lapin/lj_qualibration
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

feat: during IdCode implementation

Browse Source 
The purpose is to include a en coded number in the image to be sure it's
the right image.
This commit is contained in:
Lapin Raving 2023-09-19 16:05:50 +02:00
parent 6145b585f4
commit 910e340ec8
5 changed files with 607 additions and 285 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/draw.rs
View File

@ -11,10 +11,13 @@ pub fn draw_line_dotted(
p2: &Point, p2: &Point,
nb_all: usize, nb_all: usize,
nb_visible: usize, nb_visible: usize,
first_on: bool,
) -> Result<Vec<Point>, Box<dyn std::error::Error>> { ) -> Result<Vec<Point>, Box<dyn std::error::Error>> {
let mut pl = vec![]; let mut pl = vec![];
let black = Color { r: 0, g: 0, b: 0 }; let black = Color { r: 0, g: 0, b: 0 };
let cmp = if first_on { 0 } else { 1 };
for _ in 0..nb_all { for _ in 0..nb_all {
pl.push(Point { pl.push(Point {
color: black, color: black,
@ -23,7 +26,7 @@ pub fn draw_line_dotted(
} }
for i in 0..nb_visible { for i in 0..nb_visible {
pl.push(Point { pl.push(Point {
color: if i % 2 == 0 { p2.color } else { black }, color: if i % 2 == cmp { p2.color } else { black },
..*p2 ..*p2
}); });
} }

645
src/qualibration.rs
View File

@ -1,15 +1,17 @@
pub mod annalyse; pub mod annalyse;
pub mod borders; pub mod borders;
pub mod compute_image;
use annalyse::{ use annalyse::{
annalyse_segment, draw_histograme_bgr_tresh, get_vertical_segment, histogram_3d, image_diff, draw_histograme_bgr_tresh, get_horizontal_segment, get_vertical_segment, histogram_3d,
image_mean, is_same_frame, image_diff, image_mean,
}; // mean dans le sans moyenne des image }; // mean dans le sans moyenne des image
use borders::{bord_mult, get_extermities, get_intersection, mix_borders, probabilistic_hough}; use borders::{bord_mult, get_extermities, get_intersection, mix_borders, probabilistic_hough};
use compute_image::{image_treshold, image_warp, image_warp_treshold};
use std::env::args; use std::env::args;
use std::time::Instant; use std::time::Instant;
use crate::draw; use crate::draw::{draw_line, draw_line_dotted};
use crate::point::{Color, Point}; use crate::point::{Color, Point};
use enum_iterator::{next, Sequence as Seq}; use enum_iterator::{next, Sequence as Seq};
@ -58,12 +60,14 @@ pub enum Sequence {
RightBorder, RightBorder,
ReadDir, ReadDir,
ComputeArea, ComputeArea,
PlayLineDotted, IdCode1,
TakeMultiple(u16), IdCode2,
TakeMultipleEmpty(u16),
ComputeLineDotted,
Finish, Finish,
PlayLineDotted,
EmptyFrame,
ComputeLineDotted,
LinearConstSpeed, // [multiple test] LinearConstSpeed, // [multiple test]
JumpFromTo, JumpFromTo,
@ -76,6 +80,8 @@ pub enum Sequence {
Horizontal(u16), Horizontal(u16),
SelectNbAll(u16), SelectNbAll(u16),
ComputeSelectNbAll, ComputeSelectNbAll,
TakeMultiple(u16),
TakeMultipleEmpty(u16),
} }
#[derive(Debug)] #[derive(Debug)]
@ -105,6 +111,7 @@ pub struct Qualibration {
pub h_size: Size_<i32>, pub h_size: Size_<i32>,
pub line_pos: Vec<i32>, pub line_pos: Vec<i32>,
pub multiple: u16, // le nombre de fois qu'une photo est prise pour certaine sequence pub multiple: u16, // le nombre de fois qu'une photo est prise pour certaine sequence
pub cnt: usize,
} }
impl Qualibration { impl Qualibration {
@ -142,7 +149,7 @@ impl Qualibration {
tresh: Treshold::new("histogram: 0", 150, 255)?, tresh: Treshold::new("histogram: 0", 150, 255)?,
dir_name: dir_name.clone(), dir_name: dir_name.clone(),
key: 10, key: 10,
canny_v1: 150, canny_v1: 170,
canny_v2: 255, canny_v2: 255,
hough_param: HoughLine { hough_param: HoughLine {
rho: 100, rho: 100,
@ -156,6 +163,7 @@ impl Qualibration {
h_size: Size::default(), h_size: Size::default(),
line_pos: vec![4095; 34], line_pos: vec![4095; 34],
multiple: 20, multiple: 20,
cnt: 0,
}) })
} }
@ -186,6 +194,7 @@ impl Qualibration {
} }
//println!("sequence: {:?}", self.id); //println!("sequence: {:?}", self.id);
self.frame_prev = self.frame.clone(); self.frame_prev = self.frame.clone();
self.cnt += 1;
Ok(()) Ok(())
} }
@ -202,81 +211,8 @@ impl Qualibration {
b: self.b as u8, b: self.b as u8,
}; };
//let color = Color { r: 0, g: 0, b: 50 }; //let color = Color { r: 0, g: 0, b: 50 };
