115 lines
3.4 KiB
C#
115 lines
3.4 KiB
C#
using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Poly;
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using Hawkeye.VisionBuilder.Workflow.Operations.Attributes;
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using OpenCvSharp;
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using static Hawkeye.VisionBuilder.Workflow.Operations.FindManyBlobsOperation;
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using Point = OpenCvSharp.Point;
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namespace Hawkeye.VisionBuilder.Workflow.Operations.AI;
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[Category("AI")]
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public class YoloPickDetected:BaseOperation
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{
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public string SlotName { get; set; } = "Image";
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public int TypeId { get; set; }
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public int MinArea { get; set; } = 0;
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public int MaxArea { get; set; } = 99999;
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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 int MinHeight { get; set; } = 0;
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public int MaxHeight { get; set; } = 99999;
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protected override void InterpretInternal(Context context)
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{
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Status = "No blobs found";
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var image=context.Memory[SlotName];
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var threshold= image.ImageData.InRange(TypeId, TypeId);
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var contours = threshold
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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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return;
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}
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var validContours = new List<Point[]>();
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foreach (var contour in contours)
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{
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var boundingRect = Cv2.BoundingRect(contour);
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var area = Cv2.ContourArea(contour);
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if (boundingRect.Width >= MinWidth && boundingRect.Width <= MaxWidth &&
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boundingRect.Height >= MinHeight && boundingRect.Height <= MaxHeight &&
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area >= MinArea && area <= MaxArea
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)
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{
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validContours.Add(contour);
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}
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}
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int badCount = 0;
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foreach (var contourMatch in validContours)
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{
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PolyElement poly = new PolyElement() { IsGood = false };
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poly.Points = contourMatch.Select(x => new Vector2(x.X, x.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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// find smallest contour size
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var smallest = validContours.OrderBy(x => Cv2.ContourArea(x)).First();
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var smallestBoundingRect = Cv2.BoundingRect(smallest);
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var biggest = validContours.OrderBy(x => Cv2.ContourArea(x)).Last();
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var biggestBoundingRect = Cv2.BoundingRect(biggest);
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var smallestArea = Cv2.ContourArea(smallest);
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var biggestArea = Cv2.ContourArea(biggest);
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Status = $"Found: {badCount} Min area:{smallestArea} Max area:{biggestArea}";
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Result = false;
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return;
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}
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Result = true;
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}
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public override void Save(BinaryWriter bw)
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{
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base.Save(bw);
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bw.Write(SlotName);
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bw.Write(TypeId);
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bw.Write(MinWidth);
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bw.Write(MaxWidth);
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bw.Write(MinHeight);
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bw.Write(MaxHeight);
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bw.Write(MinArea);
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bw.Write(MaxArea);
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}
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public override void Load(BinaryReader br)
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{
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base.Load(br);
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SlotName = br.ReadString();
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TypeId = br.ReadInt32();
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MinWidth = br.ReadInt32();
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MaxWidth = br.ReadInt32();
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MinHeight = br.ReadInt32();
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MaxHeight = br.ReadInt32();
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MinArea = br.ReadInt32();
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MaxArea = br.ReadInt32();
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}
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} |