Add angle detection infomation. Bugs fixed

Author: dingning97

WorkpieceIdentification/CalibrateIntrinsicsAndDistCoeffs.cpp

@@ -0,0 +1,188 @@
+/*
+ * This file is used to calibrate a new camera to get its
+ * corresponding intrinsic and extrinsic parameters.
+ * Four files will be saved at the same path as this file
+ * if the calibration process turns out to be successful.
+*/
+
+#include <opencv2/opencv.hpp>
+#include <stdio.h>
+#include <iostream>
+
+using namespace std;
+
+
+void writeMatToFile(const cv::Mat& m, const string& filename);
+
+// Defining the dimensions of checkerboard
+int CHECKERBOARD[2]{ 9,6 };
+
+// Define length of a grid (mm)
+double gridLength = 143. / 5.;
+
+int __my_main()
+{
+	// Creating vector to store vectors of 3D points for each checkerboard image
+	// 创建矢量以存储每个棋盘图像的三维点矢量
+	vector<vector<cv::Point3f> > objpoints;
+
+	// Creating vector to store vectors of 2D points for each checkerboard image
+	// 创建矢量以存储每个棋盘图像的二维点矢量
+	vector<vector<cv::Point2f> > imgpoints;
+
+	// Defining the world coordinates for 3D points
+	// 为三维点定义世界坐标系
+	vector<cv::Point3f> objp;
+	for (int i{ 0 }; i < CHECKERBOARD[1]; i++)
+	{
+		for (int j{ 0 }; j < CHECKERBOARD[0]; j++)
+		{
+			objp.push_back(cv::Point3f(j*gridLength, i*gridLength, 0));
+		}
+	}
+
+	// Extracting path of individual image stored in a given directory
+	// 提取存储在给定目录中的单个图像的路径
+	vector<cv::String> images;
+
+	// Path of the folder containing checkerboard images
+	// 包含棋盘图像的文件夹的路径, 根据实际情况修改文件夹路径，
+	// 标定过程需相机拍摄10~12张包含完整棋盘格的不同的图片。
+	string path = ".\\imagesForCalib\\*.bmp";
+
+	// 使用glob函数读取所有图像的路径
+	cv::glob(path, images);
+	for (int i = 0; i < images.size(); i++)
+		cout << images[i] << endl;
+
+
+	cv::Mat frame, gray;
+
+	// vector to store the pixel coordinates of detected checker board corners
+	// 存储检测到的棋盘转角像素坐标的矢量
+	vector<cv::Point2f> corner_pts;
+	bool success;
+
+	// Looping over all the images in the directory
+	// 循环读取图像
+	for (int i{ 0 }; i < images.size(); i++)
+	{
+		frame = cv::imread(images[i]);
+		cv::resize(frame, frame, cv::Size(int(frame.size().width / 3), int(frame.size().height / 3)));
+		if (frame.empty())
+		{
+			continue;
+		}
+		if (i == 40)
+		{
+			int b = 1;
+		}
+		cout << "the current image is " << i << "th" << endl;
+		cv::cvtColor(frame, gray, cv::COLOR_BGR2GRAY);
+
+		// Finding checker board corners
+		// 寻找角点
+		// If desired number of corners are found in the image then success = true
+		// 如果在图像中找到所需数量的角，则success = true
+		// opencv4以下版本，flag参数为CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FAST_CHECK | CV_CALIB_CB_NORMALIZE_IMAGE
+		success = cv::findChessboardCorners(gray, cv::Size(CHECKERBOARD[0], CHECKERBOARD[1]), corner_pts, 