let p0 = Point { let (p0, p1, p2, p3, p4, p5, p6, p7, p8, p9, pa, pb) =
x: 0., get_point_to_draw(self.r as u8, self.g as u8, self.b as u8, color.clone());
y: 0.,
color,
};
let p1 = Point {
x: 4095.,
y: 0.,
color,
};
let p2 = Point {
x: 4095.,
y: 4095.,
color,
};
let p3 = Point {
x: 0.,
y: 4095.,
color,
};
let p4 = Point {
x: 0.,
y: 1000.,
color: Color {
r: self.r as u8,
g: 0,
b: 0,
},
};
let p5 = Point {
x: 4095.,
y: 1000.,
color: Color {
r: self.r as u8,
g: 0,
b: 0,
},
};
let p6 = Point {
x: 0.,
y: 2000.,
color: Color {
r: 0,
g: self.g as u8,
b: 0,
},
};
let p7 = Point {
x: 4095.,
y: 2000.,
color: Color {
r: 0,
g: self.g as u8,
b: 0,
},
};
let p8 = Point {
x: 0.,
y: 3000.,
color: Color {
r: 0,
g: 0,
b: self.b as u8,
},
};
let p9 = Point {
x: 4095.,
y: 3000.,
color: Color {
r: 0,
g: 0,
b: self.b as u8,
},
};
let nb_all = self.nb_all as usize; let nb_all = self.nb_all as usize;
let nb_visible = self.nb_visible as usize; let nb_visible = self.nb_visible as usize;
let nb_wait = 30; // ca permet de prendre de la vitess en y. Et donc ca permet de let nb_wait = 30; // ca permet de prendre de la vitess en y. Et donc ca permet de
@ -284,11 +220,20 @@ impl Qualibration {
if seq.is_some() { if seq.is_some() {
match seq.unwrap() { match seq.unwrap() {
Sequence::IdCode1 => {
// on va en haut a gauche
// on va a droite en clognotant sur les nombre pair
pl.extend(draw_line_dotted(&pa, &pb, nb_all, nb_visible, true)?);
}
Sequence::IdCode2 => {
// on va en haut a gauche
// on va a droite en clognotant sur les nombre impair
pl.extend(draw_line_dotted(&pa, &pb, nb_all, nb_visible, false)?);
}
Sequence::PlayLineDotted Sequence::PlayLineDotted
| Sequence::TakeMultiple(_) | Sequence::TakeMultiple(_)
| Sequence::ComputeLineDotted => { | Sequence::ComputeLineDotted => {
// la on va faire une ligne qu'on peut observer // la on va faire une ligne qu'on peut observer
pl = vec![];
let black = Color { r: 0, g: 0, b: 0 }; let black = Color { r: 0, g: 0, b: 0 };
for _ in 0..nb_all { for _ in 0..nb_all {
pl.push(Point { pl.push(Point {
@ -321,32 +266,32 @@ impl Qualibration {
} }
} }
Sequence::WaitSpace => { Sequence::WaitSpace => {
pl = draw::draw_line(&p0, &p1, nb_all, nb_visible)?; pl = draw_line(&p0, &p1, nb_all, nb_visible)?;
pl.extend(draw::draw_line(&p1, &p2, nb_all, nb_visible)?); pl.extend(draw_line(&p1, &p2, nb_all, nb_visible)?);
pl.extend(draw::draw_line(&p3, &p0, nb_all, nb_visible)?); pl.extend(draw_line(&p3, &p0, nb_all, nb_visible)?);
pl.extend(draw::draw_line(&p2, &p3, nb_all, nb_visible)?); pl.extend(draw_line(&p2, &p3, nb_all, nb_visible)?);
pl.extend(draw::draw_line_dotted(&p4, &p5, nb_all, nb_visible)?); pl.extend(draw_line_dotted(&p4, &p5, nb_all, nb_visible, true)?);
pl.extend(draw::draw_line_dotted(&p6, &p7, nb_all, nb_visible)?); pl.extend(draw_line_dotted(&p6, &p7, nb_all, nb_visible, true)?);
pl.extend(draw::draw_line_dotted(&p8, &p9, nb_all, nb_visible)?); pl.extend(draw_line_dotted(&p8, &p9, nb_all, nb_visible, true)?);
} }
Sequence::SelectNbAll(n) => { Sequence::SelectNbAll(n) => {
pl = draw::draw_line(&p0, &p1, n as usize, n as usize)?; pl = draw_line(&p0, &p1, n as usize, n as usize)?;
pl.extend(draw::draw_line(&p1, &p2, n as usize, n as usize)?); pl.extend(draw_line(&p1, &p2, n as usize, n as usize)?);
pl.extend(draw::draw_line(&p3, &p0, n as usize, n as usize)?); pl.extend(draw_line(&p3, &p0, n as usize, n as usize)?);
pl.extend(draw::draw_line(&p2, &p3, n as usize, n as usize)?); pl.extend(draw_line(&p2, &p3, n as usize, n as usize)?);
} }
Sequence::UpBorder => { Sequence::UpBorder => {
pl = draw::draw_line(&p0, &p1, nb_all, nb_visible)?; pl = draw_line(&p0, &p1, nb_all, nb_visible)?;
} }
Sequence::RightBorder => { Sequence::RightBorder => {
pl = draw::draw_line(&p1, &p2, nb_all, nb_visible)?; pl = draw_line(&p1, &p2, nb_all, nb_visible)?;
} }
Sequence::DownBorder => { Sequence::DownBorder => {
pl = draw::draw_line(&p2, &p3, nb_all, nb_visible)?; pl = draw_line(&p2, &p3, nb_all, nb_visible)?;
} }
Sequence::LeftBorder => { Sequence::LeftBorder => {
pl = draw::draw_line(&p3, &p0, nb_all, nb_visible)?; pl = draw_line(&p3, &p0, nb_all, nb_visible)?;
} }
Sequence::Vertical(n) => { Sequence::Vertical(n) => {
let p1 = Point { let p1 = Point {
