From 81979763a2b131f9b3680018f3f34e31e9a022fd Mon Sep 17 00:00:00 2001 From: gdd Date: Mon, 7 Nov 2011 17:14:15 +0000 Subject: [PATCH] rnc: added new package in GEOM for the image processing tools used for shape recognition --- configure.ac | 1 + src/EntityGUI/Makefile.am | 2 +- src/Makefile.am | 5 + src/ShapeRecognition/Makefile.am | 50 + src/ShapeRecognition/Makefile.in | 859 ++++++++++++++++++ .../ShapeRec_FeatureDetector.cxx | 264 ++++++ .../ShapeRec_FeatureDetector.hxx | 80 ++ 7 files changed, 1260 insertions(+), 1 deletion(-) create mode 100644 src/ShapeRecognition/Makefile.am create mode 100644 src/ShapeRecognition/Makefile.in create mode 100644 src/ShapeRecognition/ShapeRec_FeatureDetector.cxx create mode 100644 src/ShapeRecognition/ShapeRec_FeatureDetector.hxx diff --git a/configure.ac b/configure.ac index 24a133154..fda5d9f0b 100644 --- a/configure.ac +++ b/configure.ac @@ -470,6 +470,7 @@ AC_OUTPUT([ \ src/STEPImport/Makefile \ src/STLExport/Makefile \ src/ShHealOper/Makefile \ + src/ShapeRecognition/Makefile \ src/TransformationGUI/Makefile \ src/VTKExport/Makefile \ resources/Makefile \ diff --git a/src/EntityGUI/Makefile.am b/src/EntityGUI/Makefile.am index 40fd1b654..0023761b4 100644 --- a/src/EntityGUI/Makefile.am +++ b/src/EntityGUI/Makefile.am @@ -32,7 +32,7 @@ if WITH_OPENCV PictureImportDlg_Sources = EntityGUI_PictureImportDlg.cxx PictureImportDlg_moc = EntityGUI_PictureImportDlg_moc.cxx Opencv_libs = $(OPENCV_LIBS) - Opencv_Includes = $(OPENCV_INCLUDES) + Opencv_includes = $(OPENCV_INCLUDES) endif # Libraries targets diff --git a/src/Makefile.am b/src/Makefile.am index b160442bd..f429148aa 100644 --- a/src/Makefile.am +++ b/src/Makefile.am @@ -21,6 +21,7 @@ # Author : Alexander BORODIN, Open CASCADE S.A.S. (alexander.borodin@opencascade.com) # Package : src (source files directory) # + SUBDIRS = ARCHIMEDE NMTDS NMTTools GEOMAlgo SKETCHER OCC2VTK GEOM \ BREPExport BREPImport IGESExport IGESImport STEPExport \ STEPImport STLExport VTKExport ShHealOper GEOMImpl GEOM_I \ @@ -33,6 +34,10 @@ if GEOM_ENABLE_GUI GroupGUI BlocksGUI AdvancedGUI GEOM_SWIG_WITHIHM endif +if WITH_OPENCV + SUBDIRS += ShapeRecognition +endif + DIST_SUBDIRS = ARCHIMEDE NMTDS NMTTools GEOMAlgo SKETCHER OCC2VTK GEOM BREPExport\ BREPImport IGESExport IGESImport STEPExport STEPImport STLExport \ VTKExport ShHealOper GEOMImpl GEOM_I GEOMClient GEOM_I_Superv \ diff --git a/src/ShapeRecognition/Makefile.am b/src/ShapeRecognition/Makefile.am new file mode 100644 index 000000000..214987055 --- /dev/null +++ b/src/ShapeRecognition/Makefile.am @@ -0,0 +1,50 @@ +# Copyright (C) 2007-2011 CEA/DEN, EDF R&D, OPEN CASCADE +# +# This library is free software; you can redistribute it and/or +# modify it under the terms of the GNU Lesser General Public +# License as published by the Free Software Foundation; either +# version 2.1 of the License. +# +# This library is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +# Lesser General Public License for more details. +# +# You should have received a copy of the GNU Lesser General Public +# License along with this library; if not, write to the Free Software +# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +# +# See http://www.salome-platform.org/ or email : webmaster.salome@opencascade.com +# + +# GEOM ShapeRecognition : tools for the shape recognition +# File : Makefile.am +# Author : Renaud NEDELEC (OCC) +# Module : GEOM +# + +include $(top_srcdir)/adm_local/unix/make_common_starter.am + +# header files +salomeinclude_HEADERS = \ + ShapeRec_FeatureDetector.hxx + +# Libraries targets +lib_LTLIBRARIES = libGEOMShapeRec.la + +dist_libGEOMShapeRec_la_SOURCES = \ + ShapeRec_FeatureDetector.cxx + +# additional information to compile and link file + +libGEOMShapeRec_la_CPPFLAGS = \ + $(KERNEL_CXXFLAGS)\ + $(OPENCV_INCLUDES)\ + $(QT_INCLUDES) + + +libGEOMShapeRec_la_LDFLAGS = \ + $(KERNEL_LDFLAGS) -lSALOMELocalTrace \ + $(STDLIB) \ + $(OPENCV_LIBS) \ + $(QT_MT_LIBS) diff --git a/src/ShapeRecognition/Makefile.in b/src/ShapeRecognition/Makefile.in new file mode 100644 index 000000000..2450c8aa0 --- /dev/null +++ b/src/ShapeRecognition/Makefile.in @@ -0,0 +1,859 @@ +# Makefile.in generated by automake 1.11.1 from Makefile.am. +# @configure_input@ + +# Copyright (C) 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002, +# 2003, 2004, 2005, 2006, 2007, 2008, 2009 Free Software Foundation, +# Inc. +# This Makefile.in is free software; the Free Software Foundation +# gives unlimited permission to copy and/or distribute it, +# with or without modifications, as long as this notice is preserved. + +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY, to the extent permitted by law; without +# even the implied warranty of MERCHANTABILITY or FITNESS FOR A +# PARTICULAR PURPOSE. + +@SET_MAKE@ + +# Copyright (C) 2007-2011 CEA/DEN, EDF R&D, OPEN CASCADE +# +# This library is free software; you can redistribute it and/or +# modify it under the terms of the GNU Lesser General Public +# License as published by the Free Software Foundation; either +# version 2.1 of the License. +# +# This library is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +# Lesser General Public License for more details. +# +# You should have received a copy of the GNU Lesser General Public +# License along with this library; if not, write to the Free Software +# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +# +# See http://www.salome-platform.org/ or email : webmaster.salome@opencascade.com +# + +# GEOM ShapeRecognition : tools for the shape recognition +# File : Makefile.am +# Author : Renaud NEDELEC (OCC) +# Module : GEOM +# + +# Copyright (C) 2007-2011 CEA/DEN, EDF R&D, OPEN CASCADE +# +# This library is free software; you can redistribute it and/or +# modify it under the terms of the GNU Lesser General Public +# License as published by the Free Software Foundation; either +# version 2.1 of the License. +# +# This library is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. 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then \ + $(UNIT_TEST_PROG); \ + fi; + +# Tell versions [3.59,3.63) of GNU make to not export all variables. +# Otherwise a system limit (for SysV at least) may be exceeded. +.NOEXPORT: diff --git a/src/ShapeRecognition/ShapeRec_FeatureDetector.cxx b/src/ShapeRecognition/ShapeRec_FeatureDetector.cxx new file mode 100644 index 000000000..ca6caa10d --- /dev/null +++ b/src/ShapeRecognition/ShapeRec_FeatureDetector.cxx @@ -0,0 +1,264 @@ +// Copyright (C) 2007-2011 CEA/DEN, EDF R&D, OPEN CASCADE +// +// Copyright (C) 2003-2007 OPEN CASCADE, EADS/CCR, LIP6, CEA/DEN, +// CEDRAT, EDF R&D, LEG, PRINCIPIA R&D, BUREAU VERITAS +// +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License. +// +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +// +// See http://www.salome-platform.org/ or email : webmaster.salome@opencascade.com + +// File : ShapeRec_FeatureDetector.cxx +// Author : Renaud NEDELEC, Open CASCADE S.A.S. + +#include "ShapeRec_FeatureDetector.hxx" +#include +#include "utilities.h" + +using namespace cv; + +//TODO : All the following methods but ComputeContours use the C API of OpenCV while ComputContours +// uses the C++ API of the library. +// This should be homogenized and preferably by using the C++ API (which is more recent for all the methods + +// The code has to be "cleaned up" too + +/*! + Constructor + \param theFilename - image to process +*/ +ShapeRec_FeatureDetector::ShapeRec_FeatureDetector(const QString& theFilename): + corners() +{ + cornerCount = 2000; + rect=cvRect(0,0,0,0); + imagePath = theFilename.toStdString(); + // Store the dimensions of the picture + IplImage* bg_img = cvLoadImage (imagePath.c_str(), CV_LOAD_IMAGE_GRAYSCALE); + imgHeight = bg_img->height; + imgWidth = bg_img->width; +} + +/*! + Computes the corners of the image located at imagePath +*/ +void ShapeRec_FeatureDetector::ComputeCorners(){ + + // Parameters for the corner detection + double qualityLevel = 0.2; + double minDistance = 1; + + // Images to be used for detection + IplImage *eig_img, *temp_img, *src_img_gray; + + // Load image + src_img_gray = cvLoadImage (imagePath.c_str(), CV_LOAD_IMAGE_GRAYSCALE); + + if ( rect.width > 1 ) + { + // If a ROI as been set use it for detection + cvSetImageROI( src_img_gray, rect ); + } + + eig_img = cvCreateImage (cvGetSize (src_img_gray), IPL_DEPTH_32F, 1); + temp_img = cvCreateImage (cvGetSize (src_img_gray), IPL_DEPTH_32F, 1); + corners = (CvPoint2D32f *) cvAlloc (cornerCount * sizeof (CvPoint2D32f)); + + // image height and width + imgHeight = src_img_gray->height; + imgWidth = src_img_gray->width; + + // Corner detection using cvCornerMinEigenVal + // (one of the methods available inOpenCV, there is also a cvConerHarris method that can be used by setting a flag in cvGoodFeaturesToTrack) + cvGoodFeaturesToTrack (src_img_gray, eig_img, temp_img, corners, &cornerCount, /*quality-level=*/qualityLevel, /*min-distance=*/minDistance); + cvFindCornerSubPix (src_img_gray, corners, cornerCount, + cvSize (3, 3), cvSize (-1, -1), cvTermCriteria (CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, 0.03)); + + cvReleaseImage (&eig_img); + cvReleaseImage (&temp_img); + cvReleaseImage (&src_img_gray); + +} + +/*! + Computes the contours of the image located at imagePath +*/ +bool ShapeRec_FeatureDetector::ComputeContours( int detection_method ){ + + // Initialising images + Mat src, src_gray; + Mat detected_edges; + + // Read image + src = imread( imagePath.c_str() ); + if( !src.data ) + return false; + + if ( detection_method == CANNY ) // The problem is that with that filter the detector detects double contours + { + // Thresholds for Canny detector + int lowThreshold = 100; + int ratio = 3; + int kernel_size = 3; // 3,5 or 7 + + // Convert the image to grayscale + if (src.channels() == 3) + cvtColor( src, src_gray, CV_BGR2GRAY ); + else if (src.channels() == 1) + src_gray = src; + + // Reduce noise with a kernel 3x3 + blur( src_gray, detected_edges, Size(3,3) ); + // Canny detector + Canny( detected_edges, detected_edges, lowThreshold, lowThreshold*ratio, kernel_size, /*L2gradient =*/true ); + } + else if ( detection_method == COLORFILTER ) + { + if ( !rect.width > 1 ) + return false; + detected_edges = _colorFiltering(); + } + else if ( detection_method == RIDGE_DETECTOR ) // Method adapted for engineering drawings (e.g. watershed functionnality could be used here cf.OpenCV documentation and samples) + { + // TODO + return false; + } + _detectAndRetrieveContours( detected_edges ); + + return true; + +} + +/*! + Computes the lines in the image located at imagePath +*/ +bool ShapeRec_FeatureDetector::ComputeLines(){ + MESSAGE("ShapeRec_FeatureDetector::ComputeLines()") + // Initialising images + Mat src, src_gray, detected_edges, dst; + + src=imread(imagePath.c_str(), 0); + + Canny( src, dst, 50, 200, 3 ); + HoughLinesP( dst, lines, 1, CV_PI/180, 80, 30, 10 ); + return true; + +} + +/*! + Stores a region of interest given by user in rect + \param theRect - Region Of Interest of the image located at imagePath +*/ +void ShapeRec_FeatureDetector::SetROI( const QRect& theRect ) +{ + if (!theRect.isEmpty()){ + rect = cvRect(theRect.x(),theRect.y(),theRect.width(),theRect.height()); + } +} + +/*! + Performs contours detection and store them in contours + \param src - src image to find contours of +*/ +void ShapeRec_FeatureDetector::_detectAndRetrieveContours( Mat src ) +{ + src = src > 1; + int method = CV_CHAIN_APPROX_NONE; + findContours( src, contours, hierarchy,CV_RETR_CCOMP, method); + // Other possible approximations CV_CHAIN_APPROX_TC89_KCOS, CV_CHAIN_APPROX_TC89_L1, CV_CHAIN_APPROX_SIMPLE cf. OpenCV documentation + // for precise information +} + +/*! + Performs color filtering from the image sample contained in the ROI rect of the image + located at imagePath + Thresholds the result in order ot obtain a binary image + \return binary image resulting from filtering and thersholding +*/ +Mat ShapeRec_FeatureDetector::_colorFiltering() +{ + IplImage* find_image = cvLoadImage(imagePath.c_str(),CV_LOAD_IMAGE_COLOR); + // Reduce noise with a kernel 3x3 + cvSmooth( find_image, find_image, CV_GAUSSIAN, 3, 3 ); + + if ( !rect.width > 1 ) + return Mat(find_image); + + // Crop the image to build an histogram from the selected part + cvSetImageROI(find_image, rect); + IplImage* test_image = cvCreateImage(cvGetSize(find_image), + find_image->depth, + find_image->nChannels); + cvCopy(find_image, test_image, NULL); + cvResetImageROI(find_image); + + IplImage* test_hsv = cvCreateImage(cvGetSize(test_image),8,3); + IplImage* test_hue = cvCreateImage(cvGetSize(test_image),8,1); + CvHistogram* hist; + + cvCvtColor(test_image, test_hsv, CV_BGR2HSV); + cvCvtPixToPlane(test_hsv, test_hue, 0, 0, 0); + + //create hist + int size_hist = 10; + float hranges[] = {0, 180}; + float* ranges = hranges; + hist = cvCreateHist(1, &size_hist, CV_HIST_ARRAY, &ranges, 1); + + //calculate hue` histogram + cvCalcHist(&test_hue, hist, 0 ,0); + +// // TEST print of the histogram for debugging +// IplImage* hist_image = cvCreateImage(cvSize(320,300),8,3); +// +// //draw hist on hist_test image. +// cvZero(hist_image); +// float max_value = 0; +// cvGetMinMaxHistValue(hist, 0 , &max_value, 0, 0); +// int bin_w = hist_image->width/size_hist; +// for(int i = 0; i < size_hist; i++ ) +// { +// //prevent overflow +// int val = cvRound( cvGetReal1D(hist->bins,i)*hist_image-> +// height/max_value); +// CvScalar color = CV_RGB(200,0,0); +// //hsv2rgb(i*180.f/size_hist); +// cvRectangle( hist_image, cvPoint(i*bin_w,hist_image->height), +// cvPoint((i+1)*bin_w,hist_image->height - val), +// color, -1, 8, 0 ); +// } +// +// +// cvNamedWindow("hist", 1); cvShowImage("hist",hist_image); + + + //calculate back projection of hue plane of input image + IplImage* backproject = cvCreateImage(cvGetSize(find_image), 8, 1); + IplImage* binary_backproject = cvCreateImage(cvGetSize(find_image), 8, 1); + IplImage* find_hsv = cvCreateImage(cvGetSize(find_image),8,3); + IplImage* find_hue = cvCreateImage(cvGetSize(find_image),8,1); + + cvCvtColor(find_image, find_hsv, CV_BGR2HSV); + cvCvtPixToPlane(find_hsv, find_hue, 0, 0, 0); + cvCalcBackProject(&find_hue, backproject, hist); + + // Threshold in order to obtain binary image + cvThreshold(backproject, binary_backproject, 1, 255, CV_THRESH_BINARY); // NOTE it would be good to think about the best threshold to use (it's 1 for now) + cvReleaseImage(&test_image); + cvReleaseImage(&test_hsv); + cvReleaseImage(&test_hue); + cvReleaseImage(&backproject); + + return Mat(binary_backproject); +} diff --git a/src/ShapeRecognition/ShapeRec_FeatureDetector.hxx b/src/ShapeRecognition/ShapeRec_FeatureDetector.hxx new file mode 100644 index 000000000..bbe37d91c --- /dev/null +++ b/src/ShapeRecognition/ShapeRec_FeatureDetector.hxx @@ -0,0 +1,80 @@ +// Copyright (C) 2007-2011 CEA/DEN, EDF R&D, OPEN CASCADE +// +// Copyright (C) 2003-2007 OPEN CASCADE, EADS/CCR, LIP6, CEA/DEN, +// CEDRAT, EDF R&D, LEG, PRINCIPIA R&D, BUREAU VERITAS +// +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License. +// +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +// +// See http://www.salome-platform.org/ or email : webmaster.salome@opencascade.com + +// File : ShapeRec_FeatureDetector.h +// Author : Renaud NEDELEC, Open CASCADE S.A.S. + +// OpenCV includes +#include +#include +#include "opencv2/imgproc/imgproc.hpp" +#include "opencv2/highgui/highgui.hpp" + +// Qt +#include +#include + +enum // Method used for contour detection +{ + CANNY, + COLORFILTER, + RIDGE_DETECTOR +}; + +class ShapeRec_FeatureDetector +{ +public: + + typedef std::vector CvContour; + typedef std::vector > CvContoursArray; + + ShapeRec_FeatureDetector( const QString& ); // Constructor + + void ComputeCorners(); // Detects the corners from the image located at imagePath + bool ComputeLines(); // Detects the lines from the image located at imagePath + bool ComputeContours( int method ); // Detects the contours from the image located at imagePath + + void SetROI( const QRect& ); // Sets a Region Of Interest in the image + CvPoint2D32f* GetCorners() { return corners; }; + CvContoursArray GetContours() { return contours; }; + std::vector GetLines() { return lines; }; + std::vector GetContoursHierarchy() { return hierarchy; }; + int GetCornerCount() { return cornerCount; }; + int GetImgHeight() { return imgHeight; }; + int GetImgWidth() { return imgWidth; }; + + +private: + std::string imagePath; + + CvPoint2D32f* corners; + int cornerCount; + + CvContoursArray contours; + std::vector hierarchy; + std::vector lines; + int imgHeight; + int imgWidth; + CvRect rect; + + void _detectAndRetrieveContours( cv::Mat binaryImg ); + cv::Mat _colorFiltering(); +}; -- 2.39.2