Adds 'find_template' pattern recognition method that uses an image te…

…mplate to find a pattern in an input image
CUASAS · Apr 24, 2023 · 3c248c4 · 3c248c4
1 parent 06d0b84
commit 3c248c4
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Showing 20 changed files with 216 additions and 4 deletions.
diff --git a/Example Project/Data/reference_images/BBM_fid_template.png b/Example Project/Data/reference_images/BBM_fid_template.png
diff --git a/Gantry/External/.idea/inspectionProfiles/Project_Default.xml b/Gantry/External/.idea/inspectionProfiles/Project_Default.xml
diff --git a/Gantry/External/Vision/test_Vision.cpp b/Gantry/External/Vision/test_Vision.cpp
@@ -1,5 +1,5 @@
 #include <iostream>
-#include "camera.h"
+#include "../Camera/capture.h"
 
 using namespace std;
 

diff --git a/Gantry/External/Vision/vision.cpp b/Gantry/External/Vision/vision.cpp
@@ -298,6 +298,60 @@ __declspec(dllexport) int __cdecl find_circles(
     return 0;
 }
 
+__declspec(dllexport) int __cdecl find_template(
+        char *imgPtr,
+        int imgLineWidth,
+        int imgWidth,
+        int imgHeight,
+        char *templatePtr,
+        int templateLineWidth,
+        int templateWidth,
+        int templateHeight,
+        float fieldOfViewX,  //  for img, mm
+        float fieldOfViewY,  // for img, mm
+        int templateBlurFactor, // pixels
+        float minConcurrence,
+        int *numMatch,
+        float *matchX,
+        float *matchY,
+        float *matchConcurrence
+        ) {
+    log("Running find_template");
+    std::stringstream ss;
+
+    cv::Mat img(imgHeight, imgWidth, CV_8U, (void *) imgPtr, imgLineWidth);
+    cv::Mat template_(templateHeight, templateWidth, CV_8U, (void *) templatePtr, templateLineWidth);
+
+    cv::Mat template_blurred;
+    if (templateBlurFactor > 0) {
+        cv::GaussianBlur(template_, template_blurred, cv::Size(0, 0), templateBlurFactor);
+    } else {
+        template_blurred = template_;
+    }
+
+    cv::Mat out;
+    cv::matchTemplate(img, template_, out, cv::TM_CCOEFF_NORMED);
+    show(out);
+
+    double minVal, maxVal;
+    cv::Point2i minLoc, maxLoc;
+    cv::minMaxLoc(out, &minVal, &maxVal, &minLoc, &maxLoc);
+    if (maxVal < minConcurrence) {
+        *numMatch = 0;
+        return -1;  // No match
+    }
+    float x_px = (maxLoc.x + 0.5*templateWidth) - 0.5*imgWidth;
+    float y_px = (maxLoc.y + 0.5*templateHeight) - 0.5*imgHeight;
+    float x_mm = x_px * (fieldOfViewX / imgWidth);
+    float y_mm = y_px * (fieldOfViewY / imgHeight);
+
+    *numMatch = 1;
+    *matchX = x_mm;
+    *matchY = y_mm;
+    *matchConcurrence = (float)maxVal;
+
+    return 0;
+}
 
 __declspec(dllexport) int __cdecl find_rects(
         char *imgPtr,

diff --git a/Gantry/External/Vision/vision.h b/Gantry/External/Vision/vision.h
@@ -64,6 +64,24 @@ DLLExport int __cdecl find_circles(
         float *circleRadii);
 