@ -359,7 +304,7 @@ impl Qualibration {
y: 4095., y: 4095.,
color, color,
}; };
pl = draw::draw_line(&p1, &p2, nb_all, nb_visible)?; pl = draw_line(&p1, &p2, nb_all, nb_visible)?;
} }
Sequence::Horizontal(n) => { Sequence::Horizontal(n) => {
let p1 = Point { let p1 = Point {
@ -372,7 +317,7 @@ impl Qualibration {
y: n as f32, y: n as f32,
color, color,
}; };
pl = draw::draw_line(&p1, &p2, nb_all, nb_visible)?; pl = draw_line(&p1, &p2, nb_all, nb_visible)?;
} }
_ => (), _ => (),
} }
@ -447,177 +392,264 @@ impl Qualibration {
} }
pub fn compute_sequence(&mut self) -> Result<(), Box<dyn std::error::Error>> { pub fn compute_sequence(&mut self) -> Result<(), Box<dyn std::error::Error>> {
if self.id.is_some() { if self.id.is_none() {
match self.id.unwrap() { return Ok(());
Sequence::ComputeLineDotted => { }
let backgrounds = self.img[7..30].to_owned(); match self.id.unwrap() {
let lines_dots = self.img[30..52].to_owned(); Sequence::IdCode2 => {
let mut id_code_1 = image_diff(&self.img[8], &self.img[1])?;
let background = image_mean(&backgrounds)?; id_code_1 = image_warp(&id_code_1, &self.homography, self.h_size)?;
let line_dot = image_mean(&lines_dots)?; id_code_1 = image_treshold(&id_code_1, &self.tresh)?;
let diff = image_diff(&background, &line_dot)?;
let mut warped_image = Mat::default(); let code_seg_1 = get_horizontal_segment(&id_code_1)?;
imgproc::warp_perspective( let code_seg_1 = code_seg_1[1..(code_seg_1.len() - 1)].to_owned();
&diff, //let l = code_seg_1.len();
&mut warped_image, //let code_seg_1 = code_seg_1[(l-16)..(l-1)].to_owned();
&self.homography,
self.h_size,
imgproc::INTER_LINEAR, // I dont see difference with INTER_CUBIC
core::BORDER_CONSTANT,
Scalar::default(),
)?;
//highgui::imshow("Warped Image", &warped_image)?;
let histo = histogram_3d(&warped_image, self.nb_liss)?; //let blue = (i as f64 / code_seg_1.len() as f64) * 255.;
draw_histograme_bgr_tresh("histo bgr", &histo, &self.tresh)?; let color_1: VecN<f64, 4> = VecN::new(255., 0., 0., 255.);
// on dessine
let (t1, s1, l1) = ( for i in 0..code_seg_1.len() {
self.tresh.min_0 as f64, let (((x0, y0), (x1, y1)), size) = code_seg_1[i];
self.tresh.min_1 as f64, //line(&mut id_code_1, );
self.tresh.min_2 as f64, let s = size as i32;
); let x = ((x0 + x1) / 2.) as i32;
let (t2, s2, l2) = ( let y = ((y0 + y1) / 2.) as i32;
self.tresh.max_0 as f64, let a = OcvPoint::from_vec2(VecN::from_array([x, y - s]));
self.tresh.max_1 as f64, let b = OcvPoint::from_vec2(VecN::from_array([x, y + s]));
self.tresh.max_2 as f64, line(&mut id_code_1, a, b, color_1, 1, LINE_8, 0)?;
); //if i < (code_seg_1.len() - 1) {
let min = Mat::from_slice(&[t1, s1, l1])?; // let (((x2, y2), _), size) = code_seg_1[i + 1];
let max = Mat::from_slice(&[t2, s2, l2])?; // let x = ((x1 + x2) / 2.) as i32;
let mut color_selected = Mat::default(); // let y = ((y0 + y1) / 2.) as i32;
let _ = in_range(&warped_image, &min, &max, &mut color_selected); // let a = OcvPoint::from_vec2(VecN::from_array([x, y - s]));
let mut bord_treshed = Mat::default(); // let b = OcvPoint::from_vec2(VecN::from_array([x, y + s]));
bitwise_and( // line(&mut id_code_1, a, b, color_1, 1, LINE_8, 0)?;
&warped_image,
&warped_image,
&mut bord_treshed,
&color_selected,
)?;
//highgui::imshow(format!("warped_image & mask").as_str(), &bord_treshed)?;
let segments = get_vertical_segment(&bord_treshed)?;
for (i, ((x0, y0), (x1, y1))) in segments.iter().enumerate() {
let blue = (i as f64 / segments.len() as f64) * 255.;
let color: VecN<f64, 4> = VecN::new(blue, 128., 0., 255.);
let pa = VecN::from_array([*x0 as i32, *y0 as i32]);
let pb = VecN::from_array([*x1 as i32, *y1 as i32]);
let a = OcvPoint::from_vec2(pa);
let b = OcvPoint::from_vec2(pb);
line(&mut bord_treshed, a, b, color, 1, LINE_8, 0)?;
}
highgui::imshow("segemnt detector", &bord_treshed)?;
}
Sequence::ComputeSelectNbAll => {
let background: Mat;
let steps: Vec<Mat>;
background = self.img[1].clone();
steps = self.img[2..6].into();
let mut angles: Vec<f64> = vec![];
for (id, step) in steps.iter().enumerate() {
let lines = get_lines(
&background,
step,
id,
self.canny_v1,
self.canny_v2,
&self.hough_param,
)?;
for l in lines {
let (x0, y0, x1, y1) =
(l[0] as f64, l[1] as f64, l[2] as f64, l[3] as f64);
