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BOE_ZB_SOCKET
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update 整理Pin脚检测

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dev_lsy
xiewenji 1 month ago
parent 3dba31a9b4
commit f0eb786864
5 changed files with 40 additions and 292 deletions
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1
AlgorithmModule/include/ImgCheckAnalysisy.hpp
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@ -295,6 +295,7 @@ private:
// 模板信息
cv::RotatedRect m_tplOuterRect; // 模板外接矩形
std::vector<std::vector<cv::Point>> m_tplPinContours; // 模板 pin blob 轮廓点集
std::vector<std::vector<cv::Point>> m_curPinContours; // 当前 pin blob 轮廓点集
};
#endif

116
AlgorithmModule/include/Pin_QX_Det.h
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@ -59,10 +59,6 @@ public:
BaseCheckFunction *pBaseCheckFunction;
std::string strChannel;
std::vector<QX_Result> qx_result;
std::vector<Det_ROI_Config> pin_det_roi;
std::vector<cv::Point> Det_region;
bool bSaveResultImg;
DetConfigResult()
{
@ -72,106 +68,7 @@ public:
{
pBaseCheckFunction = NULL;
strChannel = "";
qx_result.clear();
pin_det_roi.clear();
Det_region.clear();
bSaveResultImg = false;
}
};
enum Det_ROI_Type
{
Det_ROI_Type_UP,
Det_ROI_Type_DOWN,
Det_ROI_Type_LEFT,
Det_ROI_Type_RIGHT,
};
// 边缘搜索定位结果
struct Pin_AI_Result
{
int nresult;
cv::RotatedRect bigroi;
cv::RotatedRect smallroi;
bool buseOfft;
int offt_x;
int offt_y;
cv::Mat H;
Pin_AI_Result()
{
Init();
}
void Init()
{
buseOfft = false;
nresult = 0;
offt_x = 0;
offt_y = 0;
bigroi = cv::RotatedRect(cv::Point2f(0, 0), cv::Size2f(0, 0), 0);
smallroi = cv::RotatedRect(cv::Point2f(0, 0), cv::Size2f(0, 0), 0);
if (!H.empty())
{
H.release();
/* code */
}
}
};
enum SaveProcessType
{
Save_Close, // 不保存
Save_Filter, // 过滤的
Save_ALL, // 全部
};
struct DetConfig
{
int ncamId; // 相机ID
BaseCheckFunction *pBaseCheckFunction;
std::string strChannel; // 通道
int nthresholdvalue; // 背景阈值
int nAIErodesize; // 边缘腐蚀强度
bool bSaveResultImg; // 保存结果图片
SaveProcessType saveProcessImg; // 保存过程图片
bool bUseDrawRoi_Check; // 是否用绘制的ROI进行校验
cv::Rect drawRoi; // 绘制的 ROi;
cv::Mat drawMask; // 绘制的maksk
DetConfig()
{
Init();
}
void Init()
{
pBaseCheckFunction = NULL;
ncamId = 0;
nthresholdvalue = 1;
nAIErodesize = 7;
bSaveResultImg = false;
saveProcessImg = Save_Close;
bUseDrawRoi_Check = false;
drawRoi = cv::Rect(0, 0, 0, 0);
if (!drawMask.empty())
{
drawMask.release();
/* code */
}
}
void Print()
{
printf("nthresholdvalue:%d;nAIErodesize %d;bSaveResultImg %s SaveProcessImg %d\n",
nthresholdvalue, nAIErodesize, BOOL_TO_STR(bSaveResultImg), saveProcessImg);
printf("bUseDrawRoi_Check %s roi %s \n",
BOOL_TO_STR(bUseDrawRoi_Check), CheckUtil::GetRectString(drawRoi).c_str());
}
bool IsSaveProcessImg()
{
if (saveProcessImg != Save_Close)
{
return true;
}
return false;
}
};
@ -180,30 +77,17 @@ public:
~Pin_QX_Det();
int GetPinMask(const cv::Mat &img, DetConfigResult *pDetConfig, Mat &mask);
int Detect(const cv::Mat &img, DetConfigResult *pDetConfig);
private:
int InitModel_Pin();
int creatsavedir();
private:
bool m_bInitSucc; // 是否初始化成功
// 检测结果
std::shared_ptr<Pin_AI_Result> m_pCheckResult_Pin;
std::shared_ptr<DetLog>& m_pdetlog;
bool m_bInitialized;
