mirror of
https://github.com/Karllzy/cotton_color.git
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模板匹配模块可以显示模板并实现匹配
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@ -3,12 +3,12 @@
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#include <iostream>
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#include "color_range.h"
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#include "utils.h"
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using namespace std;
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void pre_process(const MIL_ID& inputImage, MIL_ID& outputImageSuspect, const std::map<std::string, int>& params) {
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void pre_process(const MIL_ID& inputImage, MIL_ID& outputImageSuspect, const map<string, int>& params) {
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// 异色检测, 检测出不同与棉花颜色的物体作为模板匹配的对象
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const std::vector<std::string> colors = {"cotton", "background"};
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std::map <std::string, int> param_temp = params;
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const vector<string> colors = {"cotton", "background"};
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map <string, int> param_temp = params;
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param_temp["lab_denoising"] = param_temp["cotton_denoising"];
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param_temp["saturation_threshold"] = param_temp["cotton_saturation_threshold"];
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param_temp["saturation_denoising"] = param_temp["cotton_saturation_denoising"];
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@ -16,204 +16,191 @@ void pre_process(const MIL_ID& inputImage, MIL_ID& outputImageSuspect, const std
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MimArith(outputImageSuspect, M_NULL, outputImageSuspect, M_NOT);
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}
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/* Number of models. */
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#define NUMBER_OF_MODELS 3L
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#define MODELS_MAX_OCCURRENCES 16L
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/* Model 1 specifications. */
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#define MODEL0_OFFSETX 34L
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#define MODEL0_OFFSETY 93L
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#define MODEL0_SIZEX 214L
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#define MODEL0_SIZEY 76L
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#define MODEL0_DRAW_COLOR M_COLOR_RED
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class TemplateMatcher {
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private:
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MIL_ID MilSearchContext;
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MIL_ID MilResult;
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MIL_ID GraphicList;
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/* Model 2 specifications. */
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#define MODEL1_OFFSETX 73L
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#define MODEL1_OFFSETY 232L
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#define MODEL1_SIZEX 150L
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#define MODEL1_SIZEY 154L
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#define MODEL1_REFERENCEX 23L
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#define MODEL1_REFERENCEY 127L
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#define MODEL1_DRAW_COLOR M_COLOR_GREEN
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vector<string> ModelImgPaths;
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vector<MIL_INT> ModelsOffsetX;
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vector<MIL_INT> ModelsOffsetY;
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vector<MIL_INT> ModelsSizeX;
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vector<MIL_INT> ModelsSizeY;
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vector<MIL_DOUBLE> ModelsDrawColor;
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/* Model 3 specifications. */
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#define MODEL2_OFFSETX 308L
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#define MODEL2_OFFSETY 39L
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#define MODEL2_SIZEX 175L
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#define MODEL2_SIZEY 357L
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#define MODEL2_REFERENCEX 62L
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#define MODEL2_REFERENCEY 150L
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#define MODEL2_DRAW_COLOR M_COLOR_BLUE
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/* Search speed: M_VERY_HIGH for faster search, M_MEDIUM for precision and robustness.*/
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#define MULTI_MODELS_SEARCH_SPEED M_VERY_HIGH
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bool isInitialized;
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/* Models array specifications. */
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#define MODELS_ARRAY_SIZE 3L
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#define MODELS_OFFSETX {MODEL0_OFFSETX, MODEL1_OFFSETX, MODEL2_OFFSETX}
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#define MODELS_OFFSETY {MODEL0_OFFSETY, MODEL1_OFFSETY, MODEL2_OFFSETY}
