130 lines
4.0 KiB
C#
130 lines
4.0 KiB
C#
using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Align;
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using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Edge;
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using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.Origin;
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using Hawkeye.VisionBuilder.Workflow.Datatypes.Elements.RotatedRectangle;
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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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namespace Hawkeye.VisionBuilder.Workflow.Operations.PositionDetection.Edges;
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[Category("Simple/Edges")]
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public class FindEdgeOperation : BaseOperation, IHaveEdge, IHaveOrigin
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{
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private readonly WorkflowList _workflowList;
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public Guid ReferenceId { get; set; } = new Guid();
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public EdgeOrigin EdgeOrigin { get; set; }
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public FindEdgeOperation(WorkflowList workflowList)
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{
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_workflowList = workflowList;
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SearchArea = new RotatedRectangleElement()
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{
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Location = new Vector2(100, 100),
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Editable = true,
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HalfWidth = 50,
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Height = new Vector2(0, 100),
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IsGood = true
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};
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}
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private string _status;
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public override string ToString()
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{
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return _status;
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}
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protected override void InterpretInternal(Context context)
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{
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if (context.ActiveImage == null)
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{
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Result = false;
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_status = "No image provided";
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return;
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}
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SearchArea.MovePivot(_workflowList.GetOriginById(ReferenceId).Origin.Location);
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context.GraphicsElements.Add(SearchArea);
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var img = context.ActiveImage.ImageData;
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var mask = new Mat(img.Size(), img.Type(), Scalar.Black);
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SearchArea.FillMat(mask);
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var edges = img.Canny(100, 200);
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var mat = edges.BitwiseAnd(mask).ToMat();
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mat.MinMaxLoc(out _, out var maxVal, out _, out var maxLoc);
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if (maxVal < 0.01)
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{
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_status = "No edges found";
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SearchArea.IsGood = false;
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context.GraphicsElements.Add(SearchArea);
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Result = false;
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return;
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}
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Cv2.FindContours(mat, out var contours, out var hierarchy, RetrievalModes.CComp, ContourApproximationModes.ApproxSimple);
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//var closest = contours.OrderBy(c =>
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//{
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// return (c.Select(x => new Vector2(x.X, x.Y)).Aggregate((v1, v2) => v1 + v2) / c.Length - SearchArea.Location).Length();
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//}).First();
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var closest = contours.SelectMany(x => x);
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var line = Cv2.FitLine(closest, DistanceTypes.L2, 0, 0.01, 0.01);
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context.GraphicsElements.Add(new EdgeElement()
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{
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Location = new Vector2((float)line.X1, (float)line.Y1),
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Rotation = (float)line.GetVectorRadian()
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});
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EdgeOrigin = new EdgeOrigin()
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{
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Found = true,
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Location = new Vector2((float)line.X1, (float)line.Y1),
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Rotation = (float)line.GetVectorRadian()
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};
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Origin = new OriginElement()
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{
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Location = new Vector2((float)line.X1, (float)line.Y1)
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};
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context.GraphicsElements.Add(new AlignElement() { Location = new Vector2((float)line.X1, (float)line.Y1) });
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_status = EdgeOrigin.ToString();
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SearchArea.IsGood = true;
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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(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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ReferenceId = new Guid(br.ReadString());
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SearchArea = new RotatedRectangleElement();
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SearchArea.Load(br);
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}
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public RotatedRectangleElement SearchArea { get; set; }
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public OriginElement Origin { get; set; }
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} |