int BlockLocalizer::getXOnRow(cv::Point startPoint, int range, bool scanLeft2right)
{
const int roiHeight = 11;//所取ROI宽度，一定为奇数，输入的x值为ROI的中心
//创建roi范围，并防止越界。
cv::Rect roiRect(0, 0, range, roiHeight);
roiRect.x = startPoint.x - range / 2;
roiRect.y = startPoint.y - roiHeight / 2;
rectFix(roiRect);
if (roiRect.width > ContinuePointCount && roiRect.height > 2)
{
#ifdef BL_OUTPUT_DEBUG_INFO
if (range == 400)
cv::rectangle(drowDebugDetectLR, roiRect, cv::Scalar(0, 0, 255));
else
cv::rectangle(drowDebugDetectLR, roiRect, cv::Scalar(0, 255, 255));
#endif
//选取roi
cv::Mat roi = img(roiRect).clone();
cv::GaussianBlur(roi, roi, cv::Size(5, 5), 0, 0);
//竖直投影
cv::Mat roirow;
cv::reduce(roi, roirow, 0, CV_REDUCE_AVG);
if (scanLeft2right)
{
for (int j = 0; j < roirow.cols; j++)
{
int count = 0;
for (int i = j; i < roirow.cols; i++)
{
if (roirow.ptr<uchar>(0)[i] >= THRESHOD)
count++;
else if (i != j)
{
j = i - 1;
break;
}
else
break;
if (count > ContinuePointCount)
{
return (j + roiRect.x);
}
}
}
}
else
{
for (int j = roirow.cols - 1; j >= 0; j--)
{
int count = 0;
for (int i = j; i >= 0; i--)
{
if (roirow.ptr<uchar>(0)[i] >= THRESHOD)
count++;
else if (i != j)
{
j = i + 1;
break;
}
else
break;
if (count > ContinuePointCount)
{
return (j + roiRect.x);
}
}
}
}
}
return -1;
}
void CBrakeBeamPillarRoundPinDetector::DetectError(vector<SErrorInfoArray>& errorInfoArray,
vector<Mat>& resultImageArray, /*vector<PositionOfComponents>& positionOfComponents,*/ int statues /*= 0*/)
{
//将车厢的方向统一(横向)
flip(m_srcImageArray[0], m_srcImageArray[0], 1);
flip(resultImageArray[1], resultImageArray[1], 1);
for (int i = 0; i != m_srcImageArray.size(); ++i)
{
float maxMatchVal = -1.0;
Point matchPoint;
int templateIndex = 0;
int brakeBeamPillarXPos = 0;
int brakeBeamPillarYPos = 0;
int middleBarLeftLine = FindMiddleBarLeftLine(i);
if (!IsMiddlBarLeftLineInRange(middleBarLeftLine))
{
SErrorInfoArray sei;
sei.errorMask |= DEMO_ERROR_BRAKE_BEAM_PILLAR_ROUND_PIN_LOST;
sei.realErrorMask |= DEMO_ERROR_BRAKE_BEAM_PILLAR_ROUND_PIN_LOST;
sei.errorImageFile = m_srcImageFileArray[i];
if (i == 0)
{
sei.leftPos = 300;
sei.rightPos = 600;
sei.topPos = 300;
sei.bottomPos = 650;
rectangle(resultImageArray[m_interstedIndex[i]], Point(800,300),Point(1150,650),Scalar(0,0,255),2);
}
else
{
sei.leftPos = 800;
sei.rightPos = 1150;
sei.topPos = 300;
sei.bottomPos = 650;
rectangle(resultImageArray[m_interstedIndex[i]], Point(800,300),Point(1150,650),Scalar(0,0,255),2);
}
sei.confidence = 59;
sei.errorImageIndex = m_interstedIndex[i];
errorInfoArray.push_back(sei);
continue;
}
else
{
brakeBeamPillarXPos = middleBarLeftLine + 150;
int brakeBeamClampYPos = FindBrakeBeamClampYPos(middleBarLeftLine, i);
if (IsBrakeBeamClampYPosInRange(brakeBeamClampYPos))
{
brakeBeamPillarYPos = brakeBeamClampYPos - 25;
}
else
{
SErrorInfoArray sei;
sei.errorMask |= DEMO_ERROR_BRAKE_BEAM_PILLAR_ROUND_PIN_LOST;
sei.realErrorMask |= DEMO_ERROR_BRAKE_BEAM_PILLAR_ROUND_PIN_LOST;
sei.errorImageFile = m_srcImageFileArray[i];
if (i == 0)
{
sei.leftPos = 300;
sei.rightPos = 600;
sei.topPos = 300;
sei.bottomPos = 650;
rectangle(resultImageArray[m_interstedIndex[i]], Point(800,300),Point(1150,650),Scalar(0,0,255),2);
}
else
{
sei.leftPos = 800;
sei.rightPos = 1150;
sei.topPos = 300;
sei.bottomPos = 650;