let ang = (y1 - y0).atan2(x1 - x0);
angles.push(ang);
}
println!("ang: {angles:?}");
}
// on compare ce qui doit l'etre
}
Sequence::ComputeArea => {
let background: Mat;
let borders: Vec<Mat>;
background = self.img[1].clone();
borders = self.img[2..6].into();
// on recupere chaqu'un des 4 bord
let mut bords_pts = vec![];
for (i, bord) in borders.iter().enumerate() {
let bord_pt = self.get_one_border(&background, &bord, i)?;
bords_pts.push(bord_pt);
}
//for (i, m) in self.img.iter().enumerate() {
// highgui::imshow(format!("img[{i}]").as_str(), m)?;
//} //}
}
// on calcul le cadre let mut id_code_2 = image_diff(&self.img[9], &self.img[1])?;
let border_pt = get_intersection(&bords_pts); id_code_2 = image_warp(&id_code_2, &self.homography, self.h_size)?;
self.border_pt = bord_mult(border_pt, 1.1); id_code_2 = image_treshold(&id_code_2, &self.tresh)?;
let color: VecN<f64, 4> = VecN::new(255., 128., 0., 255.); let code_seg_2 = get_horizontal_segment(&id_code_2)?;
let mut mixed = mix_borders(&background, borders)?; let l = code_seg_2.len();
let b = &self.border_pt; let code_seg_2 = code_seg_2[(l - 16)..(l - 1)].to_owned();
for i in 0..b.len() { //highgui::imshow("code 2", &id_code_2)?;
let j = (i + 1) % self.border_pt.len(); let color_2: VecN<f64, 4> = VecN::new(0., 255., 0., 255.);
let pa = VecN::from_array([b[i].0 as i32, b[i].1 as i32]); // on dessine
let pb = VecN::from_array([b[j].0 as i32, b[j].1 as i32]); for i in 0..code_seg_2.len() {
let a = OcvPoint::from_vec2(pa); let (((x0, y0), (x1, y1)), size) = code_seg_2[i];
let b = OcvPoint::from_vec2(pb); //line(&mut id_code_2, );
line(&mut mixed, a, b, color, 1, LINE_AA, 0)?; let s = size as i32;
} let x = ((x0 + x1) / 2.) as i32;
highgui::imshow("mixed bored", &mixed)?; let y = ((y0 + y1) / 2.) as i32;
let a = OcvPoint::from_vec2(VecN::from_array([x, y - s]));
let b = OcvPoint::from_vec2(VecN::from_array([x, y + s]));
line(&mut id_code_1, a, b, color_2, 1, LINE_8, 0)?;
//if i < (code_seg_2.len() - 1) {
// let (((x2, y2), _), size) = code_seg_2[i + 1];
// let x = ((x1 + x2) / 2.) as i32;
// let y = ((y0 + y1) / 2.) as i32;
// let a = OcvPoint::from_vec2(VecN::from_array([x, y - s]));
// let b = OcvPoint::from_vec2(VecN::from_array([x, y + s]));
// line(&mut id_code_2, a, b, color_2, 1, LINE_8, 0)?;
//}
}
let size = self.dst_size; // on va faire des ligne sur les endroit de scanne
// ici on va requadrer la partie de la projection laser de l'image
let warped_image_size = Size::new(size, size); highgui::imshow("code 1", &id_code_1)?;
let roi_corners: Vec<OcvPoint> = self
.border_pt // si on garde les [(len-16)..(len-1)]
.iter()
.map(|(x, y)| OcvPoint::new(*x as i32, *y as i32)) //let mean = image_mean(&[id_code_1, id_code_2])?;
.collect(); //highgui::imshow("image mean", &mean)?;
//let dst = [(0, 0), (0, size), (size, size), (size, 0)]; // in: laser repere
let dst = [(0, size), (0, 0), (size, 0), (size, size)]; // la on pourrait aussi mettre les segment
let dst_corners: Vec<OcvPoint> =
dst.iter().map(|(x, y)| OcvPoint::new(*x, *y)).collect(); // On va regarder au milieux de code_2 pour voir si on voi un truc sur code_1
let roi_corners_mat = Mat::from_slice(&roi_corners[..])?;
let dst_corners_mat = Mat::from_slice(&dst_corners)?; // fonction warp image
let h = calib3d::find_homography( // fonction select thresh
&roi_corners_mat, // BOUUUUUH !!! ... t'as eut peur?
&dst_corners_mat, //
&mut Mat::default(), //let mut id_code_2 = image_diff(&self.img[9], &self.img[1])?;
0, //id_code_2 = image_warp(&id_code_2, &self.homography, self.h_size)?;
3., //id_code_2 = image_treshold(&id_code_2, &self.tresh)?;
)?; //get homography //highgui::imshow("code 2", &id_code_2)?;
let mut warped_image = Mat::default();
self.homography = h.clone();
self.h_size = warped_image_size.clone();
imgproc::warp_perspective(
&mixed,
&mut warped_image,
&h,
warped_image_size,
imgproc::INTER_CUBIC, // I dont see difference with INTER_CUBIC
core::BORDER_CONSTANT,
Scalar::default(),
)?; // do perspective transformation
highgui::imshow("Warped Image", &warped_image)?;
}
Sequence::ReadDir => {
if !self.capture_mode {
self.load_image()?;
}
}
Sequence::Finish => {
if self.capture_mode {
self.save_image()?
