forked from amkovkov/GranuSightSoftware2
amkovkov
81ed14fd99
add filtering with Mahalanobis fix some typos also fix it after database reforge
678 lines
30 KiB
C#
678 lines
30 KiB
C#
using Microsoft.Extensions.Logging;
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using Microsoft.ML;
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using Microsoft.ML.Data;
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using OpenCvSharp;
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using GSS2.Core.Extensions;
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using GSS2.Core.Analysis.AmineContent.Database;
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using MathNet.Numerics.LinearAlgebra;
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using MathNet.Numerics.LinearAlgebra.Double;
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namespace GSS2.Core.Analysis.AmineContent;
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public partial class AnalyzerService
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{
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//TODO: Перенести все гиперпараметры в appsettings.json
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public const int CHANNELS_COUNT = 3;
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public const int IMAGES_COUNT = 12;
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public const int FEATURES_LENGTH = (CHANNELS_COUNT + 3) * IMAGES_COUNT;
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public const int EFFECTIVE_IMAGE_SIZE = 200;
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public const int ANALYSIS_IMAGE_SIZE = 1000;
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public const int SEPARATOR_ROI_THRESHOLD = 5;
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public const float CONTOUR_MAX_SIZE = 100;
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public const float CONTOUR_MAX_AREA = (float)Math.PI * (CONTOUR_MAX_SIZE * CONTOUR_MAX_SIZE) / 5.0f;
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public const float CONTOUR_MIN_SIZE = 10;
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public const float CONTOUR_MIN_AREA = (float)Math.PI * (CONTOUR_MIN_SIZE * CONTOUR_MIN_SIZE) / 5.0f / 5.0f;
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public const int SEPARATOR_X = 519;
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public const int SEPARATOR_Y = 17;
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public const int SEPARATOR_WIDTH = 2969;
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public const int SEPARATOR_HEIGHT = 2965;
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public const double FILTERING_THRESHOLD = 5.0;
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private class ClusterizationData
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{
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[ColumnName("Label")]
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public required string Label { get; set; }
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[ColumnName("Features")]
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[VectorType(FEATURES_LENGTH)]
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public required float[] Features { get; set; }
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}
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private class ClusterizationPrediction
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{
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[ColumnName("PredictedLabel")]
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public string Label { get; set; }
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public float Probability { get; set; }
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public float[] Score { get; set; }
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public ClusterizationPrediction()
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{
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Label = "";
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Probability = 0;
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Score = new float[2];
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}
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}
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private class RegressionData
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{
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[ColumnName("Label")]
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public required float Value { get; set; }
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[ColumnName("Features")]
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[VectorType(FEATURES_LENGTH)]
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public required float[] Features { get; set; }
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}
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private class RegressionPrediction
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{
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[ColumnName("Score")]
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public float Value { get; set; }
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public RegressionPrediction()
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{
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Value = -1;