bool m_bModelSucc;
bool m_bModel_Mark_Succ;
bool m_bshowimg;
cv::Mat showimg;
std::string m_strRootPath_Pin;
std::string m_strSavePath_Pin;
std::string m_strLastDate;
ImageStorage *m_pImageStorage;
std::shared_ptr<AIFactory> AI_Factory;

13
AlgorithmModule/src/ALLImgCheckAnalysisy.cpp
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@ -428,8 +428,6 @@ int ALLImgCheckAnalysisy::InitTemplateMask()
// mask 尺寸 -> 裁剪图(pinImg) 尺寸 的缩放比例
const float pin_scale_x = (tplPinMask.cols > 0) ? static_cast<float>(pinImg.cols) / tplPinMask.cols : 0.0f;
const float pin_scale_y = (tplPinMask.rows > 0) ? static_cast<float>(pinImg.rows) / tplPinMask.rows : 0.0f;
// 裁剪区域在 tplImg 上的偏移
const cv::Point pin_offset = tplOuterRect.boundingRect().tl();
// 将轮廓点从 mask 坐标系 映射回 tplImg 坐标系
m_tplPinContours.clear();
m_tplPinContours.reserve(pin_contours.size());
@ -439,8 +437,8 @@ int ALLImgCheckAnalysisy::InitTemplateMask()
mapped.reserve(pin_contours[i].size());
for (const auto &pt : pin_contours[i])
{
mapped.emplace_back(cvRound(pt.x * pin_scale_x) + pin_offset.x,
cvRound(pt.y * pin_scale_y) + pin_offset.y);
mapped.emplace_back(cvRound(pt.x * pin_scale_x),
cvRound(pt.y * pin_scale_y));
}
m_tplPinContours.push_back(mapped);
}
@ -449,10 +447,9 @@ int ALLImgCheckAnalysisy::InitTemplateMask()
// 绘制到 tplImg 上
{
Mat showImg = tplImg.clone();
rectangle(showImg, tplOuterRect.boundingRect(), Scalar(0, 0, 255), 2);
cv::drawContours(showImg, m_tplPinContours, -1, Scalar(0, 255, 0), 2);
cv::imwrite("/home/aidlux/BOE/ZB_SOCKET/Tpl/tpl_pin_contours.png", showImg);
Mat showImg = pinImg.clone();
cv::drawContours(pinImg, m_tplPinContours, -1, Scalar(0, 255, 0), 2);
cv::imwrite("/home/aidlux/BOE/ZB_SOCKET/Tpl/tpl_pin_contours.png", pinImg);
}
m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_1, "---Init Tpl---" , "end");

142
AlgorithmModule/src/ImgCheckAnalysisy.cpp
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@ -442,7 +442,6 @@ int ImgCheckAnalysisy::CheckRun()
cv::RotatedRect inner_roi;
// 模型定位内外边缘
int reedge = AI_Edge(m_CheckResult_shareP->in_shareImage->img, outer_roi, inner_roi);
m_outer_roi = outer_roi.boundingRect();
if (reedge != 0)
{
m_pdetlog->AddCheckstr(PrintLevel_0, "Error", "AI_Edge is error type = %d", reedge);
@ -462,7 +461,7 @@ int ImgCheckAnalysisy::CheckRun()
/*投影对齐模板*/
Adapt_Config(m_tplOuterRect, outer_roi, m_CheckResult_shareP->in_shareImage->img);
m_outer_roi = m_tplOuterRect.boundingRect();
m_Crop_Roi_paramImg = m_outer_roi;
m_pImageAllResult->pDetResult->CutRoi = m_outer_roi;
m_pImageAllResult->pDetResult->Param_CropRoi = m_Crop_Roi_paramImg;
@ -488,7 +487,7 @@ int ImgCheckAnalysisy::CheckRun()
ImgPreDet();
/*更新检测区域*/
Update_DetRoiList();
// Update_DetRoiList();
m_pdetlog->AddCheckstr(PrintLevel_0, "3、pre detect", "-------------------------pre Det--------------- \n");
@ -1682,43 +1681,6 @@ int ImgCheckAnalysisy::DrawResult_Step_1()
float fs_resize_x = m_pImageAllResult->resultImg.cols * 1.0f / m_pImageAllResult->detImg.cols;
float fs_resize_y = m_pImageAllResult->resultImg.rows * 1.0f / m_pImageAllResult->detImg.rows;
// 要绘制结果
if (m_pbaseCheckFunction && m_pbaseCheckFunction->edgeDet.bDrawResult)
{
for (const auto &r : m_Edge_DetConfig.pin_det_roi)