}
}
_ => (),
} }
Sequence::ComputeLineDotted => {
let id1 = 7 + (self.cnt % 22);
let id2 = 30 + (self.cnt % 22);
//let backgrounds = self.img[7..30].to_owned();
//let lines_dots = self.img[30..52].to_owned();
let backgrounds = self.img[id1..(id1 + 1)].to_owned();
let lines_dots = self.img[id2..(id2 + 1)].to_owned();
let background = image_mean(&backgrounds)?;
let line_dot = image_mean(&lines_dots)?;
let diff = image_diff(&background, &line_dot)?;
let mut warped_image = Mat::default();
imgproc::warp_perspective(
&diff,
&mut warped_image,
&self.homography,
self.h_size,
imgproc::INTER_CUBIC, // I dont see difference with INTER_CUBIC
core::BORDER_CONSTANT,
Scalar::default(),
)?;
//highgui::imshow("Warped Image", &warped_image)?;
let histo = histogram_3d(&warped_image, self.nb_liss)?;
draw_histograme_bgr_tresh("histo bgr", &histo, &self.tresh)?;
let (t1, s1, l1) = (
self.tresh.min_0 as f64,
self.tresh.min_1 as f64,
self.tresh.min_2 as f64,
);
let (t2, s2, l2) = (
self.tresh.max_0 as f64,
self.tresh.max_1 as f64,
self.tresh.max_2 as f64,
);
let min = Mat::from_slice(&[t1, s1, l1])?;
let max = Mat::from_slice(&[t2, s2, l2])?;
let mut color_selected = Mat::default();
let _ = in_range(&warped_image, &min, &max, &mut color_selected);
let mut bord_treshed = Mat::default();
bitwise_and(
&warped_image,
&warped_image,
&mut bord_treshed,
&color_selected,
)?;
//highgui::imshow(format!("warped_image & mask").as_str(), &bord_treshed)?;
let segments = get_vertical_segment(&bord_treshed)?;
for (i, ((x0, y0), (x1, y1))) in segments.iter().enumerate() {
let blue = (i as f64 / segments.len() as f64) * 255.;
let color: VecN<f64, 4> = VecN::new(blue, 128., 0., 255.);
let pa = VecN::from_array([*x0 as i32, *y0 as i32]);
let pb = VecN::from_array([*x1 as i32, *y1 as i32]);
let a = OcvPoint::from_vec2(pa);
let b = OcvPoint::from_vec2(pb);
line(&mut bord_treshed, a, b, color, 1, LINE_8, 0)?;
}
highgui::imshow("segemnt detector", &bord_treshed)?;
}
Sequence::ComputeSelectNbAll => {
let background: Mat;
let steps: Vec<Mat>;
background = self.img[1].clone();
steps = self.img[2..6].into();
let mut angles: Vec<f64> = vec![];
for (id, step) in steps.iter().enumerate() {
let lines = get_lines(
&background,
step,
id,
self.canny_v1,
self.canny_v2,
&self.hough_param,
)?;
for l in lines {
let (x0, y0, x1, y1) = (l[0] as f64, l[1] as f64, l[2] as f64, l[3] as f64);
let ang = (y1 - y0).atan2(x1 - x0);
angles.push(ang);
}
println!("ang: {angles:?}");
}
// on compare ce qui doit l'etre
}
Sequence::ComputeArea => {
let background: Mat;
let borders: Vec<Mat>;
background = self.img[1].clone();
borders = self.img[2..6].into();
// on recupere chaqu'un des 4 bord
let mut bords_pts = vec![];
for (i, bord) in borders.iter().enumerate() {
let bord_pt = self.get_one_border(&background, &bord, i)?;
bords_pts.push(bord_pt);
}
//for (i, m) in self.img.iter().enumerate() {
// highgui::imshow(format!("img[{i}]").as_str(), m)?;
//}
// on calcul le cadre
let border_pt = get_intersection(&bords_pts);
self.border_pt = bord_mult(border_pt, 1.1);
let color: VecN<f64, 4> = VecN::new(255., 128., 0., 255.);
let mut mixed = mix_borders(&background, borders)?;
let b = &self.border_pt;
for i in 0..b.len() {
let j = (i + 1) % self.border_pt.len();
let pa = VecN::from_array([b[i].0 as i32, b[i].1 as i32]);
let pb = VecN::from_array([b[j].0 as i32, b[j].1 as i32]);
let a = OcvPoint::from_vec2(pa);
let b = OcvPoint::from_vec2(pb);
line(&mut mixed, a, b, color, 1, LINE_AA, 0)?;
}
//highgui::imshow("mixed bored", &mixed)?;
let size = self.dst_size;
// ici on va requadrer la partie de la projection laser de l'image
let warped_image_size = Size::new(size, size);
let roi_corners: Vec<OcvPoint> = self
.border_pt
.iter()
.map(|(x, y)| OcvPoint::new(*x as i32, *y as i32))
.collect();
//let dst = [(0, 0), (0, size), (size, size), (size, 0)]; // in: laser repere
let dst = [(0, size), (0, 0), (size, 0), (size, size)];
let dst_corners: Vec<OcvPoint> =
dst.iter().map(|(x, y)| OcvPoint::new(*x, *y)).collect();
let roi_corners_mat = Mat::from_slice(&roi_corners[..])?;
let dst_corners_mat = Mat::from_slice(&dst_corners)?;
let h = calib3d::find_homography(
&roi_corners_mat,
&dst_corners_mat,
&mut Mat::default(),
0,
3.,
)?; //get homography
let mut warped_image = Mat::default();
self.homography = h.clone();
self.h_size = warped_image_size.clone();
imgproc::warp_perspective(
&mixed,
&mut warped_image,
&h,
warped_image_size,
imgproc::INTER_CUBIC, // I dont see difference with INTER_CUBIC
core::BORDER_CONSTANT,
Scalar::default(),
)?; // do perspective transformation
//highgui::imshow("Warped Image", &warped_image)?;
}
Sequence::ReadDir => {
if !self.capture_mode {
self.load_image()?;
}
}
Sequence::Finish => {
if self.capture_mode {
self.save_image()?
