Adds corner detection to find_rects

CUASAS · Feb 23, 2021 · 299e3f7 · 299e3f7
1 parent bf70895
commit 299e3f7
Show file tree

Hide file tree

Showing 36 changed files with 116 additions and 15 deletions.
diff --git a/gVisionLV/Sample Images/MH0111/fid_bl.png b/gVisionLV/Sample Images/MH0111/fid_bl.png
diff --git a/gVisionLV/Sample Images/MH0111/fid_br.png b/gVisionLV/Sample Images/MH0111/fid_br.png
diff --git a/gVisionLV/Sample Images/MH0111/fid_tl.png b/gVisionLV/Sample Images/MH0111/fid_tl.png
diff --git a/gVisionLV/Sample Images/MH0111/fid_tr.png b/gVisionLV/Sample Images/MH0111/fid_tr.png
diff --git a/gVisionLV/Sample Images/MH0112/fid_bl.png b/gVisionLV/Sample Images/MH0112/fid_bl.png
diff --git a/gVisionLV/Sample Images/MH0112/fid_br.png b/gVisionLV/Sample Images/MH0112/fid_br.png
diff --git a/gVisionLV/Sample Images/MH0112/fid_tl.png b/gVisionLV/Sample Images/MH0112/fid_tl.png
diff --git a/gVisionLV/Sample Images/MH0112/fid_tr.png b/gVisionLV/Sample Images/MH0112/fid_tr.png
diff --git a/gVisionLV/Sample Images/MH0113/fid_bl.png b/gVisionLV/Sample Images/MH0113/fid_bl.png
diff --git a/gVisionLV/Sample Images/MH0113/fid_br.png b/gVisionLV/Sample Images/MH0113/fid_br.png
diff --git a/gVisionLV/Sample Images/MH0113/fid_tl.png b/gVisionLV/Sample Images/MH0113/fid_tl.png
diff --git a/gVisionLV/Sample Images/MH0113/fid_tr.png b/gVisionLV/Sample Images/MH0113/fid_tr.png
diff --git a/gVisionLV/Sample Images/MH0114/fid_bl.png b/gVisionLV/Sample Images/MH0114/fid_bl.png
diff --git a/gVisionLV/Sample Images/MH0114/fid_br.png b/gVisionLV/Sample Images/MH0114/fid_br.png
diff --git a/gVisionLV/Sample Images/MH0114/fid_tl.png b/gVisionLV/Sample Images/MH0114/fid_tl.png
diff --git a/gVisionLV/Sample Images/MH0114/fid_tr.png b/gVisionLV/Sample Images/MH0114/fid_tr.png
diff --git a/gVisionLV/Sample Images/MH0115/fid_bl.png b/gVisionLV/Sample Images/MH0115/fid_bl.png
diff --git a/gVisionLV/Sample Images/MH0115/fid_br.png b/gVisionLV/Sample Images/MH0115/fid_br.png
diff --git a/gVisionLV/Sample Images/MH0115/fid_tl.png b/gVisionLV/Sample Images/MH0115/fid_tl.png
diff --git a/gVisionLV/Sample Images/MH0115/fid_tr.png b/gVisionLV/Sample Images/MH0115/fid_tr.png
diff --git a/gVisionLV/Sample Images/TFPX_bond_pad_rot2.png b/gVisionLV/Sample Images/TFPX_bond_pad_rot2.png
diff --git a/gVisionLV/Sample Images/glass_corners/glass_corner_br.png b/gVisionLV/Sample Images/glass_corners/glass_corner_br.png
diff --git a/gVisionLV/Sample Images/glass_corners/glass_corner_tr_10.png b/gVisionLV/Sample Images/glass_corners/glass_corner_tr_10.png
diff --git a/gVisionLV/Sample Images/glass_corners/glass_corner_tr_20.png b/gVisionLV/Sample Images/glass_corners/glass_corner_tr_20.png
diff --git a/gVisionLV/Sample Images/glass_corners/glass_corner_tr_30.png b/gVisionLV/Sample Images/glass_corners/glass_corner_tr_30.png
diff --git a/gVisionLV/Sample Images/glass_corners/glass_corner_tr_40.png b/gVisionLV/Sample Images/glass_corners/glass_corner_tr_40.png
diff --git a/gVisionLV/Sample Images/glass_corners/glass_corner_tr_50.png b/gVisionLV/Sample Images/glass_corners/glass_corner_tr_50.png
diff --git a/gVisionLV/Sample Images/glass_corners/glass_corner_tr_60.png b/gVisionLV/Sample Images/glass_corners/glass_corner_tr_60.png
diff --git a/gVisionLV/Sample Images/glass_corners/glass_corner_tr_70.png b/gVisionLV/Sample Images/glass_corners/glass_corner_tr_70.png
diff --git a/gVisionLV/gVision/find_rects.vi b/gVisionLV/gVision/find_rects.vi
diff --git a/gVisionLV/gVision/find_rects_parameters.ctl b/gVisionLV/gVision/find_rects_parameters.ctl
diff --git a/gVisionLV/gVisionLV.lvlps b/gVisionLV/gVisionLV.lvlps
@@ -1,5 +1,5 @@
 [ProjectWindow_Data]
-ProjectExplorer.ClassicPosition[String] = "694,1314,1343,1731"
+ProjectExplorer.ClassicPosition[String] = "590,709,1239,1126"
 