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}
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}
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private readonly ILogger<AnalyzerService> _logger;
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private readonly Context _context;
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private MLContext? _ml = null;
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private PredictionEngine<ClusterizationData, ClusterizationPrediction>? _clusterizationEngine = null;
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private PredictionEngine<RegressionData, RegressionPrediction>? _regressionEngine = null;
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public bool Initialized { get; private set; } = false;
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public AnalyzerService(ILogger<AnalyzerService> logger, Context Context)
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{
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_logger = logger;
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_context = Context;
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}
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public async Task Initialize(BrandRecord brand, SeparatorRecord separator, CancellationToken cancellationToken = default)
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{
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Initialized = false;
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_logger.LogInformation("Инициализация");
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_ml = new MLContext();
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_ml.Log += (_, ea) =>
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{
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if (ea.Kind >= Microsoft.ML.Runtime.ChannelMessageKind.Info)
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_logger.LogInformation("ML: [{}] {}", ea.Kind, ea.Message);
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};
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try
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{
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await InitializeMlClusterizationEngine(brand, separator, cancellationToken);
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await InitializeMlRegressionEngine(brand, cancellationToken);
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}
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catch (Exception ex)
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{
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_logger.LogError(ex, "Исключение во время инициализации моделей");
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return;
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}
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Initialized = true;
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}
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private async Task InitializeMlClusterizationEngine(BrandRecord brand, SeparatorRecord separator, CancellationToken cancellationToken)
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{
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_logger.LogInformation("Инициализация модели кластеризации для марки: \"{} - {}\" и сепаратора: \"{}\"", brand.BrandName, brand.MixtureName, separator.Type);
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if (_ml is null)
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throw new InvalidOperationException("Анализатор не инициализирован");
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cancellationToken.ThrowIfCancellationRequested();
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_logger.LogInformation("Подготовка данных");
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var sampleRecordIds = _context.SampleRecords
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.Where(r => r.BrandId == brand.Id)
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.Select(r => r.Id);
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_logger.LogInformation("Найдено калибровочных записей проб для марки: {}", sampleRecordIds.Count());
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if (sampleRecordIds.Count() == 0)
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throw new InvalidDataException($"Не найдено калибровочных записей для марки: \"{brand.BrandName} - {brand.MixtureName}\"");
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cancellationToken.ThrowIfCancellationRequested();
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var separatorDataSet = _context.FeatureRecords
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.Where(r => r.SeparatorRecordId == separator.Id)
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.Select(r => new ClusterizationData
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{
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Label = "separator",
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Features = r.Values.ToArray()
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});
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_logger.LogInformation("Загружено векторов для сепаратора: {}", separatorDataSet.Count());
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if (separatorDataSet.Count() == 0)