 
+DLLExport int __cdecl find_template(
+        char *imgPtr,
+        int imgLineWidth,
+        int imgWidth,
+        int imgHeight,
+        char *templatePtr,
+        int templateLineWidth,
+        int templateWidth,
+        int templateHeight,
+        float fieldOfViewX,  //  for img, mm
+        float fieldOfViewY,  // for img, mm
+        int templateBlurFactor, // pixels
+        float minConcurrence,
+        int *numMatch,
+        float *matchX,
+        float *matchY,
+        float *matchConcurrence);
+
 DLLExport int __cdecl find_rects(
         char *imgPtr,
         int imgLineWidth,

diff --git a/Gantry/Gantry.lvproj b/Gantry/Gantry.lvproj
@@ -378,6 +378,9 @@
 				<Item Name="XControlSupport.lvlib" Type="Library" URL="/&lt;vilib&gt;/_xctls/XControlSupport.lvlib"/>
 			</Item>
 			<Item Name="Aerotech.A3200.dll" Type="Document" URL="../../../../../../../Program Files/National Instruments/LabVIEW 2017/user.lib/aerotech/2010/Bin/Aerotech.A3200.dll"/>
+			<Item Name="kernel32.dll" Type="Document" URL="kernel32.dll">
+				<Property Name="NI.PreserveRelativePath" Type="Bool">true</Property>
+			</Item>
 			<Item Name="lvanlys.dll" Type="Document" URL="/&lt;resource&gt;/lvanlys.dll"/>
 			<Item Name="mscorlib" Type="VI" URL="mscorlib">
 				<Property Name="NI.PreserveRelativePath" Type="Bool">true</Property>

diff --git a/Gantry/Shared Components/FlexWorktable/Fiducial Parameters.vi b/Gantry/Shared Components/FlexWorktable/Fiducial Parameters.vi
diff --git a/Gantry/Shared Components/Gantry Class/Find Fiducials.vi b/Gantry/Shared Components/Gantry Class/Find Fiducials.vi
diff --git a/Gantry/Shared Components/Vision/Find Fiducial.vi b/Gantry/Shared Components/Vision/Find Fiducial.vi
diff --git a/Gantry/Shared Components/Vision/Vision.lvlib b/Gantry/Shared Components/Vision/Vision.lvlib
@@ -15,6 +15,8 @@
 		<Item Name="find_circles parameters.ctl" Type="VI" URL="../find_circles parameters.ctl"/>
 		<Item Name="find_patches parameters.ctl" Type="VI" URL="../find_patches parameters.ctl"/>
 		<Item Name="find_patches.vi" Type="VI" URL="../find_patches.vi"/>
+		<Item Name="find_template.vi" Type="VI" URL="../find_template.vi"/>
+		<Item Name="find_template parameters.ctl" Type="VI" URL="../find_template parameters.ctl"/>
 	</Item>
 	<Item Name="image manipulation" Type="Folder">
 		<Item Name="fill.vi" Type="VI" URL="../fill.vi"/>

diff --git a/Gantry/Shared Components/Vision/find_template parameters.ctl b/Gantry/Shared Components/Vision/find_template parameters.ctl
diff --git a/Gantry/Shared Components/Vision/find_template.vi b/Gantry/Shared Components/Vision/find_template.vi
diff --git a/Gantry/Shared Components/Vision/grab image.vi b/Gantry/Shared Components/Vision/grab image.vi
diff --git a/Gantry/Shared Components/Vision/tests/gScript Pattern Recognition Tuner.vi b/Gantry/Shared Components/Vision/tests/gScript Pattern Recognition Tuner.vi
diff --git a/Gantry/Shared Components/bin/Camera.dll b/Gantry/Shared Components/bin/Camera.dll
diff --git a/Gantry/Shared Components/bin/Vision.dll b/Gantry/Shared Components/bin/Vision.dll
diff --git a/Gantry/gScript Application/Main gScript UI.vi b/Gantry/gScript Application/Main gScript UI.vi
diff --git a/Gantry/gScript Application/gScript Interpreter/Access Working Directory.vi b/Gantry/gScript Application/gScript Interpreter/Access Working Directory.vi
diff --git a/Gantry/gScript Application/gScript Interpreter/CMD_DIALOG.vi b/Gantry/gScript Application/gScript Interpreter/CMD_DIALOG.vi
diff --git a/Gantry/gScript Application/gScript Interpreter/CMD_FINDFID.vi b/Gantry/gScript Application/gScript Interpreter/CMD_FINDFID.vi