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#define MODELS_SIZEX {MODEL0_SIZEX, MODEL1_SIZEX, MODEL2_SIZEX}
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#define MODELS_SIZEY {MODEL0_SIZEY, MODEL1_SIZEY, MODEL2_SIZEY}
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#define MODELS_DRAW_COLOR {MODEL0_DRAW_COLOR, MODEL1_DRAW_COLOR, MODEL2_DRAW_COLOR}
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public:
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// Constructor
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TemplateMatcher(MIL_ID system, MIL_ID display):
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isInitialized(false) {}
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void template_matching(const MIL_ID& inputImage, MIL_ID& outputImage, const std::map<std::string, int>& params) {
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MIL_ID MilImage, /* Image buffer identifier. */
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GraphicList; /* Graphic list identifier. */
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MIL_ID MilSearchContext, /* Search context */
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MilResult; /* Result identifier. */
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MIL_INT Models[MODELS_MAX_OCCURRENCES], /* Model indices. */
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ModelsOffsetX[MODELS_ARRAY_SIZE] = MODELS_OFFSETX,/* Model X offsets array. */
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ModelsOffsetY[MODELS_ARRAY_SIZE] = MODELS_OFFSETY,/* Model Y offsets array. */
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ModelsSizeX[MODELS_ARRAY_SIZE] = MODELS_SIZEX, /* Model X sizes array. */
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ModelsSizeY[MODELS_ARRAY_SIZE] = MODELS_SIZEY; /* Model Y sizes array. */
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MIL_DOUBLE ModelsDrawColor[MODELS_ARRAY_SIZE]=MODELS_DRAW_COLOR; /* Model drawing colors.*/
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MIL_INT NumResults = 0L; /* Number of results found. */
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MIL_DOUBLE Score[MODELS_MAX_OCCURRENCES], /* Model correlation scores.*/
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XPosition[MODELS_MAX_OCCURRENCES], /* Model X positions. */
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YPosition[MODELS_MAX_OCCURRENCES], /* Model Y positions. */
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Angle[MODELS_MAX_OCCURRENCES], /* Model occurrence angles. */
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Scale[MODELS_MAX_OCCURRENCES], /* Model occurrence scales. */
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Time = 0.0; /* Time variable. */
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int i; /* Loop variable */
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MIL_ID inputImageSuspect = convert_to_uint8(inputImage);
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/* Restore the model image and display it. */
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MdispSelect(MilDisplay, inputImageSuspect);
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// 用于显示的部分
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/* Allocate a graphic list to hold the subpixel annotations to draw. */
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MgraAllocList(MilSystem, M_DEFAULT, &GraphicList);
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/* Associate the graphic list to the display for annotations. */
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MdispControl(MilDisplay, M_ASSOCIATED_GRAPHIC_LIST_ID, GraphicList);
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/* Allocate a geometric model finder. */
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MmodAlloc(MilSystem, M_GEOMETRIC, M_DEFAULT, &MilSearchContext);
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// 取出一个buffer用来存储结果
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/* Allocate a result buffer. */
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MmodAllocResult(MilSystem, M_DEFAULT, &MilResult);
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/* Define the models. */
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for (i=0; i<NUMBER_OF_MODELS; i++)
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{
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MmodDefine(MilSearchContext, M_IMAGE, inputImageSuspect,
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(MIL_DOUBLE)ModelsOffsetX[i], (MIL_DOUBLE)ModelsOffsetY[i],
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(MIL_DOUBLE)ModelsSizeX[i], (MIL_DOUBLE)ModelsSizeY[i]);
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// Destructor: Free MIL objects
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~TemplateMatcher() {
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if (isInitialized) {
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MgraFree(GraphicList);
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MmodFree(MilSearchContext);
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MmodFree(MilResult);
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}
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}
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// Load template models
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void loadTemplates(const vector<string>& template_paths,
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const vector<MIL_INT>& offsetX, const vector<MIL_INT>& offsetY,