rectangle(resultImageArray[m_interstedIndex[i]], Point(800,300),Point(1150,650),Scalar(0,0,255),2);
}
sei.confidence = 59;
sei.errorImageIndex = m_interstedIndex[i];
errorInfoArray.push_back(sei);
continue;
}
}
Rect roiRect(brakeBeamPillarXPos, brakeBeamPillarYPos-100, 150, 350);
for (int j = 0; j != m_templateImageArray.size(); ++j)
{
Mat compareResult; //匹配结果矩阵
//定义查找夹扣的ROI
Mat searchBrakeBeamClamp_ROI = m_srcImageArray[i](roiRect).clone();
compareResult.create(searchBrakeBeamClamp_ROI.rows - m_templateImageArray[j].rows + 1,
searchBrakeBeamClamp_ROI.cols - m_templateImageArray[j].cols + 1, CV_32FC1);
matchTemplate(searchBrakeBeamClamp_ROI, m_templateImageArray[j], compareResult, CV_TM_CCOEFF_NORMED); //模板匹配
double minVal,maxVal; //矩阵中最小值，最大值
Point minLoc; //最小值的坐标
Point matchLoc; //最匹配值的坐标
minMaxLoc(compareResult, &minVal, &maxVal, &minLoc, &matchLoc, cv::Mat()); //寻找最匹配的点
if (maxVal > maxMatchVal)
{
maxMatchVal = maxVal;
matchPoint.x = matchLoc.x + roiRect.x;
matchPoint.y = matchLoc.y + roiRect.y;
templateIndex = j;
}
}
if (maxMatchVal <= 0.55 && maxMatchVal > 0.52)
{
SErrorInfoArray sei;
sei.errorMask |= DEMO_ERROR_BRAKE_BEAM_PILLAR_ROUND_PIN_LOST;
sei.errorImageFile = m_srcImageFileArray[i];
if (i == 0)
{
sei.leftPos = 300;
sei.rightPos = 600;
sei.topPos = 300;
sei.bottomPos = 650;
rectangle(resultImageArray[m_interstedIndex[i]], Point(800,300),Point(1150,650),Scalar(0,0,255),2);
}
else
{
sei.leftPos = 800;
sei.rightPos = 1150;
sei.topPos = 300;
sei.bottomPos = 650;
rectangle(resultImageArray[m_interstedIndex[i]], Point(800,300),Point(1150,650),Scalar(0,0,255),2);
}
sei.confidence = 50;
sei.errorImageIndex = m_interstedIndex[i];
errorInfoArray.push_back(sei);
}
else if(maxMatchVal <= 0.52)
{
SErrorInfoArray sei;
sei.errorMask |= DEMO_ERROR_BRAKE_BEAM_PILLAR_ROUND_PIN_LOST;
sei.realErrorMask |= DEMO_ERROR_BRAKE_BEAM_PILLAR_ROUND_PIN_LOST;
sei.errorImageFile = m_srcImageFileArray[i];
if (i == 0)
{
sei.leftPos = 300;
sei.rightPos = 600;
sei.topPos = 300;
sei.bottomPos = 650;
rectangle(resultImageArray[m_interstedIndex[i]], Point(800,300),Point(1150,650),Scalar(0,0,255),2);
}
else
{
sei.leftPos = 800;
sei.rightPos = 1150;
sei.topPos = 300;
sei.bottomPos = 650;
rectangle(resultImageArray[m_interstedIndex[i]], Point(800,300),Point(1150,650),Scalar(0,0,255),2);
}
sei.confidence = 59;
sei.errorImageIndex = m_interstedIndex[i];
errorInfoArray.push_back(sei);
}
}
//将方向调回原来的方向
flip(m_srcImageArray[0], m_srcImageArray[0], 1);
flip(resultImageArray[1], resultImageArray[1], 1);
}
//探测故障
void CInTheBarCotterPinBreakOffDetector::DetectError(vector<SErrorInfoArray>& errorInfoArray,
vector<Mat>& resultImageArray, /*vector<PositionOfComponents>& positionOfComponents,*/ int statues /*= 0*/)
{
//将车厢的方向统一
flip(m_srcImageArray[0], m_srcImageArray[0], 1);
flip(resultImageArray[1], resultImageArray[1], 1);
for (int i = 0; i != m_srcImageArray.size(); ++i)
{
float maxMatchVal = -1.0;
Point matchPoint;
int templateIndex = 0;
int middleBarLeftLine = 0; //中间杆左边缘
int TruckDeadLeverTopLine = -1; //中拉杆上边缘
middleBarLeftLine = FindMiddleBarLeftLine(i); //获得中间杆的左边缘
if (IsMiddlBarLeftLineInRange(middleBarLeftLine))
{
TruckDeadLeverTopLine = FindTruckDeadLeverTopLine(i, middleBarLeftLine); //获得中拉杆上边缘
}
if (TruckDeadLeverTopLine == -1)
{
SErrorInfoArray sei;
sei.errorMask |= DEMO_ERROR_PULL_ROD_IN_THE_COTTER_BREAKOFF;