+			cv::CALIB_CB_ADAPTIVE_THRESH | cv::CALIB_CB_FAST_CHECK | cv::CALIB_CB_NORMALIZE_IMAGE);
+
+		/*
+		 * If desired number of corner are detected,
+		 * we refine the pixel coordinates and display
+		 * them on the images of checker board
+		*/
+
+		// 如果检测到所需数量的角点，我们将细化像素坐标并将其显示在棋盘图像上
+		if (success)
+		{
+			// 如果是OpenCV4以下版本，第一个参数为CV_TERMCRIT_EPS | CV_TERMCRIT_ITER
+			cv::TermCriteria criteria(cv::TermCriteria::EPS | cv::TermCriteria::Type::MAX_ITER, 30, 0.001);
+
+			// refining pixel coordinates for given 2d points.
+			// 为给定的二维点细化像素坐标
+			cv::cornerSubPix(gray, corner_pts, cv::Size(11, 11), cv::Size(-1, -1), criteria);
+
+			// Displaying the detected corner points on the checker board
+			// 在棋盘上显示检测到的角点
+			cv::drawChessboardCorners(frame, cv::Size(CHECKERBOARD[0], CHECKERBOARD[1]), corner_pts, success);
+
+			objpoints.push_back(objp);
+			imgpoints.push_back(corner_pts);
+		}
+
+		string winName = "Image" + to_string(i);
+		//cv::Mat showFame;
+		//cv::Size showSize(int(frame.size().width / 3), int(frame.size().height / 3));
+		//cv::resize(frame, showFame, showSize);
+		cv::imshow(winName, frame);
+	}
+
+	cv::Mat cameraMatrix, distCoeffs, R, T;
+
+	/*
+	 * Performing camera calibration by
+	 * passing the value of known 3D points (objpoints)
+	 * and corresponding pixel coordinates of the
+	 * detected corners (imgpoints)
+	*/
+	// 通过传递已知3D点（objpoints）的值和检测到的角点（imgpoints）的相应像素坐标来执行相机校准
+	cv::calibrateCamera(objpoints, imgpoints, cv::Size(gray.rows, gray.cols), cameraMatrix, distCoeffs, R, T);
+
+	cout << endl;
+	// 内参矩阵
+	cout << "cameraMatrix : " << endl << cameraMatrix << endl << endl;
+	// 透镜畸变系数
+	cout << "distCoeffs : " << endl << distCoeffs << endl << endl;
+	// rvecs
+	cout << "Rotation vector : " << R.channels() << endl << R << endl << endl;
+	// tvecs
+	cout << "Translation vector : " << endl << T << endl << endl;
+
+	// write MATs to file
+	string filename = ".\\intrinsicParam.txt";
+	writeMatToFile(cameraMatrix, filename);
+	filename = ".\\distCoeffs.txt";
+	writeMatToFile(distCoeffs, filename);
+	filename = ".\\rVect.txt";
+	writeMatToFile(R.reshape(1, 0), filename);
+	filename = ".\\tVect.txt";
+	writeMatToFile(T.reshape(1, 0), filename);
+
+	// show images
+	cv::waitKey(0);
+	cv::destroyAllWindows();
+	return 0;
+}
+
+
+//int main()
+//{
+//	__my_main();
+//	return 0;
+//}
+//
+//
+//void writeMatToFile(const cv::Mat& m, const string& filename)
+//{
+//	ofstream fout(filename);
+//
+//	if (!fout)
+//	{
+//		cout << "File Not Opened" << endl;
+//		return;
+//	}
+//
+//	for (int i = 0; i < m.rows; i++)
+//	{
+//		for (int j = 0; j < m.cols; j++)
+//		{
+//			fout << m.at<double>(i, j) << " ";
+//		}
+//		fout <<endl;
+//	}
+//
+//	fout.close();
+//	cout << "File Written Succes." << endl;
+//}