}
}
_ => (),
} }
Ok(()) Ok(())
} }
@ -743,6 +775,89 @@ impl Qualibration {
} }
} }
fn get_point_to_draw(
r: u8,
g: u8,
b: u8,
color: Color,
) -> (
Point,
Point,
Point,
Point,
Point,
Point,
Point,
Point,
Point,
Point,
Point,
Point,
) {
let p0 = Point {
x: 0.,
y: 0.,
color,
};
let p1 = Point {
x: 4095.,
y: 0.,
color,
};
let p2 = Point {
x: 4095.,
y: 4095.,
color,
};
let p3 = Point {
x: 0.,
y: 4095.,
color,
};
let p4 = Point {
x: 0.,
y: 1000.,
color: Color { r, g: 0, b: 0 },
};
let p5 = Point {
x: 4095.,
y: 1000.,
color: Color { r, g: 0, b: 0 },
};
let p6 = Point {
x: 0.,
y: 2000.,
color: Color { r: 0, g, b: 0 },
};
let p7 = Point {
x: 4095.,
y: 2000.,
color: Color { r: 0, g, b: 0 },
};
let p8 = Point {
x: 0.,
y: 3000.,
color: Color { r: 0, g: 0, b },
};
let p9 = Point {
x: 4095.,
y: 3000.,
color: Color { r: 0, g: 0, b },
};
let pa = Point {
x: 0.,
y: 4095.,
color,
};
let pb = Point {
x: 4095.,
y: 4095.,
color,
};
(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9, pa, pb)
}
// ca c'est les donner manipuler par les slider // ca c'est les donner manipuler par les slider
#[derive(Debug, Clone)] #[derive(Debug, Clone)]
pub struct HoughLine { pub struct HoughLine {

188
src/qualibration/annalyse.rs
View File

@ -230,6 +230,151 @@ pub fn is_same_frame(frame: &Mat, frame_prev: &Mat) -> Result<bool> {
} }
} }
// On cherche des segment regourper par ilot de point. chaque illot a une plage de valeur en y qui
// lui est propre, aucun autre ilot aura des point dans une plage de valeurs d'un autre illot.
pub fn get_horizontal_segment(m: &Mat) -> Result<Vec<(((f32, f32), (f32, f32)), f32)>> {
// on va faire un histogram des point selon leur position en y
// ca permetera des les differencier
// on fait cette histo gramme pour connaitre ces plage de valeur en y
let mut seg_pt = HashSet::from([]);
let (cols, rows) = (m.cols(), m.rows());
let mut histo_x = vec![0.; cols.max(rows) as usize];
for j in 0..rows {
for i in 0..cols {
let v: &Point3_<u8> = m.at_2d(j, i)?;
if v.x != 0 && v.y != 0 && v.z != 0 {
seg_pt.insert((i, j));
histo_x[i as usize] += 1.;
}
}
}
// on determine le debut et la fin de ces plage de valeur en x
let mut histo_limit = vec![];
for i in (0..(histo_x.len() - 1)).rev() {
if histo_x[i] != 0. && histo_x[i + 1] == 0. {
histo_limit.push(Cnt::End(i));
}
if histo_x[i] == 0. && histo_x[i + 1] != 0. {
histo_limit.push(Cnt::Beg(i + 1));
}
}
let mut limits = vec![];
for k in 0..(histo_limit.len() / 2) {
if let (Cnt::Beg(a), Cnt::End(b)) = (histo_limit[2 * k + 1], histo_limit[2 * k]) {
limits.push((a, b));
}
}
// on regroupe les point par illot.
let mut segment_iland = vec![vec![]; limits.len()];
for (x, y) in seg_pt {
let id = get_id_groups(&limits, x as usize).unwrap();
segment_iland[id].push((x, y));
}
// on transforme chaque point en pt: (f32, f32) -> Pt
// toujours avec la meme structure d'ilot.
