadius);
|
||||
bw.Write(ReferenceId.ToString());
|
||||
|
||||
SearchArea.Save(bw);
|
||||
|
||||
|
||||
}
|
||||
|
||||
public override void Load(BinaryReader br)
|
||||
{
|
||||
Id = new Guid(br.ReadString());
|
||||
Label = br.ReadString();
|
||||
MinArea = br.ReadInt32();
|
||||
MaxArea = br.ReadInt32();
|
||||
MinRadius = br.ReadInt32();
|
||||
MaxRadius = br.ReadInt32();
|
||||
ReferenceId = new Guid(br.ReadString());
|
||||
|
||||
SearchArea.Load(br);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,112 @@
|
||||
using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Origin;
|
||||
using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Rectangle;
|
||||
using Hawkeye.VisionBuilder.Workflow.Operations.Attributes;
|
||||
|
||||
using OpenCvSharp;
|
||||
using System;
|
||||
using System.Security.Cryptography.Xml;
|
||||
using Point = OpenCvSharp.Point;
|
||||
|
||||
namespace Hawkeye.VisionBuilder.Workflow.Operations;
|
||||
[Category("Simple/Blobs")]
|
||||
public class FindRectangleOperation:BaseOperation
|
||||
{
|
||||
private readonly WorkflowList _workflowList;
|
||||
|
||||
public int MinWidth { get; set; }
|
||||
public int MaxWidth { get; set; } = 999999;
|
||||
public int MinHeight { get; set; }
|
||||
public int MaxHeight { get; set; } = 999999;
|
||||
|
||||
public Guid ReferenceId { get; set; } = new Guid();
|
||||
|
||||
public bool BadIfFound { get; set; }=false;
|
||||
|
||||
public FindRectangleOperation(WorkflowList workflowList)
|
||||
{
|
||||
_workflowList = workflowList;
|
||||
SearchArea = new RectangleElement()
|
||||
{
|
||||
Editable = true,
|
||||
Location = Vector2.One * 100,
|
||||
Size = Vector2.One * 100,
|
||||
IsGood = true
|
||||
};
|
||||
}
|
||||
|
||||
public RectangleElement SearchArea { get; set; }
|
||||
|
||||
//processing result of current element
|
||||
[NotForTool] public OriginElement Origin { get; private set; } = OriginElement.Default;
|
||||
|
||||
protected override void InterpretInternal(Context context)
|
||||
{
|
||||
if(!CheckImageExists(context)) return;
|
||||
SearchArea.MovePivot(_workflowList.GetOriginById(ReferenceId).Origin.Location);
|
||||
var image = context.ActiveImage.ImageData;
|
||||
var mat = new Mat(image.Size(), image.Type(), Scalar.Black);
|
||||
|
||||
SearchArea.FillMat(mat);
|
||||
|
||||
var contoursMat = image.BitwiseAnd(mat).ToMat();
|
||||
context.GraphicsElements.Add(SearchArea);
|
||||
// find rectangle on image
|
||||
Cv2.FindContours(contoursMat, out var contours, out _, RetrievalModes.External, ContourApproximationModes.ApproxSimple);
|
||||
foreach (Point[] contour in contours)
|
||||
{
|
||||
var rect = Cv2.BoundingRect(contour);
|
||||
if (rect.Width >= MinWidth && rect.Width <= MaxWidth && rect.Height >= MinHeight &&
|
||||
rect.Height <= MaxHeight)
|
||||
{
|
||||
Status = "Rectangle: " + rect;
|
||||
Result = !BadIfFound;
|
||||
RectangleElement re = new RectangleElement()
|
||||
{
|
||||
Editable = false,
|
||||
IsGood = !BadIfFound,
|
||||
Location = new Vector2(rect.X, rect.Y),
|
||||
Size = new Vector2(rect.Width, rect.Height)
|
||||
};
|
||||
context.GraphicsElements.Add(re);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
Status = "No rectangle found";
|
||||
Result = BadIfFound;
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
public override void SetParameters(Dictionary<string, object> parameters)
|
||||
{
|
||||
base.SetParameters(parameters);
|
||||
|
||||
SearchArea.SetPivot(_workflowList.GetOriginById(ReferenceId).Origin.Location);
|
||||
}
|
||||
|
||||
public override void Save(BinaryWriter bw)
|
||||
{
|
||||
base.Save(bw);
|
||||
bw.Write(ReferenceId.ToString());
|
||||
bw.Write(MinWidth);
|
||||
bw.Write(MaxWidth);
|
||||
bw.Write(MinHeight);
|
||||
bw.Write(MaxHeight);
|
||||
bw.Write(BadIfFound);
|
||||
SearchArea.Save(bw);
|
||||
}
|
||||
|
||||