WorkpieceIdentification/MyDetector.cpp

@@ -1,5 +1,6 @@
 #include "MyDetector.h"
 #include <cmath>
+#include <iostream>
 
 double euc_distance(double arr1[], double arr2[], int len)
 {
@@ -64,7 +65,8 @@ cv::Point MyDetector::getCentroid(std::vector<cv::Point> contour)
 
 int MyDetector::sampleRadiusAndClassify(cv::Mat roi)
 {
-	int width = roi.size().width, height = roi.size().height;
+	int width = roi.size().width;
+	int height = roi.size().height;
 	if (width > height)
 	{
 		cv::transpose(roi, roi);
@@ -150,7 +152,6 @@ MyDetector::MyDetector()
 }
 
 
-
 Workpiece MyDetector::getInstanceInfo(cv::Mat img, std::vector<cv::Point> contour)
 {
 	using namespace std;
@@ -167,13 +168,25 @@ Workpiece MyDetector::getInstanceInfo(cv::Mat img, std::vector<cv::Point> contou
 	vector<vector<Point>> tmp_c;
 	tmp_c.push_back(contour);
 	drawContours(contour_img, tmp_c, -1, Scalar(255), -1);
+
 	if (45 < abs(angle) && abs(angle) < 90)
 	{
 		angle = roRect.angle + 90;
 		roHeight = roRect.size.width;
 		roWidth = roRect.size.height;
 	}
 
+	// Decide whether to discard this target by its side ratio.
+	float biggerSide = roRect.size.width > roRect.size.height ? roRect.size.width : roRect.size.height;
+	float smallerSide = roRect.size.width < roRect.size.height ? roRect.size.width : roRect.size.height;
+	float ratio = biggerSide / smallerSide;
+	if (ratio < 3.5 || ratio > 5)
+	{
+		info.cls = -1;
+		return info;
+	}
+
+	// Judge whether the rotated rect is out of bound.
 	if (center.x - roWidth / 2 - 1 < 0 || center.y - roHeight / 2 - 1 < 0 ||
 		center.x + roWidth / 2 + 2 >= img.size().width || center.y + roHeight / 2 + 2 >= img.size().height)
 	{
@@ -183,13 +196,21 @@ Workpiece MyDetector::getInstanceInfo(cv::Mat img, std::vector<cv::Point> contou
 
 	Mat ROI;
 	if (angle == 0)
+	{
 		ROI = contour_img(Rect(center.x - roWidth / 2, center.y - roHeight / 2, roWidth + 2, roHeight + 2));
+	}
 	else
 	{
 		Mat M = getRotationMatrix2D(center, angle, 1), warpped;
 		warpAffine(contour_img, warpped, M, contour_img.size());
 		ROI = warpped(Rect(center.x - roWidth / 2, center.y - roHeight / 2, roWidth + 2, roHeight + 2));
 	}
+
+	// Calculate the angle between the horizontal line and the major axis of roRect
+	if (roRect.size.width >= roRect.size.height)
+		info.angle = - roRect.angle;
+	else
+		info.angle = 90 - roRect.angle;
 	info.contour = contour;
 	info.centroid = center;
 	info.minAreaRect = roRect;

WorkpieceIdentification/MyDetector.h

@@ -15,6 +15,7 @@ class Workpiece
 	cv::Point centroid;
 	std::vector<cv::Point> contour;
 	cv::RotatedRect minAreaRect;
+	double angle; //in degree
 	int cls;
 };
 

WorkpieceIdentification/MyLocator.cpp

@@ -1,7 +1,38 @@
 #include"MyLocator.h"
 
 using namespace std;
-using namespace cv;
+
+////int direction:
+////1-upward / 2-downward / 3-leftward / 4-rightward
+//void drawArrow(cv::Mat& img, cv::Point2f& startPt, cv::Point2f& endPt, int direction)
+//{
+//	cv::Point2f end1, end2;
+//	if (1 == direction)
+//	{
+//		end1 = cv::Point2f(endPt.x - 30, endPt.y + 30);
+//		end2 = cv::Point2f(endPt.x + 30, endPt.y + 30);
+//	}
+//	else if (2 == direction)
+//	{
+//		end1 = cv::Point2f(endPt.x - 30, endPt.y - 30);
+//		end2 = cv::Point2f(endPt.x + 30, endPt.y - 30);
+//	}
+//	else if (3 == direction)
+//	{
+//		end1 = cv::Point2f(endPt.x + 30, endPt.y - 30);
+//		end2 = cv::Point2f(endPt.x + 30, endPt.y + 30);
+//	}
+//	else if (4 == direction)
+//	{
+//		end1 = cv::Point2f(endPt.x - 30, endPt.y - 30);
+//		end2 = cv::Point2f(endPt.x - 30, endPt.y + 30);
+//	}
+//	else return;
+//
+//	cv::line(img, startPt, endPt, CV_RGB(255, 255, 0), 2);
+//	cv::line(img, endPt, end1, CV_RGB(255, 255, 0), 2);
+//	cv::line(img, endPt, end2, CV_RGB(255, 255, 0), 2);
+//}
 
 
 void writeMatToFile(const cv::Mat& m, const string& filename)
@@ -25,8 +56,8 @@ void writeMatToFile(const cv::Mat& m, const string& filename)
 	cout << "File Written Succes." << endl;
 }
 
