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Vision work, move camera calcs to CameraValues class

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This commit is contained in:
Banks Troutman
2019-09-16 04:08:23 -04:00
parent dc3936ad8f
commit 86b811a36d
5 changed files with 153 additions and 76 deletions
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51
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -1,5 +1,6 @@
package com.chameleonvision.vision.process;
import com.chameleonvision.vision.CameraValues;
import org.jetbrains.annotations.NotNull;
import org.opencv.core.*;
import org.opencv.imgproc.*;
@@ -18,48 +19,44 @@ public class VisionProcess {
put("Quintuple", 5);
}};
private double CamArea, CenterX, CenterY;
private final CameraValues CamVals;
VisionProcess(double CenterX, double CenterY, double CamArea){
this.CenterX = CenterX;
this.CenterY = CenterY;
this.CamArea = CamArea;
VisionProcess(CameraValues camVals){
CamVals = camVals;
}
private Mat Kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
private Mat hsvMat = new Mat();
private Mat hsvThreshMat = new Mat();
private Scalar hsvLower, hsvUpper;
private Mat hsvImage = new Mat();
Mat HSVThreshold(@NotNull List<Integer> hue, @NotNull List<Integer> saturation, @NotNull List<Integer> value, Mat image, boolean IsErode, boolean IsDilate){
Imgproc.cvtColor(image, hsvMat,Imgproc.COLOR_BGR2HSV,3);
hsvLower = new Scalar(hue.get(0), saturation.get(0), value.get(0));
hsvUpper = new Scalar(hue.get(1), saturation.get(1), value.get(1));
Core.inRange(hsvMat, hsvLower, hsvUpper, hsvThreshMat);
if (IsErode){
Imgproc.erode(hsvThreshMat, hsvThreshMat, Kernel);
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);
if (shouldErode){
Imgproc.erode(dst, dst, Kernel);
}
if (IsDilate){
Imgproc.dilate(hsvThreshMat, hsvThreshMat, Kernel);
if (shouldDilate){
Imgproc.dilate(dst, dst, Kernel);
}
return hsvThreshMat;
hsvImage.release();
}
private List<MatOfPoint> FoundContours = new ArrayList<>();
public List<MatOfPoint> FindContours(Mat BinaryImage){
private Mat binaryMat = new Mat();
List<MatOfPoint> FindContours(Mat src) {
src.copyTo(binaryMat);
FoundContours.clear();
Imgproc.findContours(BinaryImage, FoundContours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_TC89_L1);
BinaryImage.release();
Imgproc.findContours(binaryMat, FoundContours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_TC89_L1);
binaryMat.release();
return FoundContours;
}
private List<MatOfPoint> FilteredContours = new ArrayList<MatOfPoint>();
public List<MatOfPoint> FilterContours(List<MatOfPoint> InputContours, List<Integer> area, List<Integer> ratio, List<Integer> extent, String SortMode, String TargetIntersection, String TargetGrouping){
List<MatOfPoint> FilterContours(List<MatOfPoint> InputContours, List<Integer> area, List<Integer> ratio, List<Integer> extent, String SortMode, String TargetIntersection, String TargetGrouping){
for (MatOfPoint Contour : InputContours){
try{
var contourArea = Imgproc.contourArea(Contour);
double targetArea = (contourArea / CamArea) * 100;
double targetArea = (contourArea / CamVals.ImageArea) * 100;
if (targetArea >= area.get(0) || targetArea <= area.get(1)){
continue;
}
@@ -74,15 +71,13 @@ public class VisionProcess {
}
FilteredContours.add(Contour);
}
catch (Exception e) {
}
catch (Exception ignored) { }
}
return FilteredContours;
}
private List<MatOfPoint> FinalCountours = new ArrayList<>();
private List<MatOfPoint> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint,String TargetGroup) {
private List<MatOfPoint> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint, String TargetGroup) {
FinalCountours.clear();
if (!TargetGroup.equals("Single")){
for (var i = 0; i < InputContours.size(); i++){
@@ -112,7 +107,7 @@ public class VisionProcess {
private boolean IsIntersecting(MatOfPoint ContourOne, MatOfPoint ContourTwo, String IntersectionPoint) {
Imgproc.fitLine(ContourOne, intersectMatA, Imgproc.CV_DIST_L2,0,0.01,0.01);
Imgproc.fitLine(ContourTwo, intersectMatB, Imgproc.CV_DIST_L2,0,0.01,0.01);
// Rect2d =
return true;
}
}