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const vector<MIL_INT>& sizeX, const vector<MIL_INT>& sizeY,
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const vector<MIL_DOUBLE>& drawColor) {
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// 设置一些参数
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/* Set the desired search speed. */
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MmodControl(MilSearchContext, M_CONTEXT, M_SPEED, MULTI_MODELS_SEARCH_SPEED);
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if (isInitialized) {
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cerr << "Templates are already loaded. Reinitializing...\n";
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MgraFree(GraphicList);
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MmodFree(MilSearchContext);
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MmodFree(MilResult);
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}
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/* Increase the smoothness for the edge extraction in the search context. */
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MmodControl(MilSearchContext, M_CONTEXT, M_SMOOTHNESS, 75);
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ModelsOffsetX = offsetX;
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ModelsOffsetY = offsetY;
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ModelsSizeX = sizeX;
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ModelsSizeY = sizeY;
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ModelsDrawColor = drawColor;
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ModelImgPaths = template_paths;
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/* Modify the acceptance and the certainty for all the models that were defined. */
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MmodControl(MilSearchContext, M_DEFAULT, M_ACCEPTANCE, 40);
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MmodControl(MilSearchContext, M_DEFAULT, M_CERTAINTY, 60);
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// 搜索上下文和搜索结果的buffer
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MmodAlloc(MilSystem, M_GEOMETRIC, M_DEFAULT, &MilSearchContext);
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MmodAllocResult(MilSystem, M_DEFAULT, &MilResult);
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/* Set the number of occurrences to 2 for all the models that were defined. */
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MmodControl(MilSearchContext, M_DEFAULT, M_NUMBER, 2);
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// Define templates
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for (size_t i = 0; i < template_paths.size(); ++i) {
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MIL_ID template_temporary;
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MbufRestore(convert_to_wstring(ModelImgPaths[i]), MilSystem, &template_temporary);
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MIL_ID template_temporary_uint8 = convert_to_uint8(template_temporary);
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MdispSelect(MilDisplay, template_temporary_uint8);
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/* Allocate a graphic list to hold the subpixel annotations to draw. */
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MgraAllocList(MilSystem, M_DEFAULT, &GraphicList);
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/* Associate the graphic list to the display for annotations. */
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MdispControl(MilDisplay, M_ASSOCIATED_GRAPHIC_LIST_ID, GraphicList);
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#if (NUMBER_OF_MODELS>1)
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/* Change the reference point of the second model. */
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MmodControl(MilSearchContext, 1, M_REFERENCE_X, MODEL1_REFERENCEX);
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MmodControl(MilSearchContext, 1, M_REFERENCE_Y, MODEL1_REFERENCEY);
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#if (NUMBER_OF_MODELS>2)
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/* Change the reference point of the third model. */
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MmodControl(MilSearchContext, 2, M_REFERENCE_X, MODEL2_REFERENCEX);
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MmodControl(MilSearchContext, 2, M_REFERENCE_Y, MODEL2_REFERENCEY);
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#endif
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#endif
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/* Preprocess the search context. */
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MmodPreprocess(MilSearchContext, M_DEFAULT);
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MmodDefine(MilSearchContext, M_IMAGE, template_temporary_uint8,
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static_cast<MIL_DOUBLE>(ModelsOffsetX[i]),
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static_cast<MIL_DOUBLE>(ModelsOffsetY[i]),
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static_cast<MIL_DOUBLE>(ModelsSizeX[i]),
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static_cast<MIL_DOUBLE>(ModelsSizeY[i]));
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}
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// 设置一些参数
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/* Set the desired search speed. */
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MmodControl(MilSearchContext, M_CONTEXT, M_SPEED, M_VERY_HIGH);