-
-bool MyLocator::calibrateCameraInit(const string& imgPath)//string imgPath = "D:\\1GraduationPrj\\cproject\\*.bmp"; 
+//string imgPath = "D:\\1GraduationPrj\\cproject\\*.bmp"; 
+bool MyLocator::calibrateCameraInit(const string& imgPath)
 {
 	vector<cv::String> images;
 	cv::glob(imgPath, images);
@@ -59,10 +90,10 @@ bool MyLocator::calibrateCameraInit(const string& imgPath)//string imgPath = "D:
 		cv::cvtColor(frame, gray, cv::COLOR_BGR2GRAY);
 
 		success = cv::findChessboardCorners(gray, cv::Size(CHECKERBOARD[0], CHECKERBOARD[1]), cornerPt,
-			CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_FAST_CHECK | CALIB_CB_NORMALIZE_IMAGE);
+			cv::CALIB_CB_ADAPTIVE_THRESH | cv::CALIB_CB_FAST_CHECK | cv::CALIB_CB_NORMALIZE_IMAGE);
 		if (success)
 		{
-			cv::TermCriteria criteria(TermCriteria::EPS | TermCriteria::Type::MAX_ITER, 30, 0.001);
+			cv::TermCriteria criteria(cv::TermCriteria::EPS | cv::TermCriteria::Type::MAX_ITER, 30, 0.001);
 			cv::cornerSubPix(gray, cornerPt, cv::Size(11, 11), cv::Size(-1, -1), criteria);
 			cv::drawChessboardCorners(frame, cv::Size(CHECKERBOARD[0], CHECKERBOARD[1]), cornerPt, success);
 			objpoints.push_back(objPt);
@@ -99,6 +130,7 @@ bool MyLocator::calibrateSingleImage(cv::Mat img)
 	if (intrinsicMat.empty() || distCoeffs.empty()) {
 		return false;
 	}
+
 	cv::Mat gray;
 	vector<cv::Point3f> objPts, worldPts;
 	vector<cv::Point2f> imgPts, cornerPts;
@@ -125,15 +157,29 @@ bool MyLocator::calibrateSingleImage(cv::Mat img)
 		cv::Rodrigues(rVec, rotMat);//Transform rVec to rotMat
 		cv::projectPoints(objPts, rVec, tVec, intrinsicMat, distCoeffs, imgPts);
 		estimateS(imgPts); //estimate S coeff
+
+		//Draw info for visualization
+		string drawText[4];
+		drawText[0] = "(" + to_string(0) + "," + to_string(0) +  ")";
+		drawText[1] = "(" + to_string(int(gridLength * 5)) + "," + to_string(0) + ")";
+		drawText[2] = "(" + to_string(0) + "," + to_string(int(gridLength * 3)) + ")";
+		drawText[3] = "(" + to_string(int(gridLength * 5)) + "," + to_string(int(gridLength * 3)) + ")";
+
 		for (int i = 0; i < imgPts.size(); i++) {
 			cv::circle(img, imgPts[i], 20, CV_RGB(255, 0, 0), -1);
+			cv::putText(img, drawText[i], imgPts[i], cv::FONT_HERSHEY_PLAIN, 6, CV_RGB(255, 0, 0), 6);
 		}
+		cv::line(img, imgPts[0], imgPts[1], CV_RGB(255, 255, 0), 10);
+		cv::line(img, imgPts[0], imgPts[2], CV_RGB(255, 255, 0), 10);
 		cv::Mat showImg;
 		cv::resize(img, showImg, cv::Size(resolution.width / 3, resolution.height / 3));
-		cv::imwrite("./result_calibrateSingleImage.jpg", showImg);
+
+		cv::putText(showImg, "Coordinates are displayed in (X, Y).", cv::Point2f(10, 30), cv::FONT_HERSHEY_PLAIN, 2, CV_RGB(255, 255, 0), 2);
+		cv::imwrite("result_calibrateSingleImage.jpg", showImg);
 		return true;
 	}
-	else { return false; }
+	else
+		return false;
 }
 
 void MyLocator::estimateS(const vector<cv::Point2f> &imgPts)