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throw new InvalidDataException($"Не найдено калибровочных данных для сепаратора: \"{separator.Type}\"");
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cancellationToken.ThrowIfCancellationRequested();
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var sampleDataSet = _context.FeatureRecords
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.Where(r => r.SeparatorRecordId != 0)
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.Where(r => sampleRecordIds.Contains(r.SampleRecordId))
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.Select(r => new ClusterizationData
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{
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Label = "sample",
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Features = r.Values.ToArray()
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})
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.Shuffle();
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_logger.LogInformation("Загружено векторов для пробы: {}", sampleDataSet.Count());
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if (separatorDataSet.Count() == 0)
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throw new InvalidDataException($"Не найдено калибровочных данных для марки: \"{brand.BrandName} - {brand.MixtureName}\"");
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cancellationToken.ThrowIfCancellationRequested();
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var trainDataSet = Enumerable.Concat(separatorDataSet, sampleDataSet);
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_logger.LogInformation("Загружено векторов для обучения: {}", trainDataSet.Count());
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var trainData = _ml.Data.LoadFromEnumerable(trainDataSet);
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cancellationToken.ThrowIfCancellationRequested();
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_logger.LogInformation("Создание конвейера");
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var pipeline = _ml.Transforms.Conversion.MapValueToKey("Label")
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.Append(_ml.MulticlassClassification.Trainers.LbfgsMaximumEntropy())
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.Append(_ml.Transforms.Conversion.MapKeyToValue("PredictedLabel"));
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cancellationToken.ThrowIfCancellationRequested();
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_logger.LogInformation("Обучение модели");
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var model = pipeline.Fit(trainData);
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cancellationToken.ThrowIfCancellationRequested();
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_clusterizationEngine = _ml.Model.CreatePredictionEngine<ClusterizationData, ClusterizationPrediction>(model);
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model.Dispose();
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}
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private async Task InitializeMlRegressionEngine(BrandRecord brand, CancellationToken cancellationToken)
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{
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_logger.LogInformation("Инициализация модели регрессии для марки \"{} - {}\"", brand.BrandName, brand.MixtureName);
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if (_ml is null)
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throw new InvalidOperationException("Анализатор не инициализирован");
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cancellationToken.ThrowIfCancellationRequested();
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_logger.LogInformation("Подготовка данных");
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var sampleRecordIds = _context.SampleRecords
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.Where(r => r.BrandId == brand.Id)
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.Select(r => r.Id);
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_logger.LogInformation("Найдено калибровочных записей проб для марки: {}", sampleRecordIds.Count());
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if (sampleRecordIds.Count() == 0)
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throw new InvalidDataException($"Не найдено калибровочных записей для марки: \"{brand.BrandName} - {brand.MixtureName}\"");
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cancellationToken.ThrowIfCancellationRequested();
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_logger.LogInformation("Подготовка данных");
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var trainDataSet = _context.FeatureRecords
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.Where(r => r.SeparatorRecordId != 0)
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.Where(r => sampleRecordIds.Contains(r.SampleRecordId))
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.ToList()
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.Select(r =>
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{
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var sample = _context.SampleRecords.First(s => s.Id == r.SampleRecordId);
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return new RegressionData