sei.errorImageFile = m_srcImageFileArray[i];
switch (i)
{
case 0:
sei.leftPos = 300;
sei.rightPos = 1000;
sei.topPos = 250;
sei.bottomPos = 750;
break;
case 1:
sei.leftPos = 300;
sei.rightPos = 1000;
sei.topPos = 250;
sei.bottomPos = 750;
break;
}
sei.confidence = 52;
sei.errorImageIndex = m_interstedIndex[i];
errorInfoArray.push_back(sei);
rectangle(resultImageArray[m_interstedIndex[i]], Point(300,250),Point(1000,700),Scalar(0,0,255),2);
continue;
}
else
{
for (int j = 0; j != m_templateImageArray.size(); ++j)
{
if (!IsValidRect(middleBarLeftLine + 80, TruckDeadLeverTopLine - 80, 400, 200))
{
continue;
}
if (!IsValidRectInMat(m_srcImageArray[i], Rect(middleBarLeftLine + 80, TruckDeadLeverTopLine - 80, 400, 200)))
{
continue;
}
Rect roiRect(middleBarLeftLine + 80, TruckDeadLeverTopLine - 80, 400, 200);
Mat compareResult; //匹配结果矩阵
//定义查找夹扣的ROI
Mat searchBrakeBeamClamp_ROI = m_srcImageArray[i](roiRect);
compareResult.create(searchBrakeBeamClamp_ROI.rows - m_templateImageArray[j].rows + 1,
searchBrakeBeamClamp_ROI.cols - m_templateImageArray[j].cols + 1, CV_32FC1);
matchTemplate(searchBrakeBeamClamp_ROI, m_templateImageArray[j], compareResult, CV_TM_CCOEFF_NORMED); //模板匹配
double minVal,maxVal; //矩阵中最小值，最大值
Point minLoc; //最小值的坐标
Point matchLoc; //最匹配值的坐标
minMaxLoc(compareResult, &minVal, &maxVal, &minLoc, &matchLoc, cv::Mat()); //寻找最匹配的点
if (maxVal > maxMatchVal)
{
maxMatchVal = maxVal;
matchPoint.x = matchLoc.x + roiRect.x;
matchPoint.y = matchLoc.y + roiRect.y;
templateIndex = j;
}
}
Rect roiRect(matchPoint.x, matchPoint.y, m_templateImageArray[templateIndex].cols, m_templateImageArray[templateIndex].rows);
Ptr<FeatureDetector> detector = FeatureDetector::create( "SIFT" );//创建SIFT特征检测器
Ptr<DescriptorExtractor> descriptor_extractor = DescriptorExtractor::create( "SIFT" );//创建特征向量生成器
if( detector.empty() || descriptor_extractor.empty() )
{
return;
}
Mat roiMat = m_srcImageArray[i](roiRect).clone();
vector<KeyPoint> keypoints;
detector->detect(roiMat,keypoints);
Mat descriptor;
descriptor_extractor->compute(roiMat,keypoints,descriptor);
Mat featureVec(1, 20*128, CV_32FC1);
if (descriptor.rows >= 20)
{
for (int j = 0; j != 20; ++j)
{
for (int k = 0; k != descriptor.cols; ++k)
{
featureVec.at<float>(j*128+k) = descriptor.at<float>(j,k);
}
}
}
else
{
for (int j = 0; j != descriptor.rows; ++j)
{
for (int k = 0; k != descriptor.cols; ++k)
{
featureVec.at<float>(j*128+k) = descriptor.at<float>(j,k);
}
}
for (int j = descriptor.rows; j != 20; ++j)
{
for (int k = 0; k != descriptor.cols; ++k)
{
featureVec.at<float>(j*128+k) = -1;
}
}
}
float flag = m_nbc.predict(featureVec); //进行预测
if(flag == -1)
{
SErrorInfoArray sei;
sei.errorMask |= DEMO_ERROR_PULL_ROD_IN_THE_COTTER_BREAKOFF;
sei.errorImageFile = m_srcImageFileArray[i];
switch (i)
{
case 0:
sei.leftPos = 300;
sei.rightPos = 1000;
sei.topPos = 250;
sei.bottomPos = 750;
break;
case 1:
sei.leftPos = 300;
sei.rightPos = 1000;
sei.topPos = 250;
sei.bottomPos = 750;
break;
}
sei.confidence = 52;
sei.errorImageIndex = m_interstedIndex[i];
rectangle(resultImageArray[m_interstedIndex[i]], Point(300,250),Point(1000,700),Scalar(0,0,255),2);
errorInfoArray.push_back(sei);
continue;
}
}
}
flip(m_srcImageArray[0], m_srcImageArray[0], 1);
flip(resultImageArray[1], resultImageArray[1], 1);
}