 [AB_Cache_{77228E7A-B344-462E-98A7-B727431AA691}]
 Cache_ProjSymbolChksum[String] = "7dea362b3fac8e00956a4952a3d4f474"

diff --git a/gVisionLV/tests/find_rects_test.vi b/gVisionLV/tests/find_rects_test.vi
diff --git a/gVisionSource/gVision/gVision.cpp b/gVisionSource/gVision/gVision.cpp
@@ -279,6 +279,14 @@ __declspec(dllexport) int __cdecl find_rects(
 	int* Nrects,
 	float* rectXCenters,
 	float* rectYCenters,
+	float* rectXBLCorners,
+	float* rectYBLCorners,
+	float* rectXTLCorners,
+	float* rectYTLCorners,
+	float* rectXTRCorners,
+	float* rectYTRCorners,
+	float* rectXBRCorners,
+	float* rectYBRCorners,
 	float* rectWidths, 
 	float* rectHeights,
     float* rectAngles)
@@ -319,17 +327,45 @@ __declspec(dllexport) int __cdecl find_rects(
 
 	//PUTTING DIMENSIONS OF ALL RECTANGLES IN VECTORS
 	vector<cv::Point2f> rectSizes;
-    vector<cv::Point2f> rectCenters;
+    vector<vector<cv::Point2f> > rectPoints; // center, bl, tl, tr, br
     vector<float> rectAngles_;
 	for (auto& bRect: boundRects) {
-        float width_mm = bRect.size.width * (fieldOfViewX / img.cols);
-        float height_mm = bRect.size.height * (fieldOfViewY / img.rows);
-        rectSizes.push_back(cv::Point2f(width_mm, height_mm));
-        float centerX_mm = (bRect.center.x - img.cols / 2) * pixelSize;
-        float centerY_mm = (bRect.center.y - img.rows / 2) * pixelSize;
-		rectCenters.push_back(cv::Point2f(centerX_mm, centerY_mm));
+        float x, y;
+        vector<cv::Point2f> pts;
+        cv::Point2f recPoints[4];
+        bRect.points(recPoints);
+
+		pts.push_back({ // Center
+            (bRect.center.x - img.cols / 2) * pixelSize,
+            (bRect.center.y - img.rows / 2) * pixelSize
+		});
+
+		pts.push_back({ // Bottom-Left Corner
+            (recPoints[0].x - img.cols / 2) * pixelSize,
+            (recPoints[0].y - img.rows / 2) * pixelSize
+		});
+
+		pts.push_back({ // Top-Left Corner
+            (recPoints[1].x - img.cols / 2) * pixelSize,
+            (recPoints[1].y - img.rows / 2) * pixelSize
+		});
+
+		pts.push_back({ // Top-Right Corner
+            (recPoints[2].x - img.cols / 2) * pixelSize,
+            (recPoints[2].y - img.rows / 2) * pixelSize
+		});
+
+		pts.push_back({ // Bottom-Right Corner
+            (recPoints[3].x - img.cols / 2) * pixelSize,
+            (recPoints[3].y - img.rows / 2) * pixelSize
+		});
+        rectPoints.push_back(pts);
 