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{
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Value = (float)(
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sample.MeasuredContent >= 0 ? sample.MeasuredContent :
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sample.MixtureActualRate
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),
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Features = r.Values.ToArray()
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};
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})
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.Shuffle();
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_logger.LogInformation("Загружено векторов для обучения: {}", trainDataSet.Count());
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if (trainDataSet.Count() == 0)
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throw new InvalidDataException($"Не найдено калибровочных данных для марки: \"{brand.BrandName} - {brand.MixtureName}\"");
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cancellationToken.ThrowIfCancellationRequested();
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int rowCount = trainDataSet.Count();
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double[][] featuresArray = trainDataSet.Select(d => d.Features.Select(f => (double)f).ToArray()).ToArray();
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Matrix<double> matrix = DenseMatrix.OfRowArrays(featuresArray);
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for (int i = 0; i < IMAGES_COUNT; i++)
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{
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matrix = matrix.RemoveColumn(i * 3);
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matrix = matrix.RemoveColumn(i * 3);
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matrix = matrix.RemoveColumn(i * 3);
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}
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cancellationToken.ThrowIfCancellationRequested();
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Vector<double> meanVector = matrix.ColumnSums() / matrix.RowCount;
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Matrix<double> covarianceMatrix = MatrixCovariance(matrix, meanVector);
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Matrix<double> invCovarianceMatrix = covarianceMatrix.Inverse();
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trainDataSet = trainDataSet.Where((data, index) =>
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{
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var row = matrix.Row(index);
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double distance = CalculateMahalanobis(row, meanVector, invCovarianceMatrix);
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return distance <= FILTERING_THRESHOLD;
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}).ToList();
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_logger.LogInformation("Векторов для обучения после фильтрации: {}", trainDataSet.Count());
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var trainData = _ml.Data.LoadFromEnumerable(trainDataSet);
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cancellationToken.ThrowIfCancellationRequested();
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_logger.LogInformation("Создание конвейера");
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var pipeline = _ml.Regression.Trainers.FastTree();
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cancellationToken.ThrowIfCancellationRequested();
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_logger.LogInformation("Обучение модели");
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var model = pipeline.Fit(trainData);
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_regressionEngine = _ml.Model.CreatePredictionEngine<RegressionData, RegressionPrediction>(model);
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model.Dispose();
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}
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public async Task<(Mat avgImage, Rect roi, Mat mask, IEnumerable<Point[]> contours, Mat result, string separatorType, string sampleBrand)?> Analyze(IEnumerable<ImageData> imagesData)
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{
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if (!Initialized)
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return null;
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if (imagesData.Count() != IMAGES_COUNT)
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return null;
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try
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{
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var segmentationResult = await Segment(imagesData);
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if (segmentationResult is null)
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return null;
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var (avgImage, roi, mask, contours, separatorType, sampleBrand) = segmentationResult.Value;
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var images = new List<(Mat mat, double visible, double uv365, double uv254)>();
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foreach (var imageData in imagesData