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/* Increase the smoothness for the edge extraction in the search context. */
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MmodControl(MilSearchContext, M_CONTEXT, M_SMOOTHNESS, 75);
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/* Modify the acceptance and the certainty for all the models that were defined. */
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MmodControl(MilSearchContext, M_DEFAULT, M_ACCEPTANCE, 40);
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MmodControl(MilSearchContext, M_DEFAULT, M_CERTAINTY, 60);
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/* Set the number of occurrences to 2 for all the models that were defined. */
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MmodControl(MilSearchContext, M_DEFAULT, M_NUMBER, 2);
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// Preprocess templates
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MmodPreprocess(MilSearchContext, M_DEFAULT);
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isInitialized = true;
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cout << "Templates loaded and preprocessed successfully.\n";
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/* Draw boxes and positions in the source image to identify the models. */
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for (int i=0; i<ModelImgPaths.size(); i++)
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{
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MgraColor(M_DEFAULT, ModelsDrawColor[i]);
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MmodDraw( M_DEFAULT, MilSearchContext, GraphicList,
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M_DRAW_BOX+M_DRAW_POSITION, i, M_ORIGINAL);
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}
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/* Pause to show the models. */
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MosPrintf(MIL_TEXT("A model context was defined with the ")
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MIL_TEXT("models in the displayed image.\n"));
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MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n"));
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MosGetch();
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/* Draw boxes and positions in the source image to identify the models. */
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for (i=0; i<NUMBER_OF_MODELS; i++)
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{
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MgraColor(M_DEFAULT, ModelsDrawColor[i]);
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MmodDraw( M_DEFAULT, MilSearchContext, GraphicList,
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M_DRAW_BOX+M_DRAW_POSITION, i, M_ORIGINAL);
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}
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/* Pause to show the models. */
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MosPrintf(MIL_TEXT("A model context was defined with the ")
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MIL_TEXT("models in the displayed image.\n"));
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MosPrintf(MIL_TEXT("Press <Enter> to continue.\n\n"));
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MosGetch();
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// Search for models in the input image
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void findModels(const MIL_ID& inputImage) {
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if (!isInitialized) {
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cerr << "Templates are not loaded. Please load templates before searching.\n";
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return;
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}
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MIL_ID input_image_uint8 = convert_to_uint8(inputImage);
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/* Clear annotations. */
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MgraClear(M_DEFAULT, GraphicList);
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MdispSelect(MilDisplay, input_image_uint8);
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// Clear previous annotations
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MgraClear(M_DEFAULT, GraphicList);
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// Find models
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MIL_DOUBLE Time = 0.0;
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MappTimer(M_DEFAULT, M_TIMER_RESET + M_SYNCHRONOUS, M_NULL);
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MmodFind(MilSearchContext, input_image_uint8, MilResult);
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MappTimer(M_DEFAULT, M_TIMER_READ + M_SYNCHRONOUS, &Time);
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// Get results
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MIL_INT NumResults = 0;
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MmodGetResult(MilResult, M_DEFAULT, M_NUMBER + M_TYPE_MIL_INT, &NumResults);
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if (NumResults >= 1) {
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vector<MIL_INT> Models(NumResults);
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vector<MIL_DOUBLE> XPosition(NumResults), YPosition(NumResults), Angle(NumResults),
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Scale(NumResults), Score(NumResults);
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MmodGetResult(MilResult, M_DEFAULT, M_INDEX + M_TYPE_MIL_INT, Models.data());