let segment_iland_pt: Vec<Vec<Pt>> = segment_iland
.iter()
.map(|iland| {
iland
.iter()
.map(|(x, y)| Pt {
x: *x as f64,
y: *y as f64,
})
.collect()
})
.collect();
let mut segments = vec![];
for (i, iland) in segment_iland_pt.iter().enumerate() {
let mut center = Pt { x: 0., y: 0. };
for p in iland {
center += *p;
}
center /= iland.len() as f64;
let max_deg = 360;
let (mut rad_min, mut y_min) = (0., f64::MAX);
let mut iland_min = vec![];
for deg in 0..max_deg {
let rad = (deg as f64) / (max_deg as f64) * PI * 2.;
let y_axis = Pt {
x: rad.sin(),
y: rad.cos(),
};
let x_axis = Pt {
x: -y_axis.y,
y: y_axis.x,
};
let mut tmp_iland = vec![];
let mut y_abs_max = f64::MIN;
for pt in iland {
let mut p = *pt - center;
p = Pt {
x: p.cross(&x_axis),
y: p.cross(&y_axis),
};
tmp_iland.push(p);
if y_abs_max < p.y.abs() {
y_abs_max = p.y.abs();
}
}
if y_abs_max < y_min {
y_min = y_abs_max;
rad_min = rad;
iland_min = tmp_iland;
}
}
iland_min.sort_by(|pta, ptb| {
if pta.y < ptb.y {
std::cmp::Ordering::Greater
} else if pta.y == ptb.y {
if pta.x.abs() < ptb.x.abs() {
std::cmp::Ordering::Greater
} else if pta.x.abs() == ptb.x.abs() {
std::cmp::Ordering::Equal
} else {
std::cmp::Ordering::Less
}
} else {
std::cmp::Ordering::Less
}
});
let id1 = iland_min.len() / 2;
let id2 = iland_min.len() - id1;
let mean_r = Pt::mean(&iland_min[..id1]);
let mean_l = Pt::mean(&iland_min[id2..]);
//let mean_r = iland_min[0];
//let mean_l = iland_min.last().unwrap();
let y_axis = Pt {
x: rad_min.sin(),
y: rad_min.cos(),
};
let x_axis = Pt {
x: -y_axis.y,
y: y_axis.x,
};
let pt_r = center + (y_axis * mean_r.y) + (x_axis * mean_r.x);
let pt_l = center + (y_axis * mean_l.y) + (x_axis * mean_l.x);
//segments.push(((pt_l.x as f32, pt_l.y as f32), (pt_r.x as f32, pt_r.y as f32)));
let pt_r_2 = pt_l + (pt_r - pt_l) * 1.5;
let pt_l_2 = pt_r + (pt_l - pt_r) * 1.5;
segments.push((
(
((pt_l_2.x as f32, pt_l_2.y as f32)),
((pt_r_2.x as f32, pt_r_2.y as f32)),
),
y_min as f32,
));
}
Ok(segments)
}
// On cherche des segment regourper par ilot de point. chaque illot a une plage de valeur en y qui // On cherche des segment regourper par ilot de point. chaque illot a une plage de valeur en y qui
// lui est propre, aucun autre ilot aura des point dans une plage de valeurs d'un autre illot. // lui est propre, aucun autre ilot aura des point dans une plage de valeurs d'un autre illot.
pub fn get_vertical_segment(m: &Mat) -> Result<Vec<((f32, f32), (f32, f32))>> { pub fn get_vertical_segment(m: &Mat) -> Result<Vec<((f32, f32), (f32, f32))>> {
@ -251,7 +396,7 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<((f32, f32), (f32, f32))>> {
// on determine le debut et la fin de ces palge de l=valeur en y // on determine le debut et la fin de ces palge de l=valeur en y
let mut histo_limit = vec![]; let mut histo_limit = vec![];
for i in (0..(histo_y.len()-1)).rev() { for i in (0..(histo_y.len() - 1)).rev() {
if histo_y[i] != 0. && histo_y[i + 1] == 0. { if histo_y[i] != 0. && histo_y[i + 1] == 0. {
histo_limit.push(Cnt::End(i)); histo_limit.push(Cnt::End(i));
} }
@ -266,7 +411,6 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<((f32, f32), (f32, f32))>> {
} }
} }
// on regroupe les point par illot. // on regroupe les point par illot.
let mut segment_iland = vec![vec![]; limits.len()]; let mut segment_iland = vec![vec![]; limits.len()];
for (x, y) in seg_pt { for (x, y) in seg_pt {
@ -309,7 +453,7 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<((f32, f32), (f32, f32))>> {
// En fait elle me va bien. C'est vrai que il ne sont pas ouf mais bon... // En fait elle me va bien. C'est vrai que il ne sont pas ouf mais bon...