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.OrderBy(i => i.VisibleIntensity)
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.ThenBy(i => i.Uv365Intensity)
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.ThenBy(i => i.Uv254Intensity))
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images.Add((
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LoadAndPrepare(imageData.Path, roi, ANALYSIS_IMAGE_SIZE),
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imageData.VisibleIntensity,
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imageData.Uv365Intensity,
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imageData.Uv254Intensity
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));
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var result = new Mat(new Size(ANALYSIS_IMAGE_SIZE, ANALYSIS_IMAGE_SIZE), MatType.CV_32FC1, new Scalar(0));
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var values = new float[ANALYSIS_IMAGE_SIZE * ANALYSIS_IMAGE_SIZE];
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for (var row = 0; row < ANALYSIS_IMAGE_SIZE; row++)
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for (var col = 0; col < ANALYSIS_IMAGE_SIZE; col++)
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{
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if (mask.At<byte>(row, col) == 0)
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continue;
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var vector = new float[FEATURES_LENGTH];
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foreach (var (i, image) in images.Enumerate())
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{
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vector[i * (CHANNELS_COUNT + 3) + 0] = (float)image.visible;
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vector[i * (CHANNELS_COUNT + 3) + 1] = (float)image.uv365;
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vector[i * (CHANNELS_COUNT + 3) + 2] = (float)image.uv254;
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var color = image.mat.At<Vec3b>(row, col);
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vector[i * (CHANNELS_COUNT + 3) + 3] = color.Item0 / 255.0f;
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vector[i * (CHANNELS_COUNT + 3) + 4] = color.Item1 / 255.0f;
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vector[i * (CHANNELS_COUNT + 3) + 5] = color.Item2 / 255.0f;
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}
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var prediction = _regressionEngine?.Predict(new RegressionData
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{
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Value = -1,
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Features = vector
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});
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if (prediction is null)
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continue;
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if (prediction.Value >= 0)
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{
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result.Set(row, col, prediction.Value);
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values[row * ANALYSIS_IMAGE_SIZE + col] = prediction.Value;
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}
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}
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// foreach (var contour in contours)
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// {
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// var contourMask = new Mat(new Size(ANALYSIS_IMAGE_SIZE, ANALYSIS_IMAGE_SIZE), MatType.CV_8UC1, new Scalar(0));
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// var contourDistance = new Mat(new Size(ANALYSIS_IMAGE_SIZE, ANALYSIS_IMAGE_SIZE), MatType.CV_32FC1, new Scalar(0));
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// Cv2.DrawContours(contourMask, [contour], -1, new Scalar(255), -1);
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// Cv2.DistanceTransform(contourMask, contourDistance, DistanceTypes.L2, DistanceTransformMasks.Mask5);
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// Cv2.Pow(contourDistance, 2, contourDistance);
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// Cv2.MinMaxLoc(contourDistance, out double minVal, out double maxVal);
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// contourDistance.ConvertTo(contourDistance, MatType.CV_32FC1, 1 / (maxVal - minVal), 1 * minVal / (maxVal - minVal));
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// // Cv2.ConvertScaleAbs(contourDistance, contourDistance, -1, 1);
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// Cv2.BitwiseNot(contourMask, contourMask);
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// contourDistance.SetTo(new Scalar(1), contourMask);
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// Cv2.Multiply(result, contourDistance, result);
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// contourMask.Dispose();
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// contourDistance.Dispose();
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// }
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// var maskDistance = new Mat();
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// var resultDistance = new Mat();