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MmodGetResult(MilResult, M_DEFAULT, M_POSITION_X, XPosition.data());
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MmodGetResult(MilResult, M_DEFAULT, M_POSITION_Y, YPosition.data());
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MmodGetResult(MilResult, M_DEFAULT, M_ANGLE, Angle.data());
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MmodGetResult(MilResult, M_DEFAULT, M_SCALE, Scale.data());
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MmodGetResult(MilResult, M_DEFAULT, M_SCORE, Score.data());
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// Display results
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cout << "Found " << NumResults << " model(s) in " << Time * 1000.0 << " ms:\n";
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cout << "Result Model X Position Y Position Angle Scale Score\n";
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for (MIL_INT i = 0; i < NumResults; ++i) {
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cout << i << " " << Models[i] << " " << XPosition[i] << " "
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<< YPosition[i] << " " << Angle[i] << " " << Scale[i]
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<< " " << Score[i] << "%\n";
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// Draw results
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MgraColor(M_DEFAULT, ModelsDrawColor[Models[i]]);
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MmodDraw(M_DEFAULT, MilResult, GraphicList,
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M_DRAW_EDGES + M_DRAW_POSITION, i, M_DEFAULT);
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}
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} else {
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cout << "No models found.\n";
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}
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}
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};
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/* Dummy first call for bench measure purpose only (bench stabilization,
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cache effect, etc...). This first call is NOT required by the application. */
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// MmodFind(MilSearchContext, inputImageSuspect, MilResult);
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/* Reset the timer. */
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MappTimer(M_DEFAULT, M_TIMER_RESET+M_SYNCHRONOUS, M_NULL);
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void template_matching(const MIL_ID& inputImage, MIL_ID& outputImage, const map<string, int>& params) {
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// Create a TemplateMatcher instance
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TemplateMatcher matcher(MilSystem, MilDisplay);
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/* Find the models. */
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MmodFind(MilSearchContext, inputImageSuspect, MilResult);
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// Load template models
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vector<string> template_paths = {"C:\\Users\\zjc\\Desktop\\template1.png",
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"C:\\Users\\zjc\\Desktop\\template1.png",
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"C:\\Users\\zjc\\Desktop\\template1.png",
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};
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vector<MIL_INT> offsetX = {0, 20, 30};
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vector<MIL_INT> offsetY = {0, 20, 30};
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vector<MIL_INT> sizeX = {100, 60, 40};
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vector<MIL_INT> sizeY = {100, 60, 40};
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vector<MIL_DOUBLE> drawColor = {M_COLOR_RED, M_COLOR_GREEN, M_COLOR_BLUE};
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matcher.loadTemplates(template_paths, offsetX, offsetY, sizeX, sizeY, drawColor);
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/* Read the find time. */
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MappTimer(M_DEFAULT, M_TIMER_READ+M_SYNCHRONOUS, &Time);
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// Find models
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matcher.findModels(inputImage);
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/* Get the number of models found. */
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MmodGetResult(MilResult, M_DEFAULT, M_NUMBER+M_TYPE_MIL_INT, &NumResults);
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/* If the models were found above the acceptance threshold. */
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if( (NumResults >= 1) && (NumResults <= MODELS_MAX_OCCURRENCES) )
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{
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/* Get the results for each model. */
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MmodGetResult(MilResult, M_DEFAULT, M_INDEX+M_TYPE_MIL_INT, Models);
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MmodGetResult(MilResult, M_DEFAULT, M_POSITION_X, XPosition);
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MmodGetResult(MilResult, M_DEFAULT, M_POSITION_Y, YPosition);
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MmodGetResult(MilResult, M_DEFAULT, M_ANGLE, Angle);