         rectAngles_.push_back(bRect.angle);
+        rectSizes.push_back({
+            bRect.size.width * pixelSize,
+			bRect.size.height * pixelSize
+		});
 	}
 
 
@@ -349,8 +385,12 @@ __declspec(dllexport) int __cdecl find_rects(
        bool rotated = false; // Accounts for rectangle on it's side, in which case height&width are interchanged
 
 	   if ((rectSizes[i].x > minWidth && rectSizes[i].x < maxWidth) && (rectSizes[i].y > minHeight && rectSizes[i].y < maxHeight)) {
+           cout << "not rotated" << endl;
+           cout << "angle: " << rectAngles_[i] << endl;
            passes = true;
 	   } else if ((rectSizes[i].x > minHeight && rectSizes[i].x < maxHeight) && (rectSizes[i].y > minWidth && rectSizes[i].y < maxWidth)) {
+           cout << "rotated" << endl;
+           cout << "angle: " << rectAngles_[i] << endl;
            passes = true;
            rotated = true;
 	   }
@@ -365,19 +405,61 @@ __declspec(dllexport) int __cdecl find_rects(
            }
 
 		   //Copy to output arrays
-		   *(rectXCenters + counter) = rectCenters[i].x; 
-		   *(rectYCenters + counter) = rectCenters[i].y;
-		   ss << "  x=" << rectCenters[i].x << ", y=" << rectCenters[i].y;
+		   *(rectXCenters + counter) = rectPoints[i][0].x; 
+		   *(rectYCenters + counter) = rectPoints[i][0].y;
+		   ss << "  x=" << rectPoints[i][0].x << ", y=" << rectPoints[i][0].y;
+
+
+           auto label_corner = [img](cv::Point2f& pt, int col, const char* label) {
+               cv::Scalar color(col*60, col*60, col*60);
+			   cv::circle(img, pt, 15, color, -1);
+               cv::putText(img, label, pt, cv::FONT_HERSHEY_SIMPLEX, 2.0, color, 3);
+           };
+
            if (rotated) {
 			   *(rectWidths + counter) = rectSizes[i].y;
 			   *(rectHeights + counter) = rectSizes[i].x;
 			   *(rectAngles + counter) = fmodf(rectAngles_[i] + 90, 180.0);
+
+               *(rectXBLCorners + counter) = rectPoints[i][2].x;
+               *(rectYBLCorners + counter) = rectPoints[i][2].y;
+               label_corner(vertices[1], 1, "BL");
+
+               *(rectXTLCorners + counter) = rectPoints[i][3].x;
+               *(rectYTLCorners + counter) = rectPoints[i][3].y;
+               label_corner(vertices[2], 2, "TL");
+
+               *(rectXTRCorners + counter) = rectPoints[i][4].x;
+               *(rectYTRCorners + counter) = rectPoints[i][4].y;
+               label_corner(vertices[3], 3, "TR");
+
+               *(rectXBRCorners + counter) = rectPoints[i][1].x;
+               *(rectYBRCorners + counter) = rectPoints[i][1].y;
+               label_corner(vertices[0], 4, "BR");
+
 			   ss << ", width=" << rectSizes[i].y << ", height=" << rectSizes[i].x;
            }
            else {
 			   *(rectWidths + counter) = rectSizes[i].x;
 			   *(rectHeights + counter) = rectSizes[i].y;
-			   *(rectAngles + counter) = rectAngles_[i];
+			   *(rectAngles + counter) = fmodf(rectAngles_[i], 180.0);
+
+               *(rectXBLCorners + counter) = rectPoints[i][1].x;
+               *(rectYBLCorners + counter) = rectPoints[i][1].y;
+               label_corner(vertices[0], 1, "BL");
+
+               *(rectXTLCorners + counter) = rectPoints[i][2].x;
+               *(rectYTLCorners + counter) = rectPoints[i][2].y;
+               label_corner(vertices[1], 2, "TL");
+
+               *(rectXTRCorners + counter) = rectPoints[i][3].x;
+               *(rectYTRCorners + counter) = rectPoints[i][3].y;
+               label_corner(vertices[2], 3, "TR");
+
+               *(rectXBRCorners + counter) = rectPoints[i][4].x;
+               *(rectYBRCorners + counter) = rectPoints[i][4].y;
+               label_corner(vertices[3], 4, "BR");
+
 			   ss << ", width=" << rectSizes[i].x << ", height=" << rectSizes[i].y;
            }
 		   log(ss);