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// var temp = new Mat();
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// Cv2.DistanceTransform(mask, maskDistance, DistanceTypes.L2, DistanceTransformMasks.Mask5);
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// Cv2.MinMaxLoc(result, out double minValue, out double maxValue, out _, out _, mask);
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// result.ConvertTo(temp, MatType.CV_8UC1, 255 / (maxValue - 0), 255 * 0 / (maxValue - 0));
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// Cv2.DistanceTransform(temp, resultDistance, DistanceTypes.L2, DistanceTransformMasks.Mask5);
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// Cv2.Multiply(maskDistance, resultDistance, temp);
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// Cv2.Threshold(temp, temp, 0, 255, ThresholdTypes.Binary);
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// for (var row = 0; row < ANALYSIS_IMAGE_SIZE; row++)
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// for (var col = 0; col < ANALYSIS_IMAGE_SIZE; col++)
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// if (mask.At<byte>(row, col) == 0)
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// {
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// result.Set(row, col, 0);
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// mask.Set(row, col, 0);
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// }
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// maskDistance.Dispose();
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// resultDistance.Dispose();
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// temp.Dispose();
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// var oldMean = Cv2.Mean(result, mask).Val0;
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// float p001 = values[values.Count(v => v == 0) + 1];
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// float p999 = values[(int)(values.Length * 0.999)];
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// Cv2.Threshold(result, result, p999, p999, ThresholdTypes.Trunc);
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// var zeroMask = result.LessThanOrEqual(0);
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// result.SetTo(p001, zeroMask);
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// zeroMask.Dispose();
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// var newMean = Cv2.Mean(result, mask).Val0;
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// var scale = oldMean / newMean;
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// Cv2.ConvertScaleAbs(result, result, scale);
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// Добавляем эрозию к результатам и маске, удаляющую края, и пересчитываем контура
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// поскольку края гранул подсвечиваются близлежащими гранулами и сепаратором,
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// их нельзя считать представительными
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Cv2.Erode(result, result, Cv2.GetStructuringElement(MorphShapes.Ellipse, new Size(3, 3)));
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Cv2.Erode(mask, mask, Cv2.GetStructuringElement(MorphShapes.Ellipse, new Size(3, 3)));
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Cv2.FindContours(mask, out var newContours, out _, RetrievalModes.List, ContourApproximationModes.ApproxSimple);
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return (avgImage, roi, mask, contours, result, separatorType, sampleBrand);
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}
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catch (Exception ex)
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{
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_logger.LogError(ex, "Исключение при проведении анализа");
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return null;
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}
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}
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private async Task<(Mat avgImage, Rect roi, Mat mask, IEnumerable<Point[]> contours, string separatorType, string sampleBrand)?> Segment(IEnumerable<ImageData> imagesData)
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{
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var separatorPrefix = "SEPARATOR";
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var samplePrefix = "SAMPLE";
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if (imagesData.Count() != IMAGES_COUNT)
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return null;
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var avgImage = CalculateAverageImage(imagesData.Select(i => i.Path));
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if (avgImage is null)
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return null;
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var roi = CalculateSeparatorRoi(avgImage);
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if (roi is null)
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{
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avgImage.Release();
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return null;
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}
