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Added SortMode rect filtering, Added exposure/brightness websocket adjustment

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Banks Troutman
2019-09-17 02:12:53 -04:00
parent 0bbbb8049d
commit 6187b1a205
4 changed files with 163 additions and 66 deletions
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88
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -1,13 +1,13 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.vision.CameraValues;
import org.apache.commons.math3.util.FastMath;
import org.jetbrains.annotations.NotNull;
import org.opencv.core.*;
import org.opencv.imgproc.*;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.*;
import java.util.stream.Collectors;
public class VisionProcess {
@@ -28,7 +28,6 @@ public class VisionProcess {
private Mat Kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
private Mat hsvImage = new Mat();
void HSVThreshold(Mat srcImage, Mat dst, @NotNull Scalar hsvLower, @NotNull Scalar hsvUpper, boolean shouldErode, boolean shouldDilate) {
Imgproc.cvtColor(srcImage, hsvImage, Imgproc.COLOR_RGB2HSV,3);
Core.inRange(hsvImage, hsvLower, hsvUpper, dst);
@@ -61,7 +60,7 @@ public class VisionProcess {
continue;
}
var rect = Imgproc.minAreaRect(new MatOfPoint2f(Contour.toArray()));
var targetFullness = (contourArea/rect.size.area())*100;
var targetFullness = (contourArea / rect.size.area()) * 100;
if (targetFullness <= extent.get(0) || targetArea >= extent.get(1)){
continue;
}
@@ -76,16 +75,81 @@ public class VisionProcess {
return FilteredContours;
}
private static Comparator<RotatedRect> SortByLargestComparator = (rect1, rect2) -> Double.compare(rect2.size.area(), rect1.size.area());
private static Comparator<RotatedRect> SortBySmallestComparator = SortByLargestComparator.reversed();
private static Comparator<RotatedRect> SortByHighestComparator = (rect1, rect2) -> Double.compare(rect2.center.y, rect1.center.y);
private static Comparator<RotatedRect> SortByLowestComparator = SortByHighestComparator.reversed();
private static Comparator<RotatedRect> SortByLeftmostComparator = Comparator.comparingDouble(rect -> rect.center.x);
private static Comparator<RotatedRect> SortByRightmostComparator = SortByLeftmostComparator.reversed();
private double calcDistance(RotatedRect rect) {
return FastMath.sqrt(FastMath.pow(CamVals.CenterX - rect.center.x, 2) + FastMath.pow(CamVals.CenterY - rect.center.y, 2));
}
private Comparator<RotatedRect> SortByCentermostComparator = Comparator.comparingDouble(this::calcDistance);
RotatedRect SortTargetsToOne(List<RotatedRect> inputRects, String sortMode) {
switch (sortMode) {
case "Largest":
return Collections.max(inputRects, Comparator.comparing(rect -> rect.size.area()));
case "Smallest":
return Collections.min(inputRects, Comparator.comparing(rect -> rect.size.area()));
case "Highest":
return Collections.min(inputRects, Comparator.comparing(rect -> rect.center.y));
case "Lowest":
return Collections.max(inputRects, Comparator.comparing(rect -> rect.center.y));
case "Leftmost":
return Collections.min(inputRects, Comparator.comparing(rect -> rect.center.x));
case "Rightmost":
return Collections.max(inputRects, Comparator.comparing(rect -> rect.center.x));
case "Centermost":
return inputRects.stream().sorted(SortByCentermostComparator).collect(Collectors.toList()).get(0);
default:
return inputRects.get(0); // default to whatever the first contour is, but this should never happen
}
}
void SortTargets(List<RotatedRect> inputRects, String sortMode) {
switch (sortMode) {
case "Largest":
inputRects.sort(SortByLargestComparator);
break;
case "Smallest":
inputRects.sort(SortBySmallestComparator);
break;
case "Highest":
inputRects.sort(SortByHighestComparator);
break;
case "Lowest":
inputRects.sort(SortByLowestComparator);
break;
case "Leftmost":
inputRects.sort(SortByLeftmostComparator);
break;
case "Rightmost":
inputRects.sort(SortByRightmostComparator);
break;
case "Centermost":
inputRects.sort(SortByCentermostComparator);
break;
default:
break;
}
}
private List<RotatedRect> FinalCountours = new ArrayList<>();
public List<RotatedRect> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint, String TargetGroup) {
List<RotatedRect> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint, String TargetGroup) {
FinalCountours.clear();
if (!TargetGroup.equals("Single")){
for (var i = 0; i < InputContours.size(); i++){
List<Point> FinalContourList = new ArrayList<>(InputContours.get(i).toList());
for (var c = 0; c < (TargetGrouping.get(TargetGroup)-1);c++){
for (var c = 0; c < (TargetGrouping.get(TargetGroup) - 1); c++){
try{
MatOfPoint firstContour = InputContours.get(i + c);
MatOfPoint secondContour = InputContours.get(i+c+1);
MatOfPoint secondContour = InputContours.get(i + c + 1);
if (IsIntersecting(firstContour, secondContour, IntersectionPoint)){
FinalContourList.addAll(secondContour.toList());
}
@@ -93,7 +157,7 @@ public class VisionProcess {
secondContour.release();
MatOfPoint2f contour = new MatOfPoint2f();
contour.fromList(FinalContourList);
if (contour.cols() !=0 && contour.rows() != 0){
if (contour.cols() != 0 && contour.rows() != 0){
RotatedRect rect = Imgproc.minAreaRect(contour);
FinalCountours.add(rect);
}
@@ -105,10 +169,10 @@ public class VisionProcess {
}
} else {
for (var i = 0; i < InputContours.size(); i++){
for (MatOfPoint inputContour : InputContours) {
MatOfPoint2f contour = new MatOfPoint2f();
contour.fromArray(InputContours.get(i).toArray());
if (contour.cols() !=0 && contour.rows() != 0) {
contour.fromArray(inputContour.toArray());
if (contour.cols() != 0 && contour.rows() != 0) {
RotatedRect rect = Imgproc.minAreaRect(contour);
FinalCountours.add(rect);
}