{
cv::Rect droi;
droi.x = r.roi.x * fs_resize_x;
droi.y = r.roi.y * fs_resize_y;
droi.width = r.roi.width * fs_resize_x;
droi.height = r.roi.height * fs_resize_y;
cv::rectangle(m_CheckResult_shareP->resultimg, droi, cv::Scalar(255, 0, 255), 1); // 黄色角点
}
if (m_Edge_DetConfig.Det_region.size() > 2)
{
for (int i = 0; i < m_Edge_DetConfig.Det_region.size() - 1; i++)
{
cv::Point p1;
p1.x = m_Edge_DetConfig.Det_region[i].x * fs_resize_x;
p1.y = m_Edge_DetConfig.Det_region[i].y * fs_resize_y;
cv::Point p2;
p2.x = m_Edge_DetConfig.Det_region[i + 1].x * fs_resize_x;
p2.y = m_Edge_DetConfig.Det_region[i + 1].y * fs_resize_y;
cv::line(m_CheckResult_shareP->resultimg, p1, p2, cv::Scalar(0, 255, 255));
}
{
cv::Point p1;
p1.x = m_Edge_DetConfig.Det_region[0].x * fs_resize_x;
p1.y = m_Edge_DetConfig.Det_region[0].y * fs_resize_y;
cv::Point p2;
p2.x = m_Edge_DetConfig.Det_region[m_Edge_DetConfig.Det_region.size() - 1].x * fs_resize_x;
p2.y = m_Edge_DetConfig.Det_region[m_Edge_DetConfig.Det_region.size() - 1].y * fs_resize_y;
cv::line(m_CheckResult_shareP->resultimg, p1, p2, cv::Scalar(0, 255, 255));
}
}
}
if (m_pbaseCheckFunction && m_pbaseCheckFunction->markLine.region.size() > 1)
{
std::vector<cv::Point> product_roi_show;
@ -1828,77 +1790,39 @@ int ImgCheckAnalysisy::Pin_Qx_Det(const cv::Mat &img)
m_Edge_DetConfig.bSaveResultImg = true;
}
// m_pbaseCheckFunction->print("Pin_Qx_Det");
int re = m_Pin_QX_Det.Detect(img, &m_Edge_DetConfig);
if (re == 0)
{
for (const auto r : m_Edge_DetConfig.qx_result)
Mat pin_mask;
int re = m_Pin_QX_Det.GetPinMask(img, &m_Edge_DetConfig, pin_mask);
// 统计tplPinMask的blob边缘点，并绘制到tplImg上
vector<vector<Point>> pin_contours;
vector<Vec4i> hierarchy;
cv::findContours(pin_mask, pin_contours, hierarchy, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
//缩放比例
const float pin_scale_x = (pin_mask.cols > 0) ? static_cast<float>(img.cols) / pin_mask.cols : 0.0f;
const float pin_scale_y = (pin_mask.rows > 0) ? static_cast<float>(img.rows) / pin_mask.rows : 0.0f;
// 将轮廓点从 mask 坐标系 映射回 tplImg 坐标系
m_curPinContours.reserve(pin_contours.size());
for (size_t i = 0; i < pin_contours.size(); i++)
{
std::vector<cv::Point> mapped;
mapped.reserve(pin_contours[i].size());
for (const auto &pt : pin_contours[i])
{
QX_ERROR_INFO_ temerror;
temerror.roi = r.roi_src;
temerror.Idx = m_pDetResult->pQx_ErrorList->size();
temerror.area = r.area_pixel;
temerror.JudgArea = r.area_pixel * m_fImgage_Scale_X * m_fImgage_Scale_Y;
temerror.JudgArea_second = temerror.JudgArea;
temerror.energy = 99999999;
temerror.flen = std::max(r.roi_src.width, r.roi_src.height);
temerror.fbreadth = std::min(r.roi_src.width, r.roi_src.height);
temerror.nconfig_qx_type = CONFIG_QX_NAME_cell_edge;
temerror.qx_name = CONFIG_QX_NAME_Names[CONFIG_QX_NAME_cell_edge];
temerror.maxValue = 0;
temerror.grayDis = 255;
temerror.density = 0;
temerror.fUpIou = 0;
{
cv::Point pCenter;
pCenter.x = temerror.roi.x + temerror.roi.width * 0.5;
pCenter.y = temerror.roi.y + temerror.roi.height * 0.5;
int nmaxregionIdx = 0;
for (int iregion = 0; iregion < m_DetRoiList.roiList_Src.size(); iregion++)
{
const std::vector<cv::Point> &polygon = m_DetRoiList.roiList_Src[iregion];