let mut segments = vec![]; let mut segments = vec![];
for (i, iland) in segment_iland_pt.iter().enumerate() { for (i, iland) in segment_iland_pt.iter().enumerate() {
let mut center = Pt{x: 0., y: 0.}; let mut center = Pt { x: 0., y: 0. };
for p in iland { for p in iland {
center += *p; center += *p;
} }
@ -320,17 +464,26 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<((f32, f32), (f32, f32))>> {
let mut iland_min = vec![]; let mut iland_min = vec![];
for deg in 0..max_deg { for deg in 0..max_deg {
let rad = (deg as f64) / (max_deg as f64) * PI * 2.; let rad = (deg as f64) / (max_deg as f64) * PI * 2.;
let y_axis = Pt{x: rad.sin(), y: rad.cos()}; let y_axis = Pt {
let x_axis = Pt{x: -y_axis.y, y: y_axis.x}; x: rad.sin(),
y: rad.cos(),
};
let x_axis = Pt {
x: -y_axis.y,
y: y_axis.x,
};
let mut err = 0.; let mut err = 0.;
let mut tmp_iland = vec![]; let mut tmp_iland = vec![];
let mut x_abs_max = f64::MIN; let mut x_abs_max = f64::MIN;
for pt in iland { for pt in iland {
let mut p = *pt - center; let mut p = *pt - center;
p = Pt{x: p.cross(&x_axis), y: p.cross(&y_axis)}; p = Pt {
x: p.cross(&x_axis),
y: p.cross(&y_axis),
};
err += p.x * p.x; err += p.x * p.x;
tmp_iland.push(p); tmp_iland.push(p);
if x_abs_max < p.x.abs(){ if x_abs_max < p.x.abs() {
x_abs_max = p.x.abs(); x_abs_max = p.x.abs();
} }
} }
@ -345,7 +498,7 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<((f32, f32), (f32, f32))>> {
// iland_min = tmp_iland; // iland_min = tmp_iland;
//} //}
} }
iland_min.sort_by(|pta, ptb|{ iland_min.sort_by(|pta, ptb| {
if pta.y < ptb.y { if pta.y < ptb.y {
std::cmp::Ordering::Greater std::cmp::Ordering::Greater
} else if pta.y == ptb.y { } else if pta.y == ptb.y {
@ -367,14 +520,23 @@ pub fn get_vertical_segment(m: &Mat) -> Result<Vec<((f32, f32), (f32, f32))>> {
//let mean_up = iland_min[0]; //let mean_up = iland_min[0];
//let mean_down = iland_min.last().unwrap(); //let mean_down = iland_min.last().unwrap();
let y_axis = Pt{x: rad_min.sin(), y: rad_min.cos()}; let y_axis = Pt {
let x_axis = Pt{x: -y_axis.y, y: y_axis.x}; x: rad_min.sin(),
y: rad_min.cos(),
};
let x_axis = Pt {
x: -y_axis.y,
y: y_axis.x,
};
let pt_up = center + (y_axis * mean_up.y) + (x_axis * mean_up.x); let pt_up = center + (y_axis * mean_up.y) + (x_axis * mean_up.x);
let pt_down = center + (y_axis * mean_down.y) + (x_axis * mean_down.x); let pt_down = center + (y_axis * mean_down.y) + (x_axis * mean_down.x);
//segments.push(((pt_down.x as f32, pt_down.y as f32), (pt_up.x as f32, pt_up.y as f32))); //segments.push(((pt_down.x as f32, pt_down.y as f32), (pt_up.x as f32, pt_up.y as f32)));
let pt_up_2 = pt_down + (pt_up - pt_down)*1.5; let pt_up_2 = pt_down + (pt_up - pt_down) * 1.5;
let pt_down_2 = pt_up + (pt_down - pt_up)*1.5; let pt_down_2 = pt_up + (pt_down - pt_up) * 1.5;
segments.push(((pt_down_2.x as f32, pt_down_2.y as f32), (pt_up_2.x as f32, pt_up_2.y as f32))); segments.push((
(pt_down_2.x as f32, pt_down_2.y as f32),
(pt_up_2.x as f32, pt_up_2.y as f32),
));
} }
Ok(segments) Ok(segments)

43
src/qualibration/compute_image.rs Normal file
View File

@ -0,0 +1,43 @@
use super::Treshold;
use opencv::core::{self, bitwise_and, in_range, Mat, Scalar, Size_};
use opencv::imgproc;
use opencv::Result;
pub fn image_warp(img: &Mat, homography: &Mat, h_size: Size_<i32>) -> Result<Mat> {
let mut warped_image = Mat::default();
imgproc::warp_perspective(
&img,
&mut warped_image,
homography,
h_size,
imgproc::INTER_CUBIC, // I dont see difference with INTER_CUBIC
core::BORDER_CONSTANT,
Scalar::default(),
)?;
Ok(warped_image)
}
pub fn image_treshold(img: &Mat, tresh: &Treshold) -> Result<Mat> {
let (t1, s1, l1) = (tresh.min_0 as f64, tresh.min_1 as f64, tresh.min_2 as f64);
let (t2, s2, l2) = (tresh.max_0 as f64, tresh.max_1 as f64, tresh.max_2 as f64);
let min = Mat::from_slice(&[t1, s1, l1])?;
let max = Mat::from_slice(&[t2, s2, l2])?;
let mut color_selected = Mat::default();
let _ = in_range(img, &min, &max, &mut color_selected);
let mut bord_treshed = Mat::default();
bitwise_and(&img, &img, &mut bord_treshed, &color_selected)?;
Ok(bord_treshed)
}
pub fn image_warp_treshold(
img: &Mat,
homography: &Mat,
h_size: Size_<i32>,
tresh: &Treshold,
) -> Result<Mat> {
let warped = image_warp(img, homography, h_size)?;
let treshed = image_treshold(&warped, tresh)?;
Ok(treshed)
}

7
src/utils.rs
View File

@ -3,11 +3,11 @@ static NEAR_ZERO: f64 = 0.000001;
use std::ops::Add; use std::ops::Add;
use std::ops::AddAssign; use std::ops::AddAssign;
use std::ops::Div;
use std::ops::DivAssign;
use std::ops::Mul; use std::ops::Mul;
use std::ops::MulAssign; use std::ops::MulAssign;
use std::ops::Sub; use std::ops::Sub;
use std::ops::Div;
use std::ops::DivAssign;
//use std::ops::BitXor //use std::ops::BitXor
impl Add for Pt { impl Add for Pt {
@ -28,7 +28,6 @@ impl AddAssign for Pt {
} }
} }
impl Sub for Pt { impl Sub for Pt {
type Output = Self; type Output = Self;
@ -110,7 +109,7 @@ impl Pt {
} }
pub fn mean(pts: &[Pt]) -> Pt { pub fn mean(pts: &[Pt]) -> Pt {
let mut mean = Pt{x: 0., y: 0.}; let mut mean = Pt { x: 0., y: 0. };
for pt in pts { for pt in pts {
mean += *pt; mean += *pt;
} }