public override void Load(BinaryReader br)
|
||||
{
|
||||
base.Load(br);
|
||||
ReferenceId = new Guid(br.ReadString());
|
||||
MinWidth = br.ReadInt32();
|
||||
MaxWidth = br.ReadInt32();
|
||||
MinHeight = br.ReadInt32();
|
||||
MaxHeight = br.ReadInt32();
|
||||
BadIfFound = br.ReadBoolean();
|
||||
SearchArea.Load(br);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,106 @@
|
||||
using Hawkeye.VisionBuilder.Workflow.Datatypes;
|
||||
using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Align;
|
||||
using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Origin;
|
||||
using Hawkeye.VisionBuilder.Workflow.Links;
|
||||
using Hawkeye.VisionBuilder.Workflow.Operations.Attributes;
|
||||
using OpenCvSharp;
|
||||
|
||||
namespace Hawkeye.VisionBuilder.Workflow.Operations;
|
||||
|
||||
[Category("Simple/Blobs")]
|
||||
public class TwoBlobsAlign:BaseOperation,IHaveOrigin
|
||||
{
|
||||
private readonly WorkflowList _workflowList;
|
||||
|
||||
public TwoBlobsAlign(WorkflowList workflowList)
|
||||
{
|
||||
_workflowList = workflowList;
|
||||
}
|
||||
|
||||
public Guid Reference1 { get; set; } = NoOrigin.Instance.Id;
|
||||
public Guid Reference2 { get; set; } = NoOrigin.Instance.Id;
|
||||
public int DesiredAngle { get; set; }
|
||||
|
||||
[NotForTool] public OriginElement Origin { get; private set; } = OriginElement.Default;
|
||||
private string _status;
|
||||
|
||||
protected override void InterpretInternal(Context context)
|
||||
{
|
||||
var reference1 = _workflowList.GetOriginById(Reference1);
|
||||
var reference2 = _workflowList.GetOriginById(Reference2);
|
||||
if (reference1 == NoOrigin.Instance)
|
||||
{
|
||||
_status = $"{nameof(Reference1)} must be set";
|
||||
Result = false;
|
||||
return;
|
||||
}
|
||||
if (reference2 == NoOrigin.Instance)
|
||||
{
|
||||
_status = $"{nameof(Reference2)} must be set";
|
||||
Result = false;
|
||||
return;
|
||||
}
|
||||
if (!(reference1 as BaseOperation).Result)
|
||||
{
|
||||
_status = $"{nameof(Reference1)} detection failed";
|
||||
Result = false;
|
||||
return;
|
||||
}
|
||||
if (!(reference2 as BaseOperation).Result)
|
||||
{
|
||||
_status = $"{nameof(Reference2)} detection failed";
|
||||
Result = false;
|
||||
return;
|
||||
}
|
||||
|
||||
if (context.ActiveImage == null)
|
||||
{
|
||||
_status = $"Image required";
|
||||
Result = false;
|
||||
return;
|
||||
}
|
||||
|
||||
var center = (reference1.Origin.Location + reference2.Origin.Location) / 2;
|
||||
|
||||
var deltaX = reference2.Origin.Location.X-reference1.Origin.Location.X;
|
||||
var deltaY = reference2.Origin.Location.Y-reference1.Origin.Location.Y;
|
||||
|
||||
var angle = ((float)Math.Atan2(deltaY, deltaX))/MathF.PI*180f;
|
||||
var deltaAngle = DesiredAngle - angle;
|
||||
var matrix=Cv2.GetRotationMatrix2D(new Point2f(center.X, center.Y), -deltaAngle, 1);
|
||||
|
||||
var destImage = new Mat(context.ActiveImage.ImageData.Size(), context.ActiveImage.ImageData.Type());
|
||||
|
||||
|
||||
|
||||
Cv2.WarpAffine(context.ActiveImage.ImageData, destImage,matrix,destImage.Size());
|
||||
|
||||
context.ActiveImage=new HawkeyeImage(){Filename = context.ActiveImage.Filename,ImageData = destImage };
|
||||
|
||||
Origin = new OriginElement() {Location = center };
|
||||
_status = center.ToString();
|
||||
Result = true;
|
||||
context.GraphicsElements.Add(new AlignElement(){Location = center});
|
||||
}
|
||||
public override string ToString()
|
||||
{
|
||||
return _status;
|
||||
}
|
||||
|
||||
public override void Save(BinaryWriter bw)
|
||||
{
|
||||
base.Save(bw);
|
||||
bw.Write(Reference1.ToString());
|
||||
bw.Write(Reference2.ToString());
|
||||
bw.Write(DesiredAngle);
|
||||
}
|
||||
|
||||
public override void Load(BinaryReader br)
|
||||
{
|
||||
base.Load(br);
|
||||
Reference1 = new Guid(br.ReadString());
|
||||