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avgImage = new Mat(avgImage, roi.Value);
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Cv2.Resize(avgImage, avgImage, new Size(ANALYSIS_IMAGE_SIZE, ANALYSIS_IMAGE_SIZE));
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var images = new List<(Mat mat, double visible, double uv365, double uv254)>();
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foreach (var imageData in imagesData
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.OrderBy(i => i.VisibleIntensity)
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.ThenBy(i => i.Uv365Intensity)
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.ThenBy(i => i.Uv254Intensity))
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images.Add((
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LoadAndPrepare(imageData.Path, roi.Value, ANALYSIS_IMAGE_SIZE),
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imageData.VisibleIntensity,
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imageData.Uv365Intensity,
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imageData.Uv254Intensity
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));
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var separatorMask = new Mat(new Size(ANALYSIS_IMAGE_SIZE, ANALYSIS_IMAGE_SIZE), MatType.CV_8UC1, new Scalar(0));
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Cv2.Circle(separatorMask, ANALYSIS_IMAGE_SIZE / 2, ANALYSIS_IMAGE_SIZE / 2, ANALYSIS_IMAGE_SIZE / 2, new Scalar(255), -1);
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var result = new Mat(new Size(ANALYSIS_IMAGE_SIZE, ANALYSIS_IMAGE_SIZE), MatType.CV_16UC1, new Scalar(0));
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var keyMap = new Dictionary<string, ushort>();
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ushort lastKey = 0;
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for (var row = 0; row < ANALYSIS_IMAGE_SIZE; row++)
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for (var col = 0; col < ANALYSIS_IMAGE_SIZE; col++)
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{
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if (separatorMask.At<byte>(row, col) != 255)
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|
continue;
|
|
var vector = new float[FEATURES_LENGTH];
|
|
foreach (var (i, image) in images.Enumerate())
|
|
{
|
|
vector[i * (CHANNELS_COUNT + 3) + 0] = (float)image.visible;
|
|
vector[i * (CHANNELS_COUNT + 3) + 1] = (float)image.uv365;
|
|
vector[i * (CHANNELS_COUNT + 3) + 2] = (float)image.uv254;
|
|
var color = image.mat.At<Vec3b>(row, col);
|
|
vector[i * (CHANNELS_COUNT + 3) + 3] = color.Item0 / 255.0f;
|
|
vector[i * (CHANNELS_COUNT + 3) + 4] = color.Item1 / 255.0f;
|
|
vector[i * (CHANNELS_COUNT + 3) + 5] = color.Item2 / 255.0f;
|
|
}
|
|
var prediction = _clusterizationEngine?.Predict(new ClusterizationData
|
|
{
|
|
Label = "",
|
|
Features = vector
|
|
});
|
|
if (prediction is null)
|
|
continue;
|
|
if (!keyMap.ContainsKey(prediction.Label))
|
|
keyMap.Add(prediction.Label, ++lastKey);
|
|
result.Set(row, col, keyMap[prediction.Label]);
|
|
}
|
|
|
|
foreach (var image in images)
|
|
image.mat.Release();
|
|
|
|
var valueMap = keyMap.ToDictionary(kv => kv.Value, kv => kv.Key);
|
|
var frequency = new Dictionary<string, int>();
|
|
|
|
for (var row = 0; row < ANALYSIS_IMAGE_SIZE; row++)
|
|
for (var col = 0; col < ANALYSIS_IMAGE_SIZE; col++)
|
|
{
|
|
var value = result.At<ushort>(row, col);
|
|
if (value == 0)
|
|
continue;
|
|
|
|
if (!frequency.ContainsKey(valueMap[value]))
|
|
frequency.Add(valueMap[value], 0);
|
|
frequency[valueMap[value]] += 1;
|
|
if (valueMap[value].StartsWith(separatorPrefix))
|
|
result.Set<ushort>(row, col, 0);
|
|
if (valueMap[value].StartsWith(samplePrefix))
|
|
result.Set(row, col, ushort.MaxValue);
|
|
}
|
|
|
|
result.ConvertTo(result, MatType.CV_8UC1, 1 / 255.0);
|
|
|
|
Cv2.MorphologyEx(result, result, MorphTypes.Close, Cv2.GetStructuringElement(MorphShapes.Ellipse, new Size(3, 3)));
|
|
Cv2.MorphologyEx(result, result, MorphTypes.Open, Cv2.GetStructuringElement(MorphShapes.Ellipse, new Size(3, 3)));
|
|
Cv2.Dilate(result, result, Cv2.GetStructuringElement(MorphShapes.Ellipse, new Size(3, 3)));
|
|
Cv2.GaussianBlur(result, result, new Size(5, 5), 1);
|
|
Cv2.Threshold(result, result, 127, 255, ThresholdTypes.Binary);
|
|
|
|
Cv2.FindContours(result, out var contours, out _, RetrievalModes.List, ContourApproximationModes.ApproxSimple);
|
|
|
|
result = new Mat(new Size(ANALYSIS_IMAGE_SIZE, ANALYSIS_IMAGE_SIZE), MatType.CV_8UC1, new Scalar(0));
|
|
Cv2.DrawContours(result, contours.Where(ContourIsValid), -1, new Scalar(255), -1);
|
|
|
|
_logger.LogInformation("Найдено гранул: {}", contours.Where(ContourIsValid).Count());
|
|
_logger.LogInformation("Детекторованные обекты:\n\t{}", string.Join("\n\t", frequency.Select(f => $"{f.Key}: {f.Value}")));
|
|
|
|
return (
|
|
avgImage,
|
|
roi.Value,
|
|
result,
|
|
contours.Where(ContourIsValid),
|
|
frequency
|
|
.Where(kv => kv.Key.StartsWith(separatorPrefix))
|
|
.MaxBy(kv => kv.Value)
|
|
.Key
|
|
.Substring(separatorPrefix.Count() + 1),
|
|
frequency
|
|
.Where(kv => kv.Key.StartsWith(samplePrefix))
|
|
.MaxBy(kv => kv.Value)
|
|
.Key
|
|
.Substring(samplePrefix.Count() + 1)
|
|
);
|
|
}
|
|
|
|
public static (Mat avgImage, Rect roi, List<float[]> vectors)? GetFeatureVectors(IEnumerable<ImageData> imagesData)
|
|
{
|
|
