org.openpnp.vision.pipeline.stages

Class DetectCircularSymmetry

java.lang.Object

org.openpnp.vision.pipeline.CvStage

org.openpnp.vision.pipeline.stages.DetectCircularSymmetry

public class DetectCircularSymmetry
extends CvStage

Finds occurrences of maximum circular symmetry in the working image and stores the results as a List on the model.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	DetectCircularSymmetry.ScoreRange
static class	DetectCircularSymmetry.SymmetryCircle
static class	DetectCircularSymmetry.SymmetryScore

Nested classes/interfaces inherited from class org.openpnp.vision.pipeline.CvStage

CvStage.CvStageBeanInfo, CvStage.Result

Constructor Summary

Constructors

Constructor and Description
DetectCircularSymmetry()

Method Summary

Modifier and Type	Method and Description
static java.util.List<CvStage.Result.Circle>	findCircularSymmetry(Mat image, int xCenter, int yCenter, int minDiameter, int maxDiameter, int searchDiameter, int searchWidth, int searchHeight, int maxTargetCount, double minSymmetry, double corrSymmetry, int subSampling, int superSampling, DetectCircularSymmetry.SymmetryScore symmetryScore, boolean diagnostics, boolean heatMap, DetectCircularSymmetry.ScoreRange scoreRange) Find the circle that has its center at the greatest circular symmetry in the given image, indicating the largest contrast edge as its diameter.
double	getCorrSymmetry()
double	getInnerMargin()
int	getMaxDiameter()
int	getMaxDistance()
int	getMaxTargetCount()
int	getMinDiameter()
double	getMinSymmetry()
double	getOuterMargin()
java.lang.String	getPropertyName()
int	getSearchHeight()
int	getSearchWidth()
int	getSubSampling()
int	getSuperSampling()
DetectCircularSymmetry.SymmetryScore	getSymmetryScore()
boolean	isDiagnostics()
boolean	isHeatMap()
CvStage.Result	process(CvPipeline pipeline) Perform an operation in a pipeline.
void	setCorrSymmetry(double corrSymmetry)
void	setDiagnostics(boolean diagnostics)
void	setHeatMap(boolean heatMap)
void	setInnerMargin(double innerMargin)
void	setMaxDiameter(int maxDiameter)
void	setMaxDistance(int maxDistance)
void	setMaxTargetCount(int maxTargetCount)
void	setMinDiameter(int minDiameter)
void	setMinSymmetry(double minSymmetry)
void	setOuterMargin(double outerMargin)
void	setPropertyName(java.lang.String propertyName)
void	setSearchHeight(int searchHeight)
void	setSearchWidth(int searchWidth)
void	setSubSampling(int subSampling)
void	setSuperSampling(int superSampling)
void	setSymmetryScore(DetectCircularSymmetry.SymmetryScore symmetryScore)
protected static java.util.List<DetectCircularSymmetry.SymmetryCircle>	sortAndLimit(java.util.List<DetectCircularSymmetry.SymmetryCircle> circles, int maxTargetCount, double corrSymmetry)

Methods inherited from class org.openpnp.vision.pipeline.CvStage

customizePropertySheet, getBeanInfo, getCategory, getDescription, getDescription, getLengthUnit, getName, getPossiblePipelinePropertyOverride, getPossiblePipelinePropertyOverride, isEnabled, recordPropertyOverride, setEnabled, setName

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DetectCircularSymmetry

public DetectCircularSymmetry()

Method Detail

getMinDiameter

public int getMinDiameter()

setMinDiameter

public void setMinDiameter(int minDiameter)

getMaxDiameter

public int getMaxDiameter()

setMaxDiameter

public void setMaxDiameter(int maxDiameter)

getMaxDistance

public int getMaxDistance()

setMaxDistance

public void setMaxDistance(int maxDistance)

getSearchWidth

public int getSearchWidth()

setSearchWidth

public void setSearchWidth(int searchWidth)

getSearchHeight

public int getSearchHeight()

setSearchHeight

public void setSearchHeight(int searchHeight)

getMinSymmetry

public double getMinSymmetry()

setMinSymmetry

public void setMinSymmetry(double minSymmetry)

getSubSampling

public int getSubSampling()

setSubSampling

public void setSubSampling(int subSampling)

getSuperSampling

public int getSuperSampling()

setSuperSampling

public void setSuperSampling(int superSampling)

isDiagnostics

public boolean isDiagnostics()

