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target grouping improvement

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ori agranat
2019-10-24 21:02:19 +03:00
parent f5aa1159be
commit 4577f5de32
1 changed files with 16 additions and 9 deletions
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25
Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java
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@@ -18,7 +18,7 @@ public class CVProcess {
private final CameraValues cameraValues;
private Mat kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
private Size blur = new Size(2, 2);
private Size blur = new Size(3, 3);
private Mat hsvImage = new Mat();
private List<MatOfPoint> foundContours = new ArrayList<>();
private Mat binaryMat = new Mat();
@@ -86,16 +86,17 @@ public class CVProcess {
}
return filteredContours;
}
List<MatOfPoint> rejectSpeckles(List<MatOfPoint> inputContours, Double minimumPercentOfAverage) {
double averageArea = 0.0;
for(MatOfPoint c : inputContours) {
for (MatOfPoint c : inputContours) {
averageArea += Imgproc.contourArea(c);
}
averageArea /= inputContours.size();
var minimumAllowableArea = minimumPercentOfAverage / 100.0 * averageArea;
speckleRejectedContours.clear();
for(MatOfPoint c : inputContours) {
if(Imgproc.contourArea(c) >= minimumAllowableArea) speckleRejectedContours.add(c);
for (MatOfPoint c : inputContours) {
if (Imgproc.contourArea(c) >= minimumAllowableArea) speckleRejectedContours.add(c);
}
return speckleRejectedContours;
}
@@ -133,8 +134,9 @@ public class CVProcess {
List<RotatedRect> groupTargets(List<MatOfPoint> inputContours, TargetIntersection intersectionPoint, TargetGroup targetGroup) {
finalCountours.clear();
inputContours.sort(sortByMomentsX);
Collections.reverse(inputContours);
if (targetGroup.equals(TargetGroup.Dual)) {
// inputContours.sort(sortByMomentsX);
for (var i = 0; i < inputContours.size(); i++) {
List<Point> FinalContourList = new ArrayList<>(inputContours.get(i).toList());
try {
@@ -144,7 +146,7 @@ public class CVProcess {
FinalContourList.addAll(secondContour.toList());
} else {
FinalContourList.clear();
break;
continue;
}
firstContour.release();
secondContour.release();
@@ -156,7 +158,6 @@ public class CVProcess {
}
} catch (IndexOutOfBoundsException e) {
FinalContourList.clear();
break;
}
}
@@ -195,18 +196,24 @@ public class CVProcess {
switch (intersectionPoint) {
case Up: {
if (intersectionY < massY) {
return true;
if (mA > 0 && mB < 0) {
return true;
}
}
break;
}
case Down: {
if (intersectionY > massY) {
return true;
if (mA < 0 && mB > 0) {
return true;
}
}
break;
}
case Left: {
if (intersectionX < massX) {
return true;
}
break;