diff --git a/gVisionSource/gVision/gVision.h b/gVisionSource/gVision/gVision.h
@@ -69,6 +69,14 @@ extern "C" __declspec(dllexport) int __cdecl find_rects(
 	int* Nrects,
 	float* rectXCenters,
 	float* rectYCenters,
+	float* rectXBLCorners,
+	float* rectYBLCorners,
+	float* rectXTLCorners,
+	float* rectYTLCorners,
+	float* rectXTRCorners,
+	float* rectYTRCorners,
+	float* rectXBRCorners,
+	float* rectYBRCorners,
 	float* rectWidths,
 	float* rectHeights,
     float* rectAngles);
diff --git a/gVisionSource/gVision_tests/gVision_tests.cpp b/gVisionSource/gVision_tests/gVision_tests.cpp
@@ -51,7 +51,7 @@ void test_find_patches(bool debug, const char* logFileDir) {
 }
 
 void test_find_rects(bool debug, const char* logFileDir) {
-    cv::Mat img = cv::imread("..\\..\\..\\gVisionLV\\Sample Images\\TFPX_bond_pad_rot.png", 
+    cv::Mat img = cv::imread("..\\..\\..\\gVisionLV\\Sample Images\\TFPX_bond_pad.png", 
         cv::IMREAD_GRAYSCALE);
     if (img.empty()) {
         cout << "failed to open image" << endl;
@@ -61,6 +61,14 @@ void test_find_rects(bool debug, const char* logFileDir) {
     int numRects;
     float rectXCenters[50];
     float rectYCenters[50];
+    float rectXTLCorners[50];
+	float rectYTLCorners[50];
+	float rectXTRCorners[50];
+	float rectYTRCorners[50];
+	float rectXBLCorners[50];
+	float rectYBLCorners[50];
+	float rectXBRCorners[50];
+	float rectYBRCorners[50];
     float rectWidths[50];
     float rectHeights[50];
     float rectAngles[50];
@@ -79,8 +87,11 @@ void test_find_rects(bool debug, const char* logFileDir) {
         debug,
         logFileDir,
         &numRects,
-        rectXCenters,
-        rectYCenters,
+        rectXCenters, rectYCenters,
+	    rectXBLCorners, rectYBLCorners,
+        rectXTLCorners, rectYTLCorners,
+	    rectXTRCorners, rectYTRCorners,
+	    rectXBRCorners, rectYBRCorners,
         rectWidths,
         rectHeights,
         rectAngles