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MmodGetResult(MilResult, M_DEFAULT, M_SCALE, Scale);
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MmodGetResult(MilResult, M_DEFAULT, M_SCORE, Score);
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/* Print information about the target image. */
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MosPrintf(MIL_TEXT("The models were found in the target "));
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MosPrintf(MIL_TEXT("image although there is:\n "));
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MosPrintf(MIL_TEXT("Full rotation\n Small scale change\n "));
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MosPrintf(MIL_TEXT("Contrast variation\n Specular reflection\n "));
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MosPrintf(MIL_TEXT("Occlusion\n Multiple models\n"));
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MosPrintf(MIL_TEXT(" Multiple occurrences\n\n"));
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/* Print the results for the found models. */
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MosPrintf(MIL_TEXT("Result Model X Position Y Position ")
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MIL_TEXT("Angle Scale Score\n\n"));
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for (i=0; i<NumResults; i++)
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{
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MosPrintf(MIL_TEXT("%-9d%-8d%-13.2f%-13.2f%-8.2f%-8.2f%-5.2f%%\n"),
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i, (int) Models[i], XPosition[i], YPosition[i],
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Angle[i], Scale[i], Score[i]);
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}
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MosPrintf(MIL_TEXT("\nThe search time is %.1f ms\n\n"), Time*1000.0);
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/* Draw edges and positions over the occurrences that were found. */
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for (i=0; i < NumResults; i++)
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{
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MgraColor(M_DEFAULT, ModelsDrawColor[Models[i]]);
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MmodDraw(M_DEFAULT, MilResult,GraphicList,
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M_DRAW_EDGES+M_DRAW_POSITION, i, M_DEFAULT);
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}
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}
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else
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{
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MosPrintf(MIL_TEXT("The models were not found or the number of ")
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MIL_TEXT("models found is greater than\n"));
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MosPrintf(MIL_TEXT("the defined value of maximum occurrences !\n\n"));
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}
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/* Wait for a key to be pressed. */
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MosPrintf(MIL_TEXT("Press <Enter> to end.\n\n"));
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MosGetch();
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/* Free MIL objects. */
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MgraFree(GraphicList);
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// MbufFree(MilImage);
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MmodFree(MilSearchContext);
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MmodFree(MilResult);
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// Free resources
|
||||
MappFreeDefault(MilApplication, MilSystem, M_NULL, M_NULL, MilDisplay);
|
||||
}
|
||||
|
||||
|
||||
@ -54,10 +54,24 @@ MIL_ID convert_to_uint8(MIL_ID input_img) {
|
||||
MIL_ID MilSystem = MbufInquire(input_img, M_OWNER_SYSTEM, M_NULL);
|
||||
MIL_INT size_x = MbufInquire(input_img, M_SIZE_X, M_NULL);
|
||||
MIL_INT size_y = MbufInquire(input_img, M_SIZE_Y, M_NULL);
|
||||
MIL_INT channel_num = MbufInquire(input_img, M_SIZE_BAND, M_NULL);
|
||||
|
||||
MbufAlloc2d(MilSystem, size_x, size_y, 8 + M_UNSIGNED, M_IMAGE + M_PROC + M_DISP, &output_img);
|
||||
MimArith(output_img, input_img, output_img, M_ADD);
|
||||
MimArith(output_img, 255.0, output_img, M_MULT_CONST);
|
||||
if(channel_num == 1) {
|
||||
MimArith(output_img, input_img, output_img, M_ADD);
|
||||
MimArith(output_img, 255.0, output_img, M_MULT_CONST);
|
||||
} else if(channel_num == 3) {
|
||||
MimConvert(input_img, output_img, M_RGB_TO_L);
|
||||
MimArith(output_img, M_NULL, output_img, M_NOT);
|
||||
} else {
|
||||
cout << "Unsupported channel number!" << endl;
|
||||
}
|
||||
return output_img;
|
||||
}
|
||||
|
||||
|
||||
wstring convert_to_wstring(const string& str) {
|
||||
return wstring(str.begin(), str.end());
|
||||
}
|
||||
|
||||
// 图片转换函数，输入4096*1024*3的图片，输出为(4096 / n_valves) * (1024 / n_merge_vertical) * 1
|
||||
|
||||
@ -32,4 +32,6 @@ std::vector<int> opencvLabToPsLab(const std::vector<int>& lab_cv);
|
||||
|
||||
MIL_ID convert_to_uint8(MIL_ID input_img);
|
||||
|
||||
std::wstring convert_to_wstring(const std::string& str);
|
||||
|
||||
#endif //UTILS_H
|
||||
|
||||
@ -22,7 +22,7 @@ int main() {
|
||||
params["cotton_L_max"] = 90;
|
||||
params["cotton_a_min"] = -5;
|
||||
params["cotton_a_max"] = 6;
|
||||
params["cotton_b_min"] = -5;
|
||||
params["cotton_b_min"] = 0;
|
||||
params["cotton_b_max"] = 30;
|
||||
|
||||
params["background_L_min"] = 95;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user