Reference2 = new Guid(br.ReadString());
|
||||
DesiredAngle = br.ReadInt32();
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,104 @@
|
||||
using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Align;
|
||||
using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Edge;
|
||||
using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Origin;
|
||||
using Hawkeye.VisionBuilder.Workflow.Links;
|
||||
using Hawkeye.VisionBuilder.Workflow.Operations.Attributes;
|
||||
|
||||
|
||||
namespace Hawkeye.VisionBuilder.Workflow.Operations.PositionDetection.Edges;
|
||||
[Category("Simple/Edges")]
|
||||
public class EdgeIntersectionOperation : BaseOperation, IHaveOrigin
|
||||
{
|
||||
private readonly WorkflowList _workflowList;
|
||||
private string _status;
|
||||
public override string ToString()
|
||||
{
|
||||
return _status;
|
||||
}
|
||||
|
||||
public EdgeIntersectionOperation(WorkflowList workflowList)
|
||||
{
|
||||
_workflowList = workflowList;
|
||||
}
|
||||
|
||||
public Guid ReferenceEdge1 { get; set; }
|
||||
|
||||
public Guid ReferenceEdge2 { get; set; }
|
||||
|
||||
protected override void InterpretInternal(Context context)
|
||||
{
|
||||
var reference1 = _workflowList.GetById(ReferenceEdge1);
|
||||
var reference2 = _workflowList.GetById(ReferenceEdge2);
|
||||
if (reference1 == NoOrigin.Instance)
|
||||
{
|
||||
_status = $"{nameof(ReferenceEdge1)} must be set";
|
||||
Result = false;
|
||||
return;
|
||||
}
|
||||
if (reference2 == NoOrigin.Instance)
|
||||
{
|
||||
_status = $"{nameof(ReferenceEdge2)} must be set";
|
||||
Result = false;
|
||||
return;
|
||||
}
|
||||
if (!(reference1 as BaseOperation).Result)
|
||||
{
|
||||
_status = $"{nameof(ReferenceEdge1)} detection failed";
|
||||
Result = false;
|
||||
return;
|
||||
}
|
||||
if (!(reference2 as BaseOperation).Result)
|
||||
{
|
||||
_status = $"{nameof(ReferenceEdge2)} detection failed";
|
||||
Result = false;
|
||||
return;
|
||||
}
|
||||
|
||||
var edge1 = reference1 as FindEdgeOperation;
|
||||
var edge2 = reference2 as FindEdgeOperation;
|
||||
|
||||
|
||||
//context.GraphicsElements.Add(new EdgeElement()
|
||||
//{
|
||||
// Location = edge1.EdgeOrigin.Location,
|
||||
// Rotation = edge1.EdgeOrigin.Rotation
|
||||
//});
|
||||
//context.GraphicsElements.Add(new EdgeElement()
|
||||
//{
|
||||
// Location = edge2.EdgeOrigin.Location,
|
||||
// Rotation = edge2.EdgeOrigin.Rotation
|
||||
//});
|
||||
|
||||
if (edge1.EdgeOrigin.Intersection(edge2.EdgeOrigin, out var x, out var y))
|
||||
{
|
||||
Result = true;
|
||||
Origin = new OriginElement()
|
||||
{
|
||||
Location = new Vector2(x, y)
|
||||
};
|
||||
_status = $"{Origin.Location}";
|
||||
context.GraphicsElements.Add(new AlignElement() { Location = Origin.Location });
|
||||
return;
|
||||
}
|
||||
_status = $"Edges are parallel";
|
||||
Result = false;
|
||||
|
||||
}
|
||||
|
||||
public override void Save(BinaryWriter bw)
|
||||
{
|
||||
bw.Write(Id.ToString());
|
||||
bw.Write(ReferenceEdge1.ToString());
|
||||
bw.Write(ReferenceEdge2.ToString());
|
||||
}
|
||||
|
||||
public override void Load(BinaryReader br)
|
||||
{
|
||||
Id = new Guid(br.ReadString());
|
||||
ReferenceEdge1 = new Guid(br.ReadString());
|
||||
ReferenceEdge2 = new Guid(br.ReadString());
|
||||
|
||||
}
|
||||
|
||||
public OriginElement Origin { get; set; } = OriginElement.Default;
|
||||
}
|
||||
@@ -0,0 +1,130 @@
|
||||
using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Align;
|
||||
using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Edge;
|
||||
using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Origin;
|
||||
using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.RotatedRectangle;
|
||||
using Hawkeye.VisionBuilder.Workflow.Links;
|
||||
using Hawkeye.VisionBuilder.Workflow.Operations.Attributes;
|
||||
|
||||
using OpenCvSharp;
