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added group contours method and target intersection

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ori agranat
2019-09-16 21:45:04 +03:00
parent adc5aa2399
commit e7e0632b2b
3 changed files with 101 additions and 36 deletions
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55
Main/src/main/java/com/chameleonvision/vision/process/CameraProcess.java
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@@ -53,6 +53,7 @@ public class CameraProcess implements Runnable {
List<MatOfPoint> FoundContours = new ArrayList<>();
List<MatOfPoint> FilteredContours = new ArrayList<>();
List<RotatedRect> GroupedContours = new ArrayList<>();
Mat inputMat = new Mat();
Mat bgrMat = new Mat();
Mat hsvThreshMat = new Mat();
@@ -68,36 +69,40 @@ public class CameraProcess implements Runnable {
FilteredContours.clear();
currentPipeline = SettingsManager.Cameras.get(CameraName).pipelines.get(SettingsManager.CamerasCurrentPipeline.get(CameraName));
cv_sink.grabFrame(inputMat);
if (inputMat.cols() !=0 && inputMat.rows() != 0) {
Imgproc.cvtColor(inputMat, bgrMat, Imgproc.COLOR_RGB2BGR, 3);
if (inputMat.cols() == 0 && inputMat.rows() == 0) { continue; }
// Imgproc.cvtColor(inputMat, bgrMat, Imgproc.COLOR_RGB2BGR, 3);
Scalar hsvLower = new Scalar(currentPipeline.hue.get(0), currentPipeline.saturation.get(0), currentPipeline.value.get(0));
Scalar hsvUpper = new Scalar(currentPipeline.hue.get(1), currentPipeline.saturation.get(1), currentPipeline.value.get(1));
Scalar hsvLower = new Scalar(currentPipeline.hue.get(0), currentPipeline.saturation.get(0), currentPipeline.value.get(0));
Scalar hsvUpper = new Scalar(currentPipeline.hue.get(1), currentPipeline.saturation.get(1), currentPipeline.value.get(1));
visionProcess.HSVThreshold(inputMat, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate);
FoundContours = visionProcess.FindContours(hsvThreshMat);
FilteredContours = visionProcess.FilterContours(FoundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent, currentPipeline.sort_mode, currentPipeline.target_intersection, currentPipeline.target_group);
visionProcess.HSVThreshold(inputMat, hsvThreshMat, hsvLower, hsvUpper, currentPipeline.erode, currentPipeline.dilate);
FoundContours = visionProcess.FindContours(hsvThreshMat);
FilteredContours = visionProcess.FilterContours(FoundContours, currentPipeline.area, currentPipeline.ratio, currentPipeline.extent, currentPipeline.sort_mode, currentPipeline.target_intersection, currentPipeline.target_group);
GroupedContours = visionProcess.GroupTargets(FilteredContours,currentPipeline.target_intersection,currentPipeline.target_group);
if (currentPipeline.is_binary == 1) {
Imgproc.cvtColor(hsvThreshMat, hsvThreshMat, Imgproc.COLOR_GRAY2BGR, 3);
outputMat = hsvThreshMat;
} else {
outputMat = inputMat;
}
if (FilteredContours.size() > 0) {
for (int i = 0; i < FilteredContours.size(); i++) {
Imgproc.drawContours(outputMat, FilteredContours, i, contourColor, 10);
}
}
cv_publish.putFrame(outputMat);
inputMat.release();
hsvThreshMat.release();
for (MatOfPoint oldMat : FoundContours) { oldMat.release(); }
for (MatOfPoint oldMat1 : FilteredContours) { oldMat1.release(); }
if (currentPipeline.is_binary == 1) {
Imgproc.cvtColor(hsvThreshMat, hsvThreshMat, Imgproc.COLOR_GRAY2BGR, 3);
outputMat = hsvThreshMat;
} else {
outputMat = inputMat;
}
if (GroupedContours.size() > 0) {
List<MatOfPoint> a = new ArrayList<>();
Point[] vertices = new Point[4];
GroupedContours.get(0).points(vertices);
a.add(new MatOfPoint(vertices));
Imgproc.drawContours(outputMat,a, 0, contourColor, 3);
}
cv_publish.putFrame(outputMat);
inputMat.release();
hsvThreshMat.release();
for (MatOfPoint oldMat : FoundContours) { oldMat.release(); }
for (MatOfPoint oldMat1 : FilteredContours) { oldMat1.release(); }
memManager.run();
endTime = System.nanoTime();
}

80
Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
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@@ -76,38 +76,98 @@ public class VisionProcess {
return FilteredContours;
}
private List<MatOfPoint> FinalCountours = new ArrayList<>();
private List<MatOfPoint> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint, String TargetGroup) {
private List<RotatedRect> FinalCountours = new ArrayList<>();
public List<RotatedRect> GroupTargets(List<MatOfPoint> InputContours, String IntersectionPoint, String TargetGroup) {
FinalCountours.clear();
if (!TargetGroup.equals("Single")){
for (var i = 0; i < InputContours.size(); i++){
var FinalContour = InputContours.get(i);
List<Point> FinalContourList = new ArrayList<>(InputContours.get(i).toList());
for (var c = 0; c < (TargetGrouping.get(TargetGroup)-1);c++){
try{
MatOfPoint firstContour = InputContours.get(i + c);
MatOfPoint secondContour = InputContours.get(i+c+1);
if (IsIntersecting(firstContour, secondContour, IntersectionPoint)){
System.out.println("");
FinalContourList.addAll(secondContour.toList());
}
firstContour.release();
secondContour.release();
MatOfPoint2f contour = new MatOfPoint2f();
contour.fromList(FinalContourList);
if (contour.cols() !=0 && contour.rows() != 0){
RotatedRect rect = Imgproc.minAreaRect(contour);
FinalCountours.add(rect);
}
} catch (IndexOutOfBoundsException e){
FinalContour = new MatOfPoint();
FinalContourList.clear();
break;
}
}
}
} else {
for (var i = 0; i < InputContours.size(); i++){
MatOfPoint2f contour = new MatOfPoint2f();
contour.fromArray(InputContours.get(i).toArray());
if (contour.cols() !=0 && contour.rows() != 0) {
RotatedRect rect = Imgproc.minAreaRect(contour);
FinalCountours.add(rect);
}
}
}
return InputContours;
return FinalCountours;
}
private Mat intersectMatA = new Mat();
private Mat intersectMatB = new Mat();
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);
return true;
if (IntersectionPoint.equals("None")){
return true;
}
try {
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);
double vxA = intersectMatA.get(0,0)[0];
double vyA = intersectMatA.get(1,0)[0];
double x0A = intersectMatA.get(2,0)[0];
double y0A = intersectMatA.get(3,0)[0];
double mA = vyA / vxA;
double vxB = intersectMatB.get(0,0)[0];
double vyB = intersectMatB.get(1,0)[0];
double x0B = intersectMatB.get(2,0)[0];
double y0B = intersectMatB.get(3,0)[0];
double mB = vyB / vxB;
double intersectionX = (mA * x0A) - y0A - (mB * x0B) + y0B / (mA - mB);
double intersectionY = (mA * (intersectionX - x0A)) + y0A;
switch (IntersectionPoint){
case "Up" :{
if (intersectionY < CamVals.CenterY){
return true;
}
break;
}
case "Down": {
if (intersectionY > CamVals.CenterY){
return true;
}
break;
}
case "Left": {
if (intersectionX < CamVals.CenterX){
return true;
}
break;
}
case "Right": {
if (intersectionX > CamVals.CenterX){
return true;
}
break;
}
}
return false;
}
catch (Exception e){
return false;
}
}
}