setDiagnostics

public void setDiagnostics(boolean diagnostics)

isHeatMap

public boolean isHeatMap()

setHeatMap

public void setHeatMap(boolean heatMap)

getPropertyName

public java.lang.String getPropertyName()

setPropertyName

public void setPropertyName(java.lang.String propertyName)

getOuterMargin

public double getOuterMargin()

setOuterMargin

public void setOuterMargin(double outerMargin)

getInnerMargin

public double getInnerMargin()

setInnerMargin

public void setInnerMargin(double innerMargin)

getMaxTargetCount

public int getMaxTargetCount()

setMaxTargetCount

public void setMaxTargetCount(int maxTargetCount)

getCorrSymmetry

public double getCorrSymmetry()

setCorrSymmetry

public void setCorrSymmetry(double corrSymmetry)

getSymmetryScore

public DetectCircularSymmetry.SymmetryScore getSymmetryScore()

setSymmetryScore

public void setSymmetryScore(DetectCircularSymmetry.SymmetryScore symmetryScore)

process

public CvStage.Result process(CvPipeline pipeline)
                       throws java.lang.Exception

Description copied from class: CvStage

Perform an operation in a pipeline. Typical implementations will call CvPipeline#getWorkingImage(), perform some type of operation on the image and will return a Result containing a modified image and model data about features found in the image. If the stage only modifies the working image, it is sufficient to just return null, and this will typically be the most common case.

Specified by:

process in class CvStage

Returns:

Null or a Result object containing an optional image and optional model. If the return value is null the pipeline will store a copy of the working image as the result for this stage. Otherwise it will set the working image to the result image and store the result image.

Throws:

java.lang.Exception

findCircularSymmetry

public static java.util.List<CvStage.Result.Circle> findCircularSymmetry(Mat image,
                                                                         int xCenter,
                                                                         int yCenter,
                                                                         int minDiameter,
                                                                         int maxDiameter,
                                                                         int searchDiameter,
                                                                         int searchWidth,
                                                                         int searchHeight,
                                                                         int maxTargetCount,
                                                                         double minSymmetry,
                                                                         double corrSymmetry,
                                                                         int subSampling,
                                                                         int superSampling,
                                                                         DetectCircularSymmetry.SymmetryScore symmetryScore,
                                                                         boolean diagnostics,
                                                                         boolean heatMap,
                                                                         DetectCircularSymmetry.ScoreRange scoreRange)
                                                                  throws java.lang.Exception

Find the circle that has its center at the greatest circular symmetry in the given image, indicating the largest contrast edge as its diameter.

Parameters:

image - Image to be searched. If diagnostics are enabled, this image will be modified.

xCenter - Nominal X center of the search area inside the given image, in pixels.

yCenter - Nominal Y center of the search area inside the given image, in pixels.

minDiameter - Minimum diameter of the examined circular symmetry area (pixels inside it are ignored).

maxDiameter - Maximum diameter of the examined circular symmetry area (pixels outside it are ignored).

searchDiameter - Search diameter across the given center. Limited by image margins and searchWidth, searchHeight.

searchWidth - Search height across the given center. Limited by image margins.

searchHeight - Search height across the given center. Limited by image margins.

maxTargetCount - Maximum number of wanted targets detected.

minSymmetry - The minimum circular symmetry required to detect a match. This is the ratio of overall pixel variance divided by the circular pixel variance (sum of ring pixel variances).

corrSymmetry - Correlated minimum circular symmetry for multiple matches, i.e. other matches must have at least this relative symmetry. Must be in the interval [0,1].

subSampling - Sub-sampling pixel distance, i.e. only one pixel out of a square of size subSampling will be examined on the first pass.

superSampling - Super-sampling pixel fraction, i.e. the result will have 1/superSampling sub-pixel accuracy.

symmetryScore - The symmetry score function used to judge circular symmetry.

diagnostics - If true, draws diagnostic match circles and cross hairs into the image.

heatMap - If true, overlays a diagnostic heat map onto the image.

scoreRange - Outputs the score range of all the sampled center candidates.

Returns:

A list of the the detected circles (currently only the best).

Throws:

java.lang.Exception

sortAndLimit

protected static java.util.List<DetectCircularSymmetry.SymmetryCircle> sortAndLimit(java.util.List<DetectCircularSymmetry.SymmetryCircle> circles,
                                                                                    int maxTargetCount,
                                                                                    double corrSymmetry)