add orientation

app.py

@@ -2,9 +2,70 @@ import gradio as gr
 import cv2
 import requests
 import os
-
+import numpy as np
+from math import atan2, cos, sin, sqrt, pi
 from ultralytics import YOLO
 
+def drawAxis(img, p_, q_, color, scale):
+  p = list(p_)
+  q = list(q_)
+ 
+  ## [visualization1]
+  angle = atan2(p[1] - q[1], p[0] - q[0]) # angle in radians
+  hypotenuse = sqrt((p[1] - q[1]) * (p[1] - q[1]) + (p[0] - q[0]) * (p[0] - q[0]))
+ 
+  # Here we lengthen the arrow by a factor of scale
+  q[0] = p[0] - scale * hypotenuse * cos(angle)
+  q[1] = p[1] - scale * hypotenuse * sin(angle)
+  cv2.line(img, (int(p[0]), int(p[1])), (int(q[0]), int(q[1])), color, 3, cv2.LINE_AA)
+ 
+  # create the arrow hooks
+  p[0] = q[0] + 9 * cos(angle + pi / 4)
+  p[1] = q[1] + 9 * sin(angle + pi / 4)
+  cv2.line(img, (int(p[0]), int(p[1])), (int(q[0]), int(q[1])), color, 3, cv2.LINE_AA)
+ 
+  p[0] = q[0] + 9 * cos(angle - pi / 4)
+  p[1] = q[1] + 9 * sin(angle - pi / 4)
+  cv2.line(img, (int(p[0]), int(p[1])), (int(q[0]), int(q[1])), color, 3, cv2.LINE_AA)
+  ## [visualization1]
+ 
+
+def getOrientation(pts, img):
+  ## [pca]
+  # Construct a buffer used by the pca analysis
+  sz = len(pts)
+  data_pts = np.empty((sz, 2), dtype=np.float64)
+  for i in range(data_pts.shape[0]):
+    data_pts[i,0] = pts[i,0,0]
+    data_pts[i,1] = pts[i,0,1]
+ 
+  # Perform PCA analysis
+  mean = np.empty((0))
+  mean, eigenvectors, eigenvalues = cv2.PCACompute2(data_pts, mean)
+ 
+  # Store the center of the object
+  cntr = (int(mean[0,0]), int(mean[0,1]))
+  ## [pca]
+ 
+  ## [visualization]
+  # Draw the principal components
+  cv2.circle(img, cntr, 3, (255, 0, 255), 10)
+  p1 = (cntr[0] + 0.02 * eigenvectors[0,0] * eigenvalues[0,0], cntr[1] + 0.02 * eigenvectors[0,1] * eigenvalues[0,0])
+  p2 = (cntr[0] - 0.02 * eigenvectors[1,0] * eigenvalues[1,0], cntr[1] - 0.02 * eigenvectors[1,1] * eigenvalues[1,0])
+  drawAxis(img, cntr, p1, (255, 255, 0), 1)
+  drawAxis(img, cntr, p2, (0, 0, 255), 3)
+ 
+  angle = atan2(eigenvectors[0,1], eigenvectors[0,0]) # orientation in radians
+  ## [visualization]
+  angle_deg = -(int(np.rad2deg(angle))-180) % 180
+ 
+  # Label with the rotation angle
+  label = " Rotation Angle: " + str(int(np.rad2deg(angle))) + " degrees"
+  textbox = cv2.rectangle(img, (cntr[0], cntr[1]-25), (cntr[0] + 250, cntr[1] + 10), (255,255,255), -1)
+  cv2.putText(img, label, (cntr[0], cntr[1]), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0,0,0), 1, cv2.LINE_AA)
+
+  return angle_deg
+
 file_urls = [
     'https://github.com/lucarei/orientation-detection-robotic-grasping/assets/22428774/cefd9731-c57c-428b-b401-fd54a8bd0a95',
     'https://github.com/lucarei/orientation-detection-robotic-grasping/assets/22428774/acbad76a-33f9-4028-b012-4ece5998c272',
@@ -35,18 +96,45 @@ video_path = [['video.mp4']]
 
 def show_preds_image(image_path):
     image = cv2.imread(image_path)
+    #resize image (optional)
+    img_res_toshow = cv2.resize(image, None, fx= 0.5, fy= 0.5, interpolation= cv2.INTER_LINEAR)
+    height=img_res_toshow.shape[0]
+    width=img_res_toshow.shape[1]
+    dim=(width,height)
+
     outputs = model.predict(source=image_path)
+
+    #obtain BW image
+    bw=(outputs[0].masks.masks[0].cpu().numpy() * 255).astype("uint8")
+    #BW image with same dimention of initial image
+    bw=cv2.resize(bw, dim, interpolation = cv2.INTER_AREA)
+    img=img_res_toshow
+    contours, _ = cv2.findContours(bw, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)
+    for i, c in enumerate(contours):
+        # Calculate the area of each contour
+        area = cv2.contourArea(c)
+        
+        # Ignore contours that are too small or too large
+        if area < 3700 or 100000 < area:
+            continue
+        
+        # Draw each contour only for visualisation purposes
+        cv2.drawContours(img, contours, i, (0, 0, 255), 2)
+        
+        # Find the orientation of each shape
+        angle_deg = getOrientation(c, img)
+
     results = outputs[0].cpu().numpy()
     for i, det in enumerate(results.boxes.xyxy):
         cv2.rectangle(
-            image,
+            img,
             (int(det[0]), int(det[1])),
             (int(det[2]), int(det[3])),
             color=(0, 0, 255),
             thickness=2,
             lineType=cv2.LINE_AA
         )
-    return cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+    return cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
 
 inputs_image = [
     gr.components.Image(type="filepath", label="Input Image"),