double result = cv::pointPolygonTest(polygon, pCenter, false);
if (result < 0)
{
continue;
}
nmaxregionIdx = iregion;
}
temerror.detRegionidxList.push_back(nmaxregionIdx);
}
// {
// cv::Point pCenter;
// pCenter.x = temerror.roi.x + temerror.roi.width * 0.5;
// pCenter.y = temerror.roi.y + temerror.roi.height * 0.5;
// int nmaxregionIdx = 0;
// for (int iregion = 0; iregion < m_DetRoiList.roiList_Src.size(); iregion++)
// {
// const std::vector<cv::Point> &polygon = m_DetRoiList.roiList_Src[iregion];
// double result = cv::pointPolygonTest(polygon, pCenter, false);
// if (result < 0)
// {
// continue;
// }
// temerror.detRegionidxList.push_back(iregion);
// }
// if (temerror.detRegionidxList.size() <= 0)
// {
// temerror.detRegionidxList.push_back(0);
// }
// }
m_pDetResult->pQx_ErrorList->push_back(temerror);
mapped.emplace_back(cvRound(pt.x * pin_scale_x),
cvRound(pt.y * pin_scale_y));
}
m_pdetlog->AddCheckstr(PrintLevel_1, "Pin_Qx_Det", " succ qx num %ld", m_Edge_DetConfig.qx_result.size());
// printf("- %s idx %d a %f v %d h %f l %f\n", DetImgInfo_shareP->strChannel.c_str(), i, JudgArea, blobs.blobTab[i].maxValue, blobs.blobTab[i].grayDis, flen);
}
else
{
m_pdetlog->AddCheckstr(PrintLevel_1, "Pin_Qx_Det", " error %d", re);
}
m_curPinContours.push_back(mapped);
}
// if (m_Edge_DetConfig.bSaveResultImg)
{
Mat showimg;
cv::cvtColor(img, showimg, cv::COLOR_GRAY2BGR);
cv::drawContours(showimg, m_curPinContours, -1, cv::Scalar(0, 0, 255), 1);
cv::drawContours(showimg, m_tplPinContours, -1, cv::Scalar(0, 255, 0), 1);
imwrite("pin_contours.png", showimg);
}
return 0;
}

60
AlgorithmModule/src/Pin_QX_Det.cpp
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@ -5,34 +5,10 @@
#include <random>
#include "CheckErrorCodeDefine.hpp"
int Pin_QX_Det::creatsavedir()
{
std::string curDate = CheckUtil::getCurrentDate();
if (curDate == m_strLastDate)
{
return 0;
}
m_strLastDate = curDate;
m_strSavePath_Pin = m_strRootPath_Pin + curDate + "/";
CheckUtil::CreateDir(m_strSavePath_Pin);
return 0;
return 0;
}
Pin_QX_Det::Pin_QX_Det(std::shared_ptr<DetLog> &log_ref)
: m_pdetlog(log_ref)
{
m_bInitialized = false;
m_bModelSucc = false;
m_bModel_Mark_Succ = false;
m_bshowimg = false;
m_strRootPath_Pin = "/home/aidlux/BOE/Pin/";
creatsavedir();
std::string m_strSavePath;
m_pImageStorage = ImageStorage::getInstance();
AI_Factory = AIFactory::GetInstance();
}
Pin_QX_Det::~Pin_QX_Det()
@ -65,43 +41,9 @@ int Pin_QX_Det::GetPinMask(const cv::Mat &img, DetConfigResult *pDetConfig, Mat
return re123;
}
if (pDetConfig->pBaseCheckFunction->saveImg.bSaveAlginImg)
{
}
if (pDetConfig->bSaveResultImg)
{
cv::imwrite(pDetConfig->strChannel +"_pin_" +"in.png", detImg);
cv::imwrite(pDetConfig->strChannel +"_pin_" +"out_mask.png", mask);
}
}
int Pin_QX_Det::Detect(const cv::Mat &img, DetConfigResult *pDetConfig)
{
if (!pDetConfig->pBaseCheckFunction->edgeDet.bOpen)
{
return 0;
}
m_bshowimg = false;
if (pDetConfig->bSaveResultImg)
{
m_bshowimg = true;
}
// 获取pin检测mask
Mat pin_mask;
int re = GetPinMask(img, pDetConfig, pin_mask);
// 获取pin模板blob信息
if (m_bshowimg)
{
cv::cvtColor(img, showimg, cv::COLOR_GRAY2BGR);
}
return 0;
}
}
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