|
||||
|
||||
namespace Hawkeye.VisionBuilder.Workflow.Operations.PositionDetection.Edges;
|
||||
[Category("Simple/Edges")]
|
||||
public class FindEdgeOperation : BaseOperation, IHaveEdge, IHaveOrigin
|
||||
{
|
||||
private readonly WorkflowList _workflowList;
|
||||
|
||||
public Guid ReferenceId { get; set; } = new Guid();
|
||||
public EdgeOrigin EdgeOrigin { get; set; }
|
||||
public FindEdgeOperation(WorkflowList workflowList)
|
||||
{
|
||||
_workflowList = workflowList;
|
||||
SearchArea = new RotatedRectangleElement()
|
||||
{
|
||||
Location = new Vector2(100, 100),
|
||||
Editable = true,
|
||||
HalfWidth = 50,
|
||||
Height = new Vector2(0, 100),
|
||||
IsGood = true
|
||||
};
|
||||
}
|
||||
private string _status;
|
||||
public override string ToString()
|
||||
{
|
||||
return _status;
|
||||
}
|
||||
|
||||
protected override void InterpretInternal(Context context)
|
||||
{
|
||||
if (context.ActiveImage == null)
|
||||
{
|
||||
Result = false;
|
||||
_status = "No image provided";
|
||||
return;
|
||||
}
|
||||
|
||||
SearchArea.MovePivot(_workflowList.GetOriginById(ReferenceId).Origin.Location);
|
||||
context.GraphicsElements.Add(SearchArea);
|
||||
|
||||
|
||||
var img = context.ActiveImage.ImageData;
|
||||
var mask = new Mat(img.Size(), img.Type(), Scalar.Black);
|
||||
|
||||
SearchArea.FillMat(mask);
|
||||
|
||||
var edges = img.Canny(100, 200);
|
||||
var mat = edges.BitwiseAnd(mask).ToMat();
|
||||
|
||||
|
||||
mat.MinMaxLoc(out _, out var maxVal, out _, out var maxLoc);
|
||||
if (maxVal < 0.01)
|
||||
{
|
||||
_status = "No edges found";
|
||||
SearchArea.IsGood = false;
|
||||
context.GraphicsElements.Add(SearchArea);
|
||||
Result = false;
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
Cv2.FindContours(mat, out var contours, out var hierarchy, RetrievalModes.CComp, ContourApproximationModes.ApproxSimple);
|
||||
//var closest = contours.OrderBy(c =>
|
||||
//{
|
||||
|
||||
// return (c.Select(x => new Vector2(x.X, x.Y)).Aggregate((v1, v2) => v1 + v2) / c.Length - SearchArea.Location).Length();
|
||||
|
||||
//}).First();
|
||||
|
||||
var closest = contours.SelectMany(x => x);
|
||||
var line = Cv2.FitLine(closest, DistanceTypes.L2, 0, 0.01, 0.01);
|
||||
|
||||
|
||||
|
||||
context.GraphicsElements.Add(new EdgeElement()
|
||||
{
|
||||
Location = new Vector2((float)line.X1, (float)line.Y1),
|
||||
Rotation = (float)line.GetVectorRadian()
|
||||
});
|
||||
|
||||
EdgeOrigin = new EdgeOrigin()
|
||||
{
|
||||
Found = true,
|
||||
Location = new Vector2((float)line.X1, (float)line.Y1),
|
||||
Rotation = (float)line.GetVectorRadian()
|
||||
};
|
||||
Origin = new OriginElement()
|
||||
{
|
||||
Location = new Vector2((float)line.X1, (float)line.Y1)
|
||||
};
|
||||
context.GraphicsElements.Add(new AlignElement() { Location = new Vector2((float)line.X1, (float)line.Y1) });
|
||||
_status = EdgeOrigin.ToString();
|
||||
SearchArea.IsGood = true;
|
||||
Result = true;
|
||||
|
||||
}
|
||||
public override void SetParameters(Dictionary<string, object> parameters)
|
||||
{
|
||||
base.SetParameters(parameters);
|
||||
|
||||
SearchArea.SetPivot(_workflowList.GetOriginById(ReferenceId).Origin.Location);
|
||||
}
|
||||
public override void Save(BinaryWriter bw)
|
||||
{
|
||||
bw.Write(Id.ToString());
|
||||
bw.Write(Label);
|
||||
bw.Write(ReferenceId.ToString());
|
||||
SearchArea.Save(bw);
|
||||
}
|
||||
|
||||
public override void Load(BinaryReader br)
|
||||
{
|
||||
Id = new Guid(br.ReadString());
|
||||
Label = br.ReadString();
|
||||
ReferenceId = new Guid(br.ReadString());
|
||||
SearchArea = new RotatedRectangleElement();
|
||||
SearchArea.Load(br);
|
||||
}
|
||||
|
||||
|
||||
public RotatedRectangleElement SearchArea { get; set; }
|
||||
public OriginElement Origin { get; set; }
|
||||
}
|
||||
Reference in New Issue
Block a user