if (imagesData.Count() != IMAGES_COUNT)
|
|
return null;
|
|
|
|
var avgImage = CalculateAverageImage(imagesData.Select(i => i.Path));
|
|
if (avgImage is null)
|
|
return null;
|
|
|
|
var roi = CalculateSeparatorRoi(avgImage);
|
|
if (roi is null)
|
|
return null;
|
|
|
|
var images = new List<(Mat mat, double visible, double uv365, double uv254)>();
|
|
foreach (var imageData in imagesData
|
|
.OrderBy(i => i.VisibleIntensity)
|
|
.ThenBy(i => i.Uv365Intensity)
|
|
.ThenBy(i => i.Uv254Intensity))
|
|
images.Add((
|
|
LoadAndPrepare(imageData.Path, roi.Value),
|
|
imageData.VisibleIntensity,
|
|
imageData.Uv365Intensity,
|
|
imageData.Uv254Intensity
|
|
));
|
|
|
|
var separatorMask = new Mat(new Size(EFFECTIVE_IMAGE_SIZE, EFFECTIVE_IMAGE_SIZE), MatType.CV_8UC1, new Scalar(0));
|
|
Cv2.Circle(separatorMask, EFFECTIVE_IMAGE_SIZE / 2, EFFECTIVE_IMAGE_SIZE / 2, EFFECTIVE_IMAGE_SIZE / 2, new Scalar(255), -1);
|
|
|
|
var vectors = new List<float[]>();
|
|
|
|
for (var row = 0; row < EFFECTIVE_IMAGE_SIZE; row++)
|
|
for (var col = 0; col < EFFECTIVE_IMAGE_SIZE; col++)
|
|
{
|
|
if (separatorMask.At<byte>(row, col) != 255)
|
|
continue;
|
|
var vector = new float[FEATURES_LENGTH];
|
|
|
|
foreach (var (i, image) in images.Enumerate())
|
|
{
|
|
vector[i * (CHANNELS_COUNT + 3) + 0] = (float)image.visible;
|
|
vector[i * (CHANNELS_COUNT + 3) + 1] = (float)image.uv365;
|
|
vector[i * (CHANNELS_COUNT + 3) + 2] = (float)image.uv254;
|
|
|
|
var color = image.mat.At<Vec3b>(row, col).ToVec3f() / 255.0f;
|
|
|
|
vector[i * (CHANNELS_COUNT + 3) + 3] = color.Item0;
|
|
vector[i * (CHANNELS_COUNT + 3) + 4] = color.Item1;
|
|
vector[i * (CHANNELS_COUNT + 3) + 5] = color.Item2;
|
|
}
|
|
|
|
vectors.Add(vector);
|
|
}
|
|
|
|
foreach (var (mat, _, _, _) in images)
|
|
mat.Release();
|
|
|
|
return (avgImage, roi.Value, vectors);
|
|
}
|
|
private static Mat LoadAndPrepare(string imagePath, Rect roi, int size = EFFECTIVE_IMAGE_SIZE)
|
|
{
|
|
var image = Cv2.ImRead(imagePath);
|
|
image = new Mat(image, roi);
|
|
Cv2.GaussianBlur(image, image, new Size(5, 5), 1);
|
|
Cv2.Resize(image, image, new Size(size, size));
|
|
return image;
|
|
}
|
|
public static Mat? CalculateAverageImage(IEnumerable<string> imagePaths)
|
|
{
|
|
if (imagePaths.Count() == 0)
|
|
return null;
|
|
|
|
Mat avgImage = new Mat();
|
|
|
|
foreach (var imagePath in imagePaths)
|
|
{
|
|
var image = Cv2.ImRead(imagePath);
|
|
|
|
if (image.Channels() != 3)
|
|
return null;
|
|
|
|
if (avgImage.Empty())
|
|
avgImage = new Mat(image.Size(), MatType.CV_16UC3, new Scalar(0, 0, 0));
|
|
|
|
if (image.Size().Width != avgImage.Size().Width ||
|
|
image.Size().Height != avgImage.Size().Height)
|
|
return null;
|
|
|
|
Cv2.Add(image, avgImage, avgImage, dtype: MatType.CV_16U);
|
|
|
|
image.Release();
|
|
}
|
|
|
|
avgImage.ConvertTo(avgImage, MatType.CV_8UC(avgImage.Channels()), 1f / imagePaths.Count());
|
|
|
|
return avgImage;
|
|
}
|
|
public static Rect? CalculateSeparatorRoi(Mat avgImage)
|
|
{
|
|
if (avgImage.Empty())
|
|
return null;
|
|
return new Rect(SEPARATOR_X, SEPARATOR_Y, SEPARATOR_WIDTH, SEPARATOR_HEIGHT);
|
|
}
|
|
// Этот метод конечно хорош, но проблема с тем, что при калибровке на чёрном продукте
|
|
// он выдаёт очень обрезает часть полезного изображения из-за неравномерности освещения
|
|
// public static Rect? CalculateSeparatorRoi(Mat avgImage)
|
|
// {
|
|
// if (avgImage.Empty())
|
|
// return null;
|
|
|
|
// Mat avgImageClone = new Mat();
|
|
// Mat mask = new Mat();
|
|
// Rect? roi = null;
|
|
|
|
// avgImage.CopyTo(avgImageClone);
|
|
|
|
// avgImageClone = avgImageClone.CvtColor(ColorConversionCodes.BGR2GRAY);
|
|
// Cv2.Threshold(avgImageClone, mask, SEPARATOR_ROI_THRESHOLD, 255, ThresholdTypes.Binary);
|
|
// Cv2.FindContours(mask, out var contours, out _, RetrievalModes.List, ContourApproximationModes.ApproxSimple);
|
|
|
|
// var maxContour = contours.MaxBy(c => Cv2.ContourArea(c));
|
|
// if (maxContour is null)
|
|
// return null;
|
|
|
|
// roi = Cv2.BoundingRect(maxContour);
|
|
|
|
// avgImageClone.Release();
|
|
// mask.Release();
|
|
|
|
// return roi;
|
|
// }
|
|
private static bool ContourIsValid(Point[] contour)
|
|
{
|
|
var bbox = Cv2.MinAreaRect(contour);
|
|
var area = Cv2.ContourArea(contour);
|
|
return CONTOUR_MIN_SIZE < bbox.Size.Width && CONTOUR_MIN_SIZE < bbox.Size.Height && CONTOUR_MIN_AREA < area &&
|
|
CONTOUR_MAX_SIZE > bbox.Size.Width && CONTOUR_MAX_SIZE > bbox.Size.Height && CONTOUR_MAX_AREA > area;
|
|
}
|
|
|
|
// Формула расстояния Махаланобиса: d = sqrt((x - mu)^T * Sigma^-1 * (x - mu))
|
|
private static double CalculateMahalanobis(Vector<double> x, Vector<double> mean, Matrix<double> invCovariance)
|
|
{
|
|
var diff = x - mean;
|
|
var distanceSq = diff * invCovariance * diff;
|
|
return Math.Sqrt(distanceSq);
|
|
}
|
|
|
|
// Ручной расчет матрицы ковариации (для экономии памяти и контроля)
|
|
private static Matrix<double> MatrixCovariance(Matrix<double> matrix, Vector<double> meanRows)
|
|
{
|
|
int rows = matrix.RowCount;
|
|
int cols = matrix.ColumnCount;
|
|
var cov = new DenseMatrix(cols, cols);
|
|
|
|
for (int i = 0; i < cols; i++)
|
|
for (int j = i; j < cols; j++)
|
|
{
|
|
double sum = 0;
|
|
for (int k = 0; k < rows; k++)
|
|
{
|
|
sum += (matrix[k, i] - meanRows[i]) * (matrix[k, j] - meanRows[j]);
|
|
}
|
|
double val = sum / (rows - 1);
|
|
cov[i, j] = val;
|
|
cov[j, i] = val;
|
|
}
|
|
return cov;
|